+ python -m lidar_slam --no-model /working/1f219b02-5278-45ed-9747-10bbed87cf76 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/1f219b02-5278-45ed-9747-10bbed87cf76 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 0.013201008 Adjusted end_distance from 9.223372036854776e+18 to 154.573201008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.013201008 meters 0.11168440180912623 Centerline is valid? [0, False] SLAMing on 0.043201008 meters 0.11912099948412794 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998388e-01 1.65956433e-03 -6.85157370e-04 2.22608619e-03] [-1.65980496e-03 9.99998561e-01 -3.50788450e-04 1.03704259e-02] [ 6.84574228e-04 3.51925112e-04 9.99999704e-01 -1.30280497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.073201008 meters 0.12108270045672857 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999528 0.00266413 -0.00152807 0.00505615] [-0.00266685 0.99999485 -0.00178477 0.02317309] [ 0.00152331 0.00178884 0.99999724 -0.00316083] [ 0. 0. 0. 1. ]] SLAMing on 0.103201008 meters 0.13948451920011973 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:-0.01 [[ 0.99999017 0.00188635 -0.00401357 0.01432905] [-0.00189207 0.9999972 -0.0014219 0.05451345] [ 0.00401087 0.00142948 0.99999093 -0.00693808] [ 0. 0. 0. 1. ]] SLAMing on 0.133201008 meters 0.14575931973305928 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-0.01 [[ 0.99998456 0.00273206 -0.00483994 0.01722602] [-0.00274215 0.99999408 -0.00207964 0.06833509] [ 0.00483423 0.00209288 0.99998612 -0.00823062] [ 0. 0. 0. 1. ]] SLAMing on 0.16320100799999998 meters 0.15670263332949627 Centerline is valid? [False, False] Translation: X:0.02, Y:0.08, Z:-0.01 [[ 0.99997781 0.00398741 -0.00533622 0.01818843] [-0.0040008 0.99998887 -0.00249975 0.08092768] [ 0.00532619 0.00252104 0.99998264 -0.00779719] [ 0. 0. 0. 1. ]] SLAMing on 0.193201008 meters 0.16549904533632284 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:-0.01 [[ 0.99996808 0.00551778 -0.00577809 0.01893226] [-0.00553367 0.99998094 -0.00273812 0.09224136] [ 0.00576287 0.00277001 0.99997956 -0.00719815] [ 0. 0. 0. 1. ]] SLAMing on 0.22320100799999998 meters 0.17565818031948946 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:-0.00 [[ 0.99994396 0.00701325 -0.00792992 0.02198218] [-0.00702556 0.99997416 -0.00152477 0.11318073] [ 0.00791902 0.0015804 0.9999674 -0.00415935] [ 0. 0. 0. 1. ]] SLAMing on 0.253201008 meters 0.1861521926454594 Centerline is valid? [False, False] Translation: X:0.03, Y:0.12, Z:-0.01 [[ 9.99916364e-01 4.36559320e-03 -1.21740393e-02 3.45533614e-02] [-4.35431765e-03 9.99990066e-01 9.52548491e-04 1.23778166e-01] [ 1.21780768e-02 -8.99459189e-04 9.99925440e-01 -5.14409683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28320100800000003 meters 0.19693588343116084 Centerline is valid? [False, False] Translation: X:0.04, Y:0.14, Z:-0.01 [[ 0.99991293 0.0022561 -0.01300169 0.03736114] [-0.00228763 0.99999448 -0.00241127 0.13513702] [ 0.01299618 0.0024408 0.99991257 -0.00643065] [ 0. 0. 0. 1. ]] SLAMing on 0.313201008 meters 0.1936598734353856 Centerline is valid? [False, False] Translation: X:0.04, Y:0.14, Z:-0.01 [[ 0.99989885 0.00474616 -0.01340744 0.03825795] [-0.00476139 0.99998806 -0.00110406 0.14243021] [ 0.01340204 0.00116778 0.99990951 -0.00634992] [ 0. 0. 0. 1. ]] SLAMing on 0.343201008 meters 0.18749046838486091 Centerline is valid? [False, False] Translation: X:0.04, Y:0.15, Z:-0.01 [[ 0.99990018 0.0028284 -0.01384312 0.03945826] [-0.00288778 0.99998671 -0.00427082 0.15136793] [ 0.01383086 0.00431037 0.99989506 -0.00647295] [ 0. 0. 0. 1. ]] SLAMing on 0.373201008 meters 0.19339212743888065 Centerline is valid? [False, False] Translation: X:0.05, Y:0.17, Z:-0.01 [[ 9.99988738e-01 3.10038216e-04 -4.73588708e-03 4.85057252e-02] [-3.44745071e-04 9.99973080e-01 -7.32942274e-03 1.67916100e-01] [ 4.73348719e-03 7.33097286e-03 9.99961925e-01 -6.56533000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.403201008 meters 0.21060144633505704 Centerline is valid? [False, False] Translation: X:0.05, Y:0.17, Z:-0.01 [[ 0.99998114 0.00328708 -0.00518724 0.04905737] [-0.00331293 0.9999821 -0.00498263 0.17260437] [ 0.00517077 0.00499972 0.99997413 -0.00593804] [ 0. 0. 0. 1. ]] SLAMing on 0.433201008 meters 0.2167528668603159 Centerline is valid? [False, False] Translation: X:0.05, Y:0.18, Z:-0.01 [[ 0.99996529 0.00623621 -0.00552616 0.04932391] [-0.00625116 0.99997684 -0.00269221 0.17746114] [ 0.00550925 0.00272666 0.99998111 -0.00519749] [ 0. 0. 0. 1. ]] SLAMing on 0.46320100799999997 meters 0.2115359361190952 Centerline is valid? [False, False] Translation: X:0.05, Y:0.19, Z:-0.01 [[ 0.99996678 0.00513029 -0.00633437 0.05226835] [-0.00515878 0.99997661 -0.00449052 0.18534269] [ 0.00631119 0.00452305 0.99996986 -0.006555 ] [ 0. 0. 0. 1. ]] SLAMing on 0.493201008 meters 0.20903830002448964 Centerline is valid? [False, False] Translation: X:0.05, Y:0.19, Z:-0.01 [[ 0.99994481 0.00808448 -0.00670915 0.05375421] [-0.00809979 0.99996465 -0.00225732 0.190049 ] [ 0.00669066 0.00231154 0.99997495 -0.00726354] [ 0. 0. 0. 1. ]] SLAMing on 0.523201008 meters 0.21440983839362152 Centerline is valid? [False, False] Translation: X:0.06, Y:0.20, Z:-0.01 [[ 0.99992023 0.0100516 -0.00764835 0.05918329] [-0.01006475 0.99994793 -0.00168187 0.19966632] [ 0.00763105 0.00175872 0.99996934 -0.01134448] [ 0. 0. 0. 1. ]] SLAMing on 0.553201008 meters 0.2165564208333435 Centerline is valid? [False, False] Translation: X:0.06, Y:0.21, Z:-0.01 [[ 0.99992857 0.00879035 -0.00809845 0.06123572] [-0.0088237 0.9999527 -0.00409236 0.20576571] [ 0.0080621 0.00416352 0.99995883 -0.01282537] [ 0. 0. 0. 1. ]] SLAMing on 0.583201008 meters 0.21711763680236956 Centerline is valid? [False, False] Translation: X:0.06, Y:0.21, Z:-0.01 [[ 0.99993271 0.0078862 -0.00850837 0.06300537] [-0.00793715 0.99995067 -0.00597178 0.21207404] [ 0.00846086 0.00603892 0.99994597 -0.01380112] [ 0. 0. 0. 1. ]] SLAMing on 0.613201008 meters 0.21471163106402322 Centerline is valid? [False, False] Translation: X:0.07, Y:0.22, Z:-0.02 [[ 9.99963103e-01 8.55445719e-03 7.83260771e-04 7.11936432e-02] [-8.55679394e-03 9.99958799e-01 3.03026824e-03 2.22011099e-01] [-7.57306200e-04 -3.03685863e-03 9.99995102e-01 -1.76413598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.643201008 meters 0.21822469562377167 Centerline is valid? [False, False] Translation: X:0.07, Y:0.23, Z:-0.02 [[ 9.99973173e-01 7.31962476e-03 2.76024170e-04 7.20748157e-02] [-7.31988520e-03 9.99972754e-01 9.54636583e-04 2.28039935e-01] [-2.69029068e-04 -9.56631438e-04 9.99999506e-01 -1.71614484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6732010079999999 meters 0.21639566700859672 Centerline is valid? [False, False] Translation: X:0.07, Y:0.23, Z:-0.02 [[ 9.99979278e-01 6.43765409e-03 2.34673036e-05 7.22669150e-02] [-6.43764139e-03 9.99979150e-01 -5.06171081e-04 2.31688110e-01] [-2.67253687e-05 5.06009518e-04 9.99999872e-01 -1.65594870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.703201008 meters 0.21682580907310567 Centerline is valid? [False, False] Translation: X:0.07, Y:0.23, Z:-0.02 [[ 9.99986272e-01 5.23892179e-03 9.96000496e-05 7.31893321e-02] [-5.23866765e-03 9.99983397e-01 -2.40033764e-03 2.34824727e-01] [-1.12173577e-04 2.39978292e-03 9.99997114e-01 -1.77019085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.733201008 meters 0.21809589161173204 Centerline is valid? [False, False] Translation: X:0.07, Y:0.24, Z:-0.02 [[ 9.99988592e-01 4.77520659e-03 -1.16927240e-04 7.49048186e-02] [-4.77556150e-03 9.99983313e-01 -3.25088355e-03 2.37000315e-01] [ 1.01401648e-04 3.25140485e-03 9.99994709e-01 -1.93509286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.763201008 meters 0.21535343322905098 Centerline is valid? [False, False] Translation: X:0.08, Y:0.24, Z:-0.02 [[ 9.99990986e-01 4.22148957e-03 -4.53990915e-04 7.62182500e-02] [-4.22343851e-03 9.99981484e-01 -4.38122098e-03 2.40078868e-01] [ 4.35487230e-04 4.38309890e-03 9.99990299e-01 -2.02423677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.793201008 meters 0.2124721355570707 Centerline is valid? [False, False] Translation: X:0.08, Y:0.24, Z:-0.02 [[ 9.99992827e-01 3.69983598e-03 -8.10462596e-04 7.75664378e-02] [-3.70428612e-03 9.99977682e-01 -5.55997223e-03 2.43459068e-01] [ 7.89873523e-04 5.56293454e-03 9.99984215e-01 -2.11428516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.823201008 meters 0.21438833027198945 Centerline is valid? [False, False] Translation: X:0.08, Y:0.25, Z:-0.02 [[ 0.99998303 0.00573045 -0.00105303 0.07992581] [-0.00573482 0.99997478 -0.00419017 0.24803367] [ 0.001029 0.00419614 0.99999067 -0.02326822] [ 0. 0. 0. 1. ]] SLAMing on 0.853201008 meters 0.21143428937462147 Centerline is valid? [False, False] Translation: X:0.08, Y:0.25, Z:-0.02 [[ 0.99998584 0.00518757 -0.00118793 0.07996408] [-0.00519372 0.9999728 -0.00523661 0.25078388] [ 0.00116074 0.0052427 0.99998558 -0.02281376] [ 0. 0. 0. 1. ]] SLAMing on 0.883201008 meters 0.20996141424561326 Centerline is valid? [False, False] Translation: X:0.08, Y:0.25, Z:-0.02 [[ 0.99998767 0.00475324 -0.00144002 0.08022048] [-0.004762 0.99996983 -0.00613698 0.2535104 ] [ 0.0014108 0.00614376 0.99998013 -0.02235933] [ 0. 0. 0. 1. ]] SLAMing on 0.9132010079999999 meters 0.20592237168834693 Centerline is valid? [False, False] Translation: X:0.08, Y:0.26, Z:-0.02 [[ 0.99998964 0.00427754 -0.00155587 0.07983332] [-0.00428839 0.99996607 -0.00703349 0.25577952] [ 0.00152573 0.00704009 0.99997405 -0.02135065] [ 0. 0. 0. 1. ]] SLAMing on 0.943201008 meters 0.20592237168834693 Centerline is valid? [False, False] Translation: X:0.08, Y:0.26, Z:-0.02 [[ 0.99998964 0.00427754 -0.00155587 0.07983332] [-0.00428839 0.99996607 -0.00703349 0.25577952] [ 0.00152573 0.00704009 0.99997405 -0.02135065] [ 0. 0. 0. 1. ]] SLAMing on 0.973201008 meters 0.20105981573279164 Centerline is valid? [False, False] Translation: X:0.08, Y:0.26, Z:-0.02 [[ 0.99999111 0.00388802 -0.00163254 0.07951431] [-0.00390052 0.99996256 -0.00772422 0.25736137] [ 0.00160245 0.00773051 0.99996884 -0.02059727] [ 0. 0. 0. 1. ]] SLAMing on 1.003201008 meters 0.19877220432675724 Centerline is valid? [False, False] Translation: X:0.08, Y:0.26, Z:-0.02 [[ 0.99999106 0.00385644 -0.0017352 0.08023867] [-0.00387021 0.99996052 -0.0079991 0.25829516] [ 0.00170428 0.00800574 0.9999665 -0.02134023] [ 0. 0. 0. 1. ]] SLAMing on 1.033201008 meters 0.1989265645632842 Centerline is valid? [False, False] Translation: X:0.08, Y:0.26, Z:-0.02 [[ 0.99999059 0.00386661 -0.00196569 0.08138238] [-0.00388241 0.99995966 -0.00809935 0.25886946] [ 0.00193429 0.00810691 0.99996527 -0.02239706] [ 0. 0. 0. 1. ]] SLAMing on 1.063201008 meters 0.19142695838468188 Centerline is valid? [False, False] Translation: X:0.08, Y:0.26, Z:-0.02 [[ 0.99999116 0.00358146 -0.00220239 0.08196581] [-0.00360063 0.9999551 -0.00876492 0.26058053] [ 0.0021709 0.00877277 0.99995916 -0.02266236] [ 0. 0. 0. 1. ]] SLAMing on 1.093201008 meters 0.19112309757711157 Centerline is valid? [False, False] Translation: X:0.09, Y:0.26, Z:-0.02 [[ 0.99997141 0.00143077 -0.00742571 0.09184145] [-0.00146052 0.99999092 -0.00400211 0.2624064 ] [ 0.00741992 0.00401284 0.99996442 -0.02094878] [ 0. 0. 0. 1. ]] SLAMing on 1.123201008 meters 0.1847143585476245 Centerline is valid? [False, False] Translation: X:0.09, Y:0.26, Z:-0.02 [[ 0.99997029 0.00139277 -0.00758139 0.09202712] [-0.00142896 0.99998761 -0.0047694 0.26481946] [ 0.00757465 0.00478009 0.99995989 -0.02075968] [ 0. 0. 0. 1. ]] SLAMing on 1.153201008 meters 0.17511452580354517 Centerline is valid? [False, False] Translation: X:0.09, Y:0.27, Z:-0.02 [[ 9.99949404e-01 6.93215751e-03 -7.28934051e-03 9.12560691e-02] [-6.93912277e-03 9.99975491e-01 -9.30683882e-04 2.68440026e-01] [ 7.28271021e-03 9.81218422e-04 9.99972999e-01 -2.00271360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.183201008 meters 0.16759148718931305 Centerline is valid? [False, False] Translation: X:0.09, Y:0.27, Z:-0.02 [[ 0.99994685 0.00746407 -0.00711182 0.09084951] [-0.00747492 0.99997094 -0.00149993 0.27116797] [ 0.00710042 0.00155301 0.99997359 -0.01964397] [ 0. 0. 0. 1. ]] SLAMing on 1.213201008 meters 0.16267433431316236 Centerline is valid? [False, False] Translation: X:0.09, Y:0.27, Z:-0.02 [[ 0.99994441 0.00770412 -0.00719936 0.09097212] [-0.007719 0.99996813 -0.00204095 0.27316124] [ 0.0071834 0.00209641 0.999972 -0.01961473] [ 0. 0. 0. 1. ]] SLAMing on 1.243201008 meters 0.16483135556608636 Centerline is valid? [False, False] Translation: X:0.11, Y:0.27, Z:-0.02 [[ 0.99996095 0.00837779 -0.00281284 0.10941219] [-0.00837466 0.9999643 0.00112408 0.2727543 ] [ 0.00282216 -0.00110048 0.99999541 -0.02173614] [ 0. 0. 0. 1. ]] SLAMing on 1.273201008 meters 0.16336141051498046 Centerline is valid? [False, False] Translation: X:0.11, Y:0.27, Z:-0.02 [[ 0.9999847 0.00476238 -0.00281394 0.10941119] [-0.00476975 0.9999852 -0.00261738 0.27209792] [ 0.00280144 0.00263076 0.99999262 -0.02171585] [ 0. 0. 0. 1. ]] SLAMing on 1.303201008 meters 0.162251746218492 Centerline is valid? [False, False] Translation: X:0.11, Y:0.27, Z:-0.02 [[ 0.99998028 0.00552155 -0.00299149 0.11028757] [-0.0055246 0.99998423 -0.00101271 0.26797864] [ 0.00298585 0.00102922 0.99999501 -0.02257793] [ 0. 0. 0. 1. ]] SLAMing on 1.3332010079999999 meters 0.16066304635255318 Centerline is valid? [False, False] Translation: X:0.11, Y:0.26, Z:-0.02 [[ 0.99998843 0.00396123 -0.00273097 0.10912539] [-0.00396639 0.99999036 -0.00188605 0.26333566] [ 0.00272347 0.00189686 0.99999449 -0.02169438] [ 0. 0. 0. 1. ]] SLAMing on 1.3632010079999999 meters 0.15957259288960068 Centerline is valid? [False, False] Translation: X:0.11, Y:0.25, Z:-0.02 [[ 0.99999422 0.00191517 -0.00281005 0.10930706] [-0.00191938 0.99999703 -0.00149956 0.25297113] [ 0.00280717 0.00150494 0.99999493 -0.02146022] [ 0. 0. 0. 1. ]] SLAMing on 1.393201008 meters 0.16792059823726105 Centerline is valid? [False, False] Translation: X:0.11, Y:0.25, Z:-0.02 [[ 0.999991 0.00303402 -0.00296564 0.11012569] [-0.00303086 0.99999483 0.00107243 0.24680926] [ 0.00296887 -0.00106344 0.99999503 -0.02210361] [ 0. 0. 0. 1. ]] SLAMing on 1.423201008 meters 0.16668134313622138 Centerline is valid? [False, False] Translation: X:0.11, Y:0.24, Z:-0.02 [[ 9.99995457e-01 -4.25480132e-04 -2.98402246e-03 1.10017318e-01] [ 4.21450070e-04 9.99998999e-01 -1.35104556e-03 2.42489344e-01] [ 2.98459432e-03 1.34978181e-03 9.99994635e-01 -2.17499959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.453201008 meters 0.15391608888053285 Centerline is valid? [False, False] Translation: X:0.09, Y:0.24, Z:-0.02 [[ 9.99999664e-01 -2.65434926e-04 -7.75321908e-04 8.58071852e-02] [ 2.64512818e-04 9.99999258e-01 -1.18918320e-03 2.35801023e-01] [ 7.75636983e-04 1.18897772e-03 9.99998992e-01 -1.87770977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.483201008 meters 0.14814085544854536 Centerline is valid? [False, False] Translation: X:0.08, Y:0.22, Z:-0.02 [[ 9.99999648e-01 -8.38738509e-04 -7.74344279e-06 8.41057610e-02] [ 8.38745518e-04 9.99999193e-01 9.54477274e-04 2.23458816e-01] [ 6.94287969e-06 -9.54483433e-04 9.99999544e-01 -1.75494199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.513201008 meters 0.15056800476135626 Centerline is valid? [False, False] Translation: X:0.08, Y:0.22, Z:-0.02 [[ 9.99999838e-01 5.37439056e-04 -1.86971886e-04 8.49953514e-02] [-5.36721449e-04 9.99992571e-01 3.81715413e-03 2.16768938e-01] [ 1.89021985e-04 -3.81705316e-03 9.99992697e-01 -1.82501627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.543201008 meters 0.15097247812666617 Centerline is valid? [False, False] Translation: X:0.09, Y:0.21, Z:-0.02 [[ 9.99996017e-01 -2.81049641e-03 -2.60241587e-04 8.51933196e-02] [ 2.81089818e-03 9.99994838e-01 1.55656894e-03 2.12066351e-01] [ 2.55865512e-04 -1.55729426e-03 9.99998755e-01 -1.81689765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.573201008 meters 0.14568219889229567 Centerline is valid? [False, False] Translation: X:0.09, Y:0.21, Z:-0.02 [[ 9.99998267e-01 -1.85447040e-03 -1.64291035e-04 8.51566821e-02] [ 1.85511271e-03 9.99990280e-01 3.99971932e-03 2.05665145e-01] [ 1.56872077e-04 -4.00001717e-03 9.99991988e-01 -1.81207064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6032010079999999 meters 0.13668376406418334 Centerline is valid? [False, False] Translation: X:0.08, Y:0.20, Z:-0.02 [[ 9.99989174e-01 -1.07235798e-04 4.65195862e-03 7.52851360e-02] [ 1.08523869e-04 9.99999956e-01 -2.76636177e-04 1.99340311e-01] [-4.65192875e-03 2.77138031e-04 9.99989141e-01 -1.99559061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.633201008 meters 0.13519568857636752 Centerline is valid? [False, False] Translation: X:0.08, Y:0.19, Z:-0.02 [[ 9.99986623e-01 -2.30496750e-03 4.63049404e-03 7.63399195e-02] [ 2.30439625e-03 9.99997337e-01 1.28698605e-04 1.89273696e-01] [-4.63077835e-03 -1.18026390e-04 9.99989271e-01 -2.12121482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.663201008 meters 0.13519074261847192 Centerline is valid? [False, False] Translation: X:0.08, Y:0.18, Z:-0.02 [[ 0.99999015 -0.00124752 0.0042584 0.07775873] [ 0.00123702 0.99999619 0.00246806 0.18395315] [-0.00426146 -0.00246277 0.99998789 -0.02245001] [ 0. 0. 0. 1. ]] SLAMing on 1.693201008 meters 0.13189667323979845 Centerline is valid? [False, False] Translation: X:0.08, Y:0.18, Z:-0.02 [[ 9.99979720e-01 -4.77086889e-03 4.21874244e-03 7.83057551e-02] [ 4.77181338e-03 9.99988592e-01 -2.13842653e-04 1.80250387e-01] [-4.21767410e-03 2.33969368e-04 9.99991078e-01 -2.31059098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.723201008 meters 0.13051799441506948 Centerline is valid? [False, False] Translation: X:0.09, Y:0.17, Z:-0.02 [[ 9.99989799e-01 -4.48812706e-03 5.08951516e-04 8.76048694e-02] [ 4.48900861e-03 9.99988403e-01 -1.74437350e-03 1.66014245e-01] [-5.01116644e-04 1.74664040e-03 9.99998349e-01 -2.39310692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.753201008 meters 0.12255516753885008 Centerline is valid? [False, False] Translation: X:0.09, Y:0.16, Z:-0.02 [[ 9.99971317e-01 -7.55480882e-03 5.37951997e-04 8.80294144e-02] [ 7.55667523e-03 9.99965124e-01 -3.55634648e-03 1.60249540e-01] [-5.11065718e-04 3.56030960e-03 9.99993531e-01 -2.44626916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.783201008 meters 0.11896513679703191 Centerline is valid? [False, False] Translation: X:0.09, Y:0.15, Z:-0.03 [[ 9.99980803e-01 -6.18445529e-03 3.82172030e-04 8.87833483e-02] [ 6.18472011e-03 9.99980632e-01 -6.95679079e-04 1.53696484e-01] [-3.77862232e-04 6.98029351e-04 9.99999685e-01 -2.51457449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8132010079999998 meters 0.11638686392799956 Centerline is valid? [False, False] Translation: X:0.09, Y:0.15, Z:-0.03 [[ 9.99986937e-01 -5.10076977e-03 3.27949141e-04 8.92727375e-02] [ 5.10025021e-03 9.99985767e-01 1.56607565e-03 1.48587229e-01] [-3.35932665e-04 -1.56438257e-03 9.99998720e-01 -2.56713669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8432010079999999 meters 0.11666204007489729 Centerline is valid? [False, False] Translation: X:0.09, Y:0.14, Z:-0.03 [[ 9.99992444e-01 -3.88527358e-03 -1.25046492e-04 9.26989529e-02] [ 3.88577175e-03 9.99983349e-01 4.26648385e-03 1.39119886e-01] [ 1.08467952e-04 -4.26693752e-03 9.99990891e-01 -2.91264312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.873201008 meters 0.11871942026396452 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-0.03 [[ 9.99991260e-01 -5.50241538e-04 4.14441860e-03 8.45018205e-02] [ 5.46233662e-04 9.99999382e-01 9.68123693e-04 1.33431797e-01] [-4.14494874e-03 -9.65851411e-04 9.99990943e-01 -3.36251229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.903201008 meters 0.11328894205161635 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-0.04 [[ 9.99993163e-01 -1.34548387e-04 3.69526060e-03 8.80521839e-02] [ 1.26370794e-04 9.99997543e-01 2.21313929e-03 1.28009200e-01] [-3.69554929e-03 -2.21265719e-03 9.99990723e-01 -3.73753107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.933201008 meters 0.10729202282356877 Centerline is valid? [False, False] Translation: X:0.09, Y:0.12, Z:-0.04 [[ 9.99986352e-01 -3.41288743e-03 3.95564312e-03 8.81233438e-02] [ 3.41357153e-03 9.99994160e-01 -1.66204874e-04 1.23841597e-01] [-3.95505278e-03 1.79705476e-04 9.99992163e-01 -3.80255897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.963201008 meters 0.11856597882014833 Centerline is valid? [False, False] Translation: X:0.09, Y:0.12, Z:-0.04 [[ 0.99999068 -0.00175535 0.00394354 0.08941804] [ 0.00174366 0.99999408 0.00296637 0.11650024] [-0.00394872 -0.00295947 0.99998782 -0.03958893] [ 0. 0. 0. 1. ]] SLAMing on 1.993201008 meters 0.10359594195247276 Centerline is valid? [False, False] Translation: X:0.09, Y:0.11, Z:-0.04 [[ 0.99998636 -0.00259697 0.00453146 0.08771731] [ 0.00258412 0.99999263 0.00284042 0.11089945] [-0.00453881 -0.00282867 0.9999857 -0.03846664] [ 0. 0. 0. 1. ]] SLAMing on 2.0232010079999996 meters 0.10362718500014798 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.04 [[ 9.99987351e-01 -4.05075712e-04 5.01332247e-03 8.80834653e-02] [ 3.70006233e-04 9.99975472e-01 6.99420864e-03 1.01304679e-01] [-5.01603269e-03 -6.99226522e-03 9.99962973e-01 -3.96640358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.053201008 meters 0.10399145385737238 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.04 [[ 0.99998555 -0.00279623 0.00459049 0.08968699] [ 0.0027736 0.99998401 0.00492884 0.09796078] [-0.0046042 -0.00491604 0.99997732 -0.04109882] [ 0. 0. 0. 1. ]] SLAMing on 2.0832010079999996 meters 0.10322342186018993 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.04 [[ 0.99997119 -0.00586544 0.00481814 0.0899451 ] [ 0.00585122 0.9999785 0.00295947 0.09283598] [-0.00483539 -0.00293119 0.99998401 -0.04183914] [ 0. 0. 0. 1. ]] SLAMing on 2.113201008 meters 0.1071277296298885 Centerline is valid? [False, False] Translation: X:0.10, Y:0.08, Z:-0.04 [[ 9.99998044e-01 -1.95947154e-03 2.70384836e-04 9.91746723e-02] [ 1.95869638e-03 9.99994055e-01 2.83796099e-03 8.31076758e-02] [-2.75944132e-04 -2.83742583e-03 9.99995936e-01 -4.07079571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1432010079999997 meters 0.10021532852019001 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.04 [[ 0.99998364 -0.00395775 0.00413096 0.09443097] [ 0.00394775 0.99998926 0.00242635 0.06433915] [-0.00414051 -0.00241 0.99998852 -0.04427617] [ 0. 0. 0. 1. ]] SLAMing on 2.173201008 meters 0.10232418238748801 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:-0.04 [[ 9.99999303e-01 -8.41438477e-05 -1.17750765e-03 1.05620565e-01] [ 8.60202235e-05 9.99998727e-01 1.59355478e-03 5.56822468e-02] [ 1.17737207e-03 -1.59365496e-03 9.99998037e-01 -4.40590901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2032010079999997 meters 0.1006739714467924 Centerline is valid? [False, False] Translation: X:0.11, Y:0.05, Z:-0.04 [[ 9.99995133e-01 -2.95982152e-03 -9.86893465e-04 1.05880142e-01] [ 2.95990806e-03 9.99995616e-01 8.62391132e-05 4.94740931e-02] [ 9.86633885e-04 -8.91598074e-05 9.99999509e-01 -4.46185127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2332010079999995 meters 0.09479145681969403 Centerline is valid? [False, True] Translation: X:0.11, Y:0.04, Z:-0.04 [[ 9.99983308e-01 -5.71972280e-03 -8.17170258e-04 1.06011499e-01] [ 5.71873795e-03 9.99982925e-01 -1.20248198e-03 4.26883210e-02] [ 8.24034168e-04 1.19778873e-03 9.99998943e-01 -4.49568949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.263201008 meters 0.09167940906593297 Centerline is valid? [True, True] Translation: X:0.14, Y:0.02, Z:-0.05 [[ 9.99935518e-01 -9.29073553e-03 6.53015106e-03 1.36695920e-01] [ 9.28837358e-03 9.99956785e-01 3.91934401e-04 2.44549261e-02] [-6.53351022e-03 -3.31254646e-04 9.99978602e-01 -4.81824826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2932010079999996 meters 0.09214286127392994 Centerline is valid? [True, True] Translation: X:0.17, Y:0.02, Z:-0.05 [[ 9.99950280e-01 -8.80861212e-03 4.67388417e-03 1.68214263e-01] [ 8.80738212e-03 9.99961174e-01 2.83682927e-04 1.67908197e-02] [-4.67620156e-03 -2.42504139e-04 9.99989037e-01 -5.12758995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.323201008 meters 0.09471864380729206 Centerline is valid? [True, True] Translation: X:0.20, Y:0.01, Z:-0.05 [[ 9.99971005e-01 -7.61450161e-03 -8.78983108e-05 1.99056624e-01] [ 7.61450143e-03 9.99971009e-01 -2.39965662e-06 1.00283776e-02] [ 8.79140348e-05 1.73028522e-06 9.99999996e-01 -5.45012758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3532010079999996 meters 0.0897059081329681 Centerline is valid? [True, True] Translation: X:0.23, Y:0.00, Z:-0.05 [[ 9.99887186e-01 -8.77770091e-03 1.21888073e-02 2.30113858e-01] [ 8.76943928e-03 9.99961280e-01 7.31086504e-04 1.54894361e-03] [-1.21947526e-02 -6.24115022e-04 9.99925446e-01 -5.03808840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.383201008 meters 0.0913250583938378 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.01, Z:-0.05 [[ 9.99847714e-01 -4.89725371e-03 1.67500990e-02 2.63174784e-01] [ 4.88101897e-03 9.99987578e-01 1.00997710e-03 -6.77621351e-03] [-1.67548370e-02 -9.28065740e-04 9.99859197e-01 -5.07858417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4132010079999997 meters 0.09346073501704977 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.01, Z:-0.06 [[ 9.99889448e-01 -2.31628743e-03 1.46876023e-02 2.93500931e-01] [ 2.30360238e-03 9.99996959e-01 8.80516097e-04 -7.47106697e-03] [-1.46895972e-02 -8.46584359e-04 9.99891744e-01 -5.57445885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4432010079999995 meters 0.08873710180235211 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.01, Z:-0.05 [[ 0.999546 -0.00321601 0.0299576 0.32511309] [ 0.00316361 0.99999338 0.00179636 -0.01071955] [-0.02996318 -0.00170077 0.99954956 -0.05297177] [ 0. 0. 0. 1. ]] SLAMing on 2.4732010079999998 meters 0.09314261197881724 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.01, Z:-0.06 [[ 9.99773878e-01 5.99874124e-04 2.12563876e-02 3.53974661e-01] [-6.27089172e-04 9.99998992e-01 1.27368080e-03 -1.02448367e-02] [-2.12556021e-02 -1.28672245e-03 9.99773246e-01 -6.27031058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5032010079999996 meters 0.09294978347607402 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.02, Z:-0.07 [[ 0.99963008 0.00287746 0.02704497 0.38494689] [-0.00292239 0.99999441 0.00162188 -0.01770017] [-0.02704015 -0.00170032 0.9996329 -0.06581946] [ 0. 0. 0. 1. ]] SLAMing on 2.533201008 meters 0.08880402876301169 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.03, Z:-0.06 [[ 0.99947933 0.00200315 0.0322034 0.41699715] [-0.0020663 0.99999601 0.00192792 -0.02809249] [-0.0321994 -0.00199345 0.99947948 -0.06283416] [ 0. 0. 0. 1. ]] SLAMing on 2.5632010079999996 meters 0.08731855353050946 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.04, Z:-0.06 [[ 9.99425543e-01 7.30558355e-04 3.38828951e-02 4.49200662e-01] [-7.99824442e-04 9.99997618e-01 2.03076987e-03 -3.54698250e-02] [-3.38813308e-02 -2.05670365e-03 9.99423747e-01 -6.41456794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.593201008 meters 0.0807863931504493 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.06, Z:-0.06 [[ 9.99433561e-01 -2.73857702e-04 3.36523740e-02 4.83660034e-01] [ 2.05849429e-04 9.99997930e-01 2.02435370e-03 -5.61687686e-02] [-3.36528587e-02 -2.01627971e-03 9.99431548e-01 -5.63086358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6232010079999997 meters 0.0768541846945514 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.07, Z:-0.06 [[ 0.99878306 -0.00580081 0.04897702 0.5148388 ] [ 0.0056648 0.9999797 0.00291547 -0.07023347] [-0.04899294 -0.00263448 0.99879565 -0.05592361] [ 0. 0. 0. 1. ]] SLAMing on 2.6532010079999995 meters 0.07757836786536823 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.08, Z:-0.06 [[ 0.99896034 -0.00584608 0.04521123 0.54721171] [ 0.00573016 0.99997996 0.00269303 -0.07583101] [-0.04522607 -0.00243116 0.99897382 -0.05798523] [ 0. 0. 0. 1. ]] SLAMing on 2.6832010079999997 meters 0.07437088671532012 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.08, Z:-0.06 [[ 0.99818611 -0.00999386 0.0593684 0.57840554] [ 0.00980156 0.99994574 0.00352934 -0.08252124] [-0.05940045 -0.00294104 0.9982299 -0.05581718] [ 0. 0. 0. 1. ]] SLAMing on 2.7132010079999995 meters 0.07428901267851575 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.09, Z:-0.06 [[ 0.99830179 -0.01030048 0.05733615 0.61204919] [ 0.01012134 0.99994295 0.00341403 -0.08910379] [-0.05736804 -0.00282792 0.99834909 -0.05754978] [ 0. 0. 0. 1. ]] SLAMing on 2.7432010079999998 meters 0.07300415741073499 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.10, Z:-0.06 [[ 0.99801186 -0.01555281 0.06107739 0.64261933] [ 0.01536068 0.99987549 0.00361386 -0.10146134] [-0.06112599 -0.00266848 0.99812649 -0.05906325] [ 0. 0. 0. 1. ]] SLAMing on 2.7732010079999996 meters 0.07171270507618856 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 0.99768727 -0.01883771 0.06530888 0.6735641 ] [ 0.01862491 0.99981907 0.00386586 -0.10674277] [-0.06536989 -0.00264054 0.99785761 -0.06022497] [ 0. 0. 0. 1. ]] SLAMing on 2.803201008 meters 0.06981051610166428 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.11, Z:-0.06 [[ 0.99717292 -0.02379819 0.07127278 0.70451757] [ 0.02355738 0.99971359 0.00421751 -0.1121502 ] [-0.07135273 -0.00252658 0.99744795 -0.06160869] [ 0. 0. 0. 1. ]] SLAMing on 2.8332010079999996 meters 0.06896918778092649 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.12, Z:-0.07 [[ 0.99683741 -0.02842097 0.07421202 0.73472475] [ 0.02817267 0.99959343 0.00439076 -0.11556096] [-0.07430663 -0.00228613 0.99723282 -0.06502491] [ 0. 0. 0. 1. ]] SLAMing on 2.863201008 meters 0.06896918778092649 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.11, Z:-0.07 [[ 0.99684488 -0.02815805 0.07421197 0.76705099] [ 0.02790896 0.99960082 0.00439157 -0.11377445] [-0.074306 -0.00230654 0.99723282 -0.06753832] [ 0. 0. 0. 1. ]] SLAMing on 2.8932010079999997 meters 0.0682695443555594 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.12, Z:-0.07 [[ 0.99682003 -0.03165585 0.07312827 0.79868541] [ 0.03142486 0.99949684 0.00430736 -0.11885065] [-0.07322783 -0.00199562 0.99731324 -0.07090632] [ 0. 0. 0. 1. ]] SLAMing on 2.9232010079999995 meters 0.06699750908195702 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.13, Z:-0.07 [[ 0.99667712 -0.04049168 0.07067633 0.82880924] [ 0.04029831 0.99917903 0.00416031 -0.13116754] [-0.07078677 -0.00129835 0.99749063 -0.07403882] [ 0. 0. 0. 1. ]] SLAMing on 2.9532010079999997 meters 0.06689246947807163 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.14, Z:-0.08 [[ 0.99664304 -0.04401569 0.06903096 0.86030079] [ 0.04383951 0.99903031 0.0040658 -0.13610277] [-0.06914298 -0.00102587 0.99760623 -0.07667032] [ 0. 0. 0. 1. ]] SLAMing on 2.9832010079999995 meters 0.06639873498781927 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.14, Z:-0.08 [[ 9.96448464e-01 -4.78292131e-02 6.93024163e-02 8.92554935e-01] [ 4.76615247e-02 9.98855243e-01 4.07211222e-03 -1.40551739e-01] [-6.94178478e-02 -7.54591144e-04 9.97587386e-01 -7.91128635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.013201008 meters 0.06535571741050955 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.14, Z:-0.08 [[ 9.95979168e-01 -5.12725894e-02 7.34616766e-02 9.25312600e-01] [ 5.10938599e-02 9.98684549e-01 4.31140101e-03 -1.44410155e-01] [-7.35860980e-02 -5.40624986e-04 9.97288721e-01 -8.07443944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0432010079999996 meters 0.06512516238427776 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.14, Z:-0.08 [[ 9.95830742e-01 -5.13946444e-02 7.53639463e-02 9.57266612e-01] [ 5.12072520e-02 9.98678276e-01 4.41801574e-03 -1.41365649e-01] [-7.54913983e-02 -5.40415303e-04 9.97146307e-01 -8.33162099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.073201008 meters 0.06508980284085057 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.14, Z:-0.09 [[ 9.95733707e-01 -5.02219928e-02 7.74088909e-02 9.88843220e-01] [ 5.00211346e-02 9.98737874e-01 4.53276733e-03 -1.37573707e-01] [-7.75388357e-02 -6.41348669e-04 9.96989126e-01 -8.55346207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1032010079999996 meters 0.06480860619044472 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.13, Z:-0.09 [[ 9.95640617e-01 -4.94554295e-02 7.90817443e-02 1.02072989e+00] [ 4.92437760e-02 9.98776078e-01 4.62554794e-03 -1.33598164e-01] [-7.92137129e-02 -7.11099704e-04 9.96857403e-01 -8.80529738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.133201008 meters 0.06504950430942759 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.13, Z:-0.09 [[ 9.96060906e-01 -4.51304451e-02 7.63276813e-02 1.05107138e+00] [ 4.49209746e-02 9.98980588e-01 4.45987518e-03 -1.26982699e-01] [-7.64511481e-02 -1.01359348e-03 9.97072813e-01 -9.30963302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1632010079999997 meters 0.06540299525116912 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.12, Z:-0.10 [[ 0.99636302 -0.04205119 0.07411097 1.08261556] [ 0.04184632 0.99911474 0.00431559 -0.12186034] [-0.07422684 -0.00119862 0.99724066 -0.097305 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1932010079999995 meters 0.06567433850012966 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.12, Z:-0.10 [[ 0.99655559 -0.03943677 0.07294999 1.11407699] [ 0.03923245 0.99922115 0.00423217 -0.11702314] [-0.07306008 -0.00135559 0.99732662 -0.10155806] [ 0. 0. 0. 1. ]] SLAMing on 3.2232010079999998 meters 0.06549202375078476 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.11, Z:-0.10 [[ 0.99648711 -0.03803121 0.07461277 1.14542674] [ 0.03781477 0.99927546 0.00431186 -0.11292164] [-0.0747227 -0.00147524 0.99720326 -0.1042404 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2532010079999996 meters 0.06585309111482313 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.11, Z:-0.11 [[ 0.99659849 -0.0360166 0.0741233 1.17595403] [ 0.03579855 0.99934991 0.00426858 -0.10832392] [-0.07422885 -0.00160056 0.99723995 -0.10725265] [ 0. 0. 0. 1. ]] SLAMing on 3.283201008 meters 0.06637330118302556 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.10, Z:-0.11 [[ 0.99692759 -0.03315138 0.07096736 1.20625963] [ 0.03294527 0.99944886 0.00407316 -0.10200315] [-0.07106328 -0.0017226 0.99747032 -0.11189668] [ 0. 0. 0. 1. ]] SLAMing on 3.3132010079999996 meters 0.06602708816318743 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.10, Z:-0.11 [[ 0.99679353 -0.03309234 0.07285299 1.23830859] [ 0.03287604 0.99945075 0.00416646 -0.09960756] [-0.07295085 -0.00175798 0.99733399 -0.11361382] [ 0. 0. 0. 1. ]] SLAMing on 3.343201008 meters 0.06620308681683199 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.10, Z:-0.12 [[ 0.99682336 -0.03246591 0.07272652 1.27118405] [ 0.03224983 0.99947125 0.00414377 -0.09570496] [-0.0728226 -0.00178519 0.99734331 -0.11685794] [ 0. 0. 0. 1. ]] SLAMing on 3.3732010079999997 meters 0.06627048957105905 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.09, Z:-0.12 [[ 0.99697051 -0.03244201 0.07069172 1.3029532 ] [ 0.03223901 0.99947214 0.00401092 -0.0917809 ] [-0.07078453 -0.00171974 0.99749015 -0.12076748] [ 0. 0. 0. 1. ]] SLAMing on 3.4032010079999995 meters 0.06575550716117932 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.09, Z:-0.13 [[ 0.99690706 -0.03416625 0.07077416 1.33505845] [ 0.03396828 0.99941491 0.00399932 -0.08937097] [-0.0708694 -0.00158287 0.99748435 -0.12500239] [ 0. 0. 0. 1. ]] SLAMing on 3.4332010079999997 meters 0.06465754634527855 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.09, Z:-0.13 [[ 9.96980076e-01 -4.16329465e-02 6.55547536e-02 1.36504920e+00] [ 4.14802392e-02 9.99132513e-01 3.68941069e-03 -9.13725417e-02] [-6.56514867e-02 -9.59042094e-04 9.97842153e-01 -1.31732862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4632010079999995 meters 0.0640238409788824 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.09, Z:-0.13 [[ 9.96865692e-01 -4.66022384e-02 6.39298395e-02 1.39768533e+00] [ 4.64672327e-02 9.98913336e-01 3.59780889e-03 -9.32371089e-02] [-6.40280351e-02 -6.15889522e-04 9.97947910e-01 -1.34801225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4932010079999998 meters 0.06364176965507766 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.10, Z:-0.14 [[ 9.96649086e-01 -5.14167825e-02 6.36153616e-02 1.42870567e+00] [ 5.12930960e-02 9.98677237e-01 3.57701350e-03 -9.59360104e-02] [-6.37151320e-02 -3.01998380e-04 9.97968081e-01 -1.36573124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5232010079999996 meters 0.06400934579359994 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.11, Z:-0.14 [[ 9.95982139e-01 -6.14780670e-02 6.51154825e-02 1.46003798e+00] [ 6.13708762e-02 9.98108368e-01 3.64700592e-03 -1.05175315e-01] [-6.52165189e-02 3.63841460e-04 9.97871070e-01 -1.39705404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.553201008 meters 0.06455098273198684 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.11, Z:-0.14 [[ 9.95867574e-01 -6.48042256e-02 6.36253681e-02 1.49244059e+00] [ 6.47089335e-02 9.97897833e-01 3.55939309e-03 -1.06946153e-01] [-6.37222806e-02 5.72445549e-04 9.97967506e-01 -1.42056629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5832010079999996 meters 0.06542403386678404 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.11, Z:-0.14 [[ 9.95599758e-01 -6.89095618e-02 6.35027075e-02 1.52454155e+00] [ 6.88232479e-02 9.97622559e-01 3.54826463e-03 -1.07501910e-01] [-6.35962429e-02 8.37811174e-04 9.97975358e-01 -1.44931462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6132010079999994 meters 0.06655671155007721 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.11, Z:-0.15 [[ 9.95322863e-01 -7.30317986e-02 6.32357097e-02 1.55518444e+00] [ 7.29548269e-02 9.97329005e-01 3.52844685e-03 -1.06444857e-01] [-6.33244962e-02 1.10140643e-03 9.97992382e-01 -1.48475459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6432010079999997 meters 0.06884265080937664 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.10, Z:-0.15 [[ 9.94978994e-01 -7.85363135e-02 6.20390995e-02 1.58478675e+00] [ 7.84729866e-02 9.96910235e-01 3.46042195e-03 -1.04513907e-01] [-6.21191820e-02 1.42534628e-03 9.98067721e-01 -1.52478813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6732010079999995 meters 0.07066405654543169 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.10, Z:-0.16 [[ 9.94795469e-01 -8.16926588e-02 6.08956923e-02 1.61446770e+00] [ 8.16375798e-02 9.96656296e-01 3.39610698e-03 -1.04907709e-01] [-6.09695121e-02 1.59294510e-03 9.98138358e-01 -1.56912366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7032010079999997 meters 0.07300715308852844 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.11, Z:-0.16 [[ 9.94809790e-01 -8.44060599e-02 5.68251512e-02 1.64481536e+00] [ 8.43623776e-02 9.96430093e-01 3.17146463e-03 -1.06655809e-01] [-5.68899816e-02 1.63890080e-03 9.98379108e-01 -1.64031645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7332010079999995 meters 0.07548552950293612 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.11, Z:-0.17 [[ 9.94806297e-01 -8.70861161e-02 5.26919410e-02 1.67450242e+00] [ 8.70523260e-02 9.96199401e-01 2.94038698e-03 -1.08454950e-01] [-5.27477470e-02 1.66184055e-03 9.98606486e-01 -1.70836644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.763201008 meters 0.07738409928457608 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.10, Z:-0.18 [[ 9.94910988e-01 -8.80555230e-02 4.89729703e-02 1.70259061e+00] [ 8.80275445e-02 9.96114294e-01 2.73199682e-03 -1.04586945e-01] [-4.90232431e-02 1.59287667e-03 9.98796368e-01 -1.78608910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7932010079999996 meters 0.07710481730034541 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.10, Z:-0.18 [[ 9.95205068e-01 -8.66726195e-02 4.53291243e-02 1.73083799e+00] [ 8.66473068e-02 9.96235846e-01 2.52666540e-03 -9.60553340e-02] [-4.53774912e-02 1.41309633e-03 9.98968912e-01 -1.84288115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.823201008 meters 0.07513509622105777 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.08, Z:-0.19 [[ 9.95498158e-01 -8.32567047e-02 4.52961130e-02 1.75927942e+00] [ 8.32274084e-02 9.96527355e-01 2.53558106e-03 -8.41861746e-02] [-4.53499198e-02 1.24571182e-03 9.98970386e-01 -1.86953684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8532010079999996 meters 0.07313406617955835 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.07, Z:-0.19 [[ 9.95845632e-01 -7.92437253e-02 4.48543054e-02 1.78634832e+00] [ 7.92103334e-02 9.96854730e-01 2.52412326e-03 -7.22192914e-02] [-4.49132474e-02 1.03928736e-03 9.98990350e-01 -1.88841920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8832010079999995 meters 0.06791870168789221 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.06, Z:-0.18 [[ 9.96166545e-01 -7.58033195e-02 4.36585862e-02 1.81492253e+00] [ 7.57685055e-02 9.97122415e-01 2.45401372e-03 -5.55369507e-02] [-4.37189773e-02 8.63339456e-04 9.99043495e-01 -1.79333382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9132010079999997 meters 0.065626593252798 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.04, Z:-0.18 [[ 9.96377707e-01 -7.02814901e-02 4.78745896e-02 1.84344791e+00] [ 7.02322480e-02 9.97526980e-01 2.71200954e-03 -4.31353511e-02] [-4.79467988e-02 6.60154198e-04 9.98849673e-01 -1.75260924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9432010079999995 meters 0.06643695486445166 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.04, Z:-0.18 [[ 9.96434797e-01 -6.74096231e-02 5.07310434e-02 1.87293331e+00] [ 6.73504547e-02 9.97725233e-01 2.87684496e-03 -4.00286617e-02] [-5.08095692e-02 5.50170422e-04 9.98708208e-01 -1.82948589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9732010079999998 meters 0.06395507486567563 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.03, Z:-0.18 [[ 9.96669193e-01 -6.41330612e-02 5.03733152e-02 1.90479376e+00] [ 6.40704930e-02 9.97941284e-01 2.85752300e-03 -2.91162575e-02] [-5.04528726e-02 3.79438001e-04 9.98726371e-01 -1.75759726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.003201008 meters 0.06318998953858117 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.02, Z:-0.18 [[ 9.96775999e-01 -6.04548349e-02 5.27524444e-02 1.93573317e+00] [ 6.03811727e-02 9.98170913e-01 2.99045936e-03 -2.18327531e-02] [-5.28367433e-02 2.04436337e-04 9.98603143e-01 -1.76167679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.033201008 meters 0.06312812211055689 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.01, Z:-0.18 [[ 9.97391112e-01 -5.07265570e-02 5.13593776e-02 1.96592670e+00] [ 5.06438458e-02 9.98712534e-01 2.91137657e-03 -6.76342222e-03] [-5.14409382e-02 -3.02744714e-04 9.98675993e-01 -1.79485396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.063201008 meters 0.06371765373824341 Centerline is valid? [True, True] Translation: X:2.00, Y:0.00, Z:-0.18 [[ 9.97689089e-01 -4.66250799e-02 4.94225008e-02 1.99630855e+00] [ 4.65437592e-02 9.98912340e-01 2.79562941e-03 1.28605697e-03] [-4.94990924e-02 -4.88859979e-04 9.98774049e-01 -1.84716312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.093201008 meters 0.06468253010774698 Centerline is valid? [True, True] Translation: X:2.03, Y:0.01, Z:-0.19 [[ 9.97944303e-01 -4.25827162e-02 4.78944810e-02 2.02735047e+00] [ 4.25018121e-02 9.99092723e-01 2.70679795e-03 8.38539650e-03] [-4.79662902e-02 -6.65631368e-04 9.98848733e-01 -1.89463117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.123201008 meters 0.06526726948210501 Centerline is valid? [True, True] Translation: X:2.06, Y:0.01, Z:-0.19 [[ 9.98096811e-01 -4.03945159e-02 4.65944196e-02 2.05758347e+00] [ 4.03156985e-02 9.99183529e-01 2.63046234e-03 1.26219301e-02] [-4.66626328e-02 -7.46969505e-04 9.98910427e-01 -1.93741651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.153201008 meters 0.06535022003727191 Centerline is valid? [True, True] Translation: X:2.09, Y:0.01, Z:-0.20 [[ 9.98121854e-01 -4.09643791e-02 4.55486983e-02 2.08983646e+00] [ 4.08896758e-02 9.99160360e-01 2.57097816e-03 1.29411190e-02] [-4.56157723e-02 -7.03677980e-04 9.98958811e-01 -1.97866018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.183201008 meters 0.06552530446134289 Centerline is valid? [True, True] Translation: X:2.12, Y:0.01, Z:-0.20 [[ 9.98127668e-01 -4.14246862e-02 4.50017163e-02 2.12213045e+00] [ 4.13523711e-02 9.99141404e-01 2.53708922e-03 1.15758790e-02] [-4.50681761e-02 -6.71411275e-04 9.98983688e-01 -2.01009238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.213201008 meters 0.06548666698203943 Centerline is valid? [True, True] Translation: X:2.15, Y:0.01, Z:-0.20 [[ 9.98146919e-01 -4.24733674e-02 4.35745428e-02 2.15451073e+00] [ 4.24066905e-02 9.99097418e-01 2.45382347e-03 7.35729497e-03] [-4.36394353e-02 -6.01424184e-04 9.99047165e-01 -2.04823972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.243201008 meters 0.06582353256358575 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.00, Z:-0.21 [[ 9.98225243e-01 -4.32427486e-02 4.09442141e-02 2.18616442e+00] [ 4.31846551e-02 9.99064454e-01 2.30265098e-03 -1.23701780e-03] [-4.10054819e-02 -5.30402569e-04 9.99158781e-01 -2.09092733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.273201008 meters 0.06592672456730678 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.00, Z:-0.21 [[ 9.98260034e-01 -4.28827517e-02 4.04718901e-02 2.21823738e+00] [ 4.28257518e-02 9.99079967e-01 2.27470945e-03 -1.71529673e-03] [-4.05322005e-02 -5.37512411e-04 9.99178088e-01 -2.12405426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.303201008 meters 0.06631952543794634 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.00, Z:-0.22 [[ 9.98338342e-01 -4.17826989e-02 3.96832468e-02 2.24968702e+00] [ 4.17270855e-02 9.99126559e-01 2.22902102e-03 -6.34724592e-04] [-3.97417203e-02 -5.69450915e-04 9.99209824e-01 -2.16863220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3332010080000005 meters 0.06686042511606118 Centerline is valid? [True, True] Translation: X:2.28, Y:0.00, Z:-0.22 [[ 9.98388962e-01 -4.02945955e-02 3.99478047e-02 2.28086480e+00] [ 4.02372781e-02 9.99187646e-01 2.23811479e-03 2.22372314e-04] [-4.00055369e-02 -6.27118177e-04 9.99199261e-01 -2.21112459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.363201008 meters 0.06519688234442848 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.01, Z:-0.21 [[ 9.98549421e-01 -3.70225390e-02 3.90945668e-02 2.31268372e+00] [ 3.69652358e-02 9.99314157e-01 2.18783773e-03 -5.06151822e-03] [-3.91487534e-02 -7.39524222e-04 9.99233120e-01 -2.14114468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.393201008 meters 0.06533302652968678 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.01, Z:-0.22 [[ 9.98581864e-01 -3.58745780e-02 3.93354172e-02 2.34438650e+00] [ 3.58157125e-02 9.99355989e-01 2.20039443e-03 -5.19855204e-03] [-3.93890230e-02 -7.88447978e-04 9.99223640e-01 -2.15736483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.423201008 meters 0.06526464155421505 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.01, Z:-0.22 [[ 9.98511552e-01 -3.51912314e-02 4.16684215e-02 2.37583961e+00] [ 3.51246799e-02 9.99380226e-01 2.32843312e-03 -6.19462623e-03] [-4.17245369e-02 -8.61377402e-04 9.99128781e-01 -2.15975216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.453201008 meters 0.06454923854690604 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.01, Z:-0.22 [[ 9.98430836e-01 -3.77883471e-02 4.13268245e-02 2.40795095e+00] [ 3.77251123e-02 9.99285487e-01 2.30918716e-03 -1.46741173e-02] [-4.13845563e-02 -7.46504574e-04 9.99143013e-01 -2.17606901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.483201008 meters 0.06442259078431202 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.02, Z:-0.22 [[ 9.98382315e-01 -3.95646886e-02 4.08336668e-02 2.44010360e+00] [ 3.95045316e-02 9.99216791e-01 2.27937863e-03 -1.85148999e-02] [-4.08918684e-02 -6.62576431e-04 9.99163358e-01 -2.21009040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.513201008 meters 0.06410710271834894 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.02, Z:-0.22 [[ 9.98308743e-01 -4.22316917e-02 3.99517055e-02 2.47114258e+00] [ 4.21763475e-02 9.99107699e-01 2.22748626e-03 -2.30155710e-02] [-4.00101270e-02 -5.38701988e-04 9.99199129e-01 -2.24821599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5432010080000005 meters 0.0640287207308987 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.03, Z:-0.23 [[ 9.98245500e-01 -4.50219757e-02 3.84570382e-02 2.50348158e+00] [ 4.49728034e-02 9.98985913e-01 2.14319204e-03 -2.87115978e-02] [-3.85145301e-02 -4.09910988e-04 9.99257956e-01 -2.28767412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.573201008 meters 0.061477124612263866 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.04, Z:-0.21 [[ 9.98194233e-01 -4.90470119e-02 3.46794406e-02 2.53649813e+00] [ 4.90095646e-02 9.98796445e-01 1.92957064e-03 -4.22328717e-02] [-3.47323417e-02 -2.26462000e-04 9.99396625e-01 -2.14408751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.603201008 meters 0.061822446564968755 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.05, Z:-0.22 [[ 9.98219634e-01 -5.02452267e-02 3.21400018e-02 2.56636446e+00] [ 5.02137245e-02 9.98736896e-01 1.78706010e-03 -4.50123379e-02] [-3.21891969e-02 -1.70009288e-04 9.99481779e-01 -2.19015082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.633201008 meters 0.0655122932995733 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.05, Z:-0.24 [[ 9.98238725e-01 -5.07773639e-02 3.06774690e-02 2.59465191e+00] [ 5.07488520e-02 9.98709987e-01 1.70780358e-03 -4.61000149e-02] [-3.07246124e-02 -1.47949339e-04 9.99527877e-01 -2.44944745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.663201008 meters 0.06199701183613182 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.05, Z:-0.22 [[ 9.98218960e-01 -5.14536215e-02 3.01899541e-02 2.62664157e+00] [ 5.14264679e-02 9.98675378e-01 1.67570928e-03 -5.16318444e-02] [-3.02361851e-02 -1.20162070e-04 9.99542775e-01 -2.23369761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.693201008 meters 0.061612513770390134 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.05, Z:-0.22 [[ 9.98113888e-01 -5.24527807e-02 3.18962905e-02 2.65688335e+00] [ 5.24229407e-02 9.98623401e-01 1.77164927e-03 -5.47705968e-02] [-3.19453100e-02 -9.62103884e-05 9.99489614e-01 -2.23001754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.723201008 meters 0.06117607710041674 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.06, Z:-0.22 [[ 9.97817730e-01 -5.45444184e-02 3.72113532e-02 2.68700422e+00] [ 5.45051733e-02 9.98511345e-01 2.06905327e-03 -5.92300476e-02] [-3.72688136e-02 -3.63267837e-05 9.99305276e-01 -2.21658490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7532010080000004 meters 0.060962219100122325 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.06, Z:-0.22 [[ 9.97660398e-01 -5.62445530e-02 3.88623352e-02 2.71666645e+00] [ 5.62030193e-02 9.98417022e-01 2.16128277e-03 -5.93279571e-02] [-3.89223774e-02 2.79543502e-05 9.99242237e-01 -2.23466770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.783201008 meters 0.060962219100122325 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.06, Z:-0.23 [[ 9.97658560e-01 -5.62771807e-02 3.88622645e-02 2.74572757e+00] [ 5.62356222e-02 9.98415183e-01 2.16255397e-03 -5.76746125e-02] [-3.89223774e-02 2.79531487e-05 9.99242237e-01 -2.25725815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.813201008 meters 0.061358165588062806 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.06, Z:-0.23 [[ 9.97660411e-01 -5.76033183e-02 3.68179467e-02 2.77458607e+00] [ 5.75668091e-02 9.98339548e-01 2.05183400e-03 -5.87615347e-02] [-3.68750047e-02 7.24581604e-05 9.99319883e-01 -2.29914262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.843201008 meters 0.06124389778552733 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.06, Z:-0.23 [[ 9.97615676e-01 -5.77691453e-02 3.77583076e-02 2.80323384e+00] [ 5.77312510e-02 9.98329964e-01 2.09405061e-03 -5.97621977e-02] [-3.78162213e-02 9.07766202e-05 9.99284707e-01 -2.32004296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.873201008 meters 0.06090924641206565 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.06, Z:-0.23 [[ 9.97740272e-01 -5.49095096e-02 3.87207241e-02 2.83229619e+00] [ 5.48671563e-02 9.98491334e-01 2.15641735e-03 -6.18901219e-02] [-3.87807153e-02 -2.70484086e-05 9.99247745e-01 -2.30066390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.903201008 meters 0.06099022338822884 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.06, Z:-0.23 [[ 9.97930499e-01 -5.12820702e-02 3.87926230e-02 2.86151571e+00] [ 5.12361459e-02 9.98684192e-01 2.17773916e-03 -5.96409149e-02] [-3.88532583e-02 -1.85647843e-04 9.99244910e-01 -2.32403822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.933201008 meters 0.061488570361481934 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.06, Z:-0.24 [[ 9.98181709e-01 -4.74109635e-02 3.72219831e-02 2.89080386e+00] [ 4.73659719e-02 9.98875416e-01 2.09013879e-03 -5.53843443e-02] [-3.72792194e-02 -3.23282901e-04 9.99304836e-01 -2.37758118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.963201008 meters 0.06251533840696448 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.05, Z:-0.24 [[ 9.98654759e-01 -3.69557212e-02 3.63723466e-02 2.92067347e+00] [ 3.69057488e-02 9.99316659e-01 2.04457871e-03 -4.51838530e-02] [-3.64230508e-02 -6.99479575e-04 9.99336216e-01 -2.42725358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.993201008 meters 0.0627945462929285 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.04, Z:-0.24 [[ 9.98770123e-01 -3.25961081e-02 3.73595362e-02 2.95277830e+00] [ 3.25403085e-02 9.99468216e-01 2.10083134e-03 -4.17916181e-02] [-3.74081479e-02 -8.82556747e-04 9.99299681e-01 -2.43359972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.023201008 meters 0.06331207776853162 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.04, Z:-0.25 [[ 9.98815587e-01 -2.98759864e-02 3.84037645e-02 2.98344073e+00] [ 2.98151383e-02 9.99553104e-01 2.15630087e-03 -3.98152746e-02] [-3.84510237e-02 -1.00873337e-03 9.99259977e-01 -2.45382920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.053201008 meters 0.06319445377570428 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.04, Z:-0.25 [[ 9.98751537e-01 -2.92364063e-02 4.05043101e-02 3.01569189e+00] [ 2.91682542e-02 9.99571932e-01 2.27265829e-03 -4.01026827e-02] [-4.05534159e-02 -1.08838095e-03 9.99176779e-01 -2.45646192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.083201008 meters 0.06285448405385363 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.05, Z:-0.25 [[ 9.98530226e-01 -3.22521587e-02 4.35567024e-02 3.04560804e+00] [ 3.21764588e-02 9.99479230e-01 2.43811254e-03 -4.65205343e-02] [-4.36126538e-02 -1.03302862e-03 9.99047981e-01 -2.47155919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.113201008 meters 0.06234764556961991 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.05, Z:-0.25 [[ 9.98358429e-01 -3.54941001e-02 4.49512539e-02 3.07719586e+00] [ 3.54166516e-02 9.99369460e-01 2.51843814e-03 -5.18762851e-02] [-4.50123000e-02 -9.22281042e-04 9.98986007e-01 -2.49291850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.143201008 meters 0.06191384460226676 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.06, Z:-0.25 [[ 9.98273593e-01 -3.86358476e-02 4.42391799e-02 3.10983807e+00] [ 3.85639321e-02 9.99253062e-01 2.47820906e-03 -5.79173956e-02] [-4.43018837e-02 -7.67893932e-04 9.99017894e-01 -2.51951131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.173201008 meters 0.0616141853360041 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.06, Z:-0.26 [[ 9.98100974e-01 -4.26599708e-02 4.44361584e-02 3.14240697e+00] [ 4.25915216e-02 9.99089475e-01 2.48645978e-03 -6.42049362e-02] [-4.45017704e-02 -5.89134332e-04 9.99009132e-01 -2.55103027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.203201008 meters 0.06159270242804053 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.08, Z:-0.26 [[ 9.97963982e-01 -4.87736513e-02 4.10976980e-02 3.17462315e+00] [ 4.87203986e-02 9.98809815e-01 2.29693278e-03 -7.71604191e-02] [-4.11608140e-02 -2.89959961e-04 9.99152493e-01 -2.59742824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.233201008 meters 0.06170469104654828 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.08, Z:-0.26 [[ 9.97864062e-01 -5.14179570e-02 4.02927688e-02 3.20510985e+00] [ 5.13690672e-02 9.98677207e-01 2.24843389e-03 -8.21680997e-02] [-4.03550797e-02 -1.73829426e-04 9.99185387e-01 -2.63114538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.263201008 meters 0.061259416383357176 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.09, Z:-0.26 [[ 9.97810812e-01 -5.28851397e-02 3.97082572e-02 3.23551370e+00] [ 5.28388686e-02 9.98600596e-01 2.21459342e-03 -8.65653308e-02] [-3.97698084e-02 -1.11605879e-04 9.99208862e-01 -2.60985042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.293201008 meters 0.061411432780612306 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.09, Z:-0.26 [[ 9.97778063e-01 -5.41339399e-02 3.88388104e-02 3.26475237e+00] [ 5.40908636e-02 9.98533682e-01 2.15982923e-03 -8.95653924e-02] [-3.88987804e-02 -5.42054310e-05 9.99243155e-01 -2.63683818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.323201008 meters 0.061520586487735 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.09, Z:-0.27 [[ 9.97770411e-01 -5.44020180e-02 3.86604134e-02 3.29251531e+00] [ 5.43592471e-02 9.98519112e-01 2.15741168e-03 -9.14266302e-02] [-3.87205292e-02 -5.10505740e-05 9.99250078e-01 -2.65680575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.353201008 meters 0.061643094952424565 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.09, Z:-0.27 [[ 9.97902119e-01 -5.21428535e-02 3.83729586e-02 3.32086344e+00] [ 5.20984025e-02 9.98639624e-01 2.15811759e-03 -9.40522601e-02] [-3.84332874e-02 -1.54420275e-04 9.99261156e-01 -2.67808770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.383201008 meters 0.06175299465277167 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.09, Z:-0.27 [[ 9.97978351e-01 -5.07190759e-02 3.82986457e-02 3.34980463e+00] [ 5.06738451e-02 9.98712938e-01 2.15143217e-03 -9.36359380e-02] [-3.83584716e-02 -2.06343091e-04 9.99264022e-01 -2.70832485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.413201008 meters 0.06177491205994857 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.09, Z:-0.27 [[ 9.97982778e-01 -4.99496223e-02 3.91843147e-02 3.37902631e+00] [ 4.99012974e-02 9.98751707e-01 2.21096355e-03 -9.30375930e-02] [-3.92458380e-02 -2.51155409e-04 9.99229554e-01 -2.73695257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.443201008 meters 0.060980054907582716 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.10, Z:-0.27 [[ 9.97900187e-01 -4.99714194e-02 4.12076965e-02 3.40898023e+00] [ 4.99174005e-02 9.98750610e-01 2.33942544e-03 -9.81702567e-02] [-4.12731164e-02 -2.77531999e-04 9.99147863e-01 -2.67876658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.473201008 meters 0.06107318214077617 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.10, Z:-0.27 [[ 9.97848777e-01 -5.08128248e-02 4.14231336e-02 3.43823759e+00] [ 5.07587927e-02 9.98708163e-01 2.35577830e-03 -1.00227607e-01] [-4.14893254e-02 -2.48122239e-04 9.99138916e-01 -2.70289717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5032010080000004 meters 0.06102343261383125 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.10, Z:-0.27 [[ 9.97757963e-01 -5.23216550e-02 4.17311870e-02 3.46787649e+00] [ 5.22680740e-02 9.98630266e-01 2.37475279e-03 -1.02905468e-01] [-4.17982774e-02 -1.88219738e-04 9.99126052e-01 -2.72252679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.533201008 meters 0.06101277885289337 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.11, Z:-0.27 [[ 9.97600143e-01 -5.53574248e-02 4.15873857e-02 3.49709823e+00] [ 5.53070921e-02 9.98466601e-01 2.36073307e-03 -1.05817520e-01] [-4.16542998e-02 -5.49902758e-05 9.99132082e-01 -2.74802697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.563201008 meters 0.061235666161585836 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.11, Z:-0.28 [[ 9.97261598e-01 -6.14045230e-02 4.12163686e-02 3.52678491e+00] [ 6.13598510e-02 9.98112944e-01 2.34921672e-03 -1.14335518e-01] [-4.12828436e-02 1.86246614e-04 9.99147483e-01 -2.75738454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.593201008 meters 0.06136981448075896 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.12, Z:-0.28 [[ 9.96993095e-01 -6.51877075e-02 4.18966855e-02 3.55510415e+00] [ 6.51445034e-02 9.97872962e-01 2.39710211e-03 -1.17562197e-01] [-4.19638312e-02 3.39444523e-04 9.99119073e-01 -2.77625227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.623201008 meters 0.06185341582477458 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.12, Z:-0.28 [[ 9.96766812e-01 -6.78329930e-02 4.30651641e-02 3.58248059e+00] [ 6.77890021e-02 9.97696591e-01 2.48271110e-03 -1.20551609e-01] [-4.31343771e-02 4.44660472e-04 9.99069181e-01 -2.81947306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.653201008 meters 0.061891532875856456 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.12, Z:-0.28 [[ 9.96549470e-01 -7.02701565e-02 4.41730522e-02 3.61198539e+00] [ 7.02263067e-02 9.97527837e-01 2.54563538e-03 -1.22378309e-01] [-4.42427314e-02 5.65258726e-04 9.99020651e-01 -2.82278384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.683201008 meters 0.061049398892552474 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.13, Z:-0.28 [[ 9.96261783e-01 -7.25491976e-02 4.68942906e-02 3.64155406e+00] [ 7.25017663e-02 9.97364592e-01 2.71380462e-03 -1.25658876e-01] [-4.69675894e-02 6.96259070e-04 9.98896171e-01 -2.76221695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.713201008 meters 0.06114108134735916 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.13, Z:-0.28 [[ 9.96256485e-01 -7.23694674e-02 4.72829333e-02 3.66902882e+00] [ 7.23202503e-02 9.97377663e-01 2.75304010e-03 -1.25645807e-01] [-4.73581776e-02 6.76779524e-04 9.98877743e-01 -2.79155848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.743201008 meters 0.06129289455878047 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.12, Z:-0.28 [[ 9.96322639e-01 -7.17535657e-02 4.68254770e-02 3.69603329e+00] [ 7.17044240e-02 9.97422187e-01 2.73051179e-03 -1.23263655e-01] [-4.69006937e-02 6.37123153e-04 9.98899354e-01 -2.83930097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.773201008 meters 0.06121473967190384 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.12, Z:-0.29 [[ 9.96609294e-01 -6.94739667e-02 4.40826799e-02 3.72397983e+00] [ 6.94282652e-02 9.97583639e-01 2.56876697e-03 -1.17568518e-01] [-4.41546227e-02 5.00526953e-04 9.99024584e-01 -2.89172709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.803201008 meters 0.06144745282770732 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.12, Z:-0.29 [[ 9.96703184e-01 -6.86477393e-02 4.32464051e-02 3.75156413e+00] [ 6.86023048e-02 9.97640865e-01 2.53557225e-03 -1.15227398e-01] [-4.33184423e-02 4.39590136e-04 9.99061219e-01 -2.93588440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.833201008 meters 0.061311934236916554 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.11, Z:-0.29 [[ 9.96793510e-01 -6.85197981e-02 4.13247528e-02 3.78062033e+00] [ 6.84783094e-02 9.97649670e-01 2.42032894e-03 -1.13490599e-01] [-4.13934664e-02 4.17281033e-04 9.99142836e-01 -2.94123775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.863201008 meters 0.06184572112160074 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.11, Z:-0.30 [[ 9.96833896e-01 -6.79374189e-02 4.13121181e-02 3.80805151e+00] [ 6.78947896e-02 9.97689513e-01 2.43567317e-03 -1.14020483e-01] [-4.13821403e-02 3.76915992e-04 9.99143321e-01 -2.99367325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.893201008 meters 0.061562391624348414 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.11, Z:-0.30 [[ 9.96981810e-01 -6.54712497e-02 4.17227341e-02 3.83730703e+00] [ 6.54256799e-02 9.97854417e-01 2.45820248e-03 -1.12315251e-01] [-4.17941561e-02 2.78955088e-04 9.99126204e-01 -3.00455461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.923201008 meters 0.06178349984364671 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.11, Z:-0.31 [[ 9.97121135e-01 -6.35646023e-02 4.13398484e-02 3.86474574e+00] [ 6.35175889e-02 9.97977709e-01 2.45104451e-03 -1.09164194e-01] [-4.14120469e-02 1.81819215e-04 9.99142137e-01 -3.06668565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.953201008 meters 0.061252003425027964 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.10, Z:-0.31 [[ 9.97289735e-01 -6.10268870e-02 4.10962771e-02 3.89319329e+00] [ 6.09784214e-02 9.98136119e-01 2.43298137e-03 -1.04375924e-01] [-4.11681558e-02 7.95987521e-05 9.99152229e-01 -3.05935315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.983201008 meters 0.0615198647897689 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.10, Z:-0.31 [[ 9.97403669e-01 -5.87400901e-02 4.16596183e-02 3.92103653e+00] [ 5.86877333e-02 9.98273310e-01 2.47970810e-03 -1.00964645e-01] [-4.17333433e-02 -2.83613938e-05 9.99128784e-01 -3.12212936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.013201008 meters 0.06135236485056383 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.10, Z:-0.31 [[ 9.97472942e-01 -5.67646064e-02 4.27259884e-02 3.95003544e+00] [ 5.67072391e-02 9.98387582e-01 2.55445202e-03 -9.80137567e-02] [-4.28020987e-02 -1.25123928e-04 9.99083562e-01 -3.13770965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.043201008 meters 0.06135126316835814 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.10, Z:-0.32 [[ 9.97456096e-01 -5.63650182e-02 4.36385260e-02 3.97938786e+00] [ 5.63042975e-02 9.98410216e-01 2.62028338e-03 -9.71709896e-02] [-4.37168425e-02 -1.56581089e-04 9.99043950e-01 -3.15601872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.073201008 meters 0.06148104701349327 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.10, Z:-0.32 [[ 9.97288623e-01 -5.79964950e-02 4.52969085e-02 4.00772663e+00] [ 5.79320809e-02 9.98316781e-01 2.73460117e-03 -1.01109989e-01] [-4.53792612e-02 -1.03042460e-04 9.98969825e-01 -3.15828716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.103201008 meters 0.061098761427484743 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.10, Z:-0.31 [[ 9.97127287e-01 -5.97949962e-02 4.64944256e-02 4.03723735e+00] [ 5.97291194e-02 9.98210678e-01 2.80611768e-03 -1.01793998e-01] [-4.65790239e-02 -2.09854090e-05 9.98914608e-01 -3.14858634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.133201008 meters 0.06116208778273992 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.10, Z:-0.32 [[ 9.96952236e-01 -6.24156138e-02 4.68030979e-02 4.06546368e+00] [ 6.23512621e-02 9.98050241e-01 2.83503037e-03 -1.02307701e-01] [-4.68887933e-02 9.18423551e-05 9.98900111e-01 -3.17271803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.163201008 meters 0.0614124955734018 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.11, Z:-0.32 [[ 9.96561587e-01 -6.71831963e-02 4.84914498e-02 4.09355002e+00] [ 6.71188141e-02 9.97740609e-01 2.95662950e-03 -1.08382736e-01] [-4.85805245e-02 3.08225213e-04 9.98819222e-01 -3.18019828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.193201008 meters 0.06180308700588163 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.11, Z:-0.32 [[ 9.96383683e-01 -6.92898613e-02 4.91779605e-02 4.12027054e+00] [ 6.92261421e-02 9.97596483e-01 2.99978943e-03 -1.11431002e-01] [-4.92676154e-02 4.15459239e-04 9.98785527e-01 -3.20929796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.223201008 meters 0.06113101160987529 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.11, Z:-0.32 [[ 9.96253414e-01 -7.06533768e-02 4.98721969e-02 4.14842478e+00] [ 7.05891953e-02 9.97500811e-01 3.04927196e-03 -1.10452880e-01] [-4.99629982e-02 4.82590647e-04 9.98750953e-01 -3.17322956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2532010080000004 meters 0.06123385690559471 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.11, Z:-0.32 [[ 9.96155385e-01 -7.16303270e-02 5.04335792e-02 4.17613179e+00] [ 7.15649606e-02 9.97431114e-01 3.10301304e-03 -1.09325674e-01] [-5.05262909e-02 5.18193954e-04 9.98722597e-01 -3.21145588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.283201008 meters 0.06161864801900402 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.11, Z:-0.33 [[ 9.96312553e-01 -7.16958169e-02 4.71275655e-02 4.20552602e+00] [ 7.16385706e-02 9.97426427e-01 2.90478316e-03 -1.08524129e-01] [-4.72145401e-02 4.82079506e-04 9.98884655e-01 -3.28161792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.313201008 meters 0.06181573990162797 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.11, Z:-0.33 [[ 9.96387119e-01 -7.16182311e-02 4.56457961e-02 4.23382237e+00] [ 7.15644545e-02 9.97432010e-01 2.81330541e-03 -1.08756018e-01] [-4.57300621e-02 4.63475223e-04 9.98953726e-01 -3.31973054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.343201008 meters 0.06195175811017534 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.11, Z:-0.34 [[ 9.96538718e-01 -7.08366286e-02 4.35057998e-02 4.26191348e+00] [ 7.07868837e-02 9.97487849e-01 2.68483578e-03 -1.08932993e-01] [-4.35866914e-02 4.04097179e-04 9.99049567e-01 -3.35376665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.373201008 meters 0.062041035816718514 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.11, Z:-0.34 [[ 9.96659407e-01 -6.99854054e-02 4.20959586e-02 4.29088204e+00] [ 6.99381583e-02 9.97547952e-01 2.59584177e-03 -1.07889960e-01] [-4.21744083e-02 3.56943697e-04 9.99110200e-01 -3.38926603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.403201008 meters 0.062010632393557495 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.11, Z:-0.34 [[ 9.96708089e-01 -6.91113626e-02 4.23863787e-02 4.31937518e+00] [ 6.90622414e-02 9.97608902e-01 2.62386057e-03 -1.06276271e-01] [-4.24663673e-02 3.12075260e-04 9.99097848e-01 -3.41937900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.433201008 meters 0.062091271979553005 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.10, Z:-0.35 [[ 9.96805682e-01 -6.76875862e-02 4.23889477e-02 4.34692129e+00] [ 6.76365171e-02 9.97706537e-01 2.63943081e-03 -1.04691017e-01] [-4.24703869e-02 2.36041152e-04 9.99097698e-01 -3.45759210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.463201008 meters 0.061845928986647335 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.10, Z:-0.35 [[ 9.96822162e-01 -6.71947774e-02 4.27836377e-02 4.37594885e+00] [ 6.71423692e-02 9.97739853e-01 2.66236548e-03 -1.02211636e-01] [-4.28658375e-02 2.18689893e-04 9.99080814e-01 -3.46081650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.493201008 meters 0.06177717960585336 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.10, Z:-0.35 [[ 9.96755258e-01 -6.69727394e-02 4.46498334e-02 4.40523908e+00] [ 6.69149214e-02 9.97754784e-01 2.78996327e-03 -1.00802300e-01] [-4.47364363e-02 2.06829525e-04 9.98998803e-01 -3.46480929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.523201008 meters 0.061615935079769174 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.10, Z:-0.35 [[ 9.96638419e-01 -6.69674910e-02 4.71933975e-02 4.43372552e+00] [ 6.69020696e-02 9.97755138e-01 2.96620498e-03 -1.01841675e-01] [-4.72860941e-02 2.01102125e-04 9.98881367e-01 -3.45605211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.553201008 meters 0.06173002203940554 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.10, Z:-0.35 [[ 9.96500271e-01 -6.80836268e-02 4.84956631e-02 4.46140441e+00] [ 6.80157205e-02 9.97679584e-01 3.05100476e-03 -1.02471183e-01] [-4.85908565e-02 2.58140395e-04 9.98818733e-01 -3.47195260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.583201008 meters 0.061592836139218086 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.10, Z:-0.35 [[ 9.96378360e-01 -6.96946266e-02 4.87116206e-02 4.48962120e+00] [ 6.96280928e-02 9.97568315e-01 3.06346448e-03 -1.02144015e-01] [-4.88066763e-02 3.39327523e-04 9.98808186e-01 -3.48023336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.613201008 meters 0.06131156761254529 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.10, Z:-0.35 [[ 9.96325925e-01 -7.05670270e-02 4.85277857e-02 4.51816443e+00] [ 7.05013781e-02 9.97506972e-01 3.06526805e-03 -1.00075645e-01] [-4.86231114e-02 3.67269745e-04 9.98817129e-01 -3.49283498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.643201008 meters 0.06141267385741041 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.10, Z:-0.35 [[ 9.96350481e-01 -7.09354221e-02 4.74750933e-02 4.54665430e+00] [ 7.08724815e-02 9.97480843e-01 3.00986403e-03 -9.79047423e-02] [-4.75690021e-02 3.65798196e-04 9.98867887e-01 -3.53855691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.673201008 meters 0.06198671270915965 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.10, Z:-0.36 [[ 9.96510959e-01 -6.90696828e-02 4.68539052e-02 4.57344931e+00] [ 6.90055827e-02 9.97611805e-01 2.98612466e-03 -9.70207164e-02] [-4.69482596e-02 2.57475086e-04 9.98897289e-01 -3.63112435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.703201008 meters 0.06198671270915965 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.10, Z:-0.37 [[ 9.96493762e-01 -6.93172936e-02 4.68539733e-02 4.60090680e+00] [ 6.92535163e-02 9.97594627e-01 2.98507434e-03 -9.51316660e-02] [-4.69481893e-02 2.70194444e-04 9.98897289e-01 -3.65246227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.733201008 meters 0.06134466257064912 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.09, Z:-0.36 [[ 9.96630614e-01 -6.76061381e-02 4.64416740e-02 4.62915022e+00] [ 6.75411172e-02 9.97712072e-01 2.96963751e-03 -9.20455342e-02] [-4.65361845e-02 1.77090888e-04 9.98916589e-01 -3.63303999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.763201008 meters 0.06140045315533111 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.09, Z:-0.37 [[ 9.96825334e-01 -6.55703423e-02 4.51639563e-02 4.65719421e+00] [ 6.55059650e-02 9.97847948e-01 2.90554688e-03 -9.00229643e-02] [-4.52572788e-02 6.21858027e-05 9.98975362e-01 -3.66978920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.793201008 meters 0.06143179521371479 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.09, Z:-0.37 [[ 9.96993928e-01 -6.33779439e-02 4.45684080e-02 4.68517518e+00] [ 6.33129007e-02 9.97989596e-01 2.87089062e-03 -8.69484386e-02] [-4.46607586e-02 -4.05053243e-05 9.99002210e-01 -3.70838693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.823201008 meters 0.06156862794284388 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.08, Z:-0.38 [[ 9.97460346e-01 -5.74234624e-02 4.21355555e-02 4.71257108e+00] [ 5.73598580e-02 9.98349868e-01 2.71795125e-03 -8.07540073e-02] [-4.22221005e-02 -2.94159116e-04 9.99108206e-01 -3.76210015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.853201008 meters 0.061794431582691337 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.08, Z:-0.38 [[ 9.97749894e-01 -5.32833711e-02 4.06943771e-02 4.74197148e+00] [ 5.32204484e-02 9.98579328e-01 2.62877150e-03 -7.65901117e-02] [-4.07766336e-02 -4.57083490e-04 9.99168183e-01 -3.80114556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.883201008 meters 0.062365663673244864 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.07, Z:-0.38 [[ 9.98141926e-01 -4.62573828e-02 3.96604400e-02 4.76982111e+00] [ 4.61920887e-02 9.98929291e-01 2.56160015e-03 -7.19836619e-02] [-3.97364682e-02 -7.24841947e-04 9.99209932e-01 -3.83794995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.913201008 meters 0.06234405652438832 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.07, Z:-0.38 [[ 9.98108109e-01 -4.40776795e-02 4.28644566e-02 4.79863586e+00] [ 4.39994508e-02 9.99027723e-01 2.76721474e-03 -7.00965520e-02] [-4.29447528e-02 -8.75966924e-04 9.99077065e-01 -3.84769651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.943201008 meters 0.062544749716993 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.07, Z:-0.39 [[ 9.98091340e-01 -4.18710337e-02 4.53926631e-02 4.82712507e+00] [ 4.17802519e-02 9.99122477e-01 2.94724516e-03 -6.79864534e-02] [-4.54762342e-02 -1.04510296e-03 9.98964874e-01 -3.85745019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.973201008 meters 0.06128449300998041 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.07, Z:-0.38 [[ 9.98041858e-01 -4.10402910e-02 4.72032159e-02 4.85897034e+00] [ 4.09409541e-02 9.99156852e-01 3.06975117e-03 -7.16948893e-02] [-4.72894000e-02 -1.13119547e-03 9.98880590e-01 -3.80736754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.003201008 meters 0.06121201238438423 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.07, Z:-0.38 [[ 9.97966520e-01 -4.12196206e-02 4.86185861e-02 4.89050300e+00] [ 4.11145323e-02 9.99149443e-01 3.15998819e-03 -7.23713673e-02] [-4.87074867e-02 -1.15463199e-03 9.98812419e-01 -3.82894773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.033201008 meters 0.06078577490803816 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.08, Z:-0.39 [[ 9.97778819e-01 -4.37916218e-02 5.01968300e-02 4.92218891e+00] [ 4.36829375e-02 9.99040124e-01 3.26071313e-03 -7.90585541e-02] [-5.02914392e-02 -1.06072551e-03 9.98734022e-01 -3.85570775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.063201008 meters 0.060742913710457445 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.08, Z:-0.39 [[ 9.97656300e-01 -4.53654593e-02 5.12238512e-02 4.95315137e+00] [ 4.52544461e-02 9.98969957e-01 3.32555367e-03 -8.15787037e-02] [-5.13219537e-02 -9.99652558e-04 9.98681660e-01 -3.88374561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.093201008 meters 0.06049470325880367 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.09, Z:-0.39 [[ 9.97532058e-01 -4.69283311e-02 5.22257093e-02 4.98430364e+00] [ 4.68151661e-02 9.98897821e-01 3.38872826e-03 -8.50022443e-02] [-5.23271746e-02 -9.35409820e-04 9.98629557e-01 -3.90746981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.123201008 meters 0.06009557207880143 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.09, Z:-0.39 [[ 9.97289299e-01 -5.29028942e-02 5.11403710e-02 5.01444176e+00] [ 5.28023906e-02 9.98599478e-01 3.31525442e-03 -9.45834556e-02] [-5.12441343e-02 -6.05933913e-04 9.98685972e-01 -3.94752347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.153201008 meters 0.05992789239034123 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.10, Z:-0.40 [[ 9.97084273e-01 -5.65795361e-02 5.12026219e-02 5.04329718e+00] [ 5.64838796e-02 9.98398010e-01 3.31444410e-03 -9.88662642e-02] [-5.13081255e-02 -4.12657361e-04 9.98682785e-01 -3.98591018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.183201008 meters 0.0597700891691174 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.10, Z:-0.40 [[ 9.96823492e-01 -6.09316863e-02 5.12860251e-02 5.07213547e+00] [ 6.08408481e-02 9.98141918e-01 3.33197299e-03 -1.03779441e-01] [-5.13937542e-02 -2.01103691e-04 9.98678448e-01 -4.01270844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2132010079999995 meters 0.06005216748018995 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.12, Z:-0.41 [[ 9.96410063e-01 -6.88544661e-02 4.92549404e-02 5.10043097e+00] [ 6.87795934e-02 9.97626698e-01 3.21540752e-03 -1.17461056e-01] [-4.93594387e-02 1.83870356e-04 9.98781063e-01 -4.07725520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.243201008 meters 0.0599920293792 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.12, Z:-0.41 [[ 9.96313180e-01 -7.15971728e-02 4.72640648e-02 5.12910491e+00] [ 7.15311419e-02 9.97433583e-01 3.08913568e-03 -1.22452831e-01] [-4.73639389e-02 3.03105930e-04 9.98877653e-01 -4.09546067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.273201008 meters 0.06035352073652824 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.13, Z:-0.41 [[ 9.96265853e-01 -7.37656425e-02 4.48662544e-02 5.15798127e+00] [ 7.37081572e-02 9.97275531e-01 2.93651011e-03 -1.26169985e-01] [-4.49606313e-02 3.81464191e-04 9.98988687e-01 -4.14288199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.303201008 meters 0.060898886853443336 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.13, Z:-0.42 [[ 9.96304502e-01 -7.50022655e-02 4.18568935e-02 5.18605813e+00] [ 7.49532344e-02 9.97183281e-01 2.74173207e-03 -1.29835834e-01] [-4.19446305e-02 4.05709538e-04 9.99119854e-01 -4.21033841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.333201008 meters 0.061331673278223274 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.13, Z:-0.43 [[ 9.96396208e-01 -7.52602052e-02 3.91215946e-02 5.21462054e+00] [ 7.52174538e-02 9.97163854e-01 2.56560582e-03 -1.33441526e-01] [-3.92037281e-02 3.86266822e-04 9.99231164e-01 -4.27298465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.363201008 meters 0.06080268693786159 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.13, Z:-0.43 [[ 9.96394040e-01 -7.53854036e-02 3.89352931e-02 5.24290121e+00] [ 7.53433512e-02 9.97154394e-01 2.54834033e-03 -1.32100996e-01] [-3.90166062e-02 3.94364343e-04 9.99238485e-01 -4.26797540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.393201008 meters 0.06083605103096236 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.13, Z:-0.43 [[ 9.96378305e-01 -7.50783555e-02 3.99188488e-02 5.27083678e+00] [ 7.50331703e-02 9.97177567e-01 2.63105857e-03 -1.31706108e-01] [-4.00037161e-02 3.73708106e-04 9.99199461e-01 -4.30616519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.423201008 meters 0.060922411868865475 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.14, Z:-0.43 [[ 9.96241383e-01 -7.55595700e-02 4.23539680e-02 5.29895762e+00] [ 7.55089665e-02 9.97141204e-01 2.79556945e-03 -1.36171778e-01] [-4.24441187e-02 4.13042378e-04 9.99098757e-01 -4.33161784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.453201008 meters 0.06027335834631294 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.14, Z:-0.43 [[ 9.96110960e-01 -7.61790715e-02 4.42685587e-02 5.32814108e+00] [ 7.61244482e-02 9.97094046e-01 2.92084296e-03 -1.37325512e-01] [-4.43624234e-02 4.60435920e-04 9.99015397e-01 -4.29260848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.483201008 meters 0.06010016916252681 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.14, Z:-0.43 [[ 9.95922928e-01 -7.73853795e-02 4.63575804e-02 5.35732653e+00] [ 7.73262369e-02 9.97001116e-01 3.07042646e-03 -1.38890153e-01] [-4.64561655e-02 5.26749139e-04 9.98920191e-01 -4.28897322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.513201008 meters 0.060176298310849495 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.14, Z:-0.43 [[ 9.95810112e-01 -7.77351725e-02 4.81608207e-02 5.38485187e+00] [ 7.76710112e-02 9.96973892e-01 3.20507766e-03 -1.39994378e-01] [-4.82642281e-02 5.49050900e-04 9.98834452e-01 -4.31228104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.543201008 meters 0.06044301776155122 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.14, Z:-0.44 [[ 9.95747924e-01 -7.82040023e-02 4.86847526e-02 5.41260081e+00] [ 7.81387022e-02 9.96937213e-01 3.24597660e-03 -1.42525777e-01] [-4.87894899e-02 5.71988916e-04 9.98808920e-01 -4.36152651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.573201008 meters 0.06006474669325023 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.14, Z:-0.44 [[ 9.95775826e-01 -7.83735671e-02 4.78339745e-02 5.44195283e+00] [ 7.83106054e-02 9.96923900e-01 3.19175698e-03 -1.40661917e-01] [-4.79369818e-02 5.67633054e-04 9.98850201e-01 -4.35672507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.603201008 meters 0.060162336734031395 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.14, Z:-0.44 [[ 9.95810071e-01 -7.79608401e-02 4.77955079e-02 5.46992552e+00] [ 7.78970242e-02 9.96956277e-01 3.19920764e-03 -1.39571167e-01] [-4.78994445e-02 5.37324652e-04 9.98852018e-01 -4.40106742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.633201008 meters 0.06010236231988987 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.14, Z:-0.44 [[ 9.95896306e-01 -7.71622009e-02 4.72920887e-02 5.49795102e+00] [ 7.70982502e-02 9.97018437e-01 3.17757767e-03 -1.37859501e-01] [-4.73962732e-02 4.81599417e-04 9.98876049e-01 -4.43056900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.663201008 meters 0.05994265481130248 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.14, Z:-0.44 [[ 9.96142869e-01 -7.47820929e-02 4.59023321e-02 5.52674480e+00] [ 7.47187607e-02 9.97199839e-01 3.09636702e-03 -1.38271635e-01] [-4.60053510e-02 3.45341449e-04 9.98941134e-01 -4.44699154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.693201008 meters 0.06037586867258159 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.14, Z:-0.45 [[ 9.96209051e-01 -7.36418256e-02 4.63077467e-02 5.55419142e+00] [ 7.35753998e-02 9.97284715e-01 3.13959990e-03 -1.38899958e-01] [-4.64132139e-02 2.79413140e-04 9.98922287e-01 -4.50263625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.723201008 meters 0.060317241696590494 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.14, Z:-0.45 [[ 9.96342715e-01 -7.20937375e-02 4.58659687e-02 5.58174244e+00] [ 7.20267532e-02 9.97397841e-01 3.11357795e-03 -1.38050430e-01] [-4.59710876e-02 2.01386096e-04 9.98942750e-01 -4.52894537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.753201008 meters 0.059998887266518024 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.14, Z:-0.45 [[ 9.96362005e-01 -7.09255536e-02 4.72474490e-02 5.61129927e+00] [ 7.08531652e-02 9.97481600e-01 3.20722011e-03 -1.35551275e-01] [-4.73559349e-02 1.52079052e-04 9.98878067e-01 -4.52061870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.783201008 meters 0.06008777705982785 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.13, Z:-0.45 [[ 9.96839012e-01 -6.33448052e-02 4.79522575e-02 5.63863971e+00] [ 6.32607714e-02 9.97991676e-01 3.26957261e-03 -1.29712315e-01] [-4.80630642e-02 -2.25740732e-04 9.98844278e-01 -4.54473376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.813201008 meters 0.06045531134152645 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.13, Z:-0.46 [[ 9.97064894e-01 -5.88576643e-02 4.89629769e-02 5.66647505e+00] [ 5.87646840e-02 9.98266283e-01 3.33759183e-03 -1.26223414e-01] [-4.90745318e-02 -4.50501784e-04 9.98795018e-01 -4.56208304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.843201008 meters 0.06079187038099657 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.12, Z:-0.46 [[ 9.97213084e-01 -5.48561266e-02 5.05655161e-02 5.69408318e+00] [ 5.47511071e-02 9.98494036e-01 3.46075575e-03 -1.23821950e-01] [-5.06792099e-02 -6.82592926e-04 9.98714750e-01 -4.57573855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.873201008 meters 0.06073516614611135 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.12, Z:-0.46 [[ 9.97339233e-01 -5.20361216e-02 5.10558253e-02 5.72314040e+00] [ 5.19246412e-02 9.98644843e-01 3.50836995e-03 -1.24053129e-01] [-5.11691987e-02 -8.47979585e-04 9.98689638e-01 -4.55959247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.903201008 meters 0.06122850174683077 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.12, Z:-0.46 [[ 9.97479741e-01 -4.76709508e-02 5.25513655e-02 5.75228806e+00] [ 4.75460909e-02 9.98862470e-01 3.62428654e-03 -1.23629655e-01] [-5.26643599e-02 -1.11654040e-03 9.98611646e-01 -4.58383355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.933201008 meters 0.061651476495881215 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.12, Z:-0.46 [[ 9.97576576e-01 -4.61359922e-02 5.20811366e-02 5.77960082e+00] [ 4.60104775e-02 9.98934445e-01 3.60700973e-03 -1.21353227e-01] [-5.21920543e-02 -1.20199045e-03 9.98636343e-01 -4.62575871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9632010079999995 meters 0.06220905428198341 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.12, Z:-0.47 [[ 9.97675854e-01 -4.48961298e-02 5.12564942e-02 5.80691891e+00] [ 4.47725441e-02 9.98990873e-01 3.55735999e-03 -1.19368601e-01] [-5.13644816e-02 -1.25420852e-03 9.98679186e-01 -4.67101219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.993201008 meters 0.06198124064336154 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.12, Z:-0.47 [[ 9.97726433e-01 -4.43519119e-02 5.07432013e-02 5.83641612e+00] [ 4.42300857e-02 9.99015163e-01 3.52179002e-03 -1.20651778e-01] [-5.08494257e-02 -1.26940685e-03 9.98705524e-01 -4.68811242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.023201008 meters 0.062157954248084415 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.12, Z:-0.47 [[ 9.97693056e-01 -4.44204650e-02 5.13360422e-02 5.86504146e+00] [ 4.42952176e-02 9.99012087e-01 3.57546918e-03 -1.22019776e-01] [-5.14441506e-02 -1.29327962e-03 9.98675036e-01 -4.70858111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.053201007999998 meters 0.061980229322452014 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.13, Z:-0.47 [[ 9.97626449e-01 -4.67473512e-02 5.05584160e-02 5.89504463e+00] [ 4.66282608e-02 9.98906063e-01 3.53306867e-03 -1.30942153e-01] [-5.06682699e-02 -1.16723175e-03 9.98714856e-01 -4.70741171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.083201008 meters 0.061745219194379225 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.13, Z:-0.47 [[ 9.97480471e-01 -4.82155574e-02 5.20381585e-02 5.92451125e+00] [ 4.80907071e-02 9.98836306e-01 3.64939977e-03 -1.33353181e-01] [-5.21535599e-02 -1.13765316e-03 9.98638429e-01 -4.70966208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.113201007999999 meters 0.06141111171665936 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.13, Z:-0.47 [[ 9.97301829e-01 -4.99985970e-02 5.37512923e-02 5.95400128e+00] [ 4.98672304e-02 9.98748690e-01 3.78322438e-03 -1.34779739e-01] [-5.38731887e-02 -1.09258852e-03 9.98547188e-01 -4.71796313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.143201007999998 meters 0.060924402490984624 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.14, Z:-0.47 [[ 9.97093891e-01 -5.28065134e-02 5.49112455e-02 5.98397186e+00] [ 5.26729913e-02 9.98604288e-01 3.87703597e-03 -1.39423375e-01] [-5.50393380e-02 -9.73429323e-04 9.98483712e-01 -4.72817126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.173201008 meters 0.06116879852426663 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.14, Z:-0.48 [[ 9.97034893e-01 -5.41596240e-02 5.46640480e-02 6.01141968e+00] [ 5.40285004e-02 9.98531876e-01 3.87477319e-03 -1.39244465e-01] [-5.47936507e-02 -9.09867527e-04 9.98497285e-01 -4.77927127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.203201007999999 meters 0.061022765070764595 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.14, Z:-0.48 [[ 9.96987093e-01 -5.57048009e-02 5.39788091e-02 6.03990304e+00] [ 5.55791884e-02 9.98446950e-01 3.82659586e-03 -1.40874422e-01] [-5.41081370e-02 -8.14968278e-04 9.98534749e-01 -4.80419211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.233201007999998 meters 0.060641521950522186 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.14, Z:-0.48 [[ 9.96846504e-01 -5.78476201e-02 5.43203416e-02 6.06886600e+00] [ 5.77227808e-02 9.98325166e-01 3.86563704e-03 -1.44413791e-01] [-5.44529820e-02 -7.17925603e-04 9.98516078e-01 -4.80504255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.263201008 meters 0.06040438843026015 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.15, Z:-0.48 [[ 9.96485840e-01 -6.33704634e-02 5.47736660e-02 6.09684669e+00] [ 6.32509368e-02 9.97989977e-01 3.91473389e-03 -1.50993358e-01] [-5.49116482e-02 -4.36491203e-04 9.98491122e-01 -4.84477214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.293201007999999 meters 0.0602504214221585 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.15, Z:-0.49 [[ 9.96290477e-01 -6.65808823e-02 5.45185372e-02 6.12535006e+00] [ 6.64671950e-02 9.97780997e-01 3.89786104e-03 -1.52985381e-01] [-5.46570835e-02 -2.59707590e-04 9.98505151e-01 -4.87511091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.323201008 meters 0.06003271012158958 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.15, Z:-0.49 [[ 9.96097470e-01 -6.93693252e-02 5.45685566e-02 6.15437571e+00] [ 6.92589305e-02 9.97591040e-01 3.91382587e-03 -1.54969982e-01] [-5.47086026e-02 -1.19192181e-04 9.98502356e-01 -4.87445058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.353201008 meters 0.059928404449972446 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.16, Z:-0.49 [[ 9.95895276e-01 -7.46143697e-02 5.12376429e-02 6.18372903e+00] [ 7.45231758e-02 9.97212452e-01 3.69064502e-03 -1.60425625e-01] [-5.13701907e-02 1.42895923e-04 9.98679670e-01 -4.90493059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.383201007999999 meters 0.06008824596039399 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.16, Z:-0.50 [[ 9.95758363e-01 -7.70584433e-02 5.02720470e-02 6.21120803e+00] [ 7.69737445e-02 9.97026543e-01 3.62156340e-03 -1.61562928e-01] [-5.04016373e-02 2.63425666e-04 9.98728995e-01 -4.95276701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.413201008 meters 0.060214527062314074 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.16, Z:-0.50 [[ 9.95622049e-01 -7.94310647e-02 4.92690724e-02 6.23917332e+00] [ 7.93522649e-02 9.96840293e-01 3.55641314e-03 -1.62842068e-01] [-4.93958862e-02 3.68769142e-04 9.98779210e-01 -4.99753310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.443201007999999 meters 0.06007297812531809 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.16, Z:-0.50 [[ 9.95550546e-01 -8.09814991e-02 4.81778734e-02 6.26769725e+00] [ 8.09077916e-02 9.96715511e-01 3.48127020e-03 -1.62226150e-01] [-4.83015522e-02 4.32184894e-04 9.98832705e-01 -5.00466450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.473201007999998 meters 0.06014372779225974 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.16, Z:-0.51 [[ 9.95658303e-01 -8.14180989e-02 4.51180398e-02 6.29738935e+00] [ 8.13536876e-02 9.96679947e-01 3.26503447e-03 -1.62261763e-01] [-4.52340785e-02 4.19660245e-04 9.98976327e-01 -5.05828671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.503201008 meters 0.06027575408449603 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.16, Z:-0.51 [[ 9.95676948e-01 -8.14003911e-02 4.47369095e-02 6.32498171e+00] [ 8.13370518e-02 9.96681395e-01 3.23732486e-03 -1.60441221e-01] [-4.48519649e-02 4.15438590e-04 9.98993558e-01 -5.08880365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.533201007999999 meters 0.0601979073978535 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.16, Z:-0.51 [[ 9.95676619e-01 -8.10600219e-02 4.53579506e-02 6.35392960e+00] [ 8.09945989e-02 9.96709139e-01 3.28137063e-03 -1.57362665e-01] [-4.54746718e-02 4.06565001e-04 9.98965409e-01 -5.10954712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.563201007999998 meters 0.0601979073978535 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.16, Z:-0.51 [[ 9.95655691e-01 -8.13170450e-02 4.53572851e-02 6.38142392e+00] [ 8.12514711e-02 9.96688201e-01 3.29053504e-03 -1.55241616e-01] [-4.54746475e-02 4.09106209e-04 9.98965409e-01 -5.13084697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.593201008 meters 0.060129207112679516 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.15, Z:-0.51 [[ 9.95845191e-01 -7.87914752e-02 4.56536881e-02 6.40955590e+00] [ 7.87217900e-02 9.96891079e-01 3.32509257e-03 -1.50605773e-01] [-4.57737434e-02 2.82662606e-04 9.98951793e-01 -5.14955984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.623201007999999 meters 0.059999466903958576 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.15, Z:-0.52 [[ 9.95970518e-01 -7.73764671e-02 4.53388213e-02 6.43625999e+00] [ 7.73057397e-02 9.97001926e-01 3.31391705e-03 -1.47630340e-01] [-4.54593114e-02 2.04387435e-04 9.98966170e-01 -5.17369476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.653201008 meters 0.059988234990231926 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.15, Z:-0.52 [[ 9.95984490e-01 -7.66213234e-02 4.63040928e-02 6.46551627e+00] [ 7.65462696e-02 9.97060252e-01 3.39448904e-03 -1.45435909e-01] [-4.64280607e-02 1.63547143e-04 9.98921623e-01 -5.18852010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.683201008 meters 0.059834227687983514 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.15, Z:-0.52 [[ 9.95797483e-01 -7.71324131e-02 4.93757407e-02 6.49349431e+00] [ 7.70473693e-02 9.97020839e-01 3.62621176e-03 -1.45211914e-01] [-4.95083408e-02 1.93298375e-04 9.98773691e-01 -5.18544662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.713201007999999 meters 0.059754777305520416 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.15, Z:-0.52 [[ 9.95550100e-01 -7.91596885e-02 5.11247629e-02 6.52273597e+00] [ 7.90710186e-02 9.96861903e-01 3.75781127e-03 -1.45216710e-01] [-5.12617956e-02 3.01397690e-04 9.98685204e-01 -5.19657415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.743201008 meters 0.059704775817647104 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.15, Z:-0.52 [[ 9.95166700e-01 -8.26699572e-02 5.29992143e-02 6.55074246e+00] [ 8.25788130e-02 9.96576863e-01 3.91103385e-03 -1.46763744e-01] [-5.31411157e-02 4.84481555e-04 9.98586895e-01 -5.19733159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.773201008 meters 0.05980741005906497 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.15, Z:-0.52 [[ 9.94694702e-01 -8.66507321e-02 5.54445634e-02 6.57983768e+00] [ 8.65570698e-02 9.96238486e-01 4.09301408e-03 -1.48612060e-01] [-5.55906706e-02 7.27819517e-04 9.98453378e-01 -5.20116547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.803201007999998 meters 0.060009073311684945 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.15, Z:-0.52 [[ 9.93775385e-01 -9.51370759e-02 5.79605132e-02 6.61041949e+00] [ 9.50481522e-02 9.95463409e-01 4.29540426e-03 -1.53723561e-01] [-5.81062223e-02 1.24037266e-03 9.98309636e-01 -5.16571146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.833201008 meters 0.061491623723229645 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.16, Z:-0.52 [[ 9.93365411e-01 -9.98086982e-02 5.71260399e-02 6.63950333e+00] [ 9.97299661e-02 9.95005529e-01 4.23463094e-03 -1.59925158e-01] [-5.72633785e-02 1.49064213e-03 9.98357994e-01 -5.20842137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.863201007999999 meters 0.06144278946362069 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.16, Z:-0.52 [[ 9.92863690e-01 -1.04814071e-01 5.68832474e-02 6.66882117e+00] [ 1.04743956e-01 9.94490265e-01 4.22096860e-03 -1.59347475e-01] [-5.70122527e-02 1.76732993e-03 9.98371914e-01 -5.21134432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.893201007999998 meters 0.061950798414189934 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.16, Z:-0.52 [[ 9.92408216e-01 -1.09155520e-01 5.66657373e-02 6.69912922e+00] [ 1.09092802e-01 9.94022661e-01 4.20832528e-03 -1.59625322e-01] [-5.67863889e-02 2.00544746e-03 9.98384337e-01 -5.23202303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.923201008 meters 0.06369626570457726 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.16, Z:-0.53 [[ 9.91753623e-01 -1.15050913e-01 5.64627244e-02 6.72820251e+00] [ 1.14998161e-01 9.93356854e-01 4.19338474e-03 -1.60537528e-01] [-5.65700870e-02 2.33430498e-03 9.98395902e-01 -5.27796880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.953201007999999 meters 0.06303269034300178 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.15, Z:-0.53 [[ 9.91569881e-01 -1.16835414e-01 5.60237224e-02 6.75672960e+00] [ 1.16786472e-01 9.93148343e-01 4.15804885e-03 -1.53875041e-01] [-5.61256744e-02 2.41981689e-03 9.98420780e-01 -5.28614879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.983201007999998 meters 0.06700039898597203 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.16, Z:-0.54 [[ 9.91585484e-01 -1.16956006e-01 5.54934358e-02 6.78494921e+00] [ 1.16907287e-01 9.93134226e-01 4.13461679e-03 -1.60404287e-01] [-5.55959987e-02 2.38776101e-03 9.98450491e-01 -5.36037629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.013201008 meters 0.062142764177041274 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.14, Z:-0.53 [[ 9.92077951e-01 -1.13333955e-01 5.41918314e-02 6.81378325e+00] [ 1.13281823e-01 9.93554671e-01 4.04270148e-03 -1.38477986e-01] [-5.43007226e-02 2.12827444e-03 9.98522359e-01 -5.31754405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.043201007999999 meters 0.062205127854997926 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.13, Z:-0.54 [[ 9.92372744e-01 -1.10442011e-01 5.47622032e-02 6.84231357e+00] [ 1.10384215e-01 9.93880582e-01 4.08829325e-03 -1.31543681e-01] [-5.48786097e-02 1.98777200e-03 9.98491055e-01 -5.35457067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.073201008 meters 0.06142998716754585 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.12, Z:-0.54 [[ 9.92542358e-01 -1.08226906e-01 5.60946079e-02 6.87098412e+00] [ 1.08162840e-01 9.94124378e-01 4.18589052e-03 -1.21470442e-01] [-5.62180431e-02 1.91267843e-03 9.98416683e-01 -5.37508382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.103201008 meters 0.0610969443148523 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.11, Z:-0.54 [[ 9.92821916e-01 -1.05562434e-01 5.62246946e-02 6.89871361e+00] [ 1.05492948e-01 9.94411136e-01 4.21076079e-03 -1.11532232e-01] [-5.63549606e-02 1.75077321e-03 9.98409261e-01 -5.40402874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.133201007999999 meters 0.0607167829391097 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.09, Z:-0.55 [[ 9.93267203e-01 -1.02387581e-01 5.41945197e-02 6.92671112e+00] [ 1.02318307e-01 9.94743430e-01 4.05861570e-03 -9.47576761e-02] [-5.43251942e-02 1.51380163e-03 9.98522149e-01 -5.45917418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.163201008 meters 0.06091240069006384 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.09, Z:-0.55 [[ 9.93497947e-01 -1.00529362e-01 5.34385390e-02 6.95375060e+00] [ 1.00458593e-01 9.94933137e-01 4.01558724e-03 -8.84911399e-02] [-5.35714576e-02 1.37888278e-03 9.98563066e-01 -5.50841132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.193201007999999 meters 0.06049979405480566 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.08, Z:-0.55 [[ 9.93767446e-01 -9.87597273e-02 5.16989274e-02 6.98168120e+00] [ 9.86909771e-02 9.95110537e-01 3.88721811e-03 -7.95755346e-02] [-5.18300480e-02 1.23922684e-03 9.98655151e-01 -5.52087555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.223201007999998 meters 0.06065258999671528 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.07, Z:-0.56 [[ 9.93950921e-01 -9.68941711e-02 5.17019031e-02 7.00872628e+00] [ 9.68219351e-02 9.95294056e-01 3.90587125e-03 -7.30994008e-02] [-5.18370530e-02 1.12363399e-03 9.98654924e-01 -5.57375899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.253201008 meters 0.06030693991962093 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.06, Z:-0.56 [[ 9.94669294e-01 -9.06529998e-02 4.91429407e-02 7.03541588e+00] [ 9.05799357e-02 9.95882254e-01 3.71636487e-03 -5.76106336e-02] [-4.92774822e-02 7.54810384e-04 9.98784842e-01 -5.61176593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.283201007999999 meters 0.0599128997310003 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.05, Z:-0.56 [[ 9.94946670e-01 -8.80860787e-02 4.81867882e-02 7.06382164e+00] [ 8.80128549e-02 9.96112676e-01 3.64337951e-03 -4.79524159e-02] [-4.83204016e-02 6.16088484e-04 9.98831697e-01 -5.62043880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.313201007999998 meters 0.059820651060914797 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.04, Z:-0.56 [[ 9.95195032e-01 -8.56216501e-02 4.74950746e-02 7.09088353e+00] [ 8.55472420e-02 9.96327608e-01 3.60087093e-03 -4.06982266e-02] [-4.76289666e-02 4.79503780e-04 9.98864982e-01 -5.64449696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.343201008 meters 0.05980562168150993 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.03, Z:-0.57 [[ 9.95544275e-01 -8.15854782e-02 4.72800826e-02 7.11857834e+00] [ 8.15063493e-02 9.96666312e-01 3.60232712e-03 -3.33947711e-02] [-4.74163632e-02 2.67350790e-04 9.98875176e-01 -5.65279490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.373201007999999 meters 0.05949784584501341 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.03, Z:-0.56 [[ 9.95626482e-01 -8.04069910e-02 4.75670474e-02 7.14716598e+00] [ 8.03255852e-02 9.96762093e-01 3.62353561e-03 -2.95729521e-02] [-4.77043873e-02 2.13162903e-04 9.98861475e-01 -5.63686787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.403201007999998 meters 0.05944350566606732 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.03, Z:-0.57 [[ 9.95656259e-01 -7.94648583e-02 4.85175182e-02 7.17510230e+00] [ 7.93782606e-02 9.96837656e-01 3.71208312e-03 -2.62308733e-02] [-4.86590693e-02 1.55277413e-04 9.98815434e-01 -5.66034815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.433201008 meters 0.059522224530532415 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.02, Z:-0.57 [[ 9.95655039e-01 -7.93854069e-02 4.86723792e-02 7.20292299e+00] [ 7.92982138e-02 9.96843987e-01 3.72283618e-03 -2.23620965e-02] [-4.88143074e-02 1.52972124e-04 9.98807859e-01 -5.69114237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.463201007999999 meters 0.05953655262690479 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.02, Z:-0.57 [[ 9.95564201e-01 -8.03341906e-02 4.89728352e-02 7.23038848e+00] [ 8.02461652e-02 9.96767969e-01 3.76410043e-03 -1.87822352e-02] [-4.91169394e-02 1.82478582e-04 9.98793018e-01 -5.73080744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.493201008 meters 0.0597040734583313 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.02, Z:-0.58 [[ 9.95226519e-01 -8.37773606e-02 5.00552569e-02 7.25829985e+00] [ 8.36895327e-02 9.96484434e-01 3.85161162e-03 -1.69044957e-02] [-5.02019622e-02 3.55875034e-04 9.98739023e-01 -5.78242466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.523201008 meters 0.05957502370835891 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.02, Z:-0.58 [[ 9.94993264e-01 -8.57838315e-02 5.12790243e-02 7.28695720e+00] [ 8.56942999e-02 9.96313663e-01 3.94610036e-03 -1.65160085e-02] [-5.14285041e-02 4.67976803e-04 9.98676569e-01 -5.77799544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.553201007999998 meters 0.059853860383088486 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.02, Z:-0.58 [[ 9.94849813e-01 -8.75222066e-02 5.11244791e-02 7.31483400e+00] [ 8.74346947e-02 9.96162422e-01 3.95003763e-03 -1.74454483e-02] [-5.12740009e-02 5.40359025e-04 9.98684477e-01 -5.81883206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.583201008 meters 0.0601124586717572 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.02, Z:-0.58 [[ 9.94675834e-01 -8.94155815e-02 5.12331902e-02 7.34284736e+00] [ 8.93299818e-02 9.95994202e-01 3.96279517e-03 -1.72315341e-02] [-5.13822960e-02 6.34963355e-04 9.98678856e-01 -5.83963125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.613201007999999 meters 0.06050586558302144 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.02, Z:-0.59 [[ 9.94294196e-01 -9.34491032e-02 5.14423554e-02 7.37055289e+00] [ 9.33679828e-02 9.95623701e-01 3.98307268e-03 -1.77748508e-02] [-5.15894429e-02 8.42722907e-04 9.98668023e-01 -5.85099259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.643201007999998 meters 0.06085478290512199 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.02, Z:-0.59 [[ 9.94035784e-01 -9.60920671e-02 5.15671864e-02 7.39953361e+00] [ 9.60140787e-02 9.95371966e-01 3.99323168e-03 -1.72815712e-02] [-5.17122496e-02 9.81760714e-04 9.98661544e-01 -5.87362564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.673201008 meters 0.06080037903143449 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.02, Z:-0.59 [[ 9.93760973e-01 -9.91315892e-02 5.11082845e-02 7.42890513e+00] [ 9.90584455e-02 9.95073704e-01 3.96844607e-03 -1.55097318e-02] [-5.12499084e-02 1.11902039e-03 9.98685233e-01 -5.87263546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.703201007999999 meters 0.06046495965947472 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.01, Z:-0.59 [[ 9.93276459e-01 -1.03842761e-01 5.11718278e-02 7.45854858e+00] [ 1.03774828e-01 9.94592814e-01 3.98989704e-03 -1.21917829e-02] [-5.13094542e-02 1.34727683e-03 9.98681894e-01 -5.86185357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.733201007999998 meters 0.0627053705763643 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.02, Z:-0.59 [[ 9.92528042e-01 -1.10859111e-01 5.09739568e-02 7.48768945e+00] [ 1.10800824e-01 9.93834676e-01 3.97661689e-03 -1.66370515e-02] [-5.11005300e-02 1.70105263e-03 9.98692066e-01 -5.92918766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.763201008 meters 0.06347884392976944 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.02, Z:-0.60 [[ 9.92235722e-01 -1.14061898e-01 4.95797920e-02 7.51788507e+00] [ 1.14010696e-01 9.93471989e-01 3.86882367e-03 -1.66049490e-02] [-4.96974200e-02 1.81384152e-03 9.98762673e-01 -5.95834219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.793201007999999 meters 0.06443321990496521 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.02, Z:-0.60 [[ 9.91864583e-01 -1.17717165e-01 4.84491375e-02 7.54835797e+00] [ 1.17672584e-01 9.93045248e-01 3.78134686e-03 -1.80265729e-02] [-4.85573152e-02 1.95055116e-03 9.98818493e-01 -5.98518775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.823201008 meters 0.06689244019029263 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.02, Z:-0.60 [[ 9.91379366e-01 -1.23680559e-01 4.32443297e-02 7.57837456e+00] [ 1.23650666e-01 9.92320068e-01 3.37574090e-03 -2.46139496e-02] [-4.33297298e-02 2.00055030e-03 9.99058823e-01 -6.03224319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.853201008 meters 0.06763225653616832 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.02, Z:-0.61 [[ 9.91254383e-01 -1.25390176e-01 4.11345539e-02 7.60832235e+00] [ 1.25364574e-01 9.92105544e-01 3.21153623e-03 -2.33205515e-02] [-4.12125140e-02 1.97336645e-03 9.99148455e-01 -6.08049717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.883201007999999 meters 0.06870723492998858 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.02, Z:-0.61 [[ 9.90937079e-01 -1.27962599e-01 4.08567999e-02 7.63681472e+00] [ 1.27939542e-01 9.91776841e-01 3.18935574e-03 -2.12609444e-02] [-4.09289461e-02 2.06674938e-03 9.99159922e-01 -6.12968257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.913201008 meters 0.06989866818337032 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.02, Z:-0.62 [[ 9.90462978e-01 -1.31325684e-01 4.16731794e-02 7.66675932e+00] [ 1.31304532e-01 9.91336732e-01 3.25622257e-03 -2.00531807e-02] [-4.17397791e-02 2.24670940e-03 9.99125990e-01 -6.15595322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.943201007999999 meters 0.07085819631881651 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.02, Z:-0.62 [[ 9.90253941e-01 -1.32783038e-01 4.20213925e-02 7.69421174e+00] [ 1.32762989e-01 9.91142387e-01 3.27987677e-03 -2.09918449e-02] [-4.20846953e-02 2.33097476e-03 9.99111328e-01 -6.17312434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.973201007999998 meters 0.07171826816289978 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.02, Z:-0.62 [[ 9.89902317e-01 -1.35004138e-01 4.32120952e-02 7.72355490e+00] [ 1.34984647e-01 9.90841918e-01 3.38202029e-03 -2.11095163e-02] [-4.32729420e-02 2.48509971e-03 9.99060197e-01 -6.17323965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.003201008 meters 0.06742343418145028 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.01, Z:-0.61 [[ 9.89257796e-01 -1.38886387e-01 4.56024517e-02 7.75392060e+00] [ 1.38868633e-01 9.90304367e-01 3.57256732e-03 -1.00486268e-02] [-4.56564880e-02 2.79856005e-03 9.98953279e-01 -6.09530519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.033201007999999 meters 0.06656014977239595 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.00, Z:-0.61 [[ 9.88998645e-01 -1.40350371e-01 4.67274350e-02 7.78197749e+00] [ 1.40333509e-01 9.90097535e-01 3.65749818e-03 -4.21021082e-03] [-4.67780495e-02 2.94016419e-03 9.98900981e-01 -6.09248764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.063201007999998 meters 0.06866217118859196 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.00, Z:-0.61 [[ 9.88941904e-01 -1.40683241e-01 4.69269236e-02 7.80929658e+00] [ 1.40666264e-01 9.90050229e-01 3.68044805e-03 -3.91697294e-03] [-4.69777888e-02 2.96128569e-03 9.98891545e-01 -6.13211153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.093201008 meters 0.07013737771337983 Centerline is valid? [True, True] Translation: X:7.84, Y:0.00, Z:-0.62 [[ 9.88749842e-01 -1.41931213e-01 4.72152540e-02 7.83646798e+00] [ 1.41915307e-01 9.89871866e-01 3.70594668e-03 3.60319209e-03] [-4.72630411e-02 3.03631308e-03 9.98877863e-01 -6.16024128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.123201007999999 meters 0.07021359672378051 Centerline is valid? [True, True] Translation: X:7.86, Y:0.01, Z:-0.62 [[ 9.88840052e-01 -1.41482645e-01 4.66691822e-02 7.86429605e+00] [ 1.41466490e-01 9.89936259e-01 3.66556785e-03 1.37868646e-02] [-4.67181299e-02 2.97746508e-03 9.98903675e-01 -6.18742661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.153201007999998 meters 0.06903382866865344 Centerline is valid? [True, True] Translation: X:7.89, Y:0.02, Z:-0.62 [[ 9.88913410e-01 -1.41276939e-01 4.57284840e-02 7.89138961e+00] [ 1.41260803e-01 9.89965869e-01 3.60047871e-03 2.31932919e-02] [-4.57783030e-02 2.89908071e-03 9.98947417e-01 -6.18611995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.183201008 meters 0.06853181400575219 Centerline is valid? [True, True] Translation: X:7.92, Y:0.03, Z:-0.62 [[ 9.89149239e-01 -1.39905188e-01 4.48366154e-02 7.91996026e+00] [ 1.39887699e-01 9.90161037e-01 3.54298694e-03 3.23403399e-02] [-4.48911518e-02 2.76754812e-03 9.98988051e-01 -6.20404887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.213201007999999 meters 0.06853181400575219 Centerline is valid? [True, True] Translation: X:7.95, Y:0.03, Z:-0.62 [[ 9.89112243e-01 -1.40166727e-01 4.48359276e-02 7.94747800e+00] [ 1.40149113e-01 9.90124039e-01 3.55166338e-03 3.46291437e-02] [-4.48909547e-02 2.77072175e-03 9.98988051e-01 -6.22538980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.243201008 meters 0.06864616126209433 Centerline is valid? [True, True] Translation: X:7.98, Y:0.05, Z:-0.63 [[ 9.89581379e-01 -1.37050693e-01 4.41112441e-02 7.97610076e+00] [ 1.37029690e-01 9.90560708e-01 3.51390017e-03 5.14244728e-02] [-4.41764476e-02 2.56725991e-03 9.99020446e-01 -6.26417945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.273201008 meters 0.0691953474693608 Centerline is valid? [True, True] Translation: X:8.00, Y:0.06, Z:-0.63 [[ 9.89625012e-01 -1.36504463e-01 4.48203981e-02 8.00344748e+00] [ 1.36482338e-01 9.90636080e-01 3.56780738e-03 5.92445814e-02] [-4.48877251e-02 2.58640133e-03 9.98988690e-01 -6.29197459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.303201007999998 meters 0.06932314056662962 Centerline is valid? [True, True] Translation: X:8.03, Y:0.07, Z:-0.63 [[ 9.89618206e-01 -1.36644800e-01 4.45421805e-02 8.03080107e+00] [ 1.36623060e-01 9.90616759e-01 3.54634906e-03 6.73125346e-02] [-4.46088206e-02 2.57595740e-03 9.99001210e-01 -6.30561163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.333201008 meters 0.06607402973484605 Centerline is valid? [True, True] Translation: X:8.06, Y:0.08, Z:-0.63 [[ 9.89543746e-01 -1.37213159e-01 4.44491087e-02 8.05891110e+00] [ 1.37191540e-01 9.90538173e-01 3.55106199e-03 8.14255071e-02] [-4.45157913e-02 2.58411047e-03 9.99005339e-01 -6.28666551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.363201007999999 meters 0.06984273460364548 Centerline is valid? [True, True] Translation: X:8.09, Y:0.08, Z:-0.63 [[ 9.89478437e-01 -1.37891731e-01 4.37983307e-02 8.08672681e+00] [ 1.37870713e-01 9.90443998e-01 3.51474734e-03 7.92712550e-02] [-4.38644483e-02 2.56074037e-03 9.99034210e-01 -6.34187861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.393201007999998 meters 0.0681620271197454 Centerline is valid? [True, True] Translation: X:8.12, Y:0.09, Z:-0.63 [[ 9.89209964e-01 -1.40573083e-01 4.12656761e-02 8.11575725e+00] [ 1.40556503e-01 9.90067101e-01 3.31731480e-03 9.18725765e-02] [-4.13221135e-02 2.51863828e-03 9.99142702e-01 -6.34305106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.423201008 meters 0.06873035117153325 Centerline is valid? [True, True] Translation: X:8.15, Y:0.10, Z:-0.64 [[ 9.89082245e-01 -1.42107563e-01 3.90096512e-02 8.14511018e+00] [ 1.42093919e-01 9.89848212e-01 3.13626939e-03 9.69658000e-02] [-3.90593211e-02 2.44100584e-03 9.99233912e-01 -6.38052471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.453201007999999 meters 0.0747686873908301 Centerline is valid? [True, True] Translation: X:8.17, Y:0.09, Z:-0.65 [[ 9.88958550e-01 -1.43588270e-01 3.66523538e-02 8.17407045e+00] [ 1.43577209e-01 9.89634729e-01 2.94742445e-03 9.15480757e-02] [-3.66956579e-02 2.34756206e-03 9.99323730e-01 -6.48604761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.483201007999998 meters 0.0747686873908301 Centerline is valid? [True, True] Translation: X:8.20, Y:0.09, Z:-0.65 [[ 9.88922497e-01 -1.43836177e-01 3.66530882e-02 8.20158005e+00] [ 1.43825623e-01 9.89598685e-01 2.93831147e-03 9.38880684e-02] [-3.66944834e-02 2.36589091e-03 9.99323730e-01 -6.50747561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.513201008 meters 0.06990267053026353 Centerline is valid? [True, True] Translation: X:8.23, Y:0.11, Z:-0.65 [[ 9.88694855e-01 -1.45929615e-01 3.44533110e-02 8.23101279e+00] [ 1.45920942e-01 9.89292349e-01 2.77962491e-03 1.12519468e-01] [-3.44900266e-02 2.27925876e-03 9.99402443e-01 -6.46356316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.543201007999999 meters 0.07037569448585529 Centerline is valid? [True, True] Translation: X:8.26, Y:0.12, Z:-0.65 [[ 9.88641155e-01 -1.46128475e-01 3.51444994e-02 8.25836613e+00] [ 1.46119656e-01 9.89262867e-01 2.83313193e-03 1.17814887e-01] [-3.51811495e-02 2.33435133e-03 9.99378225e-01 -6.47260854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.573201007999998 meters 0.07056037602636309 Centerline is valid? [True, True] Translation: X:8.29, Y:0.12, Z:-0.65 [[ 9.88650844e-01 -1.45642447e-01 3.68481494e-02 8.28770563e+00] [ 1.45632490e-01 9.89334304e-01 2.96852754e-03 1.22985174e-01] [-3.68874818e-02 2.43145050e-03 9.99316467e-01 -6.47761418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.603201008 meters 0.07021561330262308 Centerline is valid? [True, True] Translation: X:8.32, Y:0.13, Z:-0.65 [[ 9.88910544e-01 -1.43104141e-01 3.97132343e-02 8.31766360e+00] [ 1.43089842e-01 9.89704475e-01 3.21695863e-03 1.31275194e-01] [-3.97647258e-02 2.50127610e-03 9.99205940e-01 -6.45267191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.633201007999999 meters 0.07015131375177433 Centerline is valid? [True, True] Translation: X:8.35, Y:0.14, Z:-0.65 [[ 9.89157631e-01 -1.41681328e-01 3.86468943e-02 8.34637013e+00] [ 1.41667004e-01 9.89909444e-01 3.12279977e-03 1.36709596e-01] [-3.86993681e-02 2.38604849e-03 9.99248050e-01 -6.47776694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.663201008 meters 0.0703385829899922 Centerline is valid? [True, True] Translation: X:8.37, Y:0.14, Z:-0.65 [[ 9.89442041e-01 -1.39699201e-01 3.85821238e-02 8.37449249e+00] [ 1.39682800e-01 9.90191343e-01 3.13370349e-03 1.42009029e-01] [-3.86414608e-02 2.28864110e-03 9.99250519e-01 -6.51303580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.693201007999999 meters 0.0701056692778735 Centerline is valid? [True, True] Translation: X:8.40, Y:0.15, Z:-0.65 [[ 9.89703703e-01 -1.38125858e-01 3.75210334e-02 8.40335349e+00] [ 1.38109399e-01 9.90412306e-01 3.04272776e-03 1.49209282e-01] [-3.75815726e-02 2.17060842e-03 9.99291206e-01 -6.54554981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.723201007999998 meters 0.06987353887814327 Centerline is valid? [True, True] Translation: X:8.43, Y:0.16, Z:-0.66 [[ 9.89995485e-01 -1.36122577e-01 3.71427365e-02 8.43164970e+00] [ 1.36104748e-01 9.90689849e-01 3.01993064e-03 1.59823931e-01] [-3.72080128e-02 2.06558511e-03 9.99305407e-01 -6.57612565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.753201008 meters 0.07069419921502051 Centerline is valid? [True, True] Translation: X:8.46, Y:0.16, Z:-0.66 [[ 9.90006774e-01 -1.35598425e-01 3.87253649e-02 8.45918904e+00] [ 1.35578100e-01 9.90761614e-01 3.16270399e-03 1.62027992e-01] [-3.87964628e-02 2.11921304e-03 9.99244887e-01 -6.59233442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.783201007999999 meters 0.07098804660412819 Centerline is valid? [True, True] Translation: X:8.49, Y:0.17, Z:-0.66 [[ 9.90025135e-01 -1.35653105e-01 3.80587240e-02 8.48808395e+00] [ 1.35633613e-01 9.90754197e-01 3.10564479e-03 1.65261160e-01] [-3.81281309e-02 2.08737584e-03 9.99270678e-01 -6.60966965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.813201007999998 meters 0.07162120744104508 Centerline is valid? [True, True] Translation: X:8.52, Y:0.17, Z:-0.66 [[ 9.90026180e-01 -1.36057572e-01 3.65581591e-02 8.51741026e+00] [ 1.36039294e-01 9.90698904e-01 2.99865176e-03 1.68814960e-01] [-3.66261175e-02 2.00460240e-03 9.99327028e-01 -6.63895040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.843201008 meters 0.07235646018972826 Centerline is valid? [True, True] Translation: X:8.54, Y:0.18, Z:-0.67 [[ 9.90153894e-01 -1.35564969e-01 3.48913267e-02 8.54418187e+00] [ 1.35548107e-01 9.90766640e-01 2.85925307e-03 1.76858619e-01] [-3.49567771e-02 1.89835271e-03 9.99387022e-01 -6.67861239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.873201007999999 meters 0.06838072890513136 Centerline is valid? [True, True] Translation: X:8.57, Y:0.19, Z:-0.66 [[ 9.90197949e-01 -1.34849375e-01 3.63822456e-02 8.57239741e+00] [ 1.34830311e-01 9.90864197e-01 2.98828056e-03 1.90755206e-01] [-3.64528324e-02 1.94644022e-03 9.99333479e-01 -6.64314691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.903201007999998 meters 0.06698333031648825 Centerline is valid? [True, True] Translation: X:8.60, Y:0.20, Z:-0.66 [[ 9.90393969e-01 -1.33265890e-01 3.68780166e-02 8.60035399e+00] [ 1.33245116e-01 9.91078478e-01 3.03150583e-03 2.00659604e-01] [-3.69530049e-02 1.91143051e-03 9.99315176e-01 -6.64504624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.933201008 meters 0.0664544386999065 Centerline is valid? [True, True] Translation: X:8.63, Y:0.21, Z:-0.67 [[ 9.91134006e-01 -1.27680367e-01 3.67574043e-02 8.62866543e+00] [ 1.27655740e-01 9.91813922e-01 3.02579804e-03 2.10317694e-01] [-3.68428403e-02 1.69332233e-03 9.99319637e-01 -6.65717550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.963201007999999 meters 0.06652568286460081 Centerline is valid? [True, True] Translation: X:8.66, Y:0.21, Z:-0.67 [[ 9.91574502e-01 -1.24109681e-01 3.71051713e-02 8.65685006e+00] [ 1.24082088e-01 9.92267255e-01 3.05448669e-03 2.14755277e-01] [-3.71973378e-02 1.57533602e-03 9.99306698e-01 -6.67618186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.993201008 meters 0.0650018107087063 Centerline is valid? [True, True] Translation: X:8.69, Y:0.22, Z:-0.67 [[ 9.91951128e-01 -1.20918079e-01 3.75736344e-02 8.68645464e+00] [ 1.20887375e-01 9.92661400e-01 3.09635123e-03 2.23801569e-01] [-3.76723013e-02 1.47074893e-03 9.99289065e-01 -6.67087881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.023201008 meters 0.0664170553920463 Centerline is valid? [True, True] Translation: X:8.71, Y:0.23, Z:-0.67 [[ 9.92334555e-01 -1.17697375e-01 3.76757042e-02 8.71429482e+00] [ 1.17664212e-01 9.93048588e-01 3.10407142e-03 2.27064390e-01] [-3.77791459e-02 1.35280472e-03 9.99285198e-01 -6.74247281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.053201007999998 meters 0.06293498128078626 Centerline is valid? [True, True] Translation: X:8.74, Y:0.25, Z:-0.67 [[ 9.93110414e-01 -1.10414155e-01 3.92481836e-02 8.74367582e+00] [ 1.10372335e-01 9.93885037e-01 3.23738256e-03 2.45507047e-01] [-3.93656353e-02 1.11683534e-03 9.99224249e-01 -6.71840543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.083201008 meters 0.0625756692184412 Centerline is valid? [True, True] Translation: X:8.77, Y:0.25, Z:-0.68 [[ 9.93431003e-01 -1.06801198e-01 4.10894831e-02 8.77149590e+00] [ 1.06752318e-01 9.94279871e-01 3.38818601e-03 2.52924017e-01] [-4.12163083e-02 1.02046853e-03 9.99149726e-01 -6.76035705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.113201007999999 meters 0.06211275964962795 Centerline is valid? [True, True] Translation: X:8.80, Y:0.26, Z:-0.68 [[ 9.93796556e-01 -1.03176559e-01 4.15090646e-02 8.79981664e+00] [ 1.03123451e-01 9.94662670e-01 3.42435789e-03 2.59591909e-01] [-4.16408305e-02 8.77442902e-04 9.99132259e-01 -6.79736063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.143201007999998 meters 0.0621224009667233 Centerline is valid? [True, True] Translation: X:8.83, Y:0.26, Z:-0.68 [[ 9.93998583e-01 -1.01054803e-01 4.18896612e-02 8.82758599e+00] [ 1.00998962e-01 9.94880540e-01 3.45269503e-03 2.64096411e-01] [-4.20241202e-02 7.98838341e-04 9.99116277e-01 -6.84087440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.173201008 meters 0.061392687270962934 Centerline is valid? [True, True] Translation: X:8.86, Y:0.27, Z:-0.68 [[ 9.94257676e-01 -9.90953663e-02 4.03953348e-02 8.85612758e+00] [ 9.90414760e-02 9.95077707e-01 3.33806417e-03 2.68235948e-01] [-4.05272839e-02 6.81917666e-04 9.99178199e-01 -6.82765303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.203201007999999 meters 0.06205954309496093 Centerline is valid? [True, True] Translation: X:8.88, Y:0.27, Z:-0.69 [[ 9.94247355e-01 -9.96547699e-02 3.92571391e-02 8.88426989e+00] [ 9.96037035e-02 9.95021848e-01 3.25939615e-03 2.67542541e-01] [-3.93865254e-02 6.69510439e-04 9.99223825e-01 -6.86809245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.233201007999998 meters 0.06159092741772098 Centerline is valid? [True, True] Translation: X:8.91, Y:0.27, Z:-0.69 [[ 9.94120670e-01 -1.01283027e-01 3.82863161e-02 8.91337662e+00] [ 1.01235780e-01 9.94857393e-01 3.17569826e-03 2.69358476e-01] [-3.84110689e-02 7.18917813e-04 9.99261764e-01 -6.85895814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.263201008 meters 0.06285626336902081 Centerline is valid? [True, True] Translation: X:8.94, Y:0.27, Z:-0.69 [[ 9.94021575e-01 -1.02234234e-01 3.83310558e-02 8.94149534e+00] [ 1.02187036e-01 9.94760077e-01 3.19365713e-03 2.66640186e-01] [-3.84567051e-02 7.42372876e-04 9.99259992e-01 -6.93689383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.293201007999999 meters 0.06339040750436041 Centerline is valid? [True, True] Translation: X:8.97, Y:0.27, Z:-0.70 [[ 9.93762627e-01 -1.04582584e-01 3.87081827e-02 8.96912257e+00] [ 1.04535950e-01 9.94515856e-01 3.23231597e-03 2.65264921e-01] [-3.88339454e-02 8.34241858e-04 9.99245330e-01 -6.96270407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.323201007999998 meters 0.0639127979115041 Centerline is valid? [True, True] Translation: X:9.00, Y:0.26, Z:-0.70 [[ 9.93685440e-01 -1.05719706e-01 3.75844371e-02 8.99688951e+00] [ 1.05676443e-01 9.94395606e-01 3.14141991e-03 2.62772671e-01] [-3.77059091e-02 8.50206394e-04 9.99288518e-01 -7.00001855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.353201008 meters 0.0643039439617728 Centerline is valid? [True, True] Translation: X:9.02, Y:0.26, Z:-0.70 [[ 9.93656764e-01 -1.05954579e-01 3.76810748e-02 9.02394153e+00] [ 1.05911192e-01 9.94370599e-01 3.15134430e-03 2.63041419e-01] [-3.78028523e-02 8.59492989e-04 9.99284847e-01 -7.04308497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.383201007999999 meters 0.06255690001203588 Centerline is valid? [True, True] Translation: X:9.05, Y:0.27, Z:-0.70 [[ 9.93634649e-01 -1.06240260e-01 3.74592033e-02 9.05274201e+00] [ 1.06197624e-01 9.94340111e-01 3.13174318e-03 2.68380127e-01] [-3.75799056e-02 8.66269855e-04 9.99293250e-01 -7.00449193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.413201008 meters 0.06268141956076424 Centerline is valid? [True, True] Translation: X:9.08, Y:0.27, Z:-0.71 [[ 9.93936651e-01 -1.03913213e-01 3.59440875e-02 9.08058035e+00] [ 1.03871913e-01 9.94586099e-01 3.01957724e-03 2.68734665e-01] [-3.60632638e-02 7.32312647e-04 9.99349241e-01 -7.06015719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.443201007999999 meters 0.06306927458627304 Centerline is valid? [True, True] Translation: X:9.11, Y:0.27, Z:-0.71 [[ 9.94200877e-01 -1.02192019e-01 3.34874114e-02 9.10829757e+00] [ 1.02155112e-01 9.94764497e-01 2.81568085e-03 2.69052941e-01] [-3.35998281e-02 6.21557899e-04 9.99435173e-01 -7.10550463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.473201007999998 meters 0.06321109324290336 Centerline is valid? [True, True] Translation: X:9.14, Y:0.27, Z:-0.71 [[ 9.94333286e-01 -1.01433768e-01 3.18199329e-02 9.13699613e+00] [ 1.01400201e-01 9.94842131e-01 2.67099255e-03 2.68602903e-01] [-3.19267387e-02 5.70690782e-04 9.99490049e-01 -7.13018326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.503201008 meters 0.06288524593762472 Centerline is valid? [True, True] Translation: X:9.17, Y:0.27, Z:-0.71 [[ 9.94483010e-01 -9.97709190e-02 3.23929990e-02 9.16637474e+00] [ 9.97348252e-02 9.95010301e-01 2.73216332e-03 2.69321447e-01] [-3.25039582e-02 5.13620089e-04 9.99471475e-01 -7.13987476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.533201007999999 meters 0.06224320496693693 Centerline is valid? [True, True] Translation: X:9.20, Y:0.27, Z:-0.71 [[ 9.94897199e-01 -9.56632496e-02 3.20641028e-02 9.19516983e+00] [ 9.56258012e-02 9.95413683e-01 2.70289425e-03 2.70322124e-01] [-3.21756143e-02 3.77053609e-04 9.99482160e-01 -7.13898591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.563201007999998 meters 0.06198717913781781 Centerline is valid? [True, True] Translation: X:9.22, Y:0.27, Z:-0.72 [[ 9.95057427e-01 -9.34822401e-02 3.34931070e-02 9.22440100e+00] [ 9.34398134e-02 9.95620899e-01 2.83316862e-03 2.73073489e-01] [-3.36112882e-02 3.10424192e-04 9.99434933e-01 -7.15886854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.593201008 meters 0.06202010451634558 Centerline is valid? [True, True] Translation: X:9.25, Y:0.28, Z:-0.72 [[ 9.95235165e-01 -9.08326200e-02 3.54457512e-02 9.25219655e+00] [ 9.07828641e-02 9.95866149e-01 3.01397941e-03 2.75784598e-01] [-3.55729915e-02 2.18248524e-04 9.99367057e-01 -7.19829556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.623201007999999 meters 0.0615495978207915 Centerline is valid? [True, True] Translation: X:9.28, Y:0.28, Z:-0.72 [[ 9.95389697e-01 -8.83400478e-02 3.73548922e-02 9.28162815e+00] [ 8.82831509e-02 9.96090366e-01 3.17312536e-03 2.78695657e-01] [-3.74891622e-02 1.39311296e-04 9.99297025e-01 -7.19957595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.653201007999998 meters 0.06135593669213865 Centerline is valid? [True, True] Translation: X:9.31, Y:0.28, Z:-0.72 [[ 9.95751560e-01 -8.29346872e-02 4.00083437e-02 9.30954091e+00] [ 8.28644437e-02 9.96554981e-01 3.41370164e-03 2.77687467e-01] [-4.01536285e-02 -8.39295844e-05 9.99193514e-01 -7.20231715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.683201008 meters 0.061206099361611324 Centerline is valid? [True, True] Translation: X:9.34, Y:0.28, Z:-0.72 [[ 9.95855695e-01 -8.13877302e-02 4.05890672e-02 9.33902907e+00] [ 8.13142337e-02 9.96682505e-01 3.46113062e-03 2.75885643e-01] [-4.07361068e-02 -1.46317736e-04 9.99169930e-01 -7.20389813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.713201007999999 meters 0.06105094650033142 Centerline is valid? [True, True] Translation: X:9.37, Y:0.27, Z:-0.72 [[ 9.95909433e-01 -8.02881370e-02 4.14513626e-02 9.36853508e+00] [ 8.02101006e-02 9.96771675e-01 3.54499769e-03 2.73400648e-01] [-4.16021654e-02 -2.05678681e-04 9.99134234e-01 -7.21533620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.743201008 meters 0.060801010953587316 Centerline is valid? [True, True] Translation: X:9.40, Y:0.27, Z:-0.73 [[ 9.95836459e-01 -7.96621940e-02 4.43134503e-02 9.39666525e+00] [ 7.95716295e-02 9.96821882e-01 3.80671078e-03 2.67705769e-01] [-4.44758679e-02 -2.64767929e-04 9.99010424e-01 -7.25518989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.773201008 meters 0.06046803992155168 Centerline is valid? [True, True] Translation: X:9.43, Y:0.27, Z:-0.73 [[ 9.95811091e-01 -7.96913696e-02 4.48280894e-02 9.42546299e+00] [ 7.95987769e-02 9.96819550e-01 3.84960410e-03 2.65333935e-01] [-4.49922961e-02 -2.65217371e-04 9.98987299e-01 -7.26246784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.803201007999998 meters 0.06057603783771029 Centerline is valid? [True, True] Translation: X:9.45, Y:0.26, Z:-0.73 [[ 9.95785087e-01 -8.03206665e-02 4.42792372e-02 9.45342423e+00] [ 8.02302444e-02 9.96769045e-01 3.81833812e-03 2.62309972e-01] [-4.44428644e-02 -2.49710142e-04 9.99011897e-01 -7.31326279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.833201008 meters 0.06051990934981826 Centerline is valid? [True, True] Translation: X:9.48, Y:0.26, Z:-0.73 [[ 9.95740965e-01 -8.10955026e-02 4.38571493e-02 9.48246835e+00] [ 8.10076118e-02 9.96706313e-01 3.78049717e-03 2.57650780e-01] [-4.40192789e-02 -2.11632973e-04 9.99030659e-01 -7.34817965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.863201007999999 meters 0.06036403554096831 Centerline is valid? [True, True] Translation: X:9.51, Y:0.24, Z:-0.74 [[ 9.95598512e-01 -8.30063708e-02 4.35148856e-02 9.51198582e+00] [ 8.29209837e-02 9.96549006e-01 3.76672033e-03 2.42616425e-01] [-4.36773778e-02 -1.41844035e-04 9.99045678e-01 -7.38139428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.893201007999998 meters 0.06027620954833771 Centerline is valid? [True, True] Translation: X:9.54, Y:0.24, Z:-0.74 [[ 9.95506689e-01 -8.40982058e-02 4.35192293e-02 9.54067202e+00] [ 8.40139512e-02 9.96457467e-01 3.76465021e-03 2.37238217e-01] [-4.36816613e-02 -9.15120599e-05 9.99045497e-01 -7.41325385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.923201008 meters 0.06002451043930801 Centerline is valid? [True, True] Translation: X:9.57, Y:0.23, Z:-0.74 [[ 9.95434019e-01 -8.53412621e-02 4.27549055e-02 9.56989065e+00] [ 8.52605675e-02 9.96351779e-01 3.71065766e-03 2.33327800e-01] [-4.29155984e-02 -4.84073587e-05 9.99078700e-01 -7.42727911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.953201007999999 meters 0.060408249565191086 Centerline is valid? [True, True] Translation: X:9.60, Y:0.23, Z:-0.75 [[ 9.95490315e-01 -8.54711214e-02 4.11548266e-02 9.59795217e+00] [ 8.53958473e-02 9.96340647e-01 3.58678279e-03 2.27267205e-01] [-4.13107929e-02 -5.61562445e-05 9.99146343e-01 -7.52514711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.983201007999998 meters 0.0604410527810925 Centerline is valid? [True, True] Translation: X:9.63, Y:0.22, Z:-0.76 [[ 9.95486135e-01 -8.58543017e-02 4.04523709e-02 9.62656804e+00] [ 8.57817544e-02 9.96307702e-01 3.52896260e-03 2.24630424e-01] [-4.06059853e-02 -4.29579969e-05 9.99175236e-01 -7.55215129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.013201008 meters 0.060804619857361755 Centerline is valid? [True, True] Translation: X:9.65, Y:0.22, Z:-0.76 [[ 9.95574998e-01 -8.51290706e-02 3.97927684e-02 9.65470308e+00] [ 8.50581588e-02 9.96369929e-01 3.47474355e-03 2.21068555e-01] [-3.99441195e-02 -7.46681865e-05 9.99201912e-01 -7.61018713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.043201007999999 meters 0.060641993194331986 Centerline is valid? [True, True] Translation: X:9.68, Y:0.22, Z:-0.76 [[ 9.95526357e-01 -8.58926940e-02 3.93664496e-02 9.68401562e+00] [ 8.58239883e-02 9.96304393e-01 3.43505636e-03 2.16675091e-01] [-3.95160130e-02 -4.11034348e-05 9.99218936e-01 -7.60843433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.073201007999998 meters 0.06069599354011311 Centerline is valid? [True, True] Translation: X:9.71, Y:0.21, Z:-0.76 [[ 9.95515894e-01 -8.60423306e-02 3.93042364e-02 9.71129903e+00] [ 8.59734140e-02 9.96291481e-01 3.44341673e-03 2.09261706e-01] [-3.94547555e-02 -4.88566955e-05 9.99221357e-01 -7.63312632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.103201008 meters 0.06057375858806122 Centerline is valid? [True, True] Translation: X:9.74, Y:0.21, Z:-0.77 [[ 9.95402017e-01 -8.64668640e-02 4.12105007e-02 9.74031785e+00] [ 8.63911663e-02 9.96254726e-01 3.61754094e-03 2.08999701e-01] [-4.13689535e-02 -4.06843350e-05 9.99143938e-01 -7.65963911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.133201007999999 meters 0.060677121464568926 Centerline is valid? [True, True] Translation: X:9.77, Y:0.21, Z:-0.77 [[ 9.95396805e-01 -8.57624457e-02 4.27785461e-02 9.76793090e+00] [ 8.56801188e-02 9.96315611e-01 3.75765591e-03 2.09041812e-01] [-4.29431991e-02 -7.50877759e-05 9.99077513e-01 -7.69255579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.163201008 meters 0.0604025392585791 Centerline is valid? [True, True] Translation: X:9.80, Y:0.21, Z:-0.77 [[ 9.95398308e-01 -8.51717517e-02 4.39087794e-02 9.79698226e+00] [ 8.50845058e-02 9.96366279e-01 3.85545307e-03 2.08253178e-01] [-4.40776028e-02 -1.01754668e-04 9.99028105e-01 -7.65948847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.193201007999999 meters 0.06039082088017972 Centerline is valid? [True, True] Translation: X:9.83, Y:0.20, Z:-0.77 [[ 9.95285452e-01 -8.45649946e-02 4.74934910e-02 9.82694105e+00] [ 8.44613154e-02 9.96417953e-01 4.18921281e-03 2.02306137e-01] [-4.76776279e-02 -1.58099841e-04 9.98862763e-01 -7.66870251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.223201007999998 meters 0.06035698429922319 Centerline is valid? [True, True] Translation: X:9.86, Y:0.20, Z:-0.77 [[ 9.95265430e-01 -8.43239857e-02 4.83341513e-02 9.85632253e+00] [ 8.42165140e-02 9.96438376e-01 4.25931567e-03 2.02064379e-01] [-4.85211657e-02 -1.68615911e-04 9.98822140e-01 -7.69015090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.253201008 meters 0.06045411184612316 Centerline is valid? [True, True] Translation: X:9.88, Y:0.20, Z:-0.77 [[ 9.95237433e-01 -8.42578802e-02 4.90210263e-02 9.88435872e+00] [ 8.41464645e-02 9.96443964e-01 4.33578821e-03 2.02303096e-01] [-4.92120301e-02 -1.90192675e-04 9.98788336e-01 -7.72893939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.283201007999999 meters 0.060889970724239253 Centerline is valid? [True, True] Translation: X:9.91, Y:0.20, Z:-0.78 [[ 9.95301738e-01 -8.47108397e-02 4.68884293e-02 9.91202515e+00] [ 8.46092444e-02 9.96405563e-01 4.15078920e-03 1.97171715e-01] [-4.70715086e-02 -1.64093139e-04 9.98891509e-01 -7.79422647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.313201007999998 meters 0.061122435047630645 Centerline is valid? [True, True] Translation: X:9.94, Y:0.19, Z:-0.78 [[ 9.95278201e-01 -8.58147776e-02 4.53555526e-02 9.94051700e+00] [ 8.57207043e-02 9.96311102e-01 4.01863038e-03 1.93792142e-01] [-4.55330985e-02 -1.11745297e-04 9.98962824e-01 -7.82458025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.343201008 meters 0.06115856538055833 Centerline is valid? [True, True] Translation: X:9.97, Y:0.19, Z:-0.78 [[ 9.95161425e-01 -8.66962869e-02 4.62330086e-02 9.97012133e+00] [ 8.65995208e-02 9.96234786e-01 4.09565166e-03 1.90784987e-01] [-4.64140092e-02 -7.20781569e-05 9.98922287e-01 -7.83145563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.373201007999999 meters 0.06115856538055833 Centerline is valid? [True, True] Translation: X:10.00, Y:0.19, Z:-0.79 [[ 9.95138730e-01 -8.69568571e-02 4.62321574e-02 9.99756584e+00] [ 8.68599269e-02 9.96212076e-01 4.10523063e-03 1.93342254e-01] [-4.64140114e-02 -6.95521801e-05 9.98922287e-01 -7.85275253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.403201007999998 meters 0.06116813213382993 Centerline is valid? [True, True] Translation: X:10.03, Y:0.19, Z:-0.79 [[ 9.95034310e-01 -8.84527579e-02 4.56380443e-02 1.00273503e+01] [ 8.83592893e-02 9.96080373e-01 4.06528334e-03 1.90197067e-01] [-4.58187457e-02 -1.25512437e-05 9.98949770e-01 -7.86206408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.433201008 meters 0.061387719448972616 Centerline is valid? [True, True] Translation: X:10.06, Y:0.18, Z:-0.79 [[ 9.94740764e-01 -9.15166757e-02 4.59946894e-02 1.00553140e+01] [ 9.14243002e-02 9.95803537e-01 4.11245811e-03 1.83479458e-01] [-4.61780329e-02 1.14202571e-04 9.98933219e-01 -7.89360234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.463201007999999 meters 0.06135230920198499 Centerline is valid? [True, True] Translation: X:10.08, Y:0.18, Z:-0.79 [[ 9.94485342e-01 -9.35017320e-02 4.75008398e-02 1.00843223e+01] [ 9.34054829e-02 9.95619094e-01 4.24678865e-03 1.81246080e-01] [-4.76898251e-02 2.13469814e-04 9.98862170e-01 -7.89644173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.493201008 meters 0.06170463980049107 Centerline is valid? [True, True] Translation: X:10.11, Y:0.18, Z:-0.79 [[ 9.94290162e-01 -9.52249604e-02 4.81589085e-02 1.01124470e+01] [ 9.51272822e-02 9.95455738e-01 4.32136767e-03 1.77894821e-01] [-4.83515639e-02 2.84532719e-04 9.98830339e-01 -7.94632919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.523201008 meters 0.06145780422595945 Centerline is valid? [True, True] Translation: X:10.14, Y:0.17, Z:-0.79 [[ 9.94140612e-01 -9.68865027e-02 4.79317232e-02 1.01424681e+01] [ 9.67917113e-02 9.95295370e-01 4.30020851e-03 1.72140538e-01] [-4.81228543e-02 3.64381595e-04 9.98841358e-01 -7.90363048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.553201007999998 meters 0.061808949859624505 Centerline is valid? [True, True] Translation: X:10.17, Y:0.17, Z:-0.80 [[ 9.94226355e-01 -9.70400401e-02 4.57950334e-02 1.01698541e+01] [ 9.69530040e-02 9.95280420e-01 4.12315618e-03 1.70843238e-01] [-4.59790114e-02 3.40615522e-04 9.98942348e-01 -7.95185372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.583201008 meters 0.06214172944633715 Centerline is valid? [True, True] Translation: X:10.20, Y:0.17, Z:-0.80 [[ 9.94164024e-01 -9.81404051e-02 4.47923529e-02 1.01970163e+01] [ 9.80580517e-02 9.95172507e-01 4.03742301e-03 1.70546568e-01] [-4.49723524e-02 3.78390145e-04 9.98988160e-01 -8.01532165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.613201007999999 meters 0.061956336766541484 Centerline is valid? [True, True] Translation: X:10.22, Y:0.17, Z:-0.80 [[ 9.94151133e-01 -9.83653023e-02 4.45846618e-02 1.02248289e+01] [ 9.82839908e-02 9.95150299e-01 4.01750591e-03 1.73794126e-01] [-4.47636227e-02 3.87950438e-04 9.98997531e-01 -8.02705716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.643201007999998 meters 0.062235583637394405 Centerline is valid? [True, True] Translation: X:10.25, Y:0.18, Z:-0.81 [[ 9.94377166e-01 -9.65226367e-02 4.35595265e-02 1.02525967e+01] [ 9.64424821e-02 9.95330750e-01 3.94279653e-03 1.76218835e-01] [-4.37367053e-02 2.80362017e-04 9.99043053e-01 -8.08211736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.673201008 meters 0.062114944790115284 Centerline is valid? [True, True] Translation: X:10.28, Y:0.18, Z:-0.81 [[ 9.94439797e-01 -9.51257264e-02 4.51728552e-02 1.02820440e+01] [ 9.50379458e-02 9.95465241e-01 4.09180864e-03 1.78229231e-01] [-4.53572434e-02 2.24078003e-04 9.98970806e-01 -8.07148866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.703201007999999 meters 0.06204950937624756 Centerline is valid? [True, True] Translation: X:10.31, Y:0.18, Z:-0.81 [[ 9.94340659e-01 -9.50873819e-02 4.73818841e-02 1.03103065e+01] [ 9.49904214e-02 9.95468904e-01 4.29897684e-03 1.78451352e-01] [-4.75759707e-02 2.26177668e-04 9.98867597e-01 -8.07281456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.733201007999998 meters 0.0617184195637782 Centerline is valid? [True, True] Translation: X:10.34, Y:0.18, Z:-0.80 [[ 9.94069440e-01 -9.68519647e-02 4.94534704e-02 1.03402803e+01] [ 9.67484923e-02 9.95298745e-01 4.48743743e-03 1.78262163e-01] [-4.96555941e-02 3.23724288e-04 9.98766348e-01 -8.03766966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.763201008 meters 0.06179769769385343 Centerline is valid? [True, True] Translation: X:10.37, Y:0.18, Z:-0.80 [[ 9.93650066e-01 -1.00089121e-01 5.13976049e-02 1.03688160e+01] [ 9.99808710e-02 9.94978356e-01 4.67940367e-03 1.75841726e-01] [-5.16078618e-02 4.89087537e-04 9.98667307e-01 -8.03788945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.793201007999999 meters 0.062157745061593654 Centerline is valid? [True, True] Translation: X:10.40, Y:0.17, Z:-0.81 [[ 9.92710853e-01 -1.08443163e-01 5.25855804e-02 1.03989614e+01] [ 1.08341240e-01 9.94102208e-01 4.79338475e-03 1.70574786e-01] [-5.27952513e-02 9.38741908e-04 9.98604917e-01 -8.05559507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.823201007999998 meters 0.06264424899115914 Centerline is valid? [True, True] Translation: X:10.43, Y:0.17, Z:-0.81 [[ 9.92296312e-01 -1.11920102e-01 5.31217535e-02 1.04263666e+01] [ 1.11821031e-01 9.93716561e-01 4.84287977e-03 1.70588422e-01] [-5.33299818e-02 1.13455752e-03 9.98576299e-01 -8.10451392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.853201008 meters 0.06266638304621377 Centerline is valid? [True, True] Translation: X:10.45, Y:0.17, Z:-0.81 [[ 9.91997600e-01 -1.14436633e-01 5.33387129e-02 1.04549529e+01] [ 1.14340335e-01 9.93429733e-01 4.86355100e-03 1.73321465e-01] [-5.35448317e-02 1.27413539e-03 9.98564634e-01 -8.13523540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.883201007999999 meters 0.06295749300389149 Centerline is valid? [True, True] Translation: X:10.48, Y:0.18, Z:-0.82 [[ 9.91917524e-01 -1.15604179e-01 5.23000969e-02 1.04823968e+01] [ 1.15512392e-01 9.93294516e-01 4.78451948e-03 1.75408027e-01] [-5.25025099e-02 1.29546059e-03 9.98619952e-01 -8.18017358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.913201008 meters 0.06331416488786475 Centerline is valid? [True, True] Translation: X:10.51, Y:0.18, Z:-0.82 [[ 9.92199268e-01 -1.14475121e-01 4.93564592e-02 1.05101858e+01] [ 1.14391851e-01 9.93425434e-01 4.51785696e-03 1.79075173e-01] [-4.95491441e-02 1.16336237e-03 9.98771009e-01 -8.21498889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.943201007999999 meters 0.062399903021291066 Centerline is valid? [True, True] Translation: X:10.54, Y:0.19, Z:-0.82 [[ 9.92541298e-01 -1.11883975e-01 4.84122672e-02 1.05388676e+01] [ 1.11800664e-01 9.93720762e-01 4.43383670e-03 1.87235687e-01] [-4.86043503e-02 1.01175761e-03 9.98817598e-01 -8.19298030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.973201007999998 meters 0.06253238465892964 Centerline is valid? [True, True] Translation: X:10.57, Y:0.19, Z:-0.82 [[ 9.92898816e-01 -1.08775837e-01 4.81638608e-02 1.05665963e+01] [ 1.08688949e-01 9.94065950e-01 4.42711938e-03 1.92196851e-01] [-4.83596177e-02 8.39197825e-04 9.98829637e-01 -8.22737137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.003201008 meters 0.06185379620749231 Centerline is valid? [True, True] Translation: X:10.59, Y:0.20, Z:-0.82 [[ 9.93610447e-01 -1.02579693e-01 4.70710856e-02 1.05946998e+01] [ 1.02489779e-01 9.94724650e-01 4.32610133e-03 2.03848639e-01] [-4.72665393e-02 5.25845684e-04 9.98882174e-01 -8.23239117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.033201007999999 meters 0.061855305202888504 Centerline is valid? [True, True] Translation: X:10.62, Y:0.21, Z:-0.83 [[ 9.93728696e-01 -1.01461737e-01 4.69978085e-02 1.06228098e+01] [ 1.01370334e-01 9.94839336e-01 4.33035719e-03 2.10322560e-01] [-4.71946342e-02 4.60983322e-04 9.98885606e-01 -8.27852340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.063201007999998 meters 0.062033169196564486 Centerline is valid? [True, True] Translation: X:10.65, Y:0.22, Z:-0.83 [[ 9.93838713e-01 -1.00781683e-01 4.61266161e-02 1.06495965e+01] [ 1.00692208e-01 9.94908482e-01 4.26515245e-03 2.16133416e-01] [-4.63216108e-02 4.05717205e-04 9.98926496e-01 -8.33523664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.093201008 meters 0.06195735184658804 Centerline is valid? [True, True] Translation: X:10.68, Y:0.22, Z:-0.84 [[ 9.93811116e-01 -1.00872110e-01 4.65218459e-02 1.06782045e+01] [ 1.00781221e-01 9.94899314e-01 4.30111074e-03 2.20890916e-01] [-4.67184147e-02 4.14036770e-04 9.98908013e-01 -8.37221094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.123201007999999 meters 0.062057194807213605 Centerline is valid? [True, True] Translation: X:10.71, Y:0.23, Z:-0.84 [[ 9.93696257e-01 -1.02173959e-01 4.61327597e-02 1.07063366e+01] [ 1.02085504e-01 9.94766440e-01 4.27553482e-03 2.25216987e-01] [-4.63281694e-02 4.60903065e-04 9.98926168e-01 -8.40355942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.153201007999998 meters 0.06225244186150329 Centerline is valid? [True, True] Translation: X:10.73, Y:0.23, Z:-0.84 [[ 9.93709412e-01 -1.02490811e-01 4.51357649e-02 1.07334071e+01] [ 1.02405819e-01 9.94733849e-01 4.19739669e-03 2.28510937e-01] [-4.53282678e-02 4.51172379e-04 9.98972044e-01 -8.43893721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.183201008 meters 0.06231535612363387 Centerline is valid? [True, True] Translation: X:10.76, Y:0.23, Z:-0.85 [[ 9.93686825e-01 -1.02897575e-01 4.47055063e-02 1.07620747e+01] [ 1.02814600e-01 9.94691848e-01 4.15756276e-03 2.31914909e-01] [-4.48960058e-02 4.65063405e-04 9.98991558e-01 -8.46559162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.213201007999999 meters 0.06233684015448484 Centerline is valid? [True, True] Translation: X:10.79, Y:0.23, Z:-0.85 [[ 9.93474160e-01 -1.04282184e-01 4.61987005e-02 1.07911075e+01] [ 1.04194560e-01 9.94547606e-01 4.30734808e-03 2.34073088e-01] [-4.63959867e-02 5.34414245e-04 9.98922983e-01 -8.45574287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.243201007999998 meters 0.06210557291722799 Centerline is valid? [True, True] Translation: X:10.82, Y:0.24, Z:-0.85 [[ 9.93403750e-01 -1.04560632e-01 4.70750915e-02 1.08200871e+01] [ 1.04469442e-01 9.94518363e-01 4.40006659e-03 2.36727564e-01] [-4.72771167e-02 5.46865887e-04 9.98881662e-01 -8.45050049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.273201008 meters 0.062244491031522964 Centerline is valid? [True, True] Translation: X:10.85, Y:0.24, Z:-0.85 [[ 9.93332511e-01 -1.04824343e-01 4.79831263e-02 1.08482243e+01] [ 1.04729198e-01 9.94490597e-01 4.49962635e-03 2.38229246e-01] [-4.81904383e-02 5.55609197e-04 9.98838011e-01 -8.47610016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.303201007999998 meters 0.062122487628105065 Centerline is valid? [True, True] Translation: X:10.88, Y:0.24, Z:-0.85 [[ 9.93302906e-01 -1.04895477e-01 4.84383692e-02 1.08767544e+01] [ 1.04798460e-01 9.94483094e-01 4.54523746e-03 2.40804340e-01] [-4.86479141e-02 5.61468898e-04 9.98815831e-01 -8.48194886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.333201008 meters 0.06236722702974551 Centerline is valid? [True, True] Translation: X:10.90, Y:0.24, Z:-0.85 [[ 9.93653268e-01 -1.02549269e-01 4.62258670e-02 1.09041851e+01] [ 1.02457763e-01 9.94727841e-01 4.35084035e-03 2.43605381e-01] [-4.64283324e-02 4.12972215e-04 9.98921538e-01 -8.54778223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.363201007999999 meters 0.06249783370229955 Centerline is valid? [True, True] Translation: X:10.93, Y:0.25, Z:-0.86 [[ 9.93871589e-01 -1.01128265e-01 4.46356098e-02 1.09325612e+01] [ 1.01041442e-01 9.94873340e-01 4.20283965e-03 2.46851905e-01] [-4.48318041e-02 3.32963470e-04 9.98994494e-01 -8.60005254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.393201007999998 meters 0.06255776539514163 Centerline is valid? [True, True] Translation: X:10.96, Y:0.25, Z:-0.86 [[ 9.94130214e-01 -9.90243257e-02 4.35809581e-02 1.09608536e+01] [ 9.89391163e-02 9.95084988e-01 4.11315086e-03 2.50371426e-01] [-4.37740591e-02 2.22853935e-04 9.99041432e-01 -8.64683124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.423201008 meters 0.06257807215883936 Centerline is valid? [True, True] Translation: X:10.99, Y:0.25, Z:-0.87 [[ 9.94416530e-01 -9.63987166e-02 4.29307956e-02 1.09896722e+01] [ 9.63131824e-02 9.95342794e-01 4.06112674e-03 2.54967856e-01] [-4.31223455e-02 9.63499960e-05 9.99069794e-01 -8.67763726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.453201007999999 meters 0.06297135241613307 Centerline is valid? [True, True] Translation: X:11.02, Y:0.26, Z:-0.87 [[ 9.94700150e-01 -9.33578735e-02 4.30803710e-02 1.10168442e+01] [ 9.32682242e-02 9.95632615e-01 4.09065936e-03 2.56321931e-01] [-4.32741177e-02 -5.09497847e-05 9.99063235e-01 -8.73469235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.483201007999998 meters 0.06270472054427269 Centerline is valid? [True, True] Translation: X:11.05, Y:0.26, Z:-0.87 [[ 9.94631070e-01 -9.33396291e-02 4.46849813e-02 1.10462711e+01] [ 9.32431869e-02 9.95634326e-01 4.24231674e-03 2.55836050e-01] [-4.48858775e-02 -5.29699761e-05 9.98992120e-01 -8.71917104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.513201008 meters 0.06262068879861048 Centerline is valid? [True, True] Translation: X:11.08, Y:0.25, Z:-0.87 [[ 9.94526511e-01 -9.34680714e-02 4.66983795e-02 1.10762940e+01] [ 9.33623190e-02 9.95622276e-01 4.44539040e-03 2.53739367e-01] [-4.69094490e-02 -6.11896002e-05 9.98899144e-01 -8.69516805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.543201007999999 meters 0.06219733076734616 Centerline is valid? [True, True] Translation: X:11.10, Y:0.25, Z:-0.87 [[ 9.94267327e-01 -9.44683128e-02 5.00821312e-02 1.11049767e+01] [ 9.43471628e-02 9.95527868e-01 4.78287757e-03 2.47418652e-01] [-5.03099877e-02 -3.03519100e-05 9.98733650e-01 -8.67469965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.573201007999998 meters 0.06240382755009879 Centerline is valid? [True, True] Translation: X:11.13, Y:0.25, Z:-0.87 [[ 9.94264021e-01 -9.50805181e-02 4.89770621e-02 1.11330483e+01] [ 9.49652113e-02 9.95469585e-01 4.68119492e-03 2.47387034e-01] [-4.92002661e-02 -3.22663958e-06 9.98788934e-01 -8.72694700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.603201008 meters 0.06243426820530651 Centerline is valid? [True, True] Translation: X:11.16, Y:0.25, Z:-0.88 [[ 9.94229064e-01 -9.55404694e-02 4.87912552e-02 1.11613693e+01] [ 9.54266476e-02 9.95425546e-01 4.66225752e-03 2.48240808e-01] [-4.90134962e-02 2.06339892e-05 9.98798116e-01 -8.76762909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.633201007999999 meters 0.06255174474351935 Centerline is valid? [True, True] Translation: X:11.19, Y:0.25, Z:-0.88 [[ 9.94222296e-01 -9.64664924e-02 4.70769898e-02 1.11904903e+01] [ 9.63609877e-02 9.95336231e-01 4.51075102e-03 2.48712344e-01] [-4.72925699e-02 5.16960088e-05 9.98881079e-01 -8.81487914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.663201008 meters 0.063195282982019 Centerline is valid? [True, True] Translation: X:11.22, Y:0.24, Z:-0.89 [[ 9.94255016e-01 -9.70919461e-02 4.50568297e-02 1.12179688e+01] [ 9.69953074e-02 9.95275414e-01 4.33132925e-03 2.41964092e-01] [-4.52644921e-02 6.38552228e-05 9.98975036e-01 -8.91824723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.693201007999999 meters 0.06278297688902071 Centerline is valid? [True, True] Translation: X:11.25, Y:0.24, Z:-0.89 [[ 9.94267491e-01 -9.68826669e-02 4.52316801e-02 1.12470149e+01] [ 9.67850915e-02 9.95295808e-01 4.34744481e-03 2.38892641e-01] [-4.54400936e-02 5.52292506e-05 9.98967064e-01 -8.87513024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.723201007999998 meters 0.06265037541447946 Centerline is valid? [True, True] Translation: X:11.28, Y:0.24, Z:-0.89 [[ 9.94193716e-01 -9.74067250e-02 4.57251083e-02 1.12766615e+01] [ 9.73069486e-02 9.95244656e-01 4.40820599e-03 2.36064872e-01] [-4.59370586e-02 6.67600664e-05 9.98944334e-01 -8.87072720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.753201008 meters 0.06263763406953288 Centerline is valid? [True, True] Translation: X:11.31, Y:0.23, Z:-0.89 [[ 9.94300773e-01 -9.67170586e-02 4.48529171e-02 1.13051626e+01] [ 9.66196783e-02 9.95311916e-01 4.33907321e-03 2.34201362e-01] [-4.50623052e-02 1.93305743e-05 9.98984178e-01 -8.89428243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.783201007999999 meters 0.06260796612644008 Centerline is valid? [True, True] Translation: X:11.33, Y:0.23, Z:-0.89 [[ 9.94442421e-01 -9.54560545e-02 4.44118476e-02 1.13342394e+01] [ 9.53593772e-02 9.95433644e-01 4.29521068e-03 2.31075824e-01] [-4.46190511e-02 -3.62535828e-05 9.99004074e-01 -8.92860013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.813201007999998 meters 0.0626597404474552 Centerline is valid? [True, True] Translation: X:11.36, Y:0.23, Z:-0.90 [[ 9.94436945e-01 -9.51766723e-02 4.51283094e-02 1.13631236e+01] [ 9.50760776e-02 9.95460395e-01 4.37516247e-03 2.32096554e-01] [-4.53398581e-02 -6.02005594e-05 9.98971618e-01 -8.97280308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.843201008 meters 0.06280272905123245 Centerline is valid? [True, True] Translation: X:11.39, Y:0.23, Z:-0.91 [[ 9.94180001e-01 -9.69265465e-02 4.70252027e-02 1.13910444e+01] [ 9.68185718e-02 9.95291537e-01 4.57379576e-03 2.29043359e-01] [-4.72471085e-02 5.73668416e-06 9.98883232e-01 -9.06026396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.873201007999999 meters 0.06273046918845517 Centerline is valid? [True, True] Translation: X:11.42, Y:0.23, Z:-0.91 [[ 9.93770896e-01 -1.00147458e-01 4.88865358e-02 1.14206026e+01] [ 1.00034496e-01 9.94972593e-01 4.75806335e-03 2.26969727e-01] [-4.91172713e-02 1.61915120e-04 9.98793005e-01 -9.06904811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.903201007999998 meters 0.06256923127328802 Centerline is valid? [True, True] Translation: X:11.45, Y:0.22, Z:-0.90 [[ 9.93296377e-01 -1.03848580e-01 5.07718389e-02 1.14500829e+01] [ 1.03730965e-01 9.94593059e-01 4.95323374e-03 2.23162718e-01] [-5.10117048e-02 3.46582732e-04 9.98697995e-01 -9.04933699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.933201008 meters 0.06276988728323177 Centerline is valid? [True, True] Translation: X:11.48, Y:0.22, Z:-0.91 [[ 9.92765271e-01 -1.08238572e-01 5.19762359e-02 1.14792132e+01] [ 1.08120471e-01 9.94124784e-01 5.08691329e-03 2.15708917e-01] [-5.22214646e-02 5.69584245e-04 9.98635366e-01 -9.05825020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.963201007999999 meters 0.0627867379496172 Centerline is valid? [True, True] Translation: X:11.51, Y:0.21, Z:-0.90 [[ 9.92181539e-01 -1.12693667e-01 5.36277141e-02 1.15094269e+01] [ 1.12574367e-01 9.93629434e-01 5.24981888e-03 2.08892826e-01] [-5.38776966e-02 8.28332609e-04 9.98547199e-01 -9.03138463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.993201007999998 meters 0.0627173371752275 Centerline is valid? [True, True] Translation: X:11.54, Y:0.20, Z:-0.90 [[ 9.91637137e-01 -1.17443607e-01 5.35050176e-02 1.15406063e+01] [ 1.17330874e-01 9.93078979e-01 5.25419738e-03 2.01460438e-01] [-5.37517802e-02 1.06753322e-03 9.98553757e-01 -8.99490376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.023201008 meters 0.06296770318402181 Centerline is valid? [True, True] Translation: X:11.57, Y:0.20, Z:-0.90 [[ 9.91656741e-01 -1.17369282e-01 5.33044049e-02 1.15671591e+01] [ 1.17257295e-01 9.93087775e-01 5.23432008e-03 2.01566845e-01] [-5.35503012e-02 1.05968154e-03 9.98564591e-01 -9.03141052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.053201007999998 meters 0.0628876580567503 Centerline is valid? [True, True] Translation: X:11.60, Y:0.21, Z:-0.91 [[ 9.91729133e-01 -1.17051670e-01 5.26520055e-02 1.15950425e+01] [ 1.16941839e-01 9.93125295e-01 5.17256733e-03 2.06217464e-01] [-5.28954962e-02 1.02743665e-03 9.98599525e-01 -9.07856115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.083201008 meters 0.06290019589988274 Centerline is valid? [True, True] Translation: X:11.62, Y:0.21, Z:-0.91 [[ 9.92080647e-01 -1.14652987e-01 5.12901759e-02 1.16219713e+01] [ 1.14544856e-01 9.93405229e-01 5.05247862e-03 2.10996897e-01] [-5.15312107e-02 8.62559534e-04 9.98671012e-01 -9.14265042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.113201007999999 meters 0.06290680248080384 Centerline is valid? [True, True] Translation: X:11.65, Y:0.22, Z:-0.92 [[ 9.92476166e-01 -1.11345990e-01 5.09227823e-02 1.16489004e+01] [ 1.11234276e-01 9.93781475e-01 5.03142998e-03 2.16080921e-01] [-5.11663473e-02 6.70784479e-04 9.98689919e-01 -9.20439489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.143201007999998 meters 0.06252117619438863 Centerline is valid? [True, True] Translation: X:11.68, Y:0.23, Z:-0.92 [[ 9.93410675e-01 -1.02713904e-01 5.08437212e-02 1.16767170e+01] [ 1.02591201e-01 9.94710914e-01 5.02417358e-03 2.25259771e-01] [-5.10908569e-02 2.25050747e-04 9.98693984e-01 -9.24972626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.173201008 meters 0.06261779433238712 Centerline is valid? [True, True] Translation: X:11.70, Y:0.23, Z:-0.93 [[ 9.93890879e-01 -9.83493244e-02 5.00832329e-02 1.17033207e+01] [ 9.82240229e-02 9.95151953e-01 4.96297505e-03 2.31205801e-01] [-5.03285323e-02 -1.32790213e-05 9.98732716e-01 -9.29974202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.203201007999999 meters 0.06277046499751725 Centerline is valid? [True, True] Translation: X:11.73, Y:0.24, Z:-0.93 [[ 9.94392788e-01 -9.39902124e-02 4.84646495e-02 1.17311106e+01] [ 9.38675224e-02 9.95573095e-01 4.80637631e-03 2.37776982e-01] [-4.87018534e-02 -2.30169371e-04 9.98813334e-01 -9.31777824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.233201007999998 meters 0.06355141955081449 Centerline is valid? [True, True] Translation: X:11.76, Y:0.25, Z:-0.93 [[ 9.95144956e-01 -8.49908033e-02 4.96294177e-02 1.17592389e+01] [ 8.48509264e-02 9.96381499e-01 4.92233402e-03 2.46224829e-01] [-4.98681867e-02 -6.87333808e-04 9.98755571e-01 -9.31860938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.263201008 meters 0.06381278178694035 Centerline is valid? [True, True] Translation: X:11.79, Y:0.25, Z:-0.93 [[ 9.95401023e-01 -8.13160827e-02 5.06408697e-02 1.17880761e+01] [ 8.11651289e-02 9.96687957e-01 5.03364232e-03 2.49273954e-01] [-5.08824610e-02 -9.00220001e-04 9.98704243e-01 -9.31078203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.293201007999999 meters 0.06381278178694035 Centerline is valid? [True, True] Translation: X:11.82, Y:0.25, Z:-0.93 [[ 9.95379098e-01 -8.15847180e-02 5.06397649e-02 1.18155242e+01] [ 8.14335478e-02 9.96666006e-01 5.04472619e-03 2.52175906e-01] [-5.08825048e-02 -8.97639282e-04 9.98704243e-01 -9.33208326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.323201007999998 meters 0.06466527965145355 Centerline is valid? [True, True] Translation: X:11.84, Y:0.26, Z:-0.94 [[ 9.95453847e-01 -7.98933506e-02 5.18525856e-02 1.18423212e+01] [ 7.97316761e-02 9.96802891e-01 5.18236697e-03 2.56196269e-01] [-5.21008439e-02 -1.02451358e-03 9.98641303e-01 -9.35819272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.353201008 meters 0.064851745480148 Centerline is valid? [True, True] Translation: X:11.87, Y:0.26, Z:-0.94 [[ 9.95453433e-01 -7.90341080e-02 5.31608143e-02 1.18709634e+01] [ 7.88624843e-02 9.96871300e-01 5.32165046e-03 2.57715206e-01] [-5.34150819e-02 -1.10506135e-03 9.98571784e-01 -9.36133851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.383201007999999 meters 0.06359283256006454 Centerline is valid? [True, True] Translation: X:11.90, Y:0.25, Z:-0.94 [[ 9.95017626e-01 -8.17328732e-02 5.70934526e-02 1.19019233e+01] [ 8.15381308e-02 9.96653716e-01 5.73611340e-03 2.53536491e-01] [-5.73712307e-02 -1.05224053e-03 9.98352360e-01 -9.36923878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.413201007999998 meters 0.06330134414048409 Centerline is valid? [True, True] Translation: X:11.93, Y:0.25, Z:-0.94 [[ 9.94696899e-01 -8.43726006e-02 5.88161780e-02 1.19299243e+01] [ 8.41705347e-02 9.96433844e-01 5.90900171e-03 2.53167929e-01] [-5.91049881e-02 -9.27076533e-04 9.98251342e-01 -9.40828173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.443201007999999 meters 0.06285194378045632 Centerline is valid? [True, True] Translation: X:11.96, Y:0.25, Z:-0.94 [[ 9.94455603e-01 -8.74466638e-02 5.84049281e-02 1.19587728e+01] [ 8.72525922e-02 9.96168927e-01 5.86971363e-03 2.51269911e-01] [-5.86944615e-02 -7.41188230e-04 9.98275719e-01 -9.44409744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.473201007999998 meters 0.06265200862411646 Centerline is valid? [True, True] Translation: X:11.99, Y:0.25, Z:-0.95 [[ 9.94167324e-01 -9.11373484e-02 5.76655548e-02 1.19872415e+01] [ 9.09534566e-02 9.95838190e-01 5.81105137e-03 2.48771278e-01] [-5.79551656e-02 -5.32275848e-04 9.98319045e-01 -9.48814910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.503201008 meters 0.06244102760783781 Centerline is valid? [True, True] Translation: X:12.02, Y:0.24, Z:-0.95 [[ 9.93653859e-01 -9.89142601e-02 5.35535038e-02 1.20171710e+01] [ 9.87667734e-02 9.95095957e-01 5.40010877e-03 2.36134620e-01] [-5.38250229e-02 -7.65321372e-05 9.98550380e-01 -9.51353642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.533201007999999 meters 0.062255309668483486 Centerline is valid? [True, True] Translation: X:12.05, Y:0.23, Z:-0.95 [[ 9.93340265e-01 -1.02727612e-01 5.21742870e-02 1.20460084e+01] [ 1.02592070e-01 9.94709518e-01 5.27654266e-03 2.30728032e-01] [-5.24403066e-02 1.11265828e-04 9.98624054e-01 -9.53329318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.563201007999998 meters 0.062442555800502814 Centerline is valid? [True, True] Translation: X:12.08, Y:0.23, Z:-0.96 [[ 9.92886787e-01 -1.07256918e-01 5.16892807e-02 1.20758884e+01] [ 1.07129991e-01 9.94231278e-01 5.22797394e-03 2.26067455e-01] [-5.19518359e-02 3.46685919e-04 9.98649531e-01 -9.55377565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.593201008 meters 0.06259528806151844 Centerline is valid? [True, True] Translation: X:12.10, Y:0.22, Z:-0.96 [[ 9.92357635e-01 -1.11746220e-01 5.23364821e-02 1.21046503e+01] [ 1.11621492e-01 9.93736612e-01 5.30930075e-03 2.23162011e-01] [-5.26019727e-02 5.73151104e-04 9.98615393e-01 -9.57189647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.623201007999999 meters 0.06404577670654332 Centerline is valid? [True, True] Translation: X:12.13, Y:0.21, Z:-0.96 [[ 9.91260788e-01 -1.21150726e-01 5.21972372e-02 1.21345556e+01] [ 1.21039387e-01 9.92633553e-01 5.30062011e-03 2.14168349e-01] [-5.24549030e-02 1.06362472e-03 9.98622727e-01 -9.62787767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.653201007999998 meters 0.06413969078967632 Centerline is valid? [True, True] Translation: X:12.16, Y:0.21, Z:-0.96 [[ 9.90830506e-01 -1.25076201e-01 5.10965069e-02 1.21645056e+01] [ 1.24974630e-01 9.92146360e-01 5.19060349e-03 2.14835818e-01] [-5.13444343e-02 1.24275874e-03 9.98680231e-01 -9.63955111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.683201008 meters 0.06492818848368277 Centerline is valid? [True, True] Translation: X:12.19, Y:0.21, Z:-0.97 [[ 9.90512058e-01 -1.27665729e-01 5.08657441e-02 1.21919895e+01] [ 1.27568484e-01 9.91816305e-01 5.16711960e-03 2.14119704e-01] [-5.11091384e-02 1.37077160e-03 9.98692133e-01 -9.67284610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.713201007999999 meters 0.06528671573034009 Centerline is valid? [True, True] Translation: X:12.22, Y:0.21, Z:-0.97 [[ 9.90166537e-01 -1.30101030e-01 5.14193576e-02 1.22211789e+01] [ 1.30004838e-01 9.91499591e-01 5.22523156e-03 2.14008147e-01] [-5.16620801e-02 1.51091582e-03 9.98663480e-01 -9.68956883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.743201007999998 meters 0.06562816069545684 Centerline is valid? [True, True] Translation: X:12.25, Y:0.21, Z:-0.97 [[ 9.89527427e-01 -1.33548150e-01 5.47755741e-02 1.22503195e+01] [ 1.33443307e-01 9.91040720e-01 5.58355495e-03 2.10892127e-01] [-5.50304978e-02 1.78435298e-03 9.98483080e-01 -9.66023569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.773201008 meters 0.06679015503101525 Centerline is valid? [True, True] Translation: X:12.28, Y:0.21, Z:-0.97 [[ 9.89423097e-01 -1.34219792e-01 5.50180262e-02 1.22780712e+01] [ 1.34114800e-01 9.90949906e-01 5.61287626e-03 2.08969506e-01] [-5.52734669e-02 1.82522218e-03 9.98469585e-01 -9.69727044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.803201007999998 meters 0.0655670314028582 Centerline is valid? [True, True] Translation: X:12.31, Y:0.22, Z:-0.97 [[ 9.89591428e-01 -1.33265537e-01 5.43056323e-02 1.23063103e+01] [ 1.33161754e-01 9.91078827e-01 5.54126540e-03 2.15453733e-01] [-5.45596221e-02 1.74784449e-03 9.98508985e-01 -9.70312987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.833201008 meters 0.06410545863400384 Centerline is valid? [True, True] Translation: X:12.34, Y:0.23, Z:-0.97 [[ 9.90277784e-01 -1.28310942e-01 5.37234893e-02 1.23351203e+01] [ 1.28201206e-01 9.91732938e-01 5.49817445e-03 2.28278569e-01] [-5.39848299e-02 1.44269611e-03 9.98540714e-01 -9.74289758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.863201007999999 meters 0.0639988782906518 Centerline is valid? [True, True] Translation: X:12.36, Y:0.23, Z:-0.98 [[ 9.90759005e-01 -1.24760247e-01 5.32116087e-02 1.23622014e+01] [ 1.24647376e-01 9.92186149e-01 5.44766974e-03 2.33958930e-01] [-5.34754738e-02 1.23535953e-03 9.98568399e-01 -9.79602582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.893201007999998 meters 0.06330402150581076 Centerline is valid? [True, True] Translation: X:12.39, Y:0.24, Z:-0.98 [[ 9.91297022e-01 -1.20668745e-01 5.26238309e-02 1.23906104e+01] [ 1.20552471e-01 9.92692325e-01 5.38977956e-03 2.42300782e-01] [-5.28896510e-02 1.00106043e-03 9.98599861e-01 -9.82704530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.923201008 meters 0.06307958561293657 Centerline is valid? [True, True] Translation: X:12.42, Y:0.25, Z:-0.99 [[ 9.91734026e-01 -1.16964446e-01 5.27535805e-02 1.24176599e+01] [ 1.16841985e-01 9.93135782e-01 5.41012729e-03 2.48962720e-01] [-5.30242610e-02 7.98425770e-04 9.98592905e-01 -9.86349838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.953201007999999 meters 0.06229040129983426 Centerline is valid? [True, True] Translation: X:12.45, Y:0.26, Z:-0.99 [[ 9.92587208e-01 -1.10091626e-01 5.14827070e-02 1.24460389e+01] [ 1.09965720e-01 9.93921354e-01 5.28043280e-03 2.60569311e-01] [-5.17510933e-02 4.20042900e-04 9.98659926e-01 -9.87739933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.983201007999998 meters 0.06233033082746243 Centerline is valid? [True, True] Translation: X:12.47, Y:0.27, Z:-0.99 [[ 9.92852228e-01 -1.08040074e-01 5.07128711e-02 1.24735916e+01] [ 1.07914492e-01 9.94146496e-01 5.21598476e-03 2.65394682e-01] [-5.09795585e-02 2.93951618e-04 9.98699654e-01 -9.91655712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.013201008 meters 0.06229394672233169 Centerline is valid? [True, True] Translation: X:12.50, Y:0.27, Z:-0.99 [[ 9.92990539e-01 -1.06409022e-01 5.14481203e-02 1.25013745e+01] [ 1.06277350e-01 9.94322421e-01 5.29607401e-03 2.69667794e-01] [-5.17195696e-02 2.08818494e-04 9.98661626e-01 -9.93774228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.043201007999999 meters 0.06229868575746511 Centerline is valid? [True, True] Translation: X:12.53, Y:0.27, Z:-1.00 [[ 9.93110732e-01 -1.05558814e-01 5.08764233e-02 1.25300960e+01] [ 1.05428930e-01 9.94413048e-01 5.23739671e-03 2.73284089e-01] [-5.11450326e-02 1.62531988e-04 9.98691223e-01 -9.95973469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.073201007999998 meters 0.06228298317638586 Centerline is valid? [True, True] Translation: X:12.56, Y:0.28, Z:-1.00 [[ 9.93050704e-01 -1.06335863e-01 5.04280124e-02 1.25588223e+01] [ 1.06208666e-01 9.94330251e-01 5.20294689e-03 2.75622578e-01] [-5.06953580e-02 1.89101871e-04 9.98714146e-01 -9.98868938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.103201008 meters 0.062289511238700516 Centerline is valid? [True, True] Translation: X:12.59, Y:0.28, Z:-1.00 [[ 9.92912345e-01 -1.07050621e-01 5.16259580e-02 1.25881928e+01] [ 1.06917469e-01 9.94253548e-01 5.34196944e-03 2.77253187e-01] [-5.19011530e-02 2.15609360e-04 9.98652204e-01 -1.00013904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.133201007999999 meters 0.06231340842113288 Centerline is valid? [True, True] Translation: X:12.62, Y:0.28, Z:-1.00 [[ 9.92787694e-01 -1.07660498e-01 5.27428802e-02 1.26162462e+01] [ 1.07521957e-01 9.94187687e-01 5.46548745e-03 2.78061749e-01] [-5.30247392e-02 2.44949042e-04 9.98593169e-01 -1.00208242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.163201007999998 meters 0.06218851155407273 Centerline is valid? [True, True] Translation: X:12.65, Y:0.28, Z:-1.00 [[ 9.92623074e-01 -1.08861747e-01 5.33718302e-02 1.26453149e+01] [ 1.08721562e-01 9.94056851e-01 5.53165598e-03 2.78638510e-01] [-5.36568192e-02 3.11819383e-04 9.98559387e-01 -1.00188011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.193201007999999 meters 0.06192248223877608 Centerline is valid? [True, True] Translation: X:12.68, Y:0.28, Z:-1.00 [[ 9.92043667e-01 -1.12270820e-01 5.69616170e-02 1.26752585e+01] [ 1.12115790e-01 9.93677513e-01 5.92029493e-03 2.77133351e-01] [-5.72661543e-02 5.13105584e-04 9.98358815e-01 -9.97831339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.223201007999998 meters 0.061941798515893404 Centerline is valid? [True, True] Translation: X:12.70, Y:0.28, Z:-1.00 [[ 9.91744159e-01 -1.14508606e-01 5.77174357e-02 1.27038482e+01] [ 1.14352968e-01 9.93422046e-01 6.00313821e-03 2.79124671e-01] [-5.80251840e-02 6.46582815e-04 9.98314910e-01 -9.98268428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.253201008 meters 0.06205118168609422 Centerline is valid? [True, True] Translation: X:12.73, Y:0.28, Z:-1.00 [[ 9.91562705e-01 -1.16331037e-01 5.71882131e-02 1.27324378e+01] [ 1.16180311e-01 9.93210228e-01 5.96472937e-03 2.82065171e-01] [-5.74938013e-02 7.29741200e-04 9.98345597e-01 -1.00052467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.283201007999999 meters 0.06248871943767295 Centerline is valid? [True, True] Translation: X:12.76, Y:0.28, Z:-1.01 [[ 9.91446634e-01 -1.17863246e-01 5.60520027e-02 1.27596465e+01] [ 1.17719948e-01 9.93029525e-01 5.86308190e-03 2.82392311e-01] [-5.63523355e-02 7.85506027e-04 9.98410636e-01 -1.00694633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.313201007999998 meters 0.06285285881171804 Centerline is valid? [True, True] Translation: X:12.79, Y:0.28, Z:-1.01 [[ 9.91336816e-01 -1.19239450e-01 5.50751403e-02 1.27870301e+01] [ 1.19102979e-01 9.92865168e-01 5.76535508e-03 2.82515055e-01] [-5.53696462e-02 8.44204558e-04 9.98465568e-01 -1.01085505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.343201008 meters 0.06313012060418251 Centerline is valid? [True, True] Translation: X:12.82, Y:0.28, Z:-1.01 [[ 9.91198551e-01 -1.20783307e-01 5.41924764e-02 1.28152768e+01] [ 1.20653174e-01 9.92678480e-01 5.67861829e-03 2.82874168e-01] [-5.44815874e-02 9.09856083e-04 9.98514361e-01 -1.01243894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.373201007999999 meters 0.06294452526422054 Centerline is valid? [True, True] Translation: X:12.84, Y:0.29, Z:-1.01 [[ 9.91024909e-01 -1.22420448e-01 5.36923018e-02 1.28442512e+01] [ 1.22295068e-01 9.92477835e-01 5.62693241e-03 2.86567677e-01] [-5.39772711e-02 9.89873525e-04 9.98541674e-01 -1.01403446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.403201007999998 meters 0.0633403818230099 Centerline is valid? [True, True] Translation: X:12.87, Y:0.29, Z:-1.02 [[ 9.90809075e-01 -1.24343539e-01 5.32546918e-02 1.28725759e+01] [ 1.24222301e-01 9.92238647e-01 5.59353679e-03 2.89362790e-01] [-5.35368835e-02 1.07329332e-03 9.98565296e-01 -1.01793021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.433201008 meters 0.06497062063459562 Centerline is valid? [True, True] Translation: X:12.90, Y:0.29, Z:-1.03 [[ 9.90419474e-01 -1.27967262e-01 5.19003502e-02 1.29011242e+01] [ 1.27856216e-01 9.91777642e-01 5.46784046e-03 2.87178608e-01] [-5.21733115e-02 1.22032671e-03 9.98637300e-01 -1.02561763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.463201007999999 meters 0.06466211281857677 Centerline is valid? [True, True] Translation: X:12.93, Y:0.29, Z:-1.02 [[ 9.90090336e-01 -1.30352036e-01 5.22443672e-02 1.29293382e+01] [ 1.30242729e-01 9.91466851e-01 5.50595461e-03 2.90934351e-01] [-5.25162706e-02 1.35305652e-03 9.98619152e-01 -1.02492581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.493201007999998 meters 0.06478800729681353 Centerline is valid? [True, True] Translation: X:12.96, Y:0.29, Z:-1.02 [[ 9.89817463e-01 -1.32702692e-01 5.14915961e-02 1.29585129e+01] [ 1.32599450e-01 9.91154825e-01 5.43122749e-03 2.93237983e-01] [-5.17568825e-02 1.45183350e-03 9.98658659e-01 -1.02499383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.523201008 meters 0.06658103208669337 Centerline is valid? [True, True] Translation: X:12.99, Y:0.29, Z:-1.03 [[ 9.88936040e-01 -1.39116576e-01 5.14984207e-02 1.29883385e+01] [ 1.39021741e-01 9.90274406e-01 5.43657462e-03 2.89460173e-01] [-5.17538856e-02 1.78297551e-03 9.98658278e-01 -1.02710169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.553201007999998 meters 0.06664580169070242 Centerline is valid? [True, True] Translation: X:13.02, Y:0.29, Z:-1.03 [[ 9.88503796e-01 -1.41917356e-01 5.21508357e-02 1.30174897e+01] [ 1.41823970e-01 9.89876582e-01 5.50585236e-03 2.92610037e-01] [-5.24042670e-02 1.95368261e-03 9.98624041e-01 -1.02637899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.583201008 meters 0.06790082586979028 Centerline is valid? [True, True] Translation: X:13.05, Y:0.29, Z:-1.03 [[ 9.88057933e-01 -1.44506033e-01 5.34745447e-02 1.30453527e+01] [ 1.44411520e-01 9.89501601e-01 5.64759213e-03 2.94047980e-01] [-5.37292587e-02 2.14219209e-03 9.98553242e-01 -1.02825095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.613201007999999 meters 0.0677266347577201 Centerline is valid? [True, True] Translation: X:13.07, Y:0.30, Z:-1.03 [[ 9.87770985e-01 -1.46172089e-01 5.42420580e-02 1.30737942e+01] [ 1.46077283e-01 9.89256588e-01 5.72987234e-03 3.00393091e-01] [-5.44968606e-02 2.26373082e-03 9.98511376e-01 -1.02905653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.643201007999998 meters 0.06769361980605351 Centerline is valid? [True, True] Translation: X:13.10, Y:0.31, Z:-1.03 [[ 9.87705965e-01 -1.46577306e-01 5.43325016e-02 1.31018271e+01] [ 1.46482164e-01 9.89196594e-01 5.75096589e-03 3.07104629e-01] [-5.45884866e-02 2.27847909e-03 9.98506337e-01 -1.03119231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.673201008 meters 0.06652542698184243 Centerline is valid? [True, True] Translation: X:13.13, Y:0.32, Z:-1.03 [[ 9.87897042e-01 -1.45691466e-01 5.32299826e-02 1.31300106e+01] [ 1.45598113e-01 9.89327694e-01 5.64826153e-03 3.16868997e-01] [-5.34847994e-02 2.17028414e-03 9.98566305e-01 -1.03159977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.703201007999999 meters 0.06583476390116635 Centerline is valid? [True, True] Translation: X:13.16, Y:0.33, Z:-1.03 [[ 9.88258566e-01 -1.43163012e-01 5.33793924e-02 1.31577354e+01] [ 1.43064566e-01 9.89697055e-01 5.68062753e-03 3.29393929e-01] [-5.36426832e-02 2.02277079e-03 9.98558146e-01 -1.03259927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.733201007999998 meters 0.06632303987024449 Centerline is valid? [True, True] Translation: X:13.19, Y:0.34, Z:-1.04 [[ 9.88459414e-01 -1.41808217e-01 5.32767828e-02 1.31855399e+01] [ 1.41708206e-01 9.89892238e-01 5.66930416e-03 3.35677253e-01] [-5.35422276e-02 1.94588025e-03 9.98563690e-01 -1.03669279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.763201008 meters 0.06583231764877226 Centerline is valid? [True, True] Translation: X:13.21, Y:0.35, Z:-1.04 [[ 9.88610884e-01 -1.40839899e-01 5.30343568e-02 1.32133192e+01] [ 1.40738743e-01 9.90030614e-01 5.65592756e-03 3.45535083e-01] [-5.33022171e-02 1.87247716e-03 9.98576671e-01 -1.03943482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.793201007999999 meters 0.06697595787066984 Centerline is valid? [True, True] Translation: X:13.24, Y:0.35, Z:-1.05 [[ 9.89013565e-01 -1.39063735e-01 5.01342750e-02 1.32393310e+01] [ 1.38970324e-01 9.90282034e-01 5.36124103e-03 3.54745624e-01] [-5.03926260e-02 1.66483635e-03 9.98728097e-01 -1.04845508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.823201007999998 meters 0.06584347037602482 Centerline is valid? [True, True] Translation: X:13.27, Y:0.37, Z:-1.05 [[ 9.89157317e-01 -1.38529682e-01 4.87578588e-02 1.32675589e+01] [ 1.38440689e-01 9.90357002e-01 5.21392585e-03 3.66035966e-01] [-4.90099703e-02 1.59267865e-03 9.98797020e-01 -1.04950738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.853201008 meters 0.06591300912790742 Centerline is valid? [True, True] Translation: X:13.30, Y:0.37, Z:-1.05 [[ 9.89114792e-01 -1.39034235e-01 4.81810012e-02 1.32960809e+01] [ 1.38947424e-01 9.90286302e-01 5.16274749e-03 3.72775976e-01] [-4.84307842e-02 1.58807608e-03 9.98825279e-01 -1.05264881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.883201007999999 meters 0.06521125087690005 Centerline is valid? [True, True] Translation: X:13.32, Y:0.38, Z:-1.05 [[ 9.89058782e-01 -1.39636918e-01 4.75842172e-02 1.33249325e+01] [ 1.39552456e-01 9.90201500e-01 5.10891400e-03 3.80060836e-01] [-4.78313562e-02 1.58747812e-03 9.98854164e-01 -1.05078806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.913201007999998 meters 0.06506806191785816 Centerline is valid? [True, True] Translation: X:13.35, Y:0.38, Z:-1.05 [[ 9.88899537e-01 -1.40353756e-01 4.87701644e-02 1.33543573e+01] [ 1.40265323e-01 9.90100044e-01 5.24801742e-03 3.84577040e-01] [-4.90239209e-02 1.65100087e-03 9.98796240e-01 -1.04749434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.943201007999999 meters 0.06472082435593213 Centerline is valid? [True, True] Translation: X:13.38, Y:0.39, Z:-1.05 [[ 9.88897885e-01 -1.40025163e-01 4.97385769e-02 1.33832490e+01] [ 1.39932167e-01 9.90146562e-01 5.36424914e-03 3.91162829e-01] [-4.99996108e-02 1.65533220e-03 9.98747865e-01 -1.04787926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.973201007999998 meters 0.06475410891076167 Centerline is valid? [True, True] Translation: X:13.41, Y:0.40, Z:-1.05 [[ 9.88942464e-01 -1.39306975e-01 5.08563676e-02 1.34109136e+01] [ 1.39208162e-01 9.90247882e-01 5.49732937e-03 3.97757875e-01] [-5.11262266e-02 1.64307898e-03 9.98690848e-01 -1.05142229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.003201008 meters 0.06449939820797347 Centerline is valid? [True, True] Translation: X:13.44, Y:0.41, Z:-1.06 [[ 9.89110265e-01 -1.37934675e-01 5.13313573e-02 1.34394599e+01] [ 1.37831513e-01 9.90440077e-01 5.56123658e-03 4.06006967e-01] [-5.16077208e-02 1.57440244e-03 9.98666193e-01 -1.05501594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.033201008 meters 0.06448028599925382 Centerline is valid? [True, True] Translation: X:13.47, Y:0.41, Z:-1.06 [[ 9.89257898e-01 -1.36694217e-01 5.18025368e-02 1.34681379e+01] [ 1.36586863e-01 9.90612136e-01 5.62360257e-03 4.13778614e-01] [-5.20849356e-02 1.51235276e-03 9.98641513e-01 -1.05840131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.063201008 meters 0.0637954540055515 Centerline is valid? [True, True] Translation: X:13.50, Y:0.42, Z:-1.06 [[ 9.89654785e-01 -1.33495905e-01 5.25571167e-02 1.34963519e+01] [ 1.33380284e-01 9.91048442e-01 5.71706879e-03 4.24949782e-01] [-5.28498539e-02 1.35215864e-03 9.98601554e-01 -1.05972757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.093201007999998 meters 0.0635358238645943 Centerline is valid? [True, True] Translation: X:13.52, Y:0.43, Z:-1.06 [[ 9.89957469e-01 -1.31227778e-01 5.25688024e-02 1.35246691e+01] [ 1.31108304e-01 9.91351493e-01 5.72980143e-03 4.30514074e-01] [-5.28660699e-02 1.21994683e-03 9.98600866e-01 -1.06123892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.123201008 meters 0.06327194748248194 Centerline is valid? [True, True] Translation: X:13.55, Y:0.44, Z:-1.06 [[ 9.90180142e-01 -1.29805984e-01 5.19008033e-02 1.35532557e+01] [ 1.29687029e-01 9.91538781e-01 5.66748000e-03 4.37254818e-01] [-5.21973320e-02 1.11903481e-03 9.98636163e-01 -1.06180482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.153201008 meters 0.06312512555122766 Centerline is valid? [True, True] Translation: X:13.58, Y:0.44, Z:-1.06 [[ 9.90348736e-01 -1.28848416e-01 5.10633524e-02 1.35812686e+01] [ 1.28731448e-01 9.91663755e-01 5.58674399e-03 4.43602242e-01] [-5.13575189e-02 1.04063444e-03 9.98679790e-01 -1.06379270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.183201007999998 meters 0.06312512555122766 Centerline is valid? [True, True] Translation: X:13.61, Y:0.45, Z:-1.07 [[ 9.90315216e-01 -1.29106377e-01 5.10618938e-02 1.36086851e+01] [ 1.28989066e-01 9.91630203e-01 5.60003588e-03 4.46728607e-01] [-5.13575165e-02 1.04062527e-03 9.98679790e-01 -1.06592105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.213201008 meters 0.06285019403929894 Centerline is valid? [True, True] Translation: X:13.64, Y:0.46, Z:-1.07 [[ 9.90532762e-01 -1.27623765e-01 5.05670096e-02 1.36372296e+01] [ 1.27506073e-01 9.91822207e-01 5.55977575e-03 4.55091751e-01] [-5.08630426e-02 9.40460790e-04 9.98705195e-01 -1.06727205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.243201008 meters 0.06266157368461783 Centerline is valid? [True, True] Translation: X:13.67, Y:0.46, Z:-1.07 [[ 9.90677318e-01 -1.26647473e-01 5.01883330e-02 1.36658706e+01] [ 1.26529711e-01 9.91947406e-01 5.52952755e-03 4.60234862e-01] [-5.04844875e-02 8.72337739e-04 9.98724464e-01 -1.06895962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.273201007999997 meters 0.06250468690343527 Centerline is valid? [True, True] Translation: X:13.69, Y:0.47, Z:-1.07 [[ 9.90737507e-01 -1.25877502e-01 5.09317791e-02 1.36948720e+01] [ 1.25754454e-01 9.92045445e-01 5.62611573e-03 4.65434448e-01] [-5.12348409e-02 8.30894181e-04 9.98686287e-01 -1.07061738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.303201008 meters 0.06252131913367623 Centerline is valid? [True, True] Translation: X:13.72, Y:0.47, Z:-1.07 [[ 9.90750387e-01 -1.25571742e-01 5.14335254e-02 1.37225555e+01] [ 1.25445460e-01 9.92084206e-01 5.68896673e-03 4.69347702e-01] [-5.17407617e-02 8.15756277e-04 9.98660217e-01 -1.07456715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.333201008 meters 0.06232804397348344 Centerline is valid? [True, True] Translation: X:13.75, Y:0.48, Z:-1.08 [[ 9.90862200e-01 -1.25225768e-01 5.01059619e-02 1.37499783e+01] [ 1.25105289e-01 9.92127970e-01 5.54594868e-03 4.78304261e-01] [-5.04060219e-02 7.73249925e-04 9.98728509e-01 -1.07773547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.363201007999997 meters 0.06226177657590933 Centerline is valid? [True, True] Translation: X:13.78, Y:0.48, Z:-1.08 [[ 9.90929962e-01 -1.24718840e-01 5.00302106e-02 1.37771889e+01] [ 1.24597869e-01 9.92191846e-01 5.54174125e-03 4.83231584e-01] [-5.03307265e-02 7.42180200e-04 9.98732330e-01 -1.08167840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.393201008 meters 0.06225143705771437 Centerline is valid? [True, True] Translation: X:13.80, Y:0.49, Z:-1.08 [[ 9.91090086e-01 -1.23666635e-01 4.94672012e-02 1.38033608e+01] [ 1.23546906e-01 9.92323588e-01 5.48253866e-03 4.88141201e-01] [-4.97654777e-02 6.77829927e-04 9.98760701e-01 -1.08400720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.423201008 meters 0.06183376584632882 Centerline is valid? [True, True] Translation: X:13.83, Y:0.49, Z:-1.08 [[ 9.91458669e-01 -1.20854963e-01 4.90284223e-02 1.38322050e+01] [ 1.20733803e-01 9.92670035e-01 5.43612085e-03 4.93243842e-01] [-4.93260278e-02 5.29698731e-04 9.98782590e-01 -1.08203200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.453201007999997 meters 0.061850614548779576 Centerline is valid? [True, True] Translation: X:13.86, Y:0.50, Z:-1.08 [[ 9.91664574e-01 -1.19477195e-01 4.82345661e-02 1.38598679e+01] [ 1.19357556e-01 9.92836848e-01 5.36340577e-03 4.95390978e-01] [-4.85298593e-02 4.38460428e-04 9.98821636e-01 -1.08453011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.483201007999998 meters 0.06145441325692705 Centerline is valid? [True, True] Translation: X:13.89, Y:0.50, Z:-1.08 [[ 9.91901337e-01 -1.18035072e-01 4.68983853e-02 1.38888321e+01] [ 1.17920395e-01 9.93009362e-01 5.21412787e-03 5.00057406e-01] [-4.71859856e-02 3.58375717e-04 9.98886057e-01 -1.08365616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.513201008 meters 0.06145859070122866 Centerline is valid? [True, True] Translation: X:13.92, Y:0.51, Z:-1.09 [[ 9.92217200e-01 -1.15631980e-01 4.61981949e-02 1.39161997e+01] [ 1.15517403e-01 9.93292099e-01 5.15124088e-03 5.05419551e-01] [-4.64839502e-02 2.25545701e-04 9.98919011e-01 -1.08687777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.543201008 meters 0.06144037078565516 Centerline is valid? [True, True] Translation: X:13.94, Y:0.51, Z:-1.09 [[ 9.92453769e-01 -1.14171642e-01 4.47252978e-02 1.39439362e+01] [ 1.14062622e-01 9.93461028e-01 4.99042918e-03 5.11591744e-01] [-4.50026059e-02 1.48714479e-04 9.98986858e-01 -1.09072838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.573201007999998 meters 0.061562275844834445 Centerline is valid? [True, True] Translation: X:13.97, Y:0.52, Z:-1.10 [[ 9.92886529e-01 -1.11116882e-01 4.27712431e-02 1.39712575e+01] [ 1.11014210e-01 9.93807345e-01 4.77565044e-03 5.20061911e-01] [-4.30370309e-02 6.53676330e-06 9.99073478e-01 -1.09616761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.603201008 meters 0.061818279862921495 Centerline is valid? [True, True] Translation: X:14.00, Y:0.52, Z:-1.10 [[ 9.92842720e-01 -1.11320597e-01 4.32557296e-02 1.39980058e+01] [ 1.11215618e-01 9.93784546e-01 4.83339737e-03 5.23244049e-01] [-4.35249323e-02 1.19093266e-05 9.99052341e-01 -1.10331032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.633201008 meters 0.06157409719790815 Centerline is valid? [True, True] Translation: X:14.03, Y:0.52, Z:-1.10 [[ 9.92813808e-01 -1.11766954e-01 4.27655271e-02 1.40267986e+01] [ 1.11664821e-01 9.93734445e-01 4.77712228e-03 5.24997119e-01] [-4.30315017e-02 3.26119587e-05 9.99073715e-01 -1.10269233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.663201007999998 meters 0.06165859184351223 Centerline is valid? [True, True] Translation: X:14.05, Y:0.53, Z:-1.11 [[ 9.92682440e-01 -1.12909651e-01 4.28133546e-02 1.40535933e+01] [ 1.12807763e-01 9.93605257e-01 4.79608839e-03 5.25508916e-01] [-4.30810988e-02 6.86860319e-05 9.99071576e-01 -1.10527700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.693201008 meters 0.06147729950387243 Centerline is valid? [True, True] Translation: X:14.08, Y:0.53, Z:-1.10 [[ 9.92478223e-01 -1.14816363e-01 4.24756366e-02 1.40830426e+01] [ 1.14717788e-01 9.93386723e-01 4.75905344e-03 5.25548940e-01] [-4.27411506e-02 1.49454175e-04 9.99086168e-01 -1.10493987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.723201008 meters 0.06133335152152614 Centerline is valid? [True, True] Translation: X:14.11, Y:0.52, Z:-1.10 [[ 9.91836306e-01 -1.20115892e-01 4.28125544e-02 1.41125540e+01] [ 1.20020259e-01 9.92759807e-01 4.80652792e-03 5.23237827e-01] [-4.30799237e-02 3.71084972e-04 9.99071560e-01 -1.10390495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.753201007999998 meters 0.06129179881864725 Centerline is valid? [True, True] Translation: X:14.14, Y:0.52, Z:-1.10 [[ 9.91420112e-01 -1.23248912e-01 4.35415566e-02 1.41411994e+01] [ 1.23152608e-01 9.92375659e-01 4.89757960e-03 5.24021935e-01] [-4.38132023e-02 5.06697308e-04 9.99039612e-01 -1.10470452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.783201008 meters 0.061368392270788726 Centerline is valid? [True, True] Translation: X:14.17, Y:0.52, Z:-1.11 [[ 9.91096882e-01 -1.25967738e-01 4.31172824e-02 1.41700147e+01] [ 1.25875328e-01 9.92034152e-01 4.86238303e-03 5.23806910e-01] [-4.33863201e-02 6.08309410e-04 9.99058185e-01 -1.10643706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.813201008 meters 0.06189263030302446 Centerline is valid? [True, True] Translation: X:14.20, Y:0.52, Z:-1.11 [[ 9.90715329e-01 -1.28548864e-01 4.42529841e-02 1.41976371e+01] [ 1.28453444e-01 9.91702910e-01 5.00502586e-03 5.20963546e-01] [-4.45292035e-02 7.25892352e-04 9.99007819e-01 -1.11027094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.843201007999998 meters 0.06166660820433476 Centerline is valid? [True, True] Translation: X:14.23, Y:0.52, Z:-1.11 [[ 9.89840058e-01 -1.34872361e-01 4.50122767e-02 1.42280672e+01] [ 1.34779803e-01 9.90862456e-01 5.09885114e-03 5.17413466e-01] [-4.52886691e-02 1.01969869e-03 9.98973421e-01 -1.10602121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.873201008 meters 0.061951569743289844 Centerline is valid? [True, True] Translation: X:14.26, Y:0.52, Z:-1.11 [[ 9.89318051e-01 -1.38772647e-01 4.46312361e-02 1.42575564e+01] [ 1.38685571e-01 9.90323555e-01 5.05659792e-03 5.18007205e-01] [-4.49010819e-02 1.18712485e-03 9.98990732e-01 -1.10807308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.903201008 meters 0.0625691083492335 Centerline is valid? [True, True] Translation: X:14.29, Y:0.52, Z:-1.11 [[ 9.88668924e-01 -1.43140749e-01 4.52159847e-02 1.42862219e+01] [ 1.43055828e-01 9.89701350e-01 5.12519007e-03 5.17469238e-01] [-4.54839446e-02 1.40129398e-03 9.98964087e-01 -1.11093155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.933201007999998 meters 0.06330038911250527 Centerline is valid? [True, True] Translation: X:14.32, Y:0.51, Z:-1.11 [[ 9.87609404e-01 -1.50114799e-01 4.57516298e-02 1.43165170e+01] [ 1.50035177e-01 9.88667042e-01 5.18894932e-03 5.14635839e-01] [-4.60120666e-02 1.73969871e-03 9.98939369e-01 -1.11042941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.963201008 meters 0.06325368962360108 Centerline is valid? [True, True] Translation: X:14.35, Y:0.52, Z:-1.11 [[ 9.87223406e-01 -1.52868774e-01 4.49564787e-02 1.43459483e+01] [ 1.52794759e-01 9.88244791e-01 5.09841617e-03 5.15973080e-01] [-4.52073946e-02 1.83583857e-03 9.98975936e-01 -1.11029467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.993201008 meters 0.0642802329136025 Centerline is valid? [True, True] Translation: X:14.37, Y:0.52, Z:-1.11 [[ 9.86809491e-01 -1.55534607e-01 4.49000464e-02 1.43740930e+01] [ 1.55463390e-01 9.87828515e-01 5.09512724e-03 5.15796704e-01] [-4.51460148e-02 1.95239349e-03 9.98978491e-01 -1.11371183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.023201007999997 meters 0.06425572151477915 Centerline is valid? [True, True] Translation: X:14.40, Y:0.52, Z:-1.12 [[ 9.86807714e-01 -1.56113225e-01 4.28858529e-02 1.44033709e+01] [ 1.56048600e-01 9.87737367e-01 4.87115400e-03 5.19233016e-01] [-4.31204110e-02 1.88538496e-03 9.99068104e-01 -1.11532940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.053201008 meters 0.06390512845155957 Centerline is valid? [True, True] Translation: X:14.43, Y:0.53, Z:-1.12 [[ 9.86960807e-01 -1.55412983e-01 4.18947387e-02 1.44307362e+01] [ 1.55350967e-01 9.87847912e-01 4.75180073e-03 5.25029038e-01] [-4.21241217e-02 1.81854707e-03 9.99110730e-01 -1.11804708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.083201008 meters 0.06305830280431554 Centerline is valid? [True, True] Translation: X:14.46, Y:0.54, Z:-1.12 [[ 9.87794674e-01 -1.50762212e-01 3.91463606e-02 1.44581229e+01] [ 1.50703766e-01 9.88568922e-01 4.45661003e-03 5.38305013e-01] [-3.93707638e-02 1.49728830e-03 9.99223549e-01 -1.12220365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.113201007999997 meters 0.06323780858384125 Centerline is valid? [True, True] Translation: X:14.49, Y:0.55, Z:-1.13 [[ 9.88345682e-01 -1.47407863e-01 3.79965134e-02 1.44854255e+01] [ 1.47350234e-01 9.89074909e-01 4.32807446e-03 5.45597163e-01] [-3.82193903e-02 1.32116144e-03 9.99268499e-01 -1.12687949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.143201008 meters 0.06136762896063685 Centerline is valid? [True, True] Translation: X:14.51, Y:0.56, Z:-1.12 [[ 9.88916344e-01 -1.43608453e-01 3.76971765e-02 1.45141259e+01] [ 1.43548830e-01 9.89633904e-01 4.29765100e-03 5.57505569e-01] [-3.79235829e-02 1.16136827e-03 9.99279967e-01 -1.12403021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.173201008 meters 0.06094903987728654 Centerline is valid? [True, True] Translation: X:14.54, Y:0.56, Z:-1.13 [[ 9.89412211e-01 -1.40065068e-01 3.80164834e-02 1.45419711e+01] [ 1.40001792e-01 9.90141762e-01 4.33470957e-03 5.64565807e-01] [-3.82488492e-02 1.03356122e-03 9.99267711e-01 -1.12565954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.203201007999997 meters 0.06008865494643965 Centerline is valid? [True, True] Translation: X:14.57, Y:0.58, Z:-1.13 [[ 9.90172615e-01 -1.34723190e-01 3.75213876e-02 1.45701681e+01] [ 1.34657624e-01 9.90882939e-01 4.28074449e-03 5.77624971e-01] [-3.77560184e-02 8.13864937e-04 9.99286656e-01 -1.12658487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.233201007999998 meters 0.05971980924346891 Centerline is valid? [True, True] Translation: X:14.60, Y:0.59, Z:-1.13 [[ 9.90498539e-01 -1.32281829e-01 3.76053486e-02 1.45976364e+01] [ 1.32214458e-01 9.91211878e-01 4.28377240e-03 5.87248395e-01] [-3.78415334e-02 7.28900461e-04 9.99283487e-01 -1.13004789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.263201008 meters 0.059481755456241646 Centerline is valid? [True, True] Translation: X:14.63, Y:0.60, Z:-1.13 [[ 9.90925035e-01 -1.29103159e-01 3.74158834e-02 1.46256282e+01] [ 1.29033876e-01 9.91630989e-01 4.27080210e-03 5.96409694e-01] [-3.76541235e-02 5.95871723e-04 9.99290654e-01 -1.13323767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.293201008 meters 0.05912053286425811 Centerline is valid? [True, True] Translation: X:14.65, Y:0.61, Z:-1.14 [[ 9.91386963e-01 -1.25704937e-01 3.67444941e-02 1.46539746e+01] [ 1.25635482e-01 9.92067571e-01 4.20232115e-03 6.05453482e-01] [-3.69812735e-02 4.50285830e-04 9.99315857e-01 -1.13528637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.323201007999998 meters 0.05842612953671989 Centerline is valid? [True, True] Translation: X:14.68, Y:0.62, Z:-1.14 [[ 9.92236734e-01 -1.18022916e-01 3.92027434e-02 1.46826439e+01] [ 1.17937130e-01 9.93010859e-01 4.50184568e-03 6.19476066e-01] [-3.94600709e-02 1.56562376e-04 9.99221136e-01 -1.13546576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.353201008 meters 0.058231078594965666 Centerline is valid? [True, True] Translation: X:14.71, Y:0.63, Z:-1.14 [[ 9.92608899e-01 -1.14295935e-01 4.07923240e-02 1.47110244e+01] [ 1.14200193e-01 9.93446747e-01 4.67726498e-03 6.28359867e-01] [-4.10595940e-02 1.57964429e-05 9.99156699e-01 -1.13592992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.383201008 meters 0.058643488917809294 Centerline is valid? [True, True] Translation: X:14.74, Y:0.64, Z:-1.14 [[ 9.92958432e-01 -1.11269684e-01 4.06522992e-02 1.47373746e+01] [ 1.11171476e-01 9.93790241e-01 4.67553233e-03 6.35707500e-01] [-4.09201032e-02 -1.23233151e-04 9.99162414e-01 -1.14187060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.413201007999998 meters 0.05847760311039216 Centerline is valid? [True, True] Translation: X:14.77, Y:0.64, Z:-1.14 [[ 9.93211262e-01 -1.09055479e-01 4.04758237e-02 1.47658455e+01] [ 1.08956311e-01 9.94035642e-01 4.65456450e-03 6.41422129e-01] [-4.07420172e-02 -2.12869425e-04 9.99169677e-01 -1.14215643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.443201008 meters 0.05851021293410819 Centerline is valid? [True, True] Translation: X:14.79, Y:0.65, Z:-1.14 [[ 9.93241759e-01 -1.08874383e-01 4.02141276e-02 1.47939951e+01] [ 1.08775985e-01 9.94055490e-01 4.63338972e-03 6.45497287e-01] [-4.04795317e-02 -2.27744832e-04 9.99180342e-01 -1.14448966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.473201008 meters 0.05885001829272076 Centerline is valid? [True, True] Translation: X:14.82, Y:0.65, Z:-1.15 [[ 9.93123418e-01 -1.10505987e-01 3.86562302e-02 1.48230205e+01] [ 1.10415984e-01 9.93875445e-01 4.46209084e-03 6.46122232e-01] [-3.89125657e-02 -1.63141222e-04 9.99242606e-01 -1.14951923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.503201007999998 meters 0.05887410857859606 Centerline is valid? [True, True] Translation: X:14.85, Y:0.65, Z:-1.15 [[ 9.92958242e-01 -1.12508904e-01 3.70901083e-02 1.48522864e+01] [ 1.12427159e-01 9.93650713e-01 4.28896590e-03 6.45936064e-01] [-3.73371594e-02 -8.88285267e-05 9.99302721e-01 -1.15114637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.533201008 meters 0.05894149559096997 Centerline is valid? [True, True] Translation: X:14.88, Y:0.64, Z:-1.15 [[ 9.92675750e-01 -1.14842807e-01 3.74964744e-02 1.48812206e+01] [ 1.14760586e-01 9.93383677e-01 4.34493742e-03 6.44873618e-01] [-3.77473704e-02 -9.99664748e-06 9.99287314e-01 -1.15494168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.563201008 meters 0.059021134354584774 Centerline is valid? [True, True] Translation: X:14.91, Y:0.64, Z:-1.16 [[ 9.92397562e-01 -1.17096384e-01 3.78882023e-02 1.49107399e+01] [ 1.17013735e-01 9.93120553e-01 4.39925222e-03 6.43573524e-01] [-3.81426890e-02 6.76328972e-05 9.99272301e-01 -1.15680718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.593201007999998 meters 0.05949629415793666 Centerline is valid? [True, True] Translation: X:14.94, Y:0.64, Z:-1.16 [[ 9.91950793e-01 -1.20702207e-01 3.82701037e-02 1.49385866e+01] [ 1.20620264e-01 9.92688741e-01 4.45140054e-03 6.38391256e-01] [-3.85275950e-02 2.00579715e-04 9.99257516e-01 -1.16153915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.623201008 meters 0.059353828501681985 Centerline is valid? [True, True] Translation: X:14.97, Y:0.64, Z:-1.16 [[ 9.91796656e-01 -1.21946566e-01 3.83200841e-02 1.49673820e+01] [ 1.21864959e-01 9.92536638e-01 4.46701617e-03 6.38854326e-01] [-3.85788247e-02 2.39503773e-04 9.99255531e-01 -1.16132790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.653201008 meters 0.05949100904847083 Centerline is valid? [True, True] Translation: X:15.00, Y:0.64, Z:-1.16 [[ 9.91600208e-01 -1.23289202e-01 3.90998844e-02 1.49966425e+01] [ 1.23204796e-01 9.92370743e-01 4.57023102e-03 6.38407355e-01] [-3.93650414e-02 2.85451258e-04 9.99224856e-01 -1.16370173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.683201007999998 meters 0.06016687169871611 Centerline is valid? [True, True] Translation: X:15.03, Y:0.63, Z:-1.17 [[ 9.91316464e-01 -1.25202571e-01 4.01993139e-02 1.50255616e+01] [ 1.25114360e-01 9.92131135e-01 4.71262147e-03 6.29584635e-01] [-4.04730233e-02 3.57812179e-04 9.99180567e-01 -1.16666682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.713201008 meters 0.05976826199465189 Centerline is valid? [True, True] Translation: X:15.06, Y:0.63, Z:-1.16 [[ 9.91275905e-01 -1.25226724e-01 4.11138340e-02 1.50551997e+01] [ 1.25134419e-01 9.92128083e-01 4.82112070e-03 6.30501732e-01] [-4.13939225e-02 3.65694957e-04 9.99142837e-01 -1.16438588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.743201008 meters 0.05981476073673707 Centerline is valid? [True, True] Translation: X:15.08, Y:0.63, Z:-1.17 [[ 9.91288291e-01 -1.24939861e-01 4.16839942e-02 1.50826890e+01] [ 1.24844088e-01 9.92164257e-01 4.90311488e-03 6.33316358e-01] [-4.19699636e-02 3.43599875e-04 9.99118814e-01 -1.16797109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.773201007999997 meters 0.059878641356651746 Centerline is valid? [True, True] Translation: X:15.11, Y:0.64, Z:-1.17 [[ 9.91279288e-01 -1.24517608e-01 4.31362694e-02 1.51113740e+01] [ 1.24414695e-01 9.92217341e-01 5.07274762e-03 6.37935089e-01] [-4.34322009e-02 3.38276146e-04 9.99056319e-01 -1.17251553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.803201008 meters 0.060365538861096094 Centerline is valid? [True, True] Translation: X:15.14, Y:0.64, Z:-1.18 [[ 9.91643432e-01 -1.22065194e-01 4.17539603e-02 1.51385368e+01] [ 1.21966060e-01 9.92522062e-01 4.92302501e-03 6.42124141e-01] [-4.20426568e-02 2.10680598e-04 9.99115794e-01 -1.18013315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.833201008 meters 0.06037600064113015 Centerline is valid? [True, True] Translation: X:15.17, Y:0.64, Z:-1.18 [[ 9.91819478e-01 -1.20844147e-01 4.11195304e-02 1.51675077e+01] [ 1.20746917e-01 9.92671480e-01 4.84913733e-03 6.43751662e-01] [-4.14041750e-02 1.55587665e-04 9.99142467e-01 -1.18075958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.863201007999997 meters 0.06068437620418694 Centerline is valid? [True, True] Translation: X:15.19, Y:0.64, Z:-1.18 [[ 9.91885263e-01 -1.20323267e-01 4.10601593e-02 1.51948876e+01] [ 1.20225305e-01 9.92734757e-01 4.85580474e-03 6.43153106e-01] [-4.13461135e-02 1.20069027e-04 9.99144877e-01 -1.18353168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.893201008 meters 0.060681369107236455 Centerline is valid? [True, True] Translation: X:15.22, Y:0.64, Z:-1.18 [[ 9.91858640e-01 -1.20811466e-01 4.02619884e-02 1.52238279e+01] [ 1.20717665e-01 9.92675461e-01 4.76178415e-03 6.42798014e-01] [-4.05423661e-02 1.37316463e-04 9.99177811e-01 -1.18431319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.923201008 meters 0.06084935049651409 Centerline is valid? [True, True] Translation: X:15.25, Y:0.64, Z:-1.19 [[ 9.91728204e-01 -1.22094904e-01 3.95980220e-02 1.52515161e+01] [ 1.22004629e-01 9.92518415e-01 4.69743583e-03 6.43232688e-01] [-3.98752990e-02 1.72562366e-04 9.99204649e-01 -1.18691440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.953201007999997 meters 0.0611461824102279 Centerline is valid? [True, True] Translation: X:15.28, Y:0.64, Z:-1.19 [[ 9.91483987e-01 -1.24100541e-01 3.94785815e-02 1.52806696e+01] [ 1.24012487e-01 9.92269616e-01 4.68104821e-03 6.44247699e-01] [-3.97543175e-02 2.54652727e-04 9.99209452e-01 -1.19208913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.983201007999998 meters 0.06169116289277918 Centerline is valid? [True, True] Translation: X:15.31, Y:0.64, Z:-1.20 [[ 9.90779847e-01 -1.29909871e-01 3.84541364e-02 1.53102242e+01] [ 1.29830117e-01 9.91525700e-01 4.57459718e-03 6.40013845e-01] [-3.87225498e-02 4.60086328e-04 9.99249895e-01 -1.19765511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.013201008 meters 0.061918040150788715 Centerline is valid? [True, True] Translation: X:15.34, Y:0.64, Z:-1.20 [[ 9.90277998e-01 -1.33608270e-01 3.87081084e-02 1.53397722e+01] [ 1.33530479e-01 9.91034032e-01 4.59975464e-03 6.37860106e-01] [-3.89756180e-02 6.13676429e-04 9.99239973e-01 -1.19903328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.043201007999997 meters 0.06271452501514224 Centerline is valid? [True, True] Translation: X:15.37, Y:0.63, Z:-1.20 [[ 9.89773211e-01 -1.37470225e-01 3.80910490e-02 1.53688874e+01] [ 1.37397153e-01 9.90505625e-01 4.54201471e-03 6.33360059e-01] [-3.83537900e-02 7.38037198e-04 9.99263950e-01 -1.20404588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.073201007999998 meters 0.06332762799550622 Centerline is valid? [True, True] Translation: X:15.40, Y:0.63, Z:-1.21 [[ 9.89239745e-01 -1.41291615e-01 3.79658600e-02 1.53987374e+01] [ 1.41221761e-01 9.89967627e-01 4.52896612e-03 6.29795445e-01] [-3.82248772e-02 8.81372297e-04 9.99268774e-01 -1.20591139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.103201008 meters 0.06332762799550622 Centerline is valid? [True, True] Translation: X:15.43, Y:0.63, Z:-1.21 [[ 9.89203469e-01 -1.41545166e-01 3.79666143e-02 1.54261369e+01] [ 1.41475740e-01 9.89931392e-01 4.52265889e-03 6.33216091e-01] [-3.82245038e-02 8.97525000e-04 9.99268774e-01 -1.20805232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.133201008 meters 0.06392363715166706 Centerline is valid? [True, True] Translation: X:15.46, Y:0.63, Z:-1.21 [[ 9.88422444e-01 -1.46845523e-01 3.81767649e-02 1.54564202e+01] [ 1.46778570e-01 9.89158836e-01 4.56596644e-03 6.25835828e-01] [-3.84333761e-02 1.09042724e-03 9.99260570e-01 -1.20736609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.163201007999998 meters 0.06390178593780942 Centerline is valid? [True, True] Translation: X:15.49, Y:0.63, Z:-1.21 [[ 9.88340476e-01 -1.47208404e-01 3.88945974e-02 1.54859655e+01] [ 1.47139088e-01 9.89104861e-01 4.65440677e-03 6.26061630e-01] [-3.91560032e-02 1.12277699e-03 9.99232479e-01 -1.20782512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.193201008 meters 0.06359581256502905 Centerline is valid? [True, True] Translation: X:15.51, Y:0.63, Z:-1.21 [[ 9.88500463e-01 -1.45542019e-01 4.10408904e-02 1.55146118e+01] [ 1.45463370e-01 9.89351444e-01 4.91213664e-03 6.27177245e-01] [-4.13187865e-02 1.11429688e-03 9.99145393e-01 -1.20830803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.223201008 meters 0.06232784829673174 Centerline is valid? [True, True] Translation: X:15.54, Y:0.63, Z:-1.21 [[ 9.89292296e-01 -1.38668696e-01 4.55164409e-02 1.55442153e+01] [ 1.38564503e-01 9.90338406e-01 5.45166048e-03 6.31013126e-01] [-4.58326542e-02 9.13677295e-04 9.98948714e-01 -1.20516807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.253201007999998 meters 0.06180918895849615 Centerline is valid? [True, True] Translation: X:15.57, Y:0.64, Z:-1.21 [[ 9.89847893e-01 -1.34061674e-01 4.72082295e-02 1.55721909e+01] [ 1.33944360e-01 9.90972724e-01 5.65409909e-03 6.36560840e-01] [-4.75400658e-02 7.26578005e-04 9.98869068e-01 -1.20736460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.283201008 meters 0.06155391195601516 Centerline is valid? [True, True] Translation: X:15.60, Y:0.64, Z:-1.21 [[ 9.90515225e-01 -1.29038885e-01 4.72075801e-02 1.56002231e+01] [ 1.28916076e-01 9.91639413e-01 5.64968865e-03 6.44495397e-01] [-4.75419266e-02 4.89713370e-04 9.98869123e-01 -1.21081432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.313201008 meters 0.06133054651135458 Centerline is valid? [True, True] Translation: X:15.63, Y:0.65, Z:-1.21 [[ 9.91109105e-01 -1.24076293e-01 4.80397348e-02 1.56286533e+01] [ 1.23942708e-01 9.92272651e-01 5.76118203e-03 6.52532438e-01] [-4.83833411e-02 2.44214850e-04 9.98828810e-01 -1.21467973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.343201007999998 meters 0.061705449395711556 Centerline is valid? [True, True] Translation: X:15.66, Y:0.66, Z:-1.22 [[ 9.92051664e-01 -1.16177494e-01 4.83351489e-02 1.56564851e+01] [ 1.16032398e-01 9.93228456e-01 5.80653997e-03 6.61789359e-01] [-4.86824346e-02 -1.51944408e-04 9.98814296e-01 -1.21977386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.373201008 meters 0.06207110086636364 Centerline is valid? [True, True] Translation: X:15.68, Y:0.67, Z:-1.22 [[ 9.92302086e-01 -1.13568689e-01 4.93834229e-02 1.56837589e+01] [ 1.13413193e-01 9.93530101e-01 5.94862376e-03 6.65953459e-01] [-4.97394945e-02 -3.02100118e-04 9.98762180e-01 -1.22309897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.403201008 meters 0.06205431357992927 Centerline is valid? [True, True] Translation: X:15.71, Y:0.67, Z:-1.22 [[ 9.92531498e-01 -1.11250113e-01 5.00463506e-02 1.57115389e+01] [ 1.11087514e-01 9.93792349e-01 6.02749823e-03 6.68318826e-01] [-5.04062402e-02 -4.22957179e-04 9.98728708e-01 -1.22205795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.433201007999998 meters 0.06219774203786516 Centerline is valid? [True, True] Translation: X:15.74, Y:0.67, Z:-1.22 [[ 9.92579525e-01 -1.10456924e-01 5.08444135e-02 1.57402509e+01] [ 1.10287263e-01 9.93880794e-01 6.13903747e-03 6.69014923e-01] [-5.12113852e-02 -4.85991694e-04 9.98687718e-01 -1.22288550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.463201008 meters 0.06250706467177103 Centerline is valid? [True, True] Translation: X:15.77, Y:0.67, Z:-1.23 [[ 9.92526999e-01 -1.10766768e-01 5.11945157e-02 1.57678174e+01] [ 1.10594305e-01 9.93846308e-01 6.19810893e-03 6.69057683e-01] [-5.15660249e-02 -4.89968550e-04 9.98669467e-01 -1.22557885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.493201008 meters 0.06251549065782183 Centerline is valid? [True, True] Translation: X:15.80, Y:0.66, Z:-1.23 [[ 9.92173541e-01 -1.13648278e-01 5.17274962e-02 1.57963216e+01] [ 1.13475873e-01 9.93520985e-01 6.26728482e-03 6.62650073e-01] [-5.21046191e-02 -3.48411395e-04 9.98641571e-01 -1.22777780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.523201007999997 meters 0.0625219414224286 Centerline is valid? [True, True] Translation: X:15.82, Y:0.66, Z:-1.23 [[ 9.91778938e-01 -1.16618459e-01 5.26751669e-02 1.58241769e+01] [ 1.16443614e-01 9.93176769e-01 6.38669650e-03 6.60949188e-01] [-5.30605588e-02 -2.00504262e-04 9.98591276e-01 -1.23059405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.553201008 meters 0.06261059779921366 Centerline is valid? [True, True] Translation: X:15.85, Y:0.66, Z:-1.23 [[ 9.91452372e-01 -1.19360177e-01 5.26815104e-02 1.58527253e+01] [ 1.19189167e-01 9.92851019e-01 6.38726908e-03 6.59563439e-01] [-5.30672769e-02 -5.36077260e-05 9.98590938e-01 -1.23313663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.583201008 meters 0.06280023085227399 Centerline is valid? [True, True] Translation: X:15.88, Y:0.66, Z:-1.24 [[ 9.91139427e-01 -1.22430295e-01 5.15117317e-02 1.58814853e+01] [ 1.22270190e-01 9.92477110e-01 6.25991622e-03 6.58718050e-01] [-5.18906180e-02 9.38994369e-05 9.98652770e-01 -1.23816363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.613201007999997 meters 0.06293865377241464 Centerline is valid? [True, True] Translation: X:15.91, Y:0.66, Z:-1.24 [[ 9.90802156e-01 -1.25648217e-01 5.02355794e-02 1.59110892e+01] [ 1.25499519e-01 9.92074829e-01 6.11598310e-03 6.57592766e-01] [-5.06059162e-02 2.44811799e-04 9.98718670e-01 -1.24087060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.643201008 meters 0.06336866685342482 Centerline is valid? [True, True] Translation: X:15.94, Y:0.66, Z:-1.25 [[ 9.90796534e-01 -1.26373711e-01 4.84965352e-02 1.59387697e+01] [ 1.26235258e-01 9.91982671e-01 5.91950756e-03 6.55397053e-01] [-4.88557926e-02 2.56945032e-04 9.98805810e-01 -1.24544936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.673201008 meters 0.06344259999165588 Centerline is valid? [True, True] Translation: X:15.97, Y:0.66, Z:-1.25 [[ 9.90848684e-01 -1.26017647e-01 4.83574033e-02 1.59666148e+01] [ 1.25879541e-01 9.92027971e-01 5.90298355e-03 6.58773252e-01] [-4.87157768e-02 2.38244243e-04 9.98812653e-01 -1.24727958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.703201007999997 meters 0.06370129060211217 Centerline is valid? [True, True] Translation: X:15.99, Y:0.66, Z:-1.25 [[ 9.90828258e-01 -1.26565366e-01 4.73346745e-02 1.59940168e+01] [ 1.26432831e-01 9.91958240e-01 5.79566825e-03 6.61413007e-01] [-4.76875513e-02 2.42145017e-04 9.98862272e-01 -1.25332675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.733201007999998 meters 0.06382804892720773 Centerline is valid? [True, True] Translation: X:16.02, Y:0.67, Z:-1.26 [[ 9.90840683e-01 -1.26840447e-01 4.63275582e-02 1.60229505e+01] [ 1.26713839e-01 9.91923101e-01 5.67141479e-03 6.66171026e-01] [-4.66727400e-02 2.50874252e-04 9.98910202e-01 -1.25621029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.763201008 meters 0.06410863239989975 Centerline is valid? [True, True] Translation: X:16.05, Y:0.67, Z:-1.26 [[ 9.90761360e-01 -1.27373616e-01 4.65605928e-02 1.60503098e+01] [ 1.27245857e-01 9.91854773e-01 5.70978609e-03 6.72792973e-01] [-4.69086223e-02 2.67607095e-04 9.98899149e-01 -1.26023124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.793201007999997 meters 0.06416413534593364 Centerline is valid? [True, True] Translation: X:16.08, Y:0.68, Z:-1.26 [[ 9.90734607e-01 -1.27502131e-01 4.67776106e-02 1.60778990e+01] [ 1.27372717e-01 9.91838262e-01 5.74919288e-03 6.77941115e-01] [-4.71288584e-02 2.62267003e-04 9.98888784e-01 -1.26352237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.823201007999998 meters 0.06445229911088472 Centerline is valid? [True, True] Translation: X:16.11, Y:0.68, Z:-1.27 [[ 9.90867318e-01 -1.26636599e-01 4.63155451e-02 1.61054077e+01] [ 1.26507942e-01 9.91949158e-01 5.71044115e-03 6.83298059e-01] [-4.66658168e-02 2.00994775e-04 9.98910537e-01 -1.26792209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.853201008 meters 0.06461873460016503 Centerline is valid? [True, True] Translation: X:16.13, Y:0.69, Z:-1.27 [[ 9.91089840e-01 -1.25150141e-01 4.55891501e-02 1.61340706e+01] [ 1.25023960e-01 9.92137806e-01 5.61997078e-03 6.88765351e-01] [-4.59340595e-02 1.29840137e-04 9.98944466e-01 -1.27067360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.883201008 meters 0.0646938378092299 Centerline is valid? [True, True] Translation: X:16.16, Y:0.69, Z:-1.27 [[ 9.91206940e-01 -1.24140764e-01 4.58025330e-02 1.61620498e+01] [ 1.24011881e-01 9.92264614e-01 5.65580603e-03 6.92499084e-01] [-4.61503489e-02 7.39840955e-05 9.98934502e-01 -1.27057915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.913201007999998 meters 0.06481025430844682 Centerline is valid? [True, True] Translation: X:16.19, Y:0.70, Z:-1.27 [[ 9.91167603e-01 -1.24289236e-01 4.62489771e-02 1.61904818e+01] [ 1.24157339e-01 9.92246029e-01 5.72485998e-03 6.96077935e-01] [-4.66019023e-02 6.78541891e-05 9.98913539e-01 -1.27280730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.943201008 meters 0.06478987234592884 Centerline is valid? [True, True] Translation: X:16.22, Y:0.70, Z:-1.27 [[ 9.91058220e-01 -1.24459928e-01 4.80971000e-02 1.62187864e+01] [ 1.24316887e-01 9.92224633e-01 5.96571636e-03 6.99787582e-01] [-4.84656200e-02 6.69094910e-05 9.98824849e-01 -1.27474272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.973201008 meters 0.06466310164598997 Centerline is valid? [True, True] Translation: X:16.25, Y:0.70, Z:-1.27 [[ 9.90743977e-01 -1.25634611e-01 5.14034587e-02 1.62473014e+01] [ 1.25471879e-01 9.92076575e-01 6.39346043e-03 7.03230327e-01] [-5.17994072e-02 1.15406150e-04 9.98657503e-01 -1.27469262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.003201007999998 meters 0.06477801479797238 Centerline is valid? [True, True] Translation: X:16.28, Y:0.71, Z:-1.28 [[ 9.90350967e-01 -1.26637905e-01 5.62832498e-02 1.62758246e+01] [ 1.26444112e-01 9.91948995e-01 7.00551773e-03 7.08383645e-01] [-5.67172772e-02 1.78764312e-04 9.98390264e-01 -1.27786021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.033201008 meters 0.06483643619010063 Centerline is valid? [True, True] Translation: X:16.30, Y:0.71, Z:-1.28 [[ 9.90351652e-01 -1.25884097e-01 5.79378901e-02 1.63028257e+01] [ 1.25677378e-01 9.92044946e-01 7.21261412e-03 7.13049255e-01] [-5.83849445e-02 1.38457800e-04 9.98294135e-01 -1.28018467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.063201008 meters 0.06476796693563747 Centerline is valid? [True, True] Translation: X:16.33, Y:0.72, Z:-1.28 [[ 9.90371786e-01 -1.25411060e-01 5.86156273e-02 1.63318210e+01] [ 1.25198526e-01 9.92104860e-01 7.29899189e-03 7.16441874e-01] [-5.90682231e-02 1.09874485e-04 9.98253942e-01 -1.27873094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.093201007999998 meters 0.0648752846615919 Centerline is valid? [True, True] Translation: X:16.36, Y:0.72, Z:-1.28 [[ 9.90361589e-01 -1.25181236e-01 5.92754738e-02 1.63599834e+01] [ 1.24962438e-01 9.92133888e-01 7.39846119e-03 7.18246154e-01] [-5.97353548e-02 8.00559514e-05 9.98214246e-01 -1.28054996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.123201008 meters 0.06501909422184346 Centerline is valid? [True, True] Translation: X:16.39, Y:0.72, Z:-1.28 [[ 9.90434237e-01 -1.24437295e-01 5.96270254e-02 1.63888289e+01] [ 1.24214432e-01 9.92227473e-01 7.44422077e-03 7.18848868e-01] [-6.00899115e-02 3.35259543e-05 9.98192968e-01 -1.27839478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.153201008 meters 0.06512526512358563 Centerline is valid? [True, True] Translation: X:16.42, Y:0.72, Z:-1.28 [[ 9.90375192e-01 -1.24865247e-01 5.97130550e-02 1.64151036e+01] [ 1.24641356e-01 9.92173709e-01 7.47420915e-03 7.22403084e-01] [-6.01789922e-02 4.04448427e-05 9.98187601e-01 -1.28127211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.183201007999998 meters 0.06526127627240354 Centerline is valid? [True, True] Translation: X:16.44, Y:0.73, Z:-1.29 [[ 9.90356323e-01 -1.25143581e-01 5.94427302e-02 1.64429399e+01] [ 1.24921947e-01 9.92138640e-01 7.44485357e-03 7.27726096e-01] [-5.99071052e-02 5.26437905e-05 9.98203955e-01 -1.28651149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.213201008 meters 0.06606693915397079 Centerline is valid? [True, True] Translation: X:16.47, Y:0.73, Z:-1.30 [[ 9.90219599e-01 -1.27168525e-01 5.73873901e-02 1.64704650e+01] [ 1.26964460e-01 9.91881113e-01 7.20301640e-03 7.32543702e-01] [-5.78374653e-02 1.53590957e-04 9.98326001e-01 -1.29706831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.243201008 meters 0.06644253671067844 Centerline is valid? [True, True] Translation: X:16.50, Y:0.73, Z:-1.30 [[ 9.90035680e-01 -1.29388362e-01 5.55698187e-02 1.64980103e+01] [ 1.29199631e-01 9.91593962e-01 6.99072807e-03 7.33048678e-01] [-5.60072156e-02 2.58529878e-04 9.98430331e-01 -1.30202767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.273201007999997 meters 0.06695731280754003 Centerline is valid? [True, True] Translation: X:16.53, Y:0.73, Z:-1.31 [[ 9.89807366e-01 -1.31895395e-01 5.37120437e-02 1.65262450e+01] [ 1.31722534e-01 9.91263566e-01 6.76134852e-03 7.31189331e-01] [-5.41345828e-02 3.82653928e-04 9.98533575e-01 -1.30566576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.303201008 meters 0.06721694959053845 Centerline is valid? [True, True] Translation: X:16.56, Y:0.73, Z:-1.31 [[ 9.89520216e-01 -1.34627135e-01 5.22041877e-02 1.65555351e+01] [ 1.34467618e-01 9.90896194e-01 6.57205510e-03 7.28580261e-01] [-5.26137079e-02 5.16591410e-04 9.98614806e-01 -1.30776648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.333201008 meters 0.06740929265968215 Centerline is valid? [True, True] Translation: X:16.58, Y:0.73, Z:-1.31 [[ 9.89280018e-01 -1.36472616e-01 5.19641251e-02 1.65849723e+01] [ 1.36316481e-01 9.90643662e-01 6.55377071e-03 7.28161926e-01] [-5.23723415e-02 6.00052267e-04 9.98627447e-01 -1.30807721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.363201007999997 meters 0.06734271910331874 Centerline is valid? [True, True] Translation: X:16.61, Y:0.73, Z:-1.31 [[ 9.89029589e-01 -1.37764894e-01 5.33039096e-02 1.66140079e+01] [ 1.37601792e-01 9.90464730e-01 6.73541636e-03 7.30041335e-01] [-5.37235463e-02 6.73187416e-04 9.98555621e-01 -1.30764426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.393201008 meters 0.06740502031235265 Centerline is valid? [True, True] Translation: X:16.64, Y:0.74, Z:-1.31 [[ 9.89017942e-01 -1.37267984e-01 5.47814896e-02 1.66412495e+01] [ 1.37094024e-01 9.90533736e-01 6.93883095e-03 7.35382739e-01] [-5.52153929e-02 6.47586556e-04 9.98474257e-01 -1.30980012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.423201008 meters 0.0673284952853948 Centerline is valid? [True, True] Translation: X:16.67, Y:0.74, Z:-1.31 [[ 9.89029526e-01 -1.36548761e-01 5.63474309e-02 1.66686939e+01] [ 1.36363305e-01 9.90633156e-01 7.14132285e-03 7.41059852e-01] [-5.67947721e-02 6.20742734e-04 9.98385681e-01 -1.31301687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.453201007999997 meters 0.0669986436968058 Centerline is valid? [True, True] Translation: X:16.70, Y:0.75, Z:-1.31 [[ 9.89273091e-01 -1.34200628e-01 5.76969920e-02 1.66965845e+01] [ 1.34001896e-01 9.90954060e-01 7.31731460e-03 7.49522917e-01] [-5.81570567e-02 4.92683896e-04 9.98307324e-01 -1.31462503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.483201007999998 meters 0.06660404879150854 Centerline is valid? [True, True] Translation: X:16.72, Y:0.76, Z:-1.32 [[ 9.89825658e-01 -1.28889406e-01 6.02717754e-02 1.67237328e+01] [ 1.28661599e-01 9.91658959e-01 7.66167066e-03 7.60126600e-01] [-6.07565543e-02 1.70944783e-04 9.98152600e-01 -1.31544092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.513201008 meters 0.06655458677039275 Centerline is valid? [True, True] Translation: X:16.75, Y:0.77, Z:-1.32 [[ 9.90169061e-01 -1.25764861e-01 6.12244309e-02 1.67510289e+01] [ 1.25523578e-01 9.92060078e-01 7.78667890e-03 7.66140036e-01] [-6.17176043e-02 -2.50189345e-05 9.98093651e-01 -1.31783813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.543201007999997 meters 0.06656924501566922 Centerline is valid? [True, True] Translation: X:16.78, Y:0.77, Z:-1.32 [[ 9.90470716e-01 -1.23669034e-01 6.06113054e-02 1.67795880e+01] [ 1.23428493e-01 9.92323508e-01 7.71113554e-03 7.71373529e-01] [-6.10996519e-02 -1.56491854e-04 9.98131659e-01 -1.31770323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.573201007999998 meters 0.06651419055938144 Centerline is valid? [True, True] Translation: X:16.81, Y:0.78, Z:-1.32 [[ 9.90665066e-01 -1.21723010e-01 6.13696676e-02 1.68065958e+01] [ 1.21471631e-01 9.92564064e-01 7.82446520e-03 7.75753493e-01] [-6.18657441e-02 -2.96750734e-04 9.98084436e-01 -1.31972715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.603201008 meters 0.0663930543250185 Centerline is valid? [True, True] Translation: X:16.83, Y:0.78, Z:-1.32 [[ 9.90760101e-01 -1.21029229e-01 6.12074249e-02 1.68347313e+01] [ 1.20777368e-01 9.92648883e-01 7.81166641e-03 7.77861312e-01] [-6.17029219e-02 -3.47015716e-04 9.98094499e-01 -1.32220355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.633201008 meters 0.06636247303459784 Centerline is valid? [True, True] Translation: X:16.86, Y:0.78, Z:-1.32 [[ 9.90613090e-01 -1.22246638e-01 6.11675257e-02 1.68625690e+01] [ 1.21997292e-01 9.92499715e-01 7.80870574e-03 7.79753467e-01] [-6.16633399e-02 -2.73133627e-04 9.98096968e-01 -1.32423717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.663201007999998 meters 0.06633610051467577 Centerline is valid? [True, True] Translation: X:16.89, Y:0.78, Z:-1.33 [[ 9.90420027e-01 -1.24086772e-01 6.05858252e-02 1.68904701e+01] [ 1.23844608e-01 9.92271356e-01 7.75049119e-03 7.81056320e-01] [-6.10793124e-02 -1.73013940e-04 9.98132901e-01 -1.32715959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.693201008 meters 0.06646058951731625 Centerline is valid? [True, True] Translation: X:16.92, Y:0.78, Z:-1.33 [[ 9.90333560e-01 -1.24970027e-01 6.01824841e-02 1.69179765e+01] [ 1.24731543e-01 9.92160508e-01 7.71806868e-03 7.84574454e-01] [-6.06752113e-02 -1.36808343e-04 9.98157553e-01 -1.33108124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.723201008 meters 0.06656009714245359 Centerline is valid? [True, True] Translation: X:16.95, Y:0.79, Z:-1.34 [[ 9.90433827e-01 -1.24646116e-01 5.91961112e-02 1.69461536e+01] [ 1.24414685e-01 9.92201250e-01 7.59373250e-03 7.90529965e-01] [-5.96809848e-02 -1.56224001e-04 9.98217489e-01 -1.33515122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.753201007999998 meters 0.06656013419311735 Centerline is valid? [True, True] Translation: X:16.97, Y:0.79, Z:-1.34 [[ 9.90424605e-01 -1.24650074e-01 5.93418967e-02 1.69723804e+01] [ 1.24416619e-01 9.92200751e-01 7.62727161e-03 7.94891008e-01] [-5.98298144e-02 -1.71119338e-04 9.98208577e-01 -1.33939884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.783201008 meters 0.06654305393262824 Centerline is valid? [True, True] Translation: X:17.00, Y:0.80, Z:-1.34 [[ 9.90333048e-01 -1.25355664e-01 5.93835978e-02 1.69997532e+01] [ 1.25122574e-01 9.92111858e-01 7.64218623e-03 7.99325289e-01] [-5.98731629e-02 -1.38080979e-04 9.98205983e-01 -1.34161506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.813201008 meters 0.06653875288897616 Centerline is valid? [True, True] Translation: X:17.03, Y:0.80, Z:-1.34 [[ 9.90370400e-01 -1.24971394e-01 5.95703051e-02 1.70259900e+01] [ 1.24735063e-01 9.92160329e-01 7.68412976e-03 8.03458711e-01] [-6.00635899e-02 -1.79628936e-04 9.98194537e-01 -1.34355504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.843201007999998 meters 0.06645205613792059 Centerline is valid? [True, True] Translation: X:17.05, Y:0.81, Z:-1.35 [[ 9.90360909e-01 -1.24834949e-01 6.00125455e-02 1.70539278e+01] [ 1.24594577e-01 9.92177503e-01 7.74554663e-03 8.07556988e-01] [-6.05100125e-02 -1.93648883e-04 9.98167572e-01 -1.34534734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.873201008 meters 0.0662126845161886 Centerline is valid? [True, True] Translation: X:17.08, Y:0.81, Z:-1.34 [[ 9.90528221e-01 -1.23271016e-01 6.04822318e-02 1.70817092e+01] [ 1.23023012e-01 9.92372996e-01 7.82150115e-03 8.11508599e-01] [-6.09850980e-02 -3.06711265e-04 9.98138630e-01 -1.34456509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.903201008 meters 0.0663754471514607 Centerline is valid? [True, True] Translation: X:17.11, Y:0.82, Z:-1.35 [[ 9.90688177e-01 -1.22148173e-01 6.01395001e-02 1.71086891e+01] [ 1.21899769e-01 9.92511798e-01 7.79592920e-03 8.16322788e-01] [-6.06414219e-02 -3.92343738e-04 9.98159538e-01 -1.34773776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.933201007999998 meters 0.06620924573581548 Centerline is valid? [True, True] Translation: X:17.14, Y:0.82, Z:-1.35 [[ 9.90591846e-01 -1.22571176e-01 6.08613244e-02 1.71378422e+01] [ 1.22317406e-01 9.92459655e-01 7.89206576e-03 8.18759271e-01] [-6.13697488e-02 -3.73416655e-04 9.98115031e-01 -1.34759095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.963201008 meters 0.06614965410915659 Centerline is valid? [True, True] Translation: X:17.17, Y:0.82, Z:-1.35 [[ 9.89872771e-01 -1.28611290e-01 6.00918811e-02 1.71664336e+01] [ 1.28373999e-01 9.91695082e-01 7.80899649e-03 8.15274893e-01] [-6.05971481e-02 -1.56778869e-05 9.98162304e-01 -1.35250872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.993201008 meters 0.06614965410915659 Centerline is valid? [True, True] Translation: X:17.19, Y:0.82, Z:-1.35 [[ 9.89839548e-01 -1.28866859e-01 6.00916129e-02 1.71937786e+01] [ 1.28629913e-01 9.91661904e-01 7.81106372e-03 8.19018194e-01] [-6.05971505e-02 -2.12083472e-06 9.98162304e-01 -1.35464648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.023201007999997 meters 0.06635568570252627 Centerline is valid? [True, True] Translation: X:17.22, Y:0.82, Z:-1.36 [[ 9.89676201e-01 -1.30778374e-01 5.86347546e-02 1.72219718e+01] [ 1.30555065e-01 9.91411624e-01 7.63982727e-03 8.21145455e-01] [-5.91303014e-02 9.41089836e-05 9.98250269e-01 -1.35767602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.053201008 meters 0.06651321772952 Centerline is valid? [True, True] Translation: X:17.25, Y:0.82, Z:-1.36 [[ 9.89532347e-01 -1.32811807e-01 5.64513769e-02 1.72492174e+01] [ 1.32607871e-01 9.91141253e-01 7.36000850e-03 8.23112985e-01] [-5.69287844e-02 2.02930412e-04 9.98378221e-01 -1.36279656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.083201008 meters 0.06667188855781413 Centerline is valid? [True, True] Translation: X:17.28, Y:0.83, Z:-1.37 [[ 9.89290995e-01 -1.34487563e-01 5.67135120e-02 1.72760861e+01] [ 1.34284234e-01 9.90915237e-01 7.39843607e-03 8.25471532e-01] [-5.71932809e-02 2.96524347e-04 9.98363081e-01 -1.36819853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.113201007999997 meters 0.06655435736878479 Centerline is valid? [True, True] Translation: X:17.31, Y:0.83, Z:-1.37 [[ 9.89034465e-01 -1.36573533e-01 5.62005041e-02 1.73050448e+01] [ 1.36376992e-01 9.90629851e-01 7.33576029e-03 8.26114966e-01] [-5.66757677e-02 4.09135946e-04 9.98392553e-01 -1.36869424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.143201008 meters 0.06652787804458522 Centerline is valid? [True, True] Translation: X:17.33, Y:0.83, Z:-1.37 [[ 9.88644004e-01 -1.39248761e-01 5.65050031e-02 1.73345239e+01] [ 1.39053689e-01 9.90257278e-01 7.38879557e-03 8.26542831e-01] [-5.69833712e-02 5.52340652e-04 9.98374975e-01 -1.36829198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.173201008 meters 0.06661974150416665 Centerline is valid? [True, True] Translation: X:17.36, Y:0.83, Z:-1.37 [[ 9.88184105e-01 -1.42100372e-01 5.74426556e-02 1.73623273e+01] [ 1.41902604e-01 9.89851998e-01 7.52819605e-03 8.26567471e-01] [-5.79294868e-02 7.12018714e-04 9.98320423e-01 -1.37011271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.203201007999997 meters 0.06686804552015159 Centerline is valid? [True, True] Translation: X:17.39, Y:0.83, Z:-1.37 [[ 9.87652057e-01 -1.45439146e-01 5.82311782e-02 1.73916137e+01] [ 1.45241574e-01 9.89366773e-01 7.63369455e-03 8.28316088e-01] [-5.87222309e-02 9.18153878e-04 9.98273939e-01 -1.37071396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.233201007999998 meters 0.06716307290120059 Centerline is valid? [True, True] Translation: X:17.42, Y:0.83, Z:-1.37 [[ 9.87290868e-01 -1.47988553e-01 5.79321115e-02 1.74194998e+01] [ 1.47796433e-01 9.88988518e-01 7.61082783e-03 8.29620194e-01] [-5.84205086e-02 1.04805862e-03 9.98291513e-01 -1.37180556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.263201008 meters 0.06787585173106886 Centerline is valid? [True, True] Translation: X:17.45, Y:0.83, Z:-1.38 [[ 9.86735597e-01 -1.52131969e-01 5.66456205e-02 1.74475211e+01] [ 1.51954826e-01 9.88359387e-01 7.44671710e-03 8.30276127e-01] [-5.71191145e-02 1.25963458e-03 9.98366576e-01 -1.37599726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.293201007999997 meters 0.06800746046741067 Centerline is valid? [True, True] Translation: X:17.48, Y:0.84, Z:-1.38 [[ 9.86342591e-01 -1.54846213e-01 5.61332681e-02 1.74762598e+01] [ 1.54676638e-01 9.87937589e-01 7.37955523e-03 8.35009399e-01] [-5.65988618e-02 1.40373557e-03 9.98396013e-01 -1.37901054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.323201007999998 meters 0.06893299320515116 Centerline is valid? [True, True] Translation: X:17.51, Y:0.84, Z:-1.38 [[ 9.85586343e-01 -1.59255490e-01 5.70723211e-02 1.75050823e+01] [ 1.59086581e-01 9.87235994e-01 7.52011756e-03 8.39176545e-01] [-5.75414696e-02 1.66771526e-03 9.98341724e-01 -1.38364120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.353201008 meters 0.06883788205921612 Centerline is valid? [True, True] Translation: X:17.53, Y:0.84, Z:-1.38 [[ 9.85270503e-01 -1.61340248e-01 5.66688589e-02 1.75339210e+01] [ 1.61177212e-01 9.86897241e-01 7.46605466e-03 8.44048649e-01] [-5.71309156e-02 1.77764522e-03 9.98365113e-01 -1.38364350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.383201008 meters 0.06930671392281691 Centerline is valid? [True, True] Translation: X:17.56, Y:0.85, Z:-1.39 [[ 9.84876316e-01 -1.63439061e-01 5.75005642e-02 1.75623136e+01] [ 1.63273983e-01 9.86551575e-01 7.58920719e-03 8.46357823e-01] [-5.79676451e-02 1.91391575e-03 9.98316628e-01 -1.38573778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.413201007999998 meters 0.0685553809009527 Centerline is valid? [True, True] Translation: X:17.59, Y:0.85, Z:-1.38 [[ 9.84769848e-01 -1.64304753e-01 5.68532641e-02 1.75911698e+01] [ 1.64144081e-01 9.86407737e-01 7.51650244e-03 8.52283586e-01] [-5.73154966e-02 1.93010182e-03 9.98354250e-01 -1.38441790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.443201008 meters 0.06916771743149187 Centerline is valid? [True, True] Translation: X:17.62, Y:0.86, Z:-1.39 [[ 9.84655313e-01 -1.64882955e-01 5.71622834e-02 1.76181993e+01] [ 1.64720556e-01 9.86311197e-01 7.57377712e-03 8.56155892e-01] [-5.76285869e-02 1.95824322e-03 9.98336171e-01 -1.38662289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.473201008 meters 0.06755141426283585 Centerline is valid? [True, True] Translation: X:17.65, Y:0.87, Z:-1.39 [[ 9.84953710e-01 -1.63181699e-01 5.69027449e-02 1.76455962e+01] [ 1.63017767e-01 9.86594304e-01 7.54235111e-03 8.67716970e-01] [-5.73706977e-02 1.84729169e-03 9.98351236e-01 -1.38699804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.503201007999998 meters 0.06770121685260298 Centerline is valid? [True, True] Translation: X:17.67, Y:0.87, Z:-1.39 [[ 9.85310295e-01 -1.60883779e-01 5.72715650e-02 1.76730472e+01] [ 1.60712855e-01 9.86971881e-01 7.60823335e-03 8.74490465e-01] [-5.77494656e-02 1.70780608e-03 9.98329646e-01 -1.39139588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.533201008 meters 0.06653444724371436 Centerline is valid? [True, True] Translation: X:17.70, Y:0.89, Z:-1.39 [[ 9.85774602e-01 -1.57875767e-01 5.76513322e-02 1.77010307e+01] [ 1.57697374e-01 9.87457780e-01 7.65965096e-03 8.86997441e-01] [-5.81375298e-02 1.54077428e-03 9.98307394e-01 -1.39324626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.563201008 meters 0.06612251235989342 Centerline is valid? [True, True] Translation: X:17.73, Y:0.90, Z:-1.40 [[ 9.86196139e-01 -1.54976154e-01 5.83058079e-02 1.77292328e+01] [ 1.54787860e-01 9.87917257e-01 7.75957052e-03 8.97597759e-01] [-5.88038623e-02 1.37257273e-03 9.98268612e-01 -1.39660146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.593201007999998 meters 0.06565925483588018 Centerline is valid? [True, True] Translation: X:17.76, Y:0.91, Z:-1.40 [[ 9.86746515e-01 -1.51172943e-01 5.89750560e-02 1.77557911e+01] [ 1.50972586e-01 9.88506668e-01 7.86414823e-03 9.06620023e-01] [-5.94860825e-02 1.14369588e-03 9.98228480e-01 -1.39916071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.623201008 meters 0.06468224029721233 Centerline is valid? [True, True] Translation: X:17.78, Y:0.92, Z:-1.40 [[ 9.87564269e-01 -1.45135936e-01 6.04348754e-02 1.77834854e+01] [ 1.44913877e-01 9.89411406e-01 8.06460420e-03 9.16984505e-01] [-6.09654189e-02 7.93537155e-04 9.98139563e-01 -1.40039988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.653201008 meters 0.0641582961693538 Centerline is valid? [True, True] Translation: X:17.81, Y:0.92, Z:-1.40 [[ 9.87856323e-01 -1.42980056e-01 6.07995751e-02 1.78119766e+01] [ 1.42751216e-01 9.89725347e-01 8.11344861e-03 9.24934347e-01] [-6.13349419e-02 6.64291772e-04 9.98117019e-01 -1.40032236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.683201007999998 meters 0.06398146439487641 Centerline is valid? [True, True] Translation: X:17.84, Y:0.93, Z:-1.40 [[ 9.88051931e-01 -1.41486878e-01 6.11133754e-02 1.78399777e+01] [ 1.41251944e-01 9.89939973e-01 8.16939964e-03 9.31929445e-01] [-6.16544360e-02 5.60591985e-04 9.98097398e-01 -1.40180923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.713201008 meters 0.06376738120000286 Centerline is valid? [True, True] Translation: X:17.87, Y:0.94, Z:-1.40 [[ 9.88104177e-01 -1.40778945e-01 6.18985011e-02 1.78679803e+01] [ 1.40535656e-01 9.90040923e-01 8.28853251e-03 9.39668404e-01] [-6.24489001e-02 5.09012872e-04 9.98048033e-01 -1.40280510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.743201008 meters 0.06348705904669114 Centerline is valid? [True, True] Translation: X:17.90, Y:0.95, Z:-1.40 [[ 9.87874524e-01 -1.42070855e-01 6.26082792e-02 1.78952320e+01] [ 1.41823632e-01 9.89856319e-01 8.39792996e-03 9.45232145e-01] [-6.31663019e-02 5.83232520e-04 9.98002845e-01 -1.40378563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.773201007999997 meters 0.06365057654973781 Centerline is valid? [True, True] Translation: X:17.92, Y:0.95, Z:-1.41 [[ 9.87688723e-01 -1.43888785e-01 6.13759274e-02 1.79225526e+01] [ 1.43653491e-01 9.89593641e-01 8.25232297e-03 9.46931684e-01] [-6.19246442e-02 6.66139896e-04 9.98080605e-01 -1.40732753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.803201008 meters 0.06375490721058692 Centerline is valid? [True, True] Translation: X:17.95, Y:0.95, Z:-1.41 [[ 9.87449681e-01 -1.46085471e-01 6.00180129e-02 1.79501360e+01] [ 1.45864228e-01 9.89271664e-01 8.07477193e-03 9.47654048e-01] [-6.05537264e-02 7.81050165e-04 9.98164634e-01 -1.41061031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.833201008 meters 0.06427276154819025 Centerline is valid? [True, True] Translation: X:17.98, Y:0.95, Z:-1.41 [[ 9.86659116e-01 -1.51523830e-01 5.95341733e-02 1.79799639e+01] [ 1.51315668e-01 9.88452993e-01 8.01557245e-03 9.45814509e-01] [-6.00612820e-02 1.09981557e-03 9.98194086e-01 -1.41299873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.863201007999997 meters 0.06479183737762892 Centerline is valid? [True, True] Translation: X:18.01, Y:0.95, Z:-1.42 [[ 9.86188792e-01 -1.54784561e-01 5.89356027e-02 1.80079595e+01] [ 1.54586314e-01 9.87947413e-01 7.93606290e-03 9.45045625e-01] [-5.94536562e-02 1.28418126e-03 9.98230241e-01 -1.41684402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.893201008 meters 0.06514457149386312 Centerline is valid? [True, True] Translation: X:18.04, Y:0.95, Z:-1.42 [[ 9.85811611e-01 -1.57567511e-01 5.78614469e-02 1.80368026e+01] [ 1.57381102e-01 9.87507191e-01 7.79331378e-03 9.46295699e-01] [-5.83665679e-02 1.42355907e-03 9.98294204e-01 -1.41952707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.923201008 meters 0.06552669218661648 Centerline is valid? [True, True] Translation: X:18.07, Y:0.95, Z:-1.42 [[ 9.85640389e-01 -1.59315395e-01 5.59609476e-02 1.80661469e+01] [ 1.59142902e-01 9.87226657e-01 7.55407790e-03 9.48268331e-01] [-5.64496201e-02 1.46018331e-03 9.98404381e-01 -1.42387512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.953201007999997 meters 0.06568341880256309 Centerline is valid? [True, True] Translation: X:18.09, Y:0.95, Z:-1.43 [[ 9.85671201e-01 -1.59540513e-01 5.47641121e-02 1.80934057e+01] [ 1.59375680e-01 9.87190329e-01 7.39231473e-03 9.51185842e-01] [-5.52419756e-02 1.44167586e-03 9.98471955e-01 -1.42859850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.983201007999998 meters 0.06507708168203885 Centerline is valid? [True, True] Translation: X:18.12, Y:0.96, Z:-1.43 [[ 9.86003649e-01 -1.58054908e-01 5.30608225e-02 1.81206638e+01] [ 1.57897876e-01 9.87429451e-01 7.16515097e-03 9.58903516e-01] [-5.35263061e-02 1.31332618e-03 9.98565576e-01 -1.42966111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.013201008 meters 0.06533730606631286 Centerline is valid? [True, True] Translation: X:18.15, Y:0.96, Z:-1.43 [[ 9.86115211e-01 -1.57338586e-01 5.31164659e-02 1.81482813e+01] [ 1.57179225e-01 9.87543916e-01 7.19059586e-03 9.60924277e-01] [-5.35862010e-02 1.25804898e-03 9.98562435e-01 -1.43423590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.043201007999997 meters 0.06477936195641572 Centerline is valid? [True, True] Translation: X:18.18, Y:0.97, Z:-1.43 [[ 9.86085385e-01 -1.57365628e-01 5.35879858e-02 1.81766087e+01] [ 1.57203234e-01 9.87539597e-01 7.25865488e-03 9.66744445e-01] [-5.40625207e-02 1.26655119e-03 9.98536749e-01 -1.43296431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.073201007999998 meters 0.06481648842031866 Centerline is valid? [True, True] Translation: X:18.20, Y:0.97, Z:-1.43 [[ 9.86027726e-01 -1.57326112e-01 5.47523364e-02 1.82047308e+01] [ 1.57155607e-01 9.87545881e-01 7.43289541e-03 9.68828581e-01] [-5.52398328e-02 1.27559572e-03 9.98472300e-01 -1.43468135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.103201008 meters 0.06415928442082257 Centerline is valid? [True, True] Translation: X:18.23, Y:0.97, Z:-1.43 [[ 9.85585142e-01 -1.58854220e-01 5.82002065e-02 1.82338573e+01] [ 1.58664056e-01 9.87300993e-01 7.90362844e-03 9.73389481e-01] [-5.87166464e-02 1.44458203e-03 9.98273644e-01 -1.43167244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.133201007999997 meters 0.06457215689959488 Centerline is valid? [True, True] Translation: X:18.26, Y:0.98, Z:-1.43 [[ 9.85295555e-01 -1.59947998e-01 6.00775144e-02 1.82616102e+01] [ 1.59746419e-01 9.87124236e-01 8.17458195e-03 9.76129692e-01] [-6.06114786e-02 1.54278853e-03 9.98160242e-01 -1.43406797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.163201007999998 meters 0.06445145592798623 Centerline is valid? [True, True] Translation: X:18.29, Y:0.98, Z:-1.44 [[ 9.85236244e-01 -1.60564444e-01 5.94020534e-02 1.82897320e+01] [ 1.60368347e-01 9.87024126e-01 8.08510801e-03 9.81869812e-01] [-5.99294406e-02 1.56046764e-03 9.98201396e-01 -1.43544067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.193201008 meters 0.06426531780705497 Centerline is valid? [True, True] Translation: X:18.32, Y:0.99, Z:-1.44 [[ 9.85001194e-01 -1.61566011e-01 6.05728583e-02 1.83174118e+01] [ 1.61363152e-01 9.86860545e-01 8.25822199e-03 9.87078381e-01] [-6.11112119e-02 1.63986880e-03 9.98129616e-01 -1.43678223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.223201008 meters 0.06372844547536284 Centerline is valid? [True, True] Translation: X:18.35, Y:0.99, Z:-1.43 [[ 9.84556958e-01 -1.63794848e-01 6.17967956e-02 1.83458420e+01] [ 1.63587022e-01 9.86492786e-01 8.44210617e-03 9.92073660e-01] [-6.23448666e-02 1.79741941e-03 9.98053048e-01 -1.43458727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.253201007999998 meters 0.064237287587047 Centerline is valid? [True, True] Translation: X:18.37, Y:0.99, Z:-1.44 [[ 9.84323773e-01 -1.65465659e-01 6.10559204e-02 1.83739254e+01] [ 1.65265103e-01 9.86213787e-01 8.35536277e-03 9.93709778e-01] [-6.15967161e-02 1.86603078e-03 9.98099375e-01 -1.43826812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.283201008 meters 0.06434346493258987 Centerline is valid? [True, True] Translation: X:18.40, Y:1.00, Z:-1.44 [[ 9.84084962e-01 -1.67456239e-01 5.94575092e-02 1.84023625e+01] [ 1.67268854e-01 9.85877631e-01 8.15029082e-03 9.98702861e-01] [-5.99826454e-02 1.92481082e-03 9.98197564e-01 -1.44135221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.313201008 meters 0.06452278087714584 Centerline is valid? [True, True] Translation: X:18.43, Y:1.00, Z:-1.45 [[ 9.84048501e-01 -1.68574520e-01 5.68434513e-02 1.84305472e+01] [ 1.68404383e-01 9.85687095e-01 7.80474146e-03 1.00395573e+00] [-5.73455369e-02 1.89244219e-03 9.98352597e-01 -1.44546247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.343201007999998 meters 0.06511413041170809 Centerline is valid? [True, True] Translation: X:18.46, Y:1.01, Z:-1.45 [[ 9.83791114e-01 -1.71257059e-01 5.31607256e-02 1.84595303e+01] [ 1.71111289e-01 9.85224549e-01 7.31542834e-03 1.00872190e+00] [-5.36280706e-02 1.89954686e-03 9.98559173e-01 -1.45095788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.373201008 meters 0.06509819087231337 Centerline is valid? [True, True] Translation: X:18.49, Y:1.01, Z:-1.45 [[ 9.83585123e-01 -1.72721032e-01 5.22278701e-02 1.84881491e+01] [ 1.72582593e-01 9.84968857e-01 7.18327701e-03 1.01388338e+00] [-5.26835286e-02 1.94825683e-03 9.98609358e-01 -1.45353795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.403201008 meters 0.06556919951010157 Centerline is valid? [True, True] Translation: X:18.52, Y:1.02, Z:-1.46 [[ 9.83325335e-01 -1.74409766e-01 5.15026214e-02 1.85162753e+01] [ 1.74276593e-01 9.84671142e-01 7.10010632e-03 1.01718120e+00] [-5.19514729e-02 1.99398696e-03 9.98647620e-01 -1.45641717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.433201007999998 meters 0.06574225567626356 Centerline is valid? [True, True] Translation: X:18.55, Y:1.02, Z:-1.46 [[ 9.83045272e-01 -1.75934110e-01 5.16641193e-02 1.85451303e+01] [ 1.75802301e-01 9.84399741e-01 7.12043640e-03 1.02148260e+00] [-5.21108733e-02 2.08295972e-03 9.98639133e-01 -1.45842151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.463201008 meters 0.06602273143776477 Centerline is valid? [True, True] Translation: X:18.57, Y:1.03, Z:-1.46 [[ 9.82833564e-01 -1.77184772e-01 5.14173361e-02 1.85727326e+01] [ 1.77055119e-01 9.84175313e-01 7.10197973e-03 1.02529655e+00] [-5.18620355e-02 2.12363853e-03 9.98652001e-01 -1.46012152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.493201008 meters 0.06630060981096736 Centerline is valid? [True, True] Translation: X:18.60, Y:1.03, Z:-1.46 [[ 9.82581772e-01 -1.78324051e-01 5.22837947e-02 1.86002917e+01] [ 1.78191367e-01 9.83969319e-01 7.22605715e-03 1.02927198e+00] [-5.27342297e-02 2.21632882e-03 9.98606123e-01 -1.46154683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.523201007999997 meters 0.06666716232944611 Centerline is valid? [True, True] Translation: X:18.63, Y:1.03, Z:-1.46 [[ 9.82521511e-01 -1.78192148e-01 5.38427188e-02 1.86274939e+01] [ 1.78051035e-01 9.83993088e-01 7.44521451e-03 1.03489166e+00] [-5.43075419e-02 2.27166839e-03 9.98521672e-01 -1.46209709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.553201008 meters 0.06543888077426853 Centerline is valid? [True, True] Translation: X:18.66, Y:1.04, Z:-1.46 [[ 9.82524426e-01 -1.77677201e-01 5.54667861e-02 1.86560597e+01] [ 1.77526357e-01 9.84086121e-01 7.67459495e-03 1.04348032e+00] [-5.59476949e-02 2.30633951e-03 9.98431037e-01 -1.46113987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.583201008 meters 0.06387359713280431 Centerline is valid? [True, True] Translation: X:18.69, Y:1.06, Z:-1.46 [[ 9.82847794e-01 -1.75048979e-01 5.80350711e-02 1.86851240e+01] [ 1.74878293e-01 9.84557177e-01 8.04657588e-03 1.05532778e+00] [-5.85473907e-02 2.24051483e-03 9.98282116e-01 -1.46011463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.613201007999997 meters 0.06486074526326474 Centerline is valid? [True, True] Translation: X:18.71, Y:1.06, Z:-1.46 [[ 9.83024117e-01 -1.74093039e-01 5.79240749e-02 1.87128800e+01] [ 1.73921366e-01 9.84726796e-01 8.03091042e-03 1.05863198e+00] [-5.84375143e-02 2.17965561e-03 9.98288689e-01 -1.46466658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.643201008 meters 0.0632991646049493 Centerline is valid? [True, True] Translation: X:18.74, Y:1.07, Z:-1.47 [[ 9.83165378e-01 -1.73538178e-01 5.71868898e-02 1.87408548e+01] [ 1.73369796e-01 9.84824867e-01 7.93070891e-03 1.07105844e+00] [-5.76953519e-02 2.11728097e-03 9.98331991e-01 -1.46637602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.673201008 meters 0.06342967017485507 Centerline is valid? [True, True] Translation: X:18.77, Y:1.08, Z:-1.47 [[ 9.83272691e-01 -1.72943798e-01 5.71424296e-02 1.87695752e+01] [ 1.72773950e-01 9.84929523e-01 7.93711820e-03 1.07728378e+00] [-5.76539413e-02 2.06837170e-03 9.98334485e-01 -1.47004426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.703201007999997 meters 0.06313165104412355 Centerline is valid? [True, True] Translation: X:18.80, Y:1.09, Z:-1.47 [[ 9.83575592e-01 -1.71203936e-01 5.71687620e-02 1.87966566e+01] [ 1.71030126e-01 9.85233678e-01 7.95585170e-03 1.08558594e+00] [-5.76866627e-02 1.95239900e-03 9.98332829e-01 -1.47084227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.733201007999998 meters 0.06299291774777059 Centerline is valid? [True, True] Translation: X:18.82, Y:1.09, Z:-1.47 [[ 9.83791798e-01 -1.70045872e-01 5.69043102e-02 1.88247633e+01] [ 1.69871628e-01 9.85434366e-01 7.92086622e-03 1.09209440e+00] [-5.74223735e-02 1.87394460e-03 9.98348215e-01 -1.47284897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.763201008 meters 0.06264626388893943 Centerline is valid? [True, True] Translation: X:18.85, Y:1.10, Z:-1.48 [[ 9.83934128e-01 -1.69594305e-01 5.57799508e-02 1.88526005e+01] [ 1.69425496e-01 9.85512320e-01 7.77609015e-03 1.09930531e+00] [-5.62906094e-02 1.79938534e-03 9.98412805e-01 -1.47502606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.793201007999997 meters 0.06301940988985481 Centerline is valid? [True, True] Translation: X:18.88, Y:1.10, Z:-1.48 [[ 9.84006867e-01 -1.69752205e-01 5.39877241e-02 1.88799152e+01] [ 1.69593321e-01 9.85485255e-01 7.54436718e-03 1.10311089e+00] [-5.44847790e-02 1.73224828e-03 9.98513099e-01 -1.47759146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.823201007999998 meters 0.06293621412194363 Centerline is valid? [True, True] Translation: X:18.91, Y:1.11, Z:-1.48 [[ 9.84062366e-01 -1.69919389e-01 5.24276744e-02 1.89087159e+01] [ 1.69769762e-01 9.85456515e-01 7.32695571e-03 1.10791179e+00] [-5.29101852e-02 1.69045244e-03 9.98597844e-01 -1.48110476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.853201008 meters 0.06302015960821104 Centerline is valid? [True, True] Translation: X:18.94, Y:1.11, Z:-1.48 [[ 9.84117511e-01 -1.70051000e-01 5.09448901e-02 1.89369596e+01] [ 1.69909310e-01 9.85433901e-01 7.13110907e-03 1.11409460e+00] [-5.14154741e-02 1.63816181e-03 9.98676006e-01 -1.48438256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.883201007999997 meters 0.06307933479547177 Centerline is valid? [True, True] Translation: X:18.96, Y:1.13, Z:-1.49 [[ 9.84483897e-01 -1.68055434e-01 5.04859205e-02 1.89633199e+01] [ 1.67913074e-01 9.85776392e-01 7.07844762e-03 1.12681604e+00] [-5.09574002e-02 1.50862843e-03 9.98699688e-01 -1.49179823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.913201007999998 meters 0.06307933479547177 Centerline is valid? [True, True] Translation: X:18.99, Y:1.13, Z:-1.49 [[ 9.84440852e-01 -1.68307842e-01 5.04844356e-02 1.89906343e+01] [ 1.68165272e-01 9.85733325e-01 7.08901836e-03 1.13077608e+00] [-5.09573280e-02 1.51100957e-03 9.98699688e-01 -1.49392878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.943201008 meters 0.06291787768054573 Centerline is valid? [True, True] Translation: X:19.02, Y:1.14, Z:-1.50 [[ 9.84832366e-01 -1.66042503e-01 5.03497527e-02 1.90173018e+01] [ 1.65896877e-01 9.86117641e-01 7.08696323e-03 1.13962316e+00] [-5.08275164e-02 1.37339597e-03 9.98706502e-01 -1.49786027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.973201008 meters 0.062496191430437185 Centerline is valid? [True, True] Translation: X:19.05, Y:1.15, Z:-1.50 [[ 9.85384112e-01 -1.62785067e-01 5.01913762e-02 1.90456148e+01] [ 1.62635762e-01 9.86660831e-01 7.07201052e-03 1.14754031e+00] [-5.06730826e-02 1.19426590e-03 9.98714580e-01 -1.49795881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.003201007999998 meters 0.062174691633812354 Centerline is valid? [True, True] Translation: X:19.07, Y:1.15, Z:-1.50 [[ 9.85985990e-01 -1.59225199e-01 4.97891854e-02 1.90728614e+01] [ 1.59073654e-01 9.87241781e-01 7.01707008e-03 1.15315301e+00] [-5.02712584e-02 1.00141486e-03 9.98735099e-01 -1.49795888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.033201008 meters 0.06111507548713055 Centerline is valid? [True, True] Translation: X:19.10, Y:1.17, Z:-1.49 [[ 9.87203850e-01 -1.51003844e-01 5.12483996e-02 1.91018065e+01] [ 1.50831737e-01 9.88532999e-01 7.23166794e-03 1.16550290e+00] [-5.17527438e-02 5.90754709e-04 9.98659754e-01 -1.49481908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.063201008 meters 0.06076356520652768 Centerline is valid? [True, True] Translation: X:19.13, Y:1.18, Z:-1.50 [[ 9.87693786e-01 -1.47297116e-01 5.25789321e-02 1.91297742e+01] [ 1.47110904e-01 9.89092206e-01 7.41559142e-03 1.17629083e+00] [-5.30977072e-02 4.10600660e-04 9.98589237e-01 -1.49809441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.093201007999998 meters 0.0607948813577577 Centerline is valid? [True, True] Translation: X:19.16, Y:1.19, Z:-1.50 [[ 9.88338522e-01 -1.43126031e-01 5.19798610e-02 1.91563260e+01] [ 1.42937775e-01 9.89704455e-01 7.34056121e-03 1.18776178e+00] [-5.24953254e-02 1.74926279e-04 9.98621155e-01 -1.50202905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.123201008 meters 0.06128523046524936 Centerline is valid? [True, True] Translation: X:19.18, Y:1.20, Z:-1.51 [[ 9.89527961e-01 -1.34938886e-01 5.12436538e-02 1.91821767e+01] [ 1.34744006e-01 9.90853885e-01 7.25471267e-03 1.20277660e+00] [-5.17539164e-02 -2.73965827e-04 9.98659831e-01 -1.50991271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.153201008 meters 0.0616734584848975 Centerline is valid? [True, True] Translation: X:19.21, Y:1.21, Z:-1.51 [[ 9.89981652e-01 -1.31350642e-01 5.18009376e-02 1.92092248e+01] [ 1.31146355e-01 9.91335860e-01 7.33803646e-03 1.20963435e+00] [-5.23159828e-02 -4.71017333e-04 9.98630470e-01 -1.51255838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.183201007999998 meters 0.0615871671463985 Centerline is valid? [True, True] Translation: X:19.24, Y:1.21, Z:-1.51 [[ 9.90182312e-01 -1.29164973e-01 5.34359295e-02 1.92376836e+01] [ 1.28944343e-01 9.91622934e-01 7.57058964e-03 1.21370478e+00] [-5.39661482e-02 -6.06003138e-04 9.98542582e-01 -1.51074621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.213201008 meters 0.0617344390631644 Centerline is valid? [True, True] Translation: X:19.26, Y:1.22, Z:-1.51 [[ 9.90330398e-01 -1.27749123e-01 5.40912541e-02 1.92642706e+01] [ 1.27520162e-01 9.91806263e-01 7.67752941e-03 1.21816104e+00] [-5.46288423e-02 -7.05565264e-04 9.98506481e-01 -1.51236632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.243201008 meters 0.06179073431827151 Centerline is valid? [True, True] Translation: X:19.29, Y:1.22, Z:-1.51 [[ 9.90300562e-01 -1.27578108e-01 5.50329240e-02 1.92932138e+01] [ 1.27340315e-01 9.91828253e-01 7.82053039e-03 1.22229961e+00] [-5.55809373e-02 -7.36765765e-04 9.98453913e-01 -1.51488533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.273201007999997 meters 0.061771529406268344 Centerline is valid? [True, True] Translation: X:19.32, Y:1.22, Z:-1.52 [[ 9.90289329e-01 -1.28132513e-01 5.39361149e-02 1.93220056e+01] [ 1.27904283e-01 9.91756807e-01 7.67659461e-03 1.22402275e+00] [-5.44751305e-02 -7.03389622e-04 9.98514880e-01 -1.51814432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.303201008 meters 0.0618032413071292 Centerline is valid? [True, True] Translation: X:19.35, Y:1.23, Z:-1.52 [[ 9.90205781e-01 -1.28895929e-01 5.36502596e-02 1.93493398e+01] [ 1.28670407e-01 9.91657898e-01 7.65113867e-03 1.22546024e+00] [-5.41889043e-02 -6.73001009e-04 9.98530475e-01 -1.52189650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.333201008 meters 0.06172156463472732 Centerline is valid? [True, True] Translation: X:19.38, Y:1.23, Z:-1.52 [[ 9.90027018e-01 -1.30368626e-01 5.33902977e-02 1.93779630e+01] [ 1.30147274e-01 9.91465416e-01 7.61685860e-03 1.22535400e+00] [-5.39276331e-02 -5.92294074e-04 9.98544671e-01 -1.52475210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.363201007999997 meters 0.06179053313997815 Centerline is valid? [True, True] Translation: X:19.41, Y:1.23, Z:-1.53 [[ 9.89921900e-01 -1.31734527e-01 5.19677367e-02 1.94071584e+01] [ 1.31525964e-01 9.91284897e-01 7.42796129e-03 1.22598891e+00] [-5.24933515e-02 -5.17994892e-04 9.98621139e-01 -1.52950373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.393201008 meters 0.061725169772825286 Centerline is valid? [True, True] Translation: X:19.44, Y:1.23, Z:-1.53 [[ 9.89666548e-01 -1.34057203e-01 5.08801567e-02 1.94358140e+01] [ 1.33859774e-01 9.90973515e-01 7.28374260e-03 1.22577999e+00] [-5.13973259e-02 -3.97670139e-04 9.98678205e-01 -1.53370758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.423201008 meters 0.06147570597887108 Centerline is valid? [True, True] Translation: X:19.47, Y:1.22, Z:-1.54 [[ 9.89043953e-01 -1.39098904e-01 4.94323074e-02 1.94654399e+01] [ 1.38918307e-01 9.90278483e-01 7.08727253e-03 1.21942659e+00] [-4.99375822e-02 -1.42571583e-04 9.98752330e-01 -1.53744973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.453201007999997 meters 0.061423859715509725 Centerline is valid? [True, True] Translation: X:19.49, Y:1.22, Z:-1.54 [[ 9.88644756e-01 -1.41710075e-01 4.99980075e-02 1.94940389e+01] [ 1.41527866e-01 9.89908205e-01 7.18394714e-03 1.21761966e+00] [-5.05114755e-02 -2.62603712e-05 9.98723480e-01 -1.54008936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.483201007999998 meters 0.06134145443983207 Centerline is valid? [True, True] Translation: X:19.52, Y:1.22, Z:-1.54 [[ 9.88359779e-01 -1.43779690e-01 4.97227013e-02 1.95233881e+01] [ 1.43602095e-01 9.89609718e-01 7.14450228e-03 1.21604754e+00] [-5.02333027e-02 7.89453671e-05 9.98737508e-01 -1.54125518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.513201008 meters 0.06078952454494734 Centerline is valid? [True, True] Translation: X:19.55, Y:1.21, Z:-1.54 [[ 9.87973359e-01 -1.45988172e-01 5.09518966e-02 1.95541536e+01] [ 1.45803995e-01 9.89286318e-01 7.33316752e-03 1.20845016e+00] [-5.14765700e-02 1.84015933e-04 9.98674186e-01 -1.53739639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.543201007999997 meters 0.060816785591516105 Centerline is valid? [True, True] Translation: X:19.58, Y:1.21, Z:-1.54 [[ 9.87926095e-01 -1.46344600e-01 5.08457447e-02 1.95817409e+01] [ 1.46161151e-01 9.89233653e-01 7.32781988e-03 1.20864730e+00] [-5.13707087e-02 1.92328086e-04 9.98679635e-01 -1.54266799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.573201007999998 meters 0.06090465354470561 Centerline is valid? [True, True] Translation: X:19.61, Y:1.21, Z:-1.55 [[ 9.87928569e-01 -1.46569846e-01 5.01440214e-02 1.96098018e+01] [ 1.46390782e-01 9.89200307e-01 7.24514547e-03 1.21123833e+00] [-5.06644012e-02 1.82936301e-04 9.98715718e-01 -1.54658146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.603201008 meters 0.06110272840323997 Centerline is valid? [True, True] Translation: X:19.64, Y:1.21, Z:-1.55 [[ 9.87948533e-01 -1.46630291e-01 4.95706906e-02 1.96371617e+01] [ 1.46455170e-01 9.89191349e-01 7.16642751e-03 1.21450393e+00] [-5.00857137e-02 1.79822380e-04 9.98744907e-01 -1.55337891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.633201007999997 meters 0.06097983081949987 Centerline is valid? [True, True] Translation: X:19.67, Y:1.22, Z:-1.55 [[ 9.87639067e-01 -1.47237579e-01 5.37602859e-02 1.96660198e+01] [ 1.47032184e-01 9.89101130e-01 7.77761393e-03 1.21616536e+00] [-5.43195166e-02 2.23016900e-04 9.98523580e-01 -1.55467193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.663201007999998 meters 0.06081379291921152 Centerline is valid? [True, True] Translation: X:19.69, Y:1.22, Z:-1.55 [[ 9.87616235e-01 -1.47090952e-01 5.45749501e-02 1.96949053e+01] [ 1.46879038e-01 9.89122947e-01 7.89581599e-03 1.21692505e+00] [-5.51427386e-02 2.17880097e-04 9.98478458e-01 -1.55400984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.693201008 meters 0.06076880716461695 Centerline is valid? [True, True] Translation: X:19.72, Y:1.22, Z:-1.55 [[ 9.87565067e-01 -1.47290977e-01 5.49600524e-02 1.97228402e+01] [ 1.47075543e-01 9.89093181e-01 7.96637828e-03 1.21701446e+00] [-5.55339887e-02 2.15962664e-04 9.98456774e-01 -1.55410024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.723201008 meters 0.06068158015385539 Centerline is valid? [True, True] Translation: X:19.75, Y:1.22, Z:-1.55 [[ 9.87538887e-01 -1.47629252e-01 5.45211013e-02 1.97523622e+01] [ 1.47417678e-01 9.89042744e-01 7.90429128e-03 1.21775683e+00] [-5.50906043e-02 2.31579177e-04 9.98481333e-01 -1.55472728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.753201007999998 meters 0.06054376406623172 Centerline is valid? [True, True] Translation: X:19.78, Y:1.22, Z:-1.56 [[ 9.87443966e-01 -1.48321849e-01 5.43603131e-02 1.97803261e+01] [ 1.48111990e-01 9.88939109e-01 7.89153040e-03 1.21834673e+00] [-5.49295260e-02 2.58970094e-04 9.98490200e-01 -1.55525361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.783201008 meters 0.06026066188042334 Centerline is valid? [True, True] Translation: X:19.81, Y:1.22, Z:-1.55 [[ 9.87176126e-01 -1.49454654e-01 5.60945789e-02 1.98096007e+01] [ 1.49232084e-01 9.88768530e-01 8.15957367e-03 1.21854436e+00] [-5.66840406e-02 3.16174603e-04 9.98392117e-01 -1.55408074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.813201008 meters 0.0601987782986567 Centerline is valid? [True, True] Translation: X:19.84, Y:1.22, Z:-1.56 [[ 9.86844782e-01 -1.51435527e-01 5.66096894e-02 1.98373393e+01] [ 1.51211370e-01 9.88467047e-01 8.24729420e-03 1.22034849e+00] [-5.72057459e-02 4.21229465e-04 9.98362322e-01 -1.55669973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.843201007999998 meters 0.060442563695430926 Centerline is valid? [True, True] Translation: X:19.87, Y:1.22, Z:-1.56 [[ 9.86494040e-01 -1.54143802e-01 5.54003376e-02 1.98651969e+01] [ 1.53932395e-01 9.88048272e-01 8.08887698e-03 1.22109411e+00] [-5.59850581e-02 5.48277739e-04 9.98431456e-01 -1.56293448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.873201008 meters 0.06070184729290172 Centerline is valid? [True, True] Translation: X:19.89, Y:1.22, Z:-1.57 [[ 9.86110715e-01 -1.57093066e-01 5.39205459e-02 1.98938193e+01] [ 1.56896989e-01 9.87583561e-01 7.87692212e-03 1.22324654e+00] [-5.44884545e-02 6.92453975e-04 9.98514161e-01 -1.56766006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.903201008 meters 0.061814610859465796 Centerline is valid? [True, True] Translation: X:19.92, Y:1.22, Z:-1.58 [[ 9.85090776e-01 -1.63991449e-01 5.19900744e-02 1.99226423e+01] [ 1.63817900e-01 9.86461234e-01 7.61117807e-03 1.22071462e+00] [-5.25343611e-02 1.01920348e-03 9.98618597e-01 -1.57652684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.933201007999998 meters 0.06237188960104104 Centerline is valid? [True, True] Translation: X:19.95, Y:1.22, Z:-1.58 [[ 9.84617510e-01 -1.67256780e-01 5.05324610e-02 1.99525431e+01] [ 1.67096964e-01 9.85912690e-01 7.40087502e-03 1.22015103e+00] [-5.10584411e-02 1.15678971e-03 9.98694997e-01 -1.57867916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.963201008 meters 0.06261395548106434 Centerline is valid? [True, True] Translation: X:19.98, Y:1.22, Z:-1.58 [[ 9.84151182e-01 -1.70072871e-01 5.02162293e-02 1.99823658e+01] [ 1.69918893e-01 9.85430633e-01 7.35097653e-03 1.21963356e+00] [-5.07348124e-02 1.29821384e-03 9.98711316e-01 -1.57887263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.993201008 meters 0.06298737950399434 Centerline is valid? [True, True] Translation: X:20.01, Y:1.21, Z:-1.58 [[ 9.83587783e-01 -1.73407600e-01 4.98485488e-02 2.00126306e+01] [ 1.73259352e-01 9.84849085e-01 7.31285308e-03 1.21195486e+00] [-5.03614019e-02 1.44389429e-03 9.98730016e-01 -1.57546707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.023201007999997 meters 0.06278509139351264 Centerline is valid? [True, True] Translation: X:20.04, Y:1.21, Z:-1.58 [[ 9.83424722e-01 -1.74199195e-01 5.03036465e-02 2.00410339e+01] [ 1.74049337e-01 9.84709293e-01 7.37809791e-03 1.21494741e+00] [-5.08197269e-02 1.49951242e-03 9.98706717e-01 -1.57611896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.053201008 meters 0.06244008851315747 Centerline is valid? [True, True] Translation: X:20.07, Y:1.22, Z:-1.58 [[ 9.83678922e-01 -1.72824282e-01 5.00753979e-02 2.00695014e+01] [ 1.72673275e-01 9.84951667e-01 7.35897041e-03 1.22098805e+00] [-5.05936554e-02 1.40781889e-03 9.98718329e-01 -1.57977403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.083201008 meters 0.06190271202937699 Centerline is valid? [True, True] Translation: X:20.10, Y:1.23, Z:-1.58 [[ 9.84063328e-01 -1.70578668e-01 5.02223515e-02 2.00976316e+01] [ 1.70423175e-01 9.85343225e-01 7.39389758e-03 1.23111056e+00] [-5.07474950e-02 1.28298912e-03 9.98710692e-01 -1.58359142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.113201007999997 meters 0.06092844536466715 Centerline is valid? [True, True] Translation: X:20.12, Y:1.25, Z:-1.59 [[ 9.85565362e-01 -1.60898859e-01 5.26542981e-02 2.01243785e+01] [ 1.60713656e-01 9.86970564e-01 7.76052394e-03 1.24675250e+00] [-5.32169017e-02 8.13761153e-04 9.98582645e-01 -1.58923453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.143201008 meters 0.06081632195669896 Centerline is valid? [True, True] Translation: X:20.15, Y:1.25, Z:-1.59 [[ 9.86304135e-01 -1.56114401e-01 5.32207377e-02 2.01512338e+01] [ 1.55918160e-01 9.87738822e-01 7.84521497e-03 1.25391310e+00] [-5.37929398e-02 5.60311537e-04 9.98551954e-01 -1.59338855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.173201008 meters 0.06022406308199705 Centerline is valid? [True, True] Translation: X:20.18, Y:1.26, Z:-1.59 [[ 9.87021640e-01 -1.51569208e-01 5.30571176e-02 2.01794021e+01] [ 1.51367562e-01 9.88446599e-01 7.82193867e-03 1.26278334e+00] [-5.36296925e-02 3.10703798e-04 9.98560844e-01 -1.59192645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.203201007999997 meters 0.06035011104615089 Centerline is valid? [True, True] Translation: X:20.21, Y:1.27, Z:-1.59 [[ 9.87713511e-01 -1.47213522e-01 5.24423412e-02 2.02051545e+01] [ 1.47009593e-01 9.89104734e-01 7.74623654e-03 1.27001672e+00] [-5.30113187e-02 5.84647129e-05 9.98593910e-01 -1.59401264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.233201007999998 meters 0.0608760019378575 Centerline is valid? [True, True] Translation: X:20.23, Y:1.28, Z:-1.60 [[ 9.88683719e-01 -1.40739381e-01 5.19319723e-02 2.02325801e+01] [ 1.40530309e-01 9.90046637e-01 7.67392962e-03 1.27979677e+00] [-5.24950986e-02 -2.89073156e-04 9.98621140e-01 -1.59603999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.263201008 meters 0.06101442557921371 Centerline is valid? [True, True] Translation: X:20.26, Y:1.28, Z:-1.60 [[ 9.88818369e-01 -1.39387096e-01 5.30044461e-02 2.02611508e+01] [ 1.39166665e-01 9.90237897e-01 7.84519488e-03 1.28423796e+00] [-5.35805302e-02 -3.81020834e-04 9.98563459e-01 -1.59810283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.293201007999997 meters 0.060779913817254366 Centerline is valid? [True, True] Translation: X:20.29, Y:1.29, Z:-1.60 [[ 9.88624188e-01 -1.40488258e-01 5.37146573e-02 2.02905402e+01] [ 1.40262777e-01 9.90082287e-01 7.96359910e-03 1.28636551e+00] [-5.43007229e-02 -3.38839694e-04 9.98524570e-01 -1.60033696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.323201007999998 meters 0.060455736608642036 Centerline is valid? [True, True] Translation: X:20.32, Y:1.29, Z:-1.60 [[ 9.87989469e-01 -1.44610596e-01 5.44479908e-02 2.03194428e+01] [ 1.44384515e-01 9.89488635e-01 8.08406781e-03 1.28566019e+00] [-5.50447100e-02 -1.25527126e-04 9.98483883e-01 -1.60221629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.353201008 meters 0.06032333051371316 Centerline is valid? [True, True] Translation: X:20.35, Y:1.28, Z:-1.61 [[ 9.87164119e-01 -1.50053191e-01 5.46904186e-02 2.03477689e+01] [ 1.49832755e-01 9.88677911e-01 8.13224127e-03 1.28262375e+00] [-5.52914776e-02 1.66559309e-04 9.98470242e-01 -1.60587151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.383201007999997 meters 0.06117687934176996 Centerline is valid? [True, True] Translation: X:20.38, Y:1.27, Z:-1.61 [[ 9.85401263e-01 -1.61810053e-01 5.29325658e-02 2.03784869e+01] [ 1.61619488e-01 9.86821614e-01 7.88947961e-03 1.26974633e+00] [-5.35115971e-02 7.80631004e-04 9.98566923e-01 -1.61024797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.413201007999998 meters 0.06149521131528327 Centerline is valid? [True, True] Translation: X:20.41, Y:1.27, Z:-1.61 [[ 9.85050142e-01 -1.64722849e-01 5.04242031e-02 2.04080618e+01] [ 1.64553596e-01 9.86339489e-01 7.51837055e-03 1.27063008e+00] [-5.09738302e-02 8.91511970e-04 9.98699591e-01 -1.61249886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.443201008 meters 0.06224437544150326 Centerline is valid? [True, True] Translation: X:20.44, Y:1.27, Z:-1.62 [[ 9.84918626e-01 -1.66124037e-01 4.83539409e-02 2.04364683e+01] [ 1.65970037e-01 9.86104433e-01 7.21075049e-03 1.27207109e+00] [-4.88799144e-02 9.23302899e-04 9.98804236e-01 -1.61730108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.473201008 meters 0.06235056279786519 Centerline is valid? [True, True] Translation: X:20.47, Y:1.28, Z:-1.62 [[ 9.84599848e-01 -1.68446208e-01 4.67868955e-02 2.04661606e+01] [ 1.68304522e-01 9.85710338e-01 6.97975833e-03 1.27578121e+00] [-4.72940404e-02 1.00217710e-03 9.98880508e-01 -1.61947250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.503201007999998 meters 0.06402830443308233 Centerline is valid? [True, True] Translation: X:20.50, Y:1.27, Z:-1.63 [[ 9.83745912e-01 -1.74001814e-01 4.43548192e-02 2.04953706e+01] [ 1.73880067e-01 9.84744598e-01 6.61802026e-03 1.27494127e+00] [-4.48297162e-02 1.20196858e-03 9.98993920e-01 -1.62621075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.533201008 meters 0.06430524235012185 Centerline is valid? [True, True] Translation: X:20.52, Y:1.28, Z:-1.63 [[ 9.83247986e-01 -1.77016463e-01 4.34576715e-02 2.05247568e+01] [ 1.76902440e-01 9.84207019e-01 6.48624715e-03 1.27970240e+00] [-4.39195178e-02 1.31017867e-03 9.99034213e-01 -1.62832334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.563201008 meters 0.06515960240583661 Centerline is valid? [True, True] Translation: X:20.55, Y:1.28, Z:-1.63 [[ 9.82697207e-01 -1.79832525e-01 4.43448100e-02 2.05530949e+01] [ 1.79716875e-01 9.83696143e-01 6.61385912e-03 1.28361055e+00] [-4.48112056e-02 1.47008978e-03 9.98994392e-01 -1.63101108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.593201007999998 meters 0.0655027678086507 Centerline is valid? [True, True] Translation: X:20.58, Y:1.29, Z:-1.63 [[ 9.82314980e-01 -1.81638894e-01 4.54377828e-02 2.05819394e+01] [ 1.81518903e-01 9.83364030e-01 6.78767856e-03 1.28853471e+00] [-4.59147876e-02 1.58017818e-03 9.98944110e-01 -1.63267188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.623201008 meters 0.06396249038652094 Centerline is valid? [True, True] Translation: X:20.61, Y:1.30, Z:-1.63 [[ 9.81840794e-01 -1.83577647e-01 4.78320164e-02 2.06109924e+01] [ 1.83446385e-01 9.83003660e-01 7.15743910e-03 1.29782094e+00] [-4.83329930e-02 1.74714481e-03 9.98829750e-01 -1.62577070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.653201008 meters 0.06433264708926388 Centerline is valid? [True, True] Translation: X:20.64, Y:1.30, Z:-1.63 [[ 9.81682120e-01 -1.84019000e-01 4.93682395e-02 2.06393324e+01] [ 1.83879158e-01 9.82921012e-01 7.39868225e-03 1.30124726e+00] [-4.98865781e-02 1.81463622e-03 9.98753241e-01 -1.62585246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.683201007999998 meters 0.06353322074519821 Centerline is valid? [True, True] Translation: X:20.67, Y:1.31, Z:-1.62 [[ 9.81960969e-01 -1.82245336e-01 5.03913929e-02 2.06678732e+01] [ 1.82096450e-01 9.83251543e-01 7.56879000e-03 1.30871239e+00] [-5.09267915e-02 1.74383738e-03 9.98700867e-01 -1.62466888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.713201008 meters 0.062466261598127376 Centerline is valid? [True, True] Translation: X:20.70, Y:1.32, Z:-1.63 [[ 9.82733287e-01 -1.77728182e-01 5.14585262e-02 2.06959120e+01] [ 1.77566462e-01 9.84078418e-01 7.73429368e-03 1.32231758e+00] [-5.20138270e-02 1.53656060e-03 9.98645183e-01 -1.62540582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.743201008 meters 0.06207339541147461 Centerline is valid? [True, True] Translation: X:20.72, Y:1.33, Z:-1.63 [[ 9.83344699e-01 -1.74229226e-01 5.17434103e-02 2.07231647e+01] [ 1.74060945e-01 9.84704182e-01 7.77567269e-03 1.33163359e+00] [-5.23067019e-02 1.36034036e-03 9.98630141e-01 -1.62935836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.773201007999997 meters 0.06124565640538657 Centerline is valid? [True, True] Translation: X:20.75, Y:1.34, Z:-1.63 [[ 9.84069075e-01 -1.70395170e-01 5.07300893e-02 2.07509750e+01] [ 1.70228360e-01 9.85375157e-01 7.62275763e-03 1.34358367e+00] [-5.12870508e-02 1.13437983e-03 9.98683309e-01 -1.63190288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.803201008 meters 0.06124565640538657 Centerline is valid? [True, True] Translation: X:20.78, Y:1.35, Z:-1.63 [[ 9.84023215e-01 -1.70660250e-01 5.07286109e-02 2.07782605e+01] [ 1.70493285e-01 9.85329277e-01 7.63258078e-03 1.34784906e+00] [-5.12869636e-02 1.13825086e-03 9.98683309e-01 -1.63403421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.833201008 meters 0.06164007238203439 Centerline is valid? [True, True] Translation: X:20.80, Y:1.36, Z:-1.64 [[ 9.84747282e-01 -1.66571707e-01 5.02658671e-02 2.08049127e+01] [ 1.66401503e-01 9.86028934e-01 7.58160043e-03 1.35533739e+00] [-5.08264795e-02 8.98355411e-04 9.98707095e-01 -1.64208457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.863201007999997 meters 0.060952455164538705 Centerline is valid? [True, True] Translation: X:20.83, Y:1.37, Z:-1.64 [[ 9.85229575e-01 -1.64164018e-01 4.87120082e-02 2.08318302e+01] [ 1.64001297e-01 9.86432770e-01 7.34600894e-03 1.36650286e+00] [-4.92570716e-02 7.51327273e-04 9.98785851e-01 -1.64235288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.893201008 meters 0.06080408987280729 Centerline is valid? [True, True] Translation: X:20.86, Y:1.38, Z:-1.64 [[ 9.86227407e-01 -1.58815487e-01 4.61859643e-02 2.08593263e+01] [ 1.58662760e-01 9.87308180e-01 6.97760549e-03 1.37671477e+00] [-4.67079321e-02 4.46486778e-04 9.98908489e-01 -1.64498119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.923201008 meters 0.06074216152143374 Centerline is valid? [True, True] Translation: X:20.89, Y:1.38, Z:-1.65 [[ 9.86407441e-01 -1.57925935e-01 4.53845641e-02 2.08876706e+01] [ 1.57777046e-01 9.87450884e-01 6.86691762e-03 1.38366294e+00] [-4.58994924e-02 3.87063820e-04 9.98945988e-01 -1.64700337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.953201007999997 meters 0.06107000634616294 Centerline is valid? [True, True] Translation: X:20.91, Y:1.39, Z:-1.65 [[ 9.86544517e-01 -1.57341813e-01 4.44237493e-02 2.09148239e+01] [ 1.57197955e-01 9.87544145e-01 6.73525974e-03 1.38896923e+00] [-4.49301515e-02 3.38688983e-04 9.98990073e-01 -1.65305666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.983201007999998 meters 0.0610812394508271 Centerline is valid? [True, True] Translation: X:20.94, Y:1.39, Z:-1.65 [[ 9.86436756e-01 -1.57952411e-01 4.46493194e-02 2.09423452e+01] [ 1.57807662e-01 9.87446657e-01 6.77059610e-03 1.39437040e+00] [-4.51582532e-02 3.67239850e-04 9.98979778e-01 -1.65148806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.013201008 meters 0.06111760546459507 Centerline is valid? [True, True] Translation: X:20.97, Y:1.40, Z:-1.65 [[ 9.86355655e-01 -1.58535585e-01 4.43732983e-02 2.09709266e+01] [ 1.58392631e-01 9.87353192e-01 6.74164736e-03 1.39791046e+00] [-4.48809087e-02 3.78741443e-04 9.98992273e-01 -1.65304660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.043201007999997 meters 0.06096376165035747 Centerline is valid? [True, True] Translation: X:21.00, Y:1.40, Z:-1.65 [[ 9.86010056e-01 -1.60792951e-01 4.39294428e-02 2.09998906e+01] [ 1.60654648e-01 9.86988049e-01 6.68395591e-03 1.40166915e+00] [-4.44325680e-02 4.67021419e-04 9.99012277e-01 -1.65054980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.073201007999998 meters 0.06135295705279944 Centerline is valid? [True, True] Translation: X:21.03, Y:1.40, Z:-1.65 [[ 9.85908331e-01 -1.61425956e-01 4.38910349e-02 2.10272194e+01] [ 1.61287812e-01 9.86884710e-01 6.69408837e-03 1.40471504e+00] [-4.43959909e-02 4.79331479e-04 9.99013897e-01 -1.65494828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.103201008 meters 0.06171038462054118 Centerline is valid? [True, True] Translation: X:21.05, Y:1.41, Z:-1.66 [[ 9.85922365e-01 -1.61503063e-01 4.32880011e-02 2.10541052e+01] [ 1.61368622e-01 9.86872098e-01 6.60535572e-03 1.40820774e+00] [-4.37865057e-02 4.72957176e-04 9.99040799e-01 -1.65971324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.133201007999997 meters 0.061528771537276664 Centerline is valid? [True, True] Translation: X:21.08, Y:1.42, Z:-1.66 [[ 9.86277282e-01 -1.59452108e-01 4.28036095e-02 2.10810888e+01] [ 1.59318793e-01 9.87205592e-01 6.52997943e-03 1.41625096e+00] [-4.32971817e-02 3.79049036e-04 9.99062165e-01 -1.65931920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.163201007999998 meters 0.061449754131827725 Centerline is valid? [True, True] Translation: X:21.11, Y:1.42, Z:-1.66 [[ 9.86571607e-01 -1.57700552e-01 4.25088356e-02 2.11081017e+01] [ 1.57566965e-01 9.87486938e-01 6.49608932e-03 1.42377761e+00] [-4.30013568e-02 2.89130952e-04 9.99074972e-01 -1.66087113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.193201008 meters 0.061391114328744625 Centerline is valid? [True, True] Translation: X:21.14, Y:1.43, Z:-1.66 [[ 9.86854854e-01 -1.55766941e-01 4.30599312e-02 2.11359093e+01] [ 1.55627457e-01 9.87793816e-01 6.59336873e-03 1.43131770e+00] [-4.35613626e-02 1.94609655e-04 9.99050734e-01 -1.66197038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.223201008 meters 0.061445658938956135 Centerline is valid? [True, True] Translation: X:21.16, Y:1.44, Z:-1.66 [[ 9.87293008e-01 -1.52569937e-01 4.44401955e-02 2.11626450e+01] [ 1.52417379e-01 9.88292676e-01 6.82126571e-03 1.43866483e+00] [-4.49606397e-02 3.88701837e-05 9.98988758e-01 -1.66467833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.253201007999998 meters 0.061555081519288006 Centerline is valid? [True, True] Translation: X:21.19, Y:1.44, Z:-1.67 [[ 9.87285022e-01 -1.52196578e-01 4.58746964e-02 2.11902367e+01] [ 1.52033406e-01 9.88350242e-01 7.04572087e-03 1.44259498e+00] [-4.64126019e-02 1.83516420e-05 9.98922354e-01 -1.66667530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.283201008 meters 0.06151255279787569 Centerline is valid? [True, True] Translation: X:21.22, Y:1.45, Z:-1.67 [[ 9.87384508e-01 -1.51598645e-01 4.57130682e-02 2.12180102e+01] [ 1.51436072e-01 9.88442133e-01 7.01893260e-03 1.44694910e+00] [-4.62487833e-02 -7.77782770e-06 9.98929952e-01 -1.66718206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.313201008 meters 0.06169402988616158 Centerline is valid? [True, True] Translation: X:21.25, Y:1.45, Z:-1.67 [[ 9.87394615e-01 -1.51681959e-01 4.52156854e-02 2.12461643e+01] [ 1.51522386e-01 9.88429352e-01 6.95582429e-03 1.45098292e+00] [-4.57475837e-02 -1.69549225e-05 9.98953031e-01 -1.66949079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.343201007999998 meters 0.06218710644983264 Centerline is valid? [True, True] Translation: X:21.27, Y:1.45, Z:-1.67 [[ 9.87319064e-01 -1.52605284e-01 4.37343465e-02 2.12735142e+01] [ 1.52456247e-01 9.88287219e-01 6.74280999e-03 1.45385973e+00] [-4.42510841e-02 1.02694697e-05 9.99020441e-01 -1.67449476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.373201008 meters 0.062438474743121336 Centerline is valid? [True, True] Translation: X:21.30, Y:1.46, Z:-1.68 [[ 9.87119330e-01 -1.54025066e-01 4.32632354e-02 2.13016299e+01] [ 1.53880428e-01 9.88066938e-01 6.67380848e-03 1.45587292e+00] [-4.37749063e-02 6.95198346e-05 9.99041417e-01 -1.67773635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.403201008 meters 0.062431731335436225 Centerline is valid? [True, True] Translation: X:21.33, Y:1.46, Z:-1.68 [[ 9.86810609e-01 -1.56012073e-01 4.31862833e-02 2.13302555e+01] [ 1.55869967e-01 9.87755135e-01 6.65925850e-03 1.45665037e+00] [-4.36963978e-02 1.60017627e-04 9.99044843e-01 -1.67655281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.433201007999998 meters 0.06303680730045776 Centerline is valid? [True, True] Translation: X:21.36, Y:1.45, Z:-1.68 [[ 9.85922334e-01 -1.61512213e-01 4.32545550e-02 2.13586965e+01] [ 1.61374184e-01 9.86870637e-01 6.68714294e-03 1.45167093e+00] [-4.37667055e-02 3.87164924e-04 9.99041704e-01 -1.67855009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.463201008 meters 0.0634892144578627 Centerline is valid? [True, True] Translation: X:21.39, Y:1.45, Z:-1.68 [[ 9.85405038e-01 -1.64634748e-01 4.32702150e-02 2.13876345e+01] [ 1.64499625e-01 9.86354461e-01 6.68957330e-03 1.45258609e+00] [-4.37811059e-02 5.25994922e-04 9.99041009e-01 -1.68106503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.493201008 meters 0.06368234948352153 Centerline is valid? [True, True] Translation: X:21.42, Y:1.45, Z:-1.68 [[ 9.84943459e-01 -1.67712032e-01 4.19411097e-02 2.14166964e+01] [ 1.67587219e-01 9.85835829e-01 6.49946994e-03 1.45495837e+00] [-4.24370879e-02 6.27183519e-04 9.99098944e-01 -1.68228943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.523201007999997 meters 0.06440436233076506 Centerline is valid? [True, True] Translation: X:21.45, Y:1.46, Z:-1.69 [[ 9.84519135e-01 -1.70450253e-01 4.08507525e-02 2.14453110e+01] [ 1.70334118e-01 9.85366017e-01 6.33251886e-03 1.45558711e+00] [-4.13323227e-02 7.23790891e-04 9.99145192e-01 -1.68701902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.553201008 meters 0.06484553139777123 Centerline is valid? [True, True] Translation: X:21.47, Y:1.46, Z:-1.69 [[ 9.84076362e-01 -1.73668737e-01 3.78534373e-02 2.14748965e+01] [ 1.73571337e-01 9.84803807e-01 5.86955205e-03 1.45709332e+00] [-3.82975669e-02 7.94184305e-04 9.99266063e-01 -1.68934149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.583201008 meters 0.0655448824034447 Centerline is valid? [True, True] Translation: X:21.50, Y:1.46, Z:-1.70 [[ 9.84131675e-01 -1.73692013e-01 3.62757640e-02 2.15020398e+01] [ 1.73602635e-01 9.84799727e-01 5.62346259e-03 1.46004115e+00] [-3.67011130e-02 7.63340546e-04 9.99325996e-01 -1.69509290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.613201007999997 meters 0.0660662868407899 Centerline is valid? [True, True] Translation: X:21.53, Y:1.46, Z:-1.70 [[ 9.84397583e-01 -1.72470903e-01 3.48595089e-02 2.15292175e+01] [ 1.72387392e-01 9.85014376e-01 5.40991756e-03 1.46445104e+00] [-3.52701708e-02 6.83830041e-04 9.99377580e-01 -1.69990362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.643201008 meters 0.06547449361535365 Centerline is valid? [True, True] Translation: X:21.56, Y:1.47, Z:-1.70 [[ 9.84746770e-01 -1.70415124e-01 3.51067696e-02 2.15573456e+01] [ 1.70329236e-01 9.85372165e-01 5.44494626e-03 1.47088842e+00] [-3.55211348e-02 6.17816015e-04 9.99368734e-01 -1.69942400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.673201008 meters 0.06475898931250867 Centerline is valid? [True, True] Translation: X:21.59, Y:1.48, Z:-1.70 [[ 9.85127986e-01 -1.67687406e-01 3.74671137e-02 2.15872412e+01] [ 1.67587037e-01 9.85840069e-01 5.82601160e-03 1.47598431e+00] [-3.79135308e-02 5.39635502e-04 9.99280878e-01 -1.69642504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.703201007999997 meters 0.06461403558758279 Centerline is valid? [True, True] Translation: X:21.62, Y:1.48, Z:-1.70 [[ 9.85068105e-01 -1.67408157e-01 4.01912650e-02 2.16154576e+01] [ 1.67292126e-01 9.85887516e-01 6.25694641e-03 1.48077029e+00] [-4.06715303e-02 5.60163841e-04 9.99172414e-01 -1.69787826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.733201007999998 meters 0.0644393071957094 Centerline is valid? [True, True] Translation: X:21.64, Y:1.49, Z:-1.70 [[ 9.85017046e-01 -1.67305817e-01 4.18351877e-02 2.16431834e+01] [ 1.67180180e-01 9.85904876e-01 6.50871954e-03 1.48829394e+00] [-4.23344622e-02 5.82814532e-04 9.99103325e-01 -1.70025645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.763201008 meters 0.06431613917241523 Centerline is valid? [True, True] Translation: X:21.67, Y:1.50, Z:-1.70 [[ 9.84940148e-01 -1.67585942e-01 4.25189001e-02 2.16717998e+01] [ 1.67455989e-01 9.85857291e-01 6.62519075e-03 1.49548020e+00] [-4.30278565e-02 5.94628112e-04 9.99073696e-01 -1.70178087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.793201007999997 meters 0.06413628055170317 Centerline is valid? [True, True] Translation: X:21.70, Y:1.50, Z:-1.70 [[ 9.84400377e-01 -1.69943095e-01 4.55548370e-02 2.17007941e+01] [ 1.69795873e-01 9.85453603e-01 7.11041832e-03 1.49855343e+00] [-4.61005448e-02 7.35524823e-04 9.98936534e-01 -1.70042814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.823201007999998 meters 0.06434923269726057 Centerline is valid? [True, True] Translation: X:21.73, Y:1.50, Z:-1.70 [[ 9.84011667e-01 -1.71706256e-01 4.73075169e-02 2.17295664e+01] [ 1.71548695e-01 9.85147841e-01 7.40115746e-03 1.49751552e+00] [-4.78757232e-02 8.32717483e-04 9.98852953e-01 -1.70175536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.853201008 meters 0.06455265646406026 Centerline is valid? [True, True] Translation: X:21.76, Y:1.50, Z:-1.70 [[ 9.83437304e-01 -1.74514087e-01 4.89479617e-02 2.17585883e+01] [ 1.74348899e-01 9.84654166e-01 7.65734210e-03 1.49632437e+00] [-4.95331285e-02 1.00350737e-03 9.98771977e-01 -1.69968752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.883201007999997 meters 0.0648497280342746 Centerline is valid? [True, True] Translation: X:21.79, Y:1.50, Z:-1.70 [[ 9.82778985e-01 -1.77931234e-01 4.98592195e-02 2.17881156e+01] [ 1.77763487e-01 9.84042212e-01 7.81452560e-03 1.49614381e+00] [-5.04540248e-02 1.18319716e-03 9.98725684e-01 -1.69803690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.913201007999998 meters 0.06604934121233848 Centerline is valid? [True, True] Translation: X:21.82, Y:1.49, Z:-1.70 [[ 9.81786818e-01 -1.83460367e-01 4.93653460e-02 2.18178668e+01] [ 1.83302064e-01 9.83026058e-01 7.75385892e-03 1.49466757e+00] [-4.99499473e-02 1.43613332e-03 9.98750690e-01 -1.70199778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.943201008 meters 0.0666511198766995 Centerline is valid? [True, True] Translation: X:21.85, Y:1.50, Z:-1.71 [[ 9.81398906e-01 -1.85986529e-01 4.75941053e-02 2.18465447e+01] [ 1.85842262e-01 9.82551139e-01 7.47746685e-03 1.49992481e+00] [-4.81543505e-02 1.50661842e-03 9.98838770e-01 -1.70819126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.973201008 meters 0.06695661707333957 Centerline is valid? [True, True] Translation: X:21.88, Y:1.51, Z:-1.71 [[ 9.81129042e-01 -1.87903642e-01 4.55853538e-02 2.18752030e+01] [ 1.87773300e-01 9.82186273e-01 7.16327242e-03 1.50683852e+00] [-4.61193137e-02 1.53161770e-03 9.98934764e-01 -1.71376429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.003201007999998 meters 0.06817084843277915 Centerline is valid? [True, True] Translation: X:21.90, Y:1.51, Z:-1.72 [[ 9.81066584e-01 -1.88970747e-01 4.24077221e-02 2.19029344e+01] [ 1.88858912e-01 9.81981616e-01 6.66462709e-03 1.51061530e+00] [-4.29030231e-02 1.47063335e-03 9.99078159e-01 -1.72321349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.033201008 meters 0.06759722756872587 Centerline is valid? [True, True] Translation: X:21.93, Y:1.52, Z:-1.73 [[ 9.81005421e-01 -1.89847309e-01 3.98291719e-02 2.19308086e+01] [ 1.89749315e-01 9.81812607e-01 6.26110170e-03 1.51957399e+00] [-4.02934365e-02 1.41538340e-03 9.99186887e-01 -1.72534123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.063201008 meters 0.0692887449404756 Centerline is valid? [True, True] Translation: X:21.96, Y:1.52, Z:-1.73 [[ 9.80983097e-01 -1.90539670e-01 3.69702317e-02 2.19595284e+01] [ 1.90455670e-01 9.81678584e-01 5.81333218e-03 1.51936937e+00] [-3.74005551e-02 1.33840967e-03 9.99299458e-01 -1.73043476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.093201007999998 meters 0.06763088675830808 Centerline is valid? [True, True] Translation: X:21.99, Y:1.53, Z:-1.73 [[ 9.81088233e-01 -1.90048864e-01 3.67056932e-02 2.19884029e+01] [ 1.89965929e-01 9.81773751e-01 5.76607282e-03 1.52636692e+00] [-3.71325217e-02 1.31580492e-03 9.99309484e-01 -1.72559655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.123201008 meters 0.06759563117564815 Centerline is valid? [True, True] Translation: X:22.02, Y:1.53, Z:-1.73 [[ 9.81127183e-01 -1.89834377e-01 3.67744396e-02 2.20168106e+01] [ 1.89750651e-01 9.81815266e-01 5.78573351e-03 1.53099319e+00] [-3.72040372e-02 1.30143342e-03 9.99306843e-01 -1.72552415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.153201008 meters 0.06691823850153031 Centerline is valid? [True, True] Translation: X:22.04, Y:1.54, Z:-1.73 [[ 9.81554079e-01 -1.86985950e-01 3.98477701e-02 2.20442574e+01] [ 1.86884555e-01 9.82361760e-01 6.28768008e-03 1.54439707e+00] [-4.03206334e-02 1.27523473e-03 9.99185979e-01 -1.72907440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.183201007999998 meters 0.06638023910477389 Centerline is valid? [True, True] Translation: X:22.07, Y:1.56, Z:-1.73 [[ 9.81700583e-01 -1.85426889e-01 4.33685954e-02 2.20730044e+01] [ 1.85305254e-01 9.82657179e-01 6.84337807e-03 1.55516605e+00] [-4.38854079e-02 1.31828035e-03 9.99035702e-01 -1.73149718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.213201008 meters 0.06598810048545836 Centerline is valid? [True, True] Translation: X:22.10, Y:1.56, Z:-1.73 [[ 9.82019987e-01 -1.82979304e-01 4.64254269e-02 2.21006148e+01] [ 1.82836883e-01 9.83115922e-01 7.33206579e-03 1.56421742e+00] [-4.69831927e-02 1.28804519e-03 9.98894850e-01 -1.73392446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.243201008 meters 0.06485668794025697 Centerline is valid? [True, True] Translation: X:22.13, Y:1.58, Z:-1.73 [[ 9.82925137e-01 -1.76886528e-01 5.06885815e-02 2.21272792e+01] [ 1.76708480e-01 9.84230653e-01 8.00842944e-03 1.57828312e+00] [-5.13058389e-02 1.08541558e-03 9.98682398e-01 -1.73343799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.273201007999997 meters 0.06446083558925192 Centerline is valid? [True, True] Translation: X:22.15, Y:1.59, Z:-1.73 [[ 9.83487312e-01 -1.73438206e-01 5.16903863e-02 2.21545174e+01] [ 1.73248194e-01 9.84844322e-01 8.16846441e-03 1.58809659e+00] [-5.23237073e-02 9.21684978e-04 9.98629751e-01 -1.73464983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.303201008 meters 0.06398072203166127 Centerline is valid? [True, True] Translation: X:22.18, Y:1.60, Z:-1.74 [[ 9.84139917e-01 -1.69692794e-01 5.17008602e-02 2.21822996e+01] [ 1.69497576e-01 9.85496744e-01 8.16942389e-03 1.59906421e+00] [-5.23373218e-02 7.23314305e-04 9.98629201e-01 -1.73608641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.333201008 meters 0.06356365842489405 Centerline is valid? [True, True] Translation: X:22.21, Y:1.61, Z:-1.74 [[ 9.84771439e-01 -1.65940161e-01 5.18562992e-02 2.22104710e+01] [ 1.65737796e-01 9.86135691e-01 8.20859152e-03 1.60956710e+00] [-5.24994824e-02 5.10962266e-04 9.98620821e-01 -1.73542939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.363201007999997 meters 0.06337054825930931 Centerline is valid? [True, True] Translation: X:22.24, Y:1.62, Z:-1.74 [[ 9.85752559e-01 -1.60064234e-01 5.16849379e-02 2.22366476e+01] [ 1.59854742e-01 9.87106582e-01 8.18881092e-03 1.62082118e+00] [-5.23292782e-02 1.89941107e-04 9.98629867e-01 -1.73625135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.393201008 meters 0.06342633157697168 Centerline is valid? [True, True] Translation: X:22.26, Y:1.63, Z:-1.74 [[ 9.86026539e-01 -1.58187316e-01 5.22344408e-02 2.22634300e+01] [ 1.57970664e-01 9.87409117e-01 8.27675386e-03 1.62815503e+00] [-5.28860405e-02 9.04103013e-05 9.98600550e-01 -1.73910259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.423201008 meters 0.06334204549237152 Centerline is valid? [True, True] Translation: X:22.29, Y:1.64, Z:-1.74 [[ 9.86147934e-01 -1.57440596e-01 5.21987648e-02 2.22901572e+01] [ 1.57222590e-01 9.87528459e-01 8.28250032e-03 1.63536246e+00] [-5.28517676e-02 3.90544327e-05 9.98602368e-01 -1.74205375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.453201007999997 meters 0.06361638345084754 Centerline is valid? [True, True] Translation: X:22.32, Y:1.64, Z:-1.75 [[ 9.86161716e-01 -1.57637985e-01 5.13355144e-02 2.23180243e+01] [ 1.57426648e-01 9.87496969e-01 8.16002452e-03 1.64208805e+00] [-5.19799947e-02 3.44741622e-05 9.98648126e-01 -1.74703430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.483201007999998 meters 0.06452162354592504 Centerline is valid? [True, True] Translation: X:22.35, Y:1.65, Z:-1.76 [[ 9.86609087e-01 -1.56147033e-01 4.71233758e-02 2.23451068e+01] [ 1.55966552e-01 9.87733821e-01 7.50558060e-03 1.64997302e+00] [-4.77173262e-02 -5.54035967e-05 9.98860878e-01 -1.75871900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.513201008 meters 0.06495183010805225 Centerline is valid? [True, True] Translation: X:22.37, Y:1.66, Z:-1.77 [[ 9.86962343e-01 -1.54629922e-01 4.46645237e-02 2.23733639e+01] [ 1.54466101e-01 9.87972455e-01 7.11702966e-03 1.65724077e+00] [-4.52278248e-02 -1.25085446e-04 9.98976691e-01 -1.76592209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.543201007999997 meters 0.06547003847072108 Centerline is valid? [True, True] Translation: X:22.40, Y:1.66, Z:-1.77 [[ 9.87362976e-01 -1.52488419e-01 4.31466681e-02 2.24012382e+01] [ 1.52333788e-01 9.88305235e-01 6.86867003e-03 1.66492713e+00] [-4.36894706e-02 -2.09175101e-04 9.99045137e-01 -1.77113634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.573201007999998 meters 0.06616913652989938 Centerline is valid? [True, True] Translation: X:22.43, Y:1.68, Z:-1.77 [[ 9.88321093e-01 -1.45786446e-01 4.43591036e-02 2.24283635e+01] [ 1.45615757e-01 9.89315941e-01 7.07252448e-03 1.67521279e+00] [-4.49162465e-02 -5.30540679e-04 9.98990615e-01 -1.77239367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.603201008 meters 0.06666569156253822 Centerline is valid? [True, True] Translation: X:22.46, Y:1.68, Z:-1.77 [[ 9.88814464e-01 -1.42155870e-01 4.51404924e-02 2.24565467e+01] [ 1.41974837e-01 9.89844024e-01 7.20783576e-03 1.68107896e+00] [-4.57066828e-02 -7.18398189e-04 9.98954645e-01 -1.77101159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.633201007999997 meters 0.06734650707039691 Centerline is valid? [True, True] Translation: X:22.48, Y:1.69, Z:-1.77 [[ 9.89171868e-01 -1.39375433e-01 4.59728646e-02 2.24836653e+01] [ 1.39183937e-01 9.90239223e-01 7.35620163e-03 1.68661167e+00] [-4.65494075e-02 -8.77863439e-04 9.98915603e-01 -1.77194947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.663201007999998 meters 0.06750088468531143 Centerline is valid? [True, True] Translation: X:22.51, Y:1.69, Z:-1.77 [[ 9.89322569e-01 -1.37678318e-01 4.78072791e-02 2.25125656e+01] [ 1.37469247e-01 9.90476496e-01 7.64965861e-03 1.69130999e+00] [-4.84051784e-02 -9.95949235e-04 9.98827286e-01 -1.77174525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.693201008 meters 0.06803103404194412 Centerline is valid? [True, True] Translation: X:22.54, Y:1.70, Z:-1.77 [[ 9.89360504e-01 -1.36556212e-01 5.01816178e-02 2.25393802e+01] [ 1.36323573e-01 9.90631691e-01 8.04582528e-03 1.69708422e+00] [-5.08102083e-02 -1.11928432e-03 9.98707700e-01 -1.77467776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.723201007999997 meters 0.06803103404194412 Centerline is valid? [True, True] Translation: X:22.57, Y:1.70, Z:-1.78 [[ 9.89326026e-01 -1.36805740e-01 5.01817096e-02 2.25665878e+01] [ 1.36573450e-01 9.90597278e-01 8.04525822e-03 1.70164687e+00] [-5.08105024e-02 -1.10589414e-03 9.98707700e-01 -1.77681526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.753201007999998 meters 0.06710214291614541 Centerline is valid? [True, True] Translation: X:22.60, Y:1.70, Z:-1.78 [[ 9.89085928e-01 -1.37065606e-01 5.40559628e-02 2.25966966e+01] [ 1.36795522e-01 9.90561253e-01 8.68272468e-03 1.70102975e+00] [-5.47358452e-02 -1.19334715e-03 9.98500157e-01 -1.77684522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.783201008 meters 0.06703390219751167 Centerline is valid? [True, True] Translation: X:22.63, Y:1.70, Z:-1.78 [[ 9.89001909e-01 -1.36929661e-01 5.59061033e-02 2.26255357e+01] [ 1.36639814e-01 9.90579978e-01 8.99264844e-03 1.70287327e+00] [-5.66108269e-02 -1.25474695e-03 9.98395533e-01 -1.77907550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.813201008 meters 0.06831996116433789 Centerline is valid? [True, True] Translation: X:22.65, Y:1.71, Z:-1.78 [[ 9.88996354e-01 -1.36423568e-01 5.72260631e-02 2.26524872e+01] [ 1.36118004e-01 9.90649705e-01 9.22234440e-03 1.70895002e+00] [-5.79491276e-02 -1.33136752e-03 9.98318650e-01 -1.78457795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.843201007999998 meters 0.0676819777231728 Centerline is valid? [True, True] Translation: X:22.68, Y:1.71, Z:-1.78 [[ 9.89123942e-01 -1.35566614e-01 5.70571749e-02 2.26822281e+01] [ 1.35261314e-01 9.90767274e-01 9.19709071e-03 1.70900121e+00] [-5.77772001e-02 -1.37943414e-03 9.98328549e-01 -1.78389018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.873201008 meters 0.06791143950163582 Centerline is valid? [True, True] Translation: X:22.71, Y:1.71, Z:-1.79 [[ 9.89166363e-01 -1.34691772e-01 5.83783666e-02 2.27110184e+01] [ 1.34369820e-01 9.90886444e-01 9.42377692e-03 1.70848347e+00] [-5.91156373e-02 -1.47739253e-03 9.98250048e-01 -1.78533218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.903201008 meters 0.06719437980828122 Centerline is valid? [True, True] Translation: X:22.74, Y:1.71, Z:-1.79 [[ 9.88723119e-01 -1.37803299e-01 5.86246129e-02 2.27403619e+01] [ 1.37482896e-01 9.90458741e-01 9.48346048e-03 1.70649161e+00] [-5.93721124e-02 -1.31663508e-03 9.98235052e-01 -1.78712196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.933201007999998 meters 0.06651913025034228 Centerline is valid? [True, True] Translation: X:22.77, Y:1.70, Z:-1.79 [[ 9.88320645e-01 -1.41094261e-01 5.75735306e-02 2.27698404e+01] [ 1.40790793e-01 9.89995556e-01 9.31407318e-03 1.70397306e+00] [-5.83117017e-02 -1.09946779e-03 9.98297820e-01 -1.79048749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.963201008 meters 0.06599722040302987 Centerline is valid? [True, True] Translation: X:22.80, Y:1.70, Z:-1.80 [[ 9.87693398e-01 -1.45785990e-01 5.66409393e-02 2.27982338e+01] [ 1.45499091e-01 9.89315807e-01 9.17874868e-03 1.70086317e+00] [-5.73739095e-02 -8.24584312e-04 9.98352420e-01 -1.79519997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.993201008 meters 0.06505499984877025 Centerline is valid? [True, True] Translation: X:22.83, Y:1.69, Z:-1.80 [[ 9.86444189e-01 -1.54839841e-01 5.43367758e-02 2.28278830e+01] [ 1.54589181e-01 9.87939542e-01 8.81174601e-03 1.69125645e+00] [-5.50458588e-02 -2.92417984e-04 9.98483785e-01 -1.80150607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.023201007999997 meters 0.06487222617082068 Centerline is valid? [True, True] Translation: X:22.86, Y:1.69, Z:-1.80 [[ 9.85650460e-01 -1.59499952e-01 5.52533735e-02 2.28575012e+01] [ 1.59247808e-01 9.87197935e-01 8.96503067e-03 1.68966139e+00] [-5.59759382e-02 -3.74079820e-05 9.98432117e-01 -1.80450967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.053201008 meters 0.06494456229854577 Centerline is valid? [True, True] Translation: X:22.89, Y:1.69, Z:-1.81 [[ 9.85233803e-01 -1.62178581e-01 5.48858874e-02 2.28859095e+01] [ 1.61933041e-01 9.86761419e-01 8.92143702e-03 1.68880812e+00] [-5.56061422e-02 9.81373448e-05 9.98452777e-01 -1.80798487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.083201008 meters 0.06482557453916056 Centerline is valid? [True, True] Translation: X:22.91, Y:1.69, Z:-1.81 [[ 9.84919505e-01 -1.64238200e-01 5.44001998e-02 2.29148860e+01] [ 1.63999887e-01 9.86420686e-01 8.84683706e-03 1.68823771e+00] [-5.51144711e-02 2.08204261e-04 9.98480021e-01 -1.80803366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.113201007999997 meters 0.06467153906345888 Centerline is valid? [True, True] Translation: X:22.94, Y:1.68, Z:-1.81 [[ 9.84331422e-01 -1.67829556e-01 5.40822700e-02 2.29448032e+01] [ 1.67599178e-01 9.85815945e-01 8.79984804e-03 1.68138762e+00] [-5.47920387e-02 4.02177037e-04 9.98497707e-01 -1.80695774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.143201008 meters 0.06455087552192747 Centerline is valid? [True, True] Translation: X:22.97, Y:1.68, Z:-1.81 [[ 9.84009406e-01 -1.69206726e-01 5.56288939e-02 2.29728643e+01] [ 1.68964884e-01 9.85580462e-01 9.05658901e-03 1.68254281e+00] [-5.63591867e-02 4.87560810e-04 9.98410439e-01 -1.80696918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.173201008 meters 0.06456282164147449 Centerline is valid? [True, True] Translation: X:23.00, Y:1.69, Z:-1.81 [[ 9.83796684e-01 -1.70162924e-01 5.64682647e-02 2.29999584e+01] [ 1.69915015e-01 9.85415791e-01 9.19816065e-03 1.68665863e+00] [-5.72099057e-02 5.45686077e-04 9.98362023e-01 -1.80909951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.203201007999997 meters 0.06476116380438605 Centerline is valid? [True, True] Translation: X:23.03, Y:1.70, Z:-1.82 [[ 9.83658320e-01 -1.70899668e-01 5.66534410e-02 2.30259354e+01] [ 1.70651291e-01 9.85288260e-01 9.22934468e-03 1.69849735e+00] [-5.73972623e-02 5.89461183e-04 9.98351244e-01 -1.81533342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.233201007999998 meters 0.0650090521988553 Centerline is valid? [True, True] Translation: X:23.05, Y:1.71, Z:-1.82 [[ 9.83549291e-01 -1.71680714e-01 5.61829617e-02 2.30534544e+01] [ 1.71436811e-01 9.85152453e-01 9.16865311e-03 1.70631502e+00] [-5.69228635e-02 6.14005545e-04 9.98378390e-01 -1.82076328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.263201008 meters 0.06550757664781101 Centerline is valid? [True, True] Translation: X:23.08, Y:1.71, Z:-1.83 [[ 9.83492051e-01 -1.72178666e-01 5.56587117e-02 2.30802012e+01] [ 1.71939162e-01 9.85065542e-01 9.09959067e-03 1.71038263e+00] [-5.63942344e-02 6.20537167e-04 9.98408386e-01 -1.82764728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.293201007999997 meters 0.0653205906610868 Centerline is valid? [True, True] Translation: X:23.11, Y:1.71, Z:-1.83 [[ 9.83270098e-01 -1.73462793e-01 5.55929329e-02 2.31092162e+01] [ 1.73225816e-01 9.84840180e-01 9.09041537e-03 1.71456545e+00] [-5.63270029e-02 6.91797555e-04 9.98412134e-01 -1.82658807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.323201007999998 meters 0.06510788332983429 Centerline is valid? [True, True] Translation: X:23.14, Y:1.71, Z:-1.82 [[ 9.82567649e-01 -1.76858928e-01 5.72864276e-02 2.31404776e+01] [ 1.76612224e-01 9.84235800e-01 9.38147316e-03 1.70942815e+00] [-5.80425502e-02 8.99551361e-04 9.98313705e-01 -1.82031184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.353201008 meters 0.06480757382506605 Centerline is valid? [True, True] Translation: X:23.17, Y:1.71, Z:-1.82 [[ 9.82178552e-01 -1.78536400e-01 5.87370883e-02 2.31692767e+01] [ 1.78279217e-01 9.83932789e-01 9.63267147e-03 1.71099907e+00] [-5.95131296e-02 1.01059877e-03 9.98227011e-01 -1.81662312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.383201007999997 meters 0.06455428857934231 Centerline is valid? [True, True] Translation: X:23.20, Y:1.72, Z:-1.82 [[ 9.81805454e-01 -1.80051742e-01 6.03276128e-02 2.31973389e+01] [ 1.79782238e-01 9.83656508e-01 9.91065627e-03 1.71532948e+00] [-6.11260798e-02 1.11549686e-03 9.98129429e-01 -1.81558844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.413201007999998 meters 0.06451142860477634 Centerline is valid? [True, True] Translation: X:23.23, Y:1.72, Z:-1.82 [[ 9.81503743e-01 -1.81108878e-01 6.20481838e-02 2.32257106e+01] [ 1.80824716e-01 9.83462323e-01 1.02117772e-02 1.72247825e+00] [-6.28714946e-02 1.19694768e-03 9.98020913e-01 -1.81914234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.443201008 meters 0.06494230679549788 Centerline is valid? [True, True] Translation: X:23.25, Y:1.73, Z:-1.83 [[ 9.81637521e-01 -1.80242378e-01 6.24536890e-02 2.32516575e+01] [ 1.79951607e-01 9.83621576e-01 1.02963167e-02 1.73337972e+00] [-6.32866286e-02 1.13139083e-03 9.97994751e-01 -1.82982094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.473201007999997 meters 0.06487391777590458 Centerline is valid? [True, True] Translation: X:23.28, Y:1.74, Z:-1.83 [[ 9.81735500e-01 -1.79373861e-01 6.34068222e-02 2.32798304e+01] [ 1.79072085e-01 9.83780379e-01 1.04572608e-02 1.74121290e+00] [-6.42541468e-02 1.08812773e-03 9.97932974e-01 -1.83319504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.503201007999998 meters 0.06401519844908939 Centerline is valid? [True, True] Translation: X:23.31, Y:1.75, Z:-1.83 [[ 9.82263644e-01 -1.76567928e-01 6.31023000e-02 2.33080179e+01] [ 1.76262333e-01 9.84288058e-01 1.04215159e-02 1.74866124e+00] [-6.39509458e-02 8.85882456e-04 9.97952650e-01 -1.82990214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.533201008 meters 0.0638833938740918 Centerline is valid? [True, True] Translation: X:23.34, Y:1.75, Z:-1.83 [[ 9.82425888e-01 -1.75575413e-01 6.33454698e-02 2.33361635e+01] [ 1.75264282e-01 9.84465653e-01 1.04789836e-02 1.75180988e+00] [-6.42012912e-02 8.07373555e-04 9.97936642e-01 -1.82949013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.563201008 meters 0.06358873661139067 Centerline is valid? [True, True] Translation: X:23.36, Y:1.76, Z:-1.83 [[ 9.82530170e-01 -1.75255689e-01 6.26091723e-02 2.33640237e+01] [ 1.74950935e-01 9.84522647e-01 1.03598763e-02 1.75621276e+00] [-6.34557753e-02 7.74642195e-04 9.97984351e-01 -1.83029002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.593201007999998 meters 0.06349994248652284 Centerline is valid? [True, True] Translation: X:23.39, Y:1.76, Z:-1.83 [[ 9.82473886e-01 -1.75570241e-01 6.26111290e-02 2.33899832e+01] [ 1.75264894e-01 9.84466601e-01 1.03792529e-02 1.76129596e+00] [-6.34608533e-02 7.76187964e-04 9.97984027e-01 -1.83321852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.623201008 meters 0.06348302529122915 Centerline is valid? [True, True] Translation: X:23.42, Y:1.77, Z:-1.84 [[ 9.82665451e-01 -1.74780865e-01 6.18082493e-02 2.34164499e+01] [ 1.74481439e-01 9.84607101e-01 1.02510453e-02 1.76967514e+00] [-6.26485278e-02 7.11044180e-04 9.98035398e-01 -1.83786081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.653201008 meters 0.06364723151799455 Centerline is valid? [True, True] Translation: X:23.44, Y:1.78, Z:-1.85 [[ 9.83306873e-01 -1.71599625e-01 6.05075407e-02 2.34424306e+01] [ 1.71305641e-01 9.85166655e-01 1.00518675e-02 1.78381696e+00] [-6.13349082e-02 4.81212675e-04 9.98117126e-01 -1.84678434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.683201007999998 meters 0.06371125242723397 Centerline is valid? [True, True] Translation: X:23.47, Y:1.79, Z:-1.85 [[ 9.83741667e-01 -1.69660238e-01 5.88874825e-02 2.34700370e+01] [ 1.69377525e-01 9.85502557e-01 9.79613486e-03 1.79221948e+00] [-5.96957791e-02 3.37349966e-04 9.98216560e-01 -1.85126484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.713201008 meters 0.0637470636461928 Centerline is valid? [True, True] Translation: X:23.50, Y:1.80, Z:-1.85 [[ 9.84168899e-01 -1.67696151e-01 5.73548515e-02 2.34981963e+01] [ 1.67423867e-01 9.85838710e-01 9.55445006e-03 1.79835727e+00] [-5.81448773e-02 1.99378414e-04 9.98308136e-01 -1.85452201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.743201008 meters 0.06354900664628955 Centerline is valid? [True, True] Translation: X:23.53, Y:1.80, Z:-1.85 [[ 9.85041971e-01 -1.62886818e-01 5.62156512e-02 2.35261969e+01] [ 1.62616480e-01 9.86644756e-01 9.38114291e-03 1.80237266e+00] [-5.69929420e-02 -9.92281981e-05 9.98374576e-01 -1.85337768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.773201007999997 meters 0.0633976157942042 Centerline is valid? [True, True] Translation: X:23.55, Y:1.81, Z:-1.85 [[ 9.85159256e-01 -1.61719632e-01 5.75152177e-02 2.35543564e+01] [ 1.61434520e-01 9.86836730e-01 9.60025096e-03 1.80759927e+00] [-5.83106783e-02 -1.72834523e-04 9.98298470e-01 -1.85322453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.803201008 meters 0.06333845850509677 Centerline is valid? [True, True] Translation: X:23.58, Y:1.81, Z:-1.85 [[ 9.85615817e-01 -1.59042554e-01 5.71570373e-02 2.35830595e+01] [ 1.58755701e-01 9.87271669e-01 9.55398929e-03 1.81399465e+00] [-5.79490145e-02 -3.42557458e-04 9.98319485e-01 -1.85475185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.833201008 meters 0.06357891893046926 Centerline is valid? [True, True] Translation: X:23.61, Y:1.82, Z:-1.86 [[ 9.85846392e-01 -1.57277269e-01 5.80581794e-02 2.36103510e+01] [ 1.56977433e-01 9.87554375e-01 9.71816879e-03 1.82197038e+00] [-5.88640561e-02 -4.66797696e-04 9.98265899e-01 -1.85839672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.863201007999997 meters 0.0637579330981968 Centerline is valid? [True, True] Translation: X:23.64, Y:1.83, Z:-1.86 [[ 9.85793355e-01 -1.57540827e-01 5.82438829e-02 2.36368109e+01] [ 1.57238402e-01 9.87512362e-01 9.76827780e-03 1.82807127e+00] [-5.90554569e-02 -4.71328256e-04 9.98254592e-01 -1.86391783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.893201008 meters 0.06375434850655899 Centerline is valid? [True, True] Translation: X:23.67, Y:1.83, Z:-1.87 [[ 9.85533581e-01 -1.59112358e-01 5.83679505e-02 2.36653808e+01] [ 1.58811102e-01 9.87260407e-01 9.79402812e-03 1.83355186e+00] [-5.91827175e-02 -3.82865054e-04 9.98247093e-01 -1.86916125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.923201008 meters 0.06372044235364953 Centerline is valid? [True, True] Translation: X:23.69, Y:1.84, Z:-1.87 [[ 9.85465855e-01 -1.59688143e-01 5.79374258e-02 2.36927406e+01] [ 1.59391359e-01 9.87167446e-01 9.73799315e-03 1.83712723e+00] [-5.87489827e-02 -3.61734723e-04 9.98272721e-01 -1.87195937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.953201007999997 meters 0.06360346102738823 Centerline is valid? [True, True] Translation: X:23.72, Y:1.84, Z:-1.87 [[ 9.85572143e-01 -1.59676489e-01 5.61334982e-02 2.37220743e+01] [ 1.59397827e-01 9.87169334e-01 9.43599399e-03 1.83926739e+00] [-5.69199745e-02 -3.52295170e-04 9.98378682e-01 -1.87264045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.983201007999998 meters 0.06355508350894384 Centerline is valid? [True, True] Translation: X:23.75, Y:1.84, Z:-1.87 [[ 9.85687196e-01 -1.59551078e-01 5.44445068e-02 2.37497389e+01] [ 1.59287861e-01 9.87189607e-01 9.16825428e-03 1.84041656e+00] [-5.52098561e-02 -3.64681826e-04 9.98474706e-01 -1.87395864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.013201008 meters 0.06343940358789943 Centerline is valid? [True, True] Translation: X:23.78, Y:1.84, Z:-1.88 [[ 9.85519810e-01 -1.60749265e-01 5.39479104e-02 2.37777114e+01] [ 1.60492607e-01 9.86995231e-01 9.08495687e-03 1.84410088e+00] [-5.47067304e-02 -2.95164184e-04 9.98502422e-01 -1.87653764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.043201007999997 meters 0.06343383283023693 Centerline is valid? [True, True] Translation: X:23.81, Y:1.85, Z:-1.88 [[ 9.85258716e-01 -1.62160774e-01 5.44898755e-02 2.38059911e+01] [ 1.61900193e-01 9.86764323e-01 9.19235342e-03 1.84820986e+00] [-5.52593042e-02 -2.34924990e-04 9.98472010e-01 -1.88030176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.073201007999998 meters 0.06334864805264423 Centerline is valid? [True, True] Translation: X:23.83, Y:1.85, Z:-1.88 [[ 9.85021316e-01 -1.63515751e-01 5.47321346e-02 2.38333108e+01] [ 1.63254241e-01 9.86540709e-01 9.24571236e-03 1.85254951e+00] [-5.55072984e-02 -1.71970681e-04 9.98458267e-01 -1.88335783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.103201008 meters 0.06334762996420766 Centerline is valid? [True, True] Translation: X:23.86, Y:1.85, Z:-1.89 [[ 9.84295603e-01 -1.67413117e-01 5.59912015e-02 2.38610111e+01] [ 1.67144602e-01 9.85886833e-01 9.47811932e-03 1.85490812e+00] [-5.67877498e-02 2.93559165e-05 9.98386273e-01 -1.88641705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.133201007999997 meters 0.0632021184328217 Centerline is valid? [True, True] Translation: X:23.89, Y:1.86, Z:-1.89 [[ 9.84084506e-01 -1.68634318e-01 5.60370546e-02 2.38893920e+01] [ 1.68367283e-01 9.85678678e-01 9.48688253e-03 1.85787697e+00] [-5.68343439e-02 9.89125276e-05 9.98383617e-01 -1.88845149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.163201007999998 meters 0.06305720289861952 Centerline is valid? [True, True] Translation: X:23.92, Y:1.86, Z:-1.89 [[ 9.83772484e-01 -1.70531493e-01 5.57737285e-02 2.39186537e+01] [ 1.70269121e-01 9.85352208e-01 9.45798395e-03 1.86058622e+00] [-5.65696506e-02 1.92039356e-04 9.98398637e-01 -1.88898102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.193201008 meters 0.06297745306009564 Centerline is valid? [True, True] Translation: X:23.95, Y:1.86, Z:-1.89 [[ 9.83334185e-01 -1.73262795e-01 5.50807032e-02 2.39473725e+01] [ 1.73010268e-01 9.84875574e-01 9.35687858e-03 1.85999090e+00] [-5.58688381e-02 3.28588662e-04 9.98438063e-01 -1.89096953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.223201007999997 meters 0.06288250687442347 Centerline is valid? [True, True] Translation: X:23.98, Y:1.86, Z:-1.89 [[ 9.83184538e-01 -1.74227255e-01 5.47085755e-02 2.39756531e+01] [ 1.73979546e-01 9.84705397e-01 9.29504225e-03 1.86377137e+00] [-5.54912793e-02 3.79431339e-04 9.98459100e-01 -1.89297355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.253201007999998 meters 0.06275565497852062 Centerline is valid? [True, True] Translation: X:24.00, Y:1.87, Z:-1.89 [[ 9.83268407e-01 -1.73975915e-01 5.39964808e-02 2.40039530e+01] [ 1.73733563e-01 9.84749846e-01 9.18637569e-03 1.87026762e+00] [-5.47712342e-02 3.48328008e-04 9.98498869e-01 -1.89427101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.283201008 meters 0.06278555468108186 Centerline is valid? [True, True] Translation: X:24.03, Y:1.88, Z:-1.90 [[ 9.83324827e-01 -1.73685057e-01 5.39053462e-02 2.40299194e+01] [ 1.73442201e-01 9.84801199e-01 9.18701736e-03 1.87548813e+00] [-5.46816972e-02 3.15639655e-04 9.98503787e-01 -1.89836516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.313201008 meters 0.06274813405335627 Centerline is valid? [True, True] Translation: X:24.06, Y:1.88, Z:-1.90 [[ 9.83244819e-01 -1.73940502e-01 5.45373931e-02 2.40586961e+01] [ 1.73692071e-01 9.84756109e-01 9.29898565e-03 1.88132656e+00] [-5.53235012e-02 3.29533298e-04 9.98468428e-01 -1.89975019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.343201007999998 meters 0.06260814310517769 Centerline is valid? [True, True] Translation: X:24.09, Y:1.89, Z:-1.90 [[ 9.83337427e-01 -1.73587373e-01 5.39900735e-02 2.40872227e+01] [ 1.73342676e-01 9.84818429e-01 9.21842491e-03 1.88686791e+00] [-5.47706215e-02 2.93961557e-04 9.98498920e-01 -1.90244696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.373201008 meters 0.06254909535011684 Centerline is valid? [True, True] Translation: X:24.12, Y:1.89, Z:-1.90 [[ 9.83138403e-01 -1.74524238e-01 5.45909474e-02 2.41152665e+01] [ 1.74274815e-01 9.84652820e-01 9.33342077e-03 1.89177892e+00] [-5.53820385e-02 3.37782848e-04 9.98465180e-01 -1.90337614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.403201008 meters 0.06253783133435258 Centerline is valid? [True, True] Translation: X:24.14, Y:1.90, Z:-1.91 [[ 9.82951333e-01 -1.75489552e-01 5.48643259e-02 2.41427359e+01] [ 1.75238268e-01 9.84481220e-01 9.39553006e-03 1.89647534e+00] [-5.56617158e-02 3.78980648e-04 9.98449613e-01 -1.90583833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.433201007999998 meters 0.06250788374447509 Centerline is valid? [True, True] Translation: X:24.17, Y:1.90, Z:-1.91 [[ 9.82485334e-01 -1.78013653e-01 5.50791045e-02 2.41705297e+01] [ 1.77763257e-01 9.84027888e-01 9.45196466e-03 1.89811243e+00] [-5.58819536e-02 5.04624347e-04 9.98437255e-01 -1.90719704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.463201008 meters 0.06263265387675088 Centerline is valid? [True, True] Translation: X:24.20, Y:1.90, Z:-1.91 [[ 9.82131959e-01 -1.80004454e-01 5.49109358e-02 2.41980179e+01] [ 1.79758428e-01 9.83665605e-01 9.42786402e-03 1.90059210e+00] [-5.57110565e-02 6.11296955e-04 9.98446746e-01 -1.91064745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.493201008 meters 0.0627197028494215 Centerline is valid? [True, True] Translation: X:24.23, Y:1.90, Z:-1.91 [[ 9.81789565e-01 -1.82105707e-01 5.40995584e-02 2.42271382e+01] [ 1.81870026e-01 9.83278697e-01 9.28970486e-03 1.90337935e+00] [-5.48866516e-02 7.18552799e-04 9.98492333e-01 -1.91335966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.523201007999997 meters 0.06297501365728314 Centerline is valid? [True, True] Translation: X:24.26, Y:1.91, Z:-1.92 [[ 9.81382383e-01 -1.84285279e-01 5.41068718e-02 2.42552472e+01] [ 1.84051997e-01 9.82872451e-01 9.30631910e-03 1.90598481e+00] [-5.48951713e-02 8.25420214e-04 9.98491782e-01 -1.91537834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.553201008 meters 0.06313351005170277 Centerline is valid? [True, True] Translation: X:24.28, Y:1.91, Z:-1.92 [[ 9.80618276e-01 -1.88179469e-01 5.45553301e-02 2.42837299e+01] [ 1.87948076e-01 9.82134100e-01 9.38780937e-03 1.91003098e+00] [-5.53472430e-02 1.04771187e-03 9.98466617e-01 -1.91641018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.583201008 meters 0.06358303956044528 Centerline is valid? [True, True] Translation: X:24.31, Y:1.91, Z:-1.92 [[ 9.80448366e-01 -1.88966672e-01 5.48871454e-02 2.43108810e+01] [ 1.88732736e-01 9.81982905e-01 9.46194554e-03 1.91249980e+00] [-5.56862309e-02 1.08205207e-03 9.98447732e-01 -1.92081338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.613201007999997 meters 0.06358303956044528 Centerline is valid? [True, True] Translation: X:24.34, Y:1.92, Z:-1.92 [[ 9.80399982e-01 -1.89217585e-01 5.48869753e-02 2.43380560e+01] [ 1.88983986e-01 9.81934573e-01 9.46293562e-03 1.91736707e+00] [-5.56859725e-02 1.09529745e-03 9.98447732e-01 -1.92295157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.643201008 meters 0.06364775719761173 Centerline is valid? [True, True] Translation: X:24.37, Y:1.92, Z:-1.93 [[ 9.80412613e-01 -1.89360903e-01 5.41623224e-02 2.43652997e+01] [ 1.89132708e-01 9.81906971e-01 9.35517532e-03 1.92205792e+00] [-5.49538664e-02 1.07193482e-03 9.98488319e-01 -1.92507924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.673201008 meters 0.06316046130673549 Centerline is valid? [True, True] Translation: X:24.39, Y:1.93, Z:-1.92 [[ 9.80408006e-01 -1.89357788e-01 5.42565149e-02 2.43928862e+01] [ 1.89128610e-01 9.81907573e-01 9.37476392e-03 1.92929856e+00] [-5.50500674e-02 1.07036566e-03 9.98483022e-01 -1.92495949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.703201007999997 meters 0.0629651949607118 Centerline is valid? [True, True] Translation: X:24.42, Y:1.94, Z:-1.93 [[ 9.80947949e-01 -1.86640793e-01 5.39104363e-02 2.44194338e+01] [ 1.86409396e-01 9.82427817e-01 9.33386270e-03 1.93678399e+00] [-5.47051918e-02 8.93378395e-04 9.98502150e-01 -1.92693146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.733201007999998 meters 0.06275499140242255 Centerline is valid? [True, True] Translation: X:24.45, Y:1.94, Z:-1.93 [[ 9.81296973e-01 -1.84811118e-01 5.38618686e-02 2.44460662e+01] [ 1.84577132e-01 9.82773744e-01 9.33002945e-03 1.94388618e+00] [-5.46583234e-02 7.86139578e-04 9.98504807e-01 -1.92962102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.763201008 meters 0.0625055238666468 Centerline is valid? [True, True] Translation: X:24.47, Y:1.95, Z:-1.93 [[ 9.81821039e-01 -1.82167919e-01 5.33131932e-02 2.44741286e+01] [ 1.81934739e-01 9.83267232e-01 9.23581683e-03 1.95280343e+00] [-5.41035854e-02 6.31602613e-04 9.98535129e-01 -1.93130198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.793201007999997 meters 0.062292136638369335 Centerline is valid? [True, True] Translation: X:24.50, Y:1.96, Z:-1.93 [[ 9.83012502e-01 -1.75789995e-01 5.27664494e-02 2.45001672e+01] [ 1.75551565e-01 9.84427655e-01 9.15638344e-03 1.96433954e+00] [-5.35543527e-02 2.62393363e-04 9.98564901e-01 -1.93465999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.823201007999998 meters 0.06233046938429363 Centerline is valid? [True, True] Translation: X:24.53, Y:1.97, Z:-1.94 [[ 9.83507176e-01 -1.73148536e-01 5.22801942e-02 2.45262504e+01] [ 1.72910395e-01 9.84895716e-01 9.07872273e-03 1.97201377e+00] [-5.30625068e-02 1.10800043e-04 9.98591187e-01 -1.93766264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.853201008 meters 0.062271367139041266 Centerline is valid? [True, True] Translation: X:24.55, Y:1.98, Z:-1.94 [[ 9.83962290e-01 -1.70527642e-01 5.23310143e-02 2.45539198e+01] [ 1.70285195e-01 9.85352892e-01 9.09012203e-03 1.97920660e+00] [-5.31146333e-02 -3.31403357e-05 9.98588421e-01 -1.93939895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.883201007999997 meters 0.06218781869999928 Centerline is valid? [True, True] Translation: X:24.58, Y:1.98, Z:-1.94 [[ 9.84265591e-01 -1.68629862e-01 5.27751377e-02 2.45816981e+01] [ 1.68379767e-01 9.85679434e-01 9.18190784e-03 1.98486533e+00] [-5.35677117e-02 -1.51170572e-04 9.98564208e-01 -1.94118737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.913201007999998 meters 0.06168140314882495 Centerline is valid? [True, True] Translation: X:24.61, Y:1.99, Z:-1.94 [[ 9.83892402e-01 -1.69807270e-01 5.58679886e-02 2.46113303e+01] [ 1.69527871e-01 9.85477285e-01 9.73764895e-03 1.98739509e+00] [-5.67101573e-02 -1.09617628e-04 9.98390678e-01 -1.93926574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.943201008 meters 0.06159019708837803 Centerline is valid? [True, True] Translation: X:24.64, Y:1.99, Z:-1.94 [[ 9.83834469e-01 -1.70161267e-01 5.58111154e-02 2.46393080e+01] [ 1.69882378e-01 9.85416223e-01 9.73881735e-03 1.99197273e+00] [-5.66543480e-02 -1.00059219e-04 9.98393848e-01 -1.93925032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.973201007999997 meters 0.061529221841576553 Centerline is valid? [True, True] Translation: X:24.67, Y:2.00, Z:-1.94 [[ 9.83700544e-01 -1.70862934e-01 5.60276537e-02 2.46660748e+01] [ 1.70581984e-01 9.85294805e-01 9.79462685e-03 1.99655503e+00] [-5.68772948e-02 -7.76714135e-05 9.98381173e-01 -1.94298048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.003201007999998 meters 0.06155082158618662 Centerline is valid? [True, True] Translation: X:24.69, Y:2.00, Z:-1.95 [[ 9.83868021e-01 -1.70442939e-01 5.43407940e-02 2.46935500e+01] [ 1.70177333e-01 9.85367542e-01 9.51225215e-03 2.00076006e+00] [-5.51669508e-02 -1.11229281e-04 9.98477138e-01 -1.94631847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.033201008 meters 0.06180377361731042 Centerline is valid? [True, True] Translation: X:24.72, Y:2.00, Z:-1.95 [[ 9.84028134e-01 -1.70715645e-01 5.04460084e-02 2.47226962e+01] [ 1.70486890e-01 9.85320334e-01 8.83519079e-03 2.00306557e+00] [-5.12137831e-02 -9.36932311e-05 9.98687709e-01 -1.94993080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.063201008 meters 0.061875259100240394 Centerline is valid? [True, True] Translation: X:24.75, Y:2.01, Z:-1.95 [[ 9.83917018e-01 -1.71645967e-01 4.94465706e-02 2.47502941e+01] [ 1.71427287e-01 9.85158698e-01 8.66172142e-03 2.00686195e+00] [-5.01994686e-02 -4.59236625e-05 9.98739211e-01 -1.95380851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.093201007999998 meters 0.061958114018956005 Centerline is valid? [True, True] Translation: X:24.78, Y:2.01, Z:-1.96 [[ 9.83753965e-01 -1.72847999e-01 4.84943793e-02 2.47772607e+01] [ 1.72638947e-01 9.84948511e-01 8.49852806e-03 2.01092779e+00] [-4.92334203e-02 1.15579013e-05 9.98787300e-01 -1.95732202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.123201008 meters 0.062011727139535185 Centerline is valid? [True, True] Translation: X:24.81, Y:2.02, Z:-1.96 [[ 9.83636805e-01 -1.73686911e-01 4.78695382e-02 2.48060487e+01] [ 1.73484160e-01 9.84800921e-01 8.38998701e-03 2.01606872e+00] [-4.85991963e-02 5.19066371e-05 9.98818360e-01 -1.96023190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.153201008 meters 0.06207581065480679 Centerline is valid? [True, True] Translation: X:24.83, Y:2.02, Z:-1.96 [[ 9.83733650e-01 -1.73579757e-01 4.62403819e-02 2.48337762e+01] [ 1.73389981e-01 9.84819814e-01 8.11466462e-03 2.02338066e+00] [-4.69469859e-02 3.49503122e-05 9.98897382e-01 -1.96419941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.183201007999998 meters 0.06217487315808453 Centerline is valid? [True, True] Translation: X:24.86, Y:2.03, Z:-1.97 [[ 9.83732735e-01 -1.73987255e-01 4.47028132e-02 2.48611520e+01] [ 1.73809688e-01 9.84747904e-01 7.85866374e-03 2.02897933e+00] [-4.53883089e-02 3.89572439e-05 9.98969419e-01 -1.96866755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.213201008 meters 0.062265597110663595 Centerline is valid? [True, True] Translation: X:24.89, Y:2.03, Z:-1.97 [[ 9.83723038e-01 -1.74052213e-01 4.46633084e-02 2.48880170e+01] [ 1.73874750e-01 9.84736425e-01 7.85780840e-03 2.03352420e+00] [-4.53492556e-02 3.59144452e-05 9.98971193e-01 -1.97222098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.243201008 meters 0.06197209674570511 Centerline is valid? [True, True] Translation: X:24.92, Y:2.04, Z:-1.97 [[ 9.83476962e-01 -1.75388001e-01 4.48566026e-02 2.49166348e+01] [ 1.75210364e-01 9.84499385e-01 7.89232624e-03 2.03662724e+00] [-4.55455170e-02 9.74206367e-05 9.98962260e-01 -1.97153419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.273201007999997 meters 0.06127459705964876 Centerline is valid? [True, True] Translation: X:24.95, Y:2.04, Z:-1.97 [[ 9.83198121e-01 -1.76836553e-01 4.52801138e-02 2.49465004e+01] [ 1.76656315e-01 9.84240220e-01 7.98343244e-03 2.03877506e+00] [-4.59782718e-02 1.49722265e-04 9.98942429e-01 -1.96777595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.303201008 meters 0.06116012540580418 Centerline is valid? [True, True] Translation: X:24.97, Y:2.04, Z:-1.97 [[ 9.83095726e-01 -1.77345091e-01 4.55138667e-02 2.49742441e+01] [ 1.77163169e-01 9.84148714e-01 8.03246795e-03 2.04296419e+00] [-4.62169321e-02 1.66695965e-04 9.98931413e-01 -1.97006033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.333201008 meters 0.06118888415570237 Centerline is valid? [True, True] Translation: X:25.00, Y:2.05, Z:-1.97 [[ 9.82823701e-01 -1.78875458e-01 4.53998248e-02 2.50026671e+01] [ 1.78696112e-01 9.83871696e-01 8.01161538e-03 2.04743465e+00] [-4.61006839e-02 2.38766708e-04 9.98936770e-01 -1.97225948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.363201007999997 meters 0.061183213980984606 Centerline is valid? [True, True] Translation: X:25.03, Y:2.05, Z:-1.97 [[ 9.82586306e-01 -1.80335309e-01 4.47585577e-02 2.50311006e+01] [ 1.80162028e-01 9.83605150e-01 7.90902873e-03 2.05221269e+00] [-4.54510250e-02 2.92489226e-04 9.98966525e-01 -1.97472139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.393201008 meters 0.06149615503284222 Centerline is valid? [True, True] Translation: X:25.06, Y:2.06, Z:-1.98 [[ 9.82159389e-01 -1.82950854e-01 4.34962083e-02 2.50593895e+01] [ 1.82789335e-01 9.83121982e-01 7.69594644e-03 2.05687723e+00] [-4.41700585e-02 3.91996952e-04 9.99023950e-01 -1.97910875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.423201008 meters 0.06142324314648699 Centerline is valid? [True, True] Translation: X:25.09, Y:2.06, Z:-1.98 [[ 9.81885036e-01 -1.84575191e-01 4.28225914e-02 2.50875191e+01] [ 1.84419748e-01 9.82818294e-01 7.58673613e-03 2.06165757e+00] [-4.34871494e-02 4.48028819e-04 9.99053886e-01 -1.98126086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.453201007999997 meters 0.06155545628034741 Centerline is valid? [True, True] Translation: X:25.12, Y:2.07, Z:-1.98 [[ 9.81606739e-01 -1.86133597e-01 4.24557908e-02 2.51150977e+01] [ 1.85981583e-01 9.82524319e-01 7.53750255e-03 2.06512073e+00] [-4.31168294e-02 4.97131879e-04 9.99069913e-01 -1.98405728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.483201007999998 meters 0.06131530912822849 Centerline is valid? [True, True] Translation: X:25.14, Y:2.07, Z:-1.98 [[ 9.81576178e-01 -1.86612021e-01 4.10385319e-02 2.51438359e+01] [ 1.86470505e-01 9.82433560e-01 7.28355424e-03 2.06949335e+00] [-4.16768298e-02 5.03112449e-04 9.99131017e-01 -1.98362137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.513201008 meters 0.06159910922951069 Centerline is valid? [True, True] Translation: X:25.17, Y:2.07, Z:-1.99 [[ 9.81098262e-01 -1.89141925e-01 4.08843867e-02 2.51721973e+01] [ 1.89003007e-01 9.81949582e-01 7.27203278e-03 2.06960247e+00] [-4.15218527e-02 5.92693295e-04 9.99137420e-01 -1.98548883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.543201007999997 meters 0.061893677003612244 Centerline is valid? [True, True] Translation: X:25.20, Y:2.07, Z:-1.99 [[ 9.80739862e-01 -1.90942881e-01 4.11113033e-02 2.51995976e+01] [ 1.90803840e-01 9.81600921e-01 7.31614671e-03 2.07257044e+00] [-4.17518593e-02 6.68957814e-04 9.99127787e-01 -1.98719408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.573201007999998 meters 0.061856985485942116 Centerline is valid? [True, True] Translation: X:25.23, Y:2.08, Z:-1.99 [[ 9.80503254e-01 -1.92115586e-01 4.12912778e-02 2.52277929e+01] [ 1.91976438e-01 9.81372038e-01 7.34638736e-03 2.07749314e+00] [-4.19334610e-02 7.23795729e-04 9.99120143e-01 -1.98902056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.603201008 meters 0.06216747118883498 Centerline is valid? [True, True] Translation: X:25.26, Y:2.08, Z:-1.99 [[ 9.80174345e-01 -1.93814615e-01 4.11600247e-02 2.52554027e+01] [ 1.93677208e-01 9.81037863e-01 7.33832149e-03 2.08262060e+00] [-4.18018166e-02 7.78924183e-04 9.99125618e-01 -1.99204097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.633201007999997 meters 0.06205150444486945 Centerline is valid? [True, True] Translation: X:25.28, Y:2.09, Z:-1.99 [[ 9.79907597e-01 -1.94996190e-01 4.19235776e-02 2.52828180e+01] [ 1.94854833e-01 9.80803634e-01 7.47171469e-03 2.08795530e+00] [-4.25757531e-02 8.47421719e-04 9.99092882e-01 -1.99312145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.663201007999998 meters 0.06201234556655903 Centerline is valid? [True, True] Translation: X:25.31, Y:2.09, Z:-1.99 [[ 9.79829178e-01 -1.95271993e-01 4.24691791e-02 2.53112665e+01] [ 1.95126627e-01 9.80748751e-01 7.58197726e-03 2.09291279e+00] [-4.31321422e-02 8.57825146e-04 9.99069008e-01 -1.99407492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.693201008 meters 0.06203772153650697 Centerline is valid? [True, True] Translation: X:25.34, Y:2.10, Z:-2.00 [[ 9.79704065e-01 -1.95674741e-01 4.34895530e-02 2.53391635e+01] [ 1.95522002e-01 9.80668455e-01 7.77992426e-03 2.09765348e+00] [-4.41711674e-02 8.81141050e-04 9.99023589e-01 -1.99526219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.723201007999997 meters 0.06168008103267481 Centerline is valid? [True, True] Translation: X:25.37, Y:2.10, Z:-2.00 [[ 9.79759210e-01 -1.95182390e-01 4.44491175e-02 2.53672706e+01] [ 1.95022367e-01 9.80766569e-01 7.95072538e-03 2.10312273e+00] [-4.51460500e-02 8.78775681e-04 9.98980011e-01 -1.99508502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.753201007999998 meters 0.06167217855553342 Centerline is valid? [True, True] Translation: X:25.40, Y:2.11, Z:-2.00 [[ 9.79742508e-01 -1.95143741e-01 4.49837484e-02 2.53957587e+01] [ 1.94979310e-01 9.80774261e-01 8.05712296e-03 2.10996658e+00] [-4.56911997e-02 8.76994379e-04 9.98955227e-01 -1.99757058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.783201008 meters 0.0609607089125667 Centerline is valid? [True, True] Translation: X:25.42, Y:2.12, Z:-2.00 [[ 9.79983267e-01 -1.93963549e-01 4.48434823e-02 2.54239040e+01] [ 1.93798449e-01 9.81008403e-01 8.04207482e-03 2.11928762e+00] [-4.55517023e-02 8.09498544e-04 9.98961654e-01 -1.99721597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.813201007999997 meters 0.06124127767972696 Centerline is valid? [True, True] Translation: X:25.45, Y:2.12, Z:-2.00 [[ 9.80368536e-01 -1.92197350e-01 4.40194632e-02 2.54498307e+01] [ 1.92035943e-01 9.81356044e-01 7.90639219e-03 2.12473590e+00] [-4.47183539e-02 7.02140996e-04 9.98999387e-01 -2.00300955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.843201007999998 meters 0.060551574879469126 Centerline is valid? [True, True] Translation: X:25.48, Y:2.13, Z:-2.00 [[ 9.81086020e-01 -1.88610324e-01 4.35473073e-02 2.54774738e+01] [ 1.88448539e-01 9.82051867e-01 7.82810571e-03 2.13464154e+00] [-4.42421760e-02 5.26381392e-04 9.99020697e-01 -2.00263452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.873201008 meters 0.0605362166261706 Centerline is valid? [True, True] Translation: X:25.51, Y:2.14, Z:-2.01 [[ 9.81352543e-01 -1.87231206e-01 4.34932494e-02 2.55060167e+01] [ 1.87068008e-01 9.82315769e-01 7.82880775e-03 2.14164098e+00] [-4.41899018e-02 4.53375138e-04 9.99023046e-01 -2.00527119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.903201008 meters 0.06063523515299546 Centerline is valid? [True, True] Translation: X:25.53, Y:2.15, Z:-2.01 [[ 9.81637681e-01 -1.86098838e-01 4.18889740e-02 2.55338332e+01] [ 1.85946031e-01 9.82530956e-01 7.54943015e-03 2.14865489e+00] [-4.25621539e-02 3.78283366e-04 9.99093749e-01 -2.00871628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.933201007999998 meters 0.06059428746844411 Centerline is valid? [True, True] Translation: X:25.56, Y:2.16, Z:-2.01 [[ 9.82131021e-01 -1.83371622e-01 4.23497941e-02 2.55616202e+01] [ 1.83212459e-01 9.83043633e-01 7.64266894e-03 2.15832899e+00] [-4.30331440e-02 2.52907659e-04 9.99073613e-01 -2.01361524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.963201008 meters 0.06053558764770219 Centerline is valid? [True, True] Translation: X:25.59, Y:2.17, Z:-2.02 [[ 9.82484805e-01 -1.81547482e-01 4.20014241e-02 2.55883474e+01] [ 1.81388893e-01 9.83382166e-01 7.58843448e-03 2.16581088e+00] [-4.26811126e-02 1.63070236e-04 9.99088733e-01 -2.01543732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.993201008 meters 0.06083872509157376 Centerline is valid? [True, True] Translation: X:25.62, Y:2.17, Z:-2.02 [[ 9.82963490e-01 -1.79134958e-01 4.11514843e-02 2.56152648e+01] [ 1.78979869e-01 9.83824509e-01 7.45259491e-03 2.17249897e+00] [-4.18208592e-02 3.96585749e-05 9.99125124e-01 -2.01937161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.023201007999997 meters 0.06123401768886453 Centerline is valid? [True, True] Translation: X:25.64, Y:2.18, Z:-2.02 [[ 9.84135135e-01 -1.73162520e-01 3.86364952e-02 2.56438922e+01] [ 1.73021020e-01 9.84893243e-01 7.00193731e-03 2.18015445e+00] [-3.92652961e-02 -2.05926692e-04 9.99228800e-01 -2.02067380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.053201008 meters 0.06144739813227421 Centerline is valid? [True, True] Translation: X:25.67, Y:2.19, Z:-2.02 [[ 9.84433853e-01 -1.71423385e-01 3.87815994e-02 2.56717113e+01] [ 1.71279775e-01 9.85197417e-01 7.02051185e-03 2.18578849e+00] [-3.94110115e-02 -2.68725894e-04 9.99223048e-01 -2.02286933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.083201008 meters 0.06171434527529365 Centerline is valid? [True, True] Translation: X:25.70, Y:2.19, Z:-2.03 [[ 9.84343143e-01 -1.71748726e-01 3.96352468e-02 2.56994167e+01] [ 1.71598241e-01 9.85140750e-01 7.19351407e-03 2.18922302e+00] [-4.02817736e-02 -2.79547599e-04 9.99188321e-01 -2.02757729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.113201007999997 meters 0.06111581938025476 Centerline is valid? [True, True] Translation: X:25.73, Y:2.19, Z:-2.03 [[ 9.83936704e-01 -1.73867640e-01 4.04797110e-02 2.57282736e+01] [ 1.73712539e-01 9.84769011e-01 7.34492575e-03 2.19122906e+00] [-4.11402099e-02 -1.95108648e-04 9.99153364e-01 -2.02676432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.143201008 meters 0.06086685584342815 Centerline is valid? [True, True] Translation: X:25.76, Y:2.19, Z:-2.03 [[ 9.83244065e-01 -1.77296924e-01 4.23899656e-02 2.57562572e+01] [ 1.77129316e-01 9.84157404e-01 7.70776210e-03 2.19255272e+00] [-4.30849610e-02 -7.01057096e-05 9.99071409e-01 -2.02896153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.173201008 meters 0.0608474626686047 Centerline is valid? [True, True] Translation: X:25.78, Y:2.20, Z:-2.03 [[ 9.82624023e-01 -1.80322664e-01 4.39746152e-02 2.57849077e+01] [ 1.80145350e-01 9.83607509e-01 7.99501100e-03 2.19511292e+00] [-4.46954434e-02 6.57325748e-05 9.99000657e-01 -2.03043160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.203201007999997 meters 0.060695221514559486 Centerline is valid? [True, True] Translation: X:25.81, Y:2.20, Z:-2.03 [[ 9.82400402e-01 -1.81361853e-01 4.46914695e-02 2.58137131e+01] [ 1.81179293e-01 9.83416426e-01 8.13611579e-03 2.19933267e+00] [-4.54259062e-02 1.04245413e-04 9.98967705e-01 -2.03147257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.233201007999998 meters 0.06071907428277935 Centerline is valid? [True, True] Translation: X:25.84, Y:2.20, Z:-2.03 [[ 9.82103536e-01 -1.82950574e-01 4.47407250e-02 2.58420095e+01] [ 1.82768826e-01 9.83122098e-01 8.15458343e-03 2.20205610e+00] [-4.54774811e-02 1.68564535e-04 9.98965350e-01 -2.03282869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.263201008 meters 0.060642849615165445 Centerline is valid? [True, True] Translation: X:25.87, Y:2.20, Z:-2.03 [[ 9.81711554e-01 -1.85320569e-01 4.35742027e-02 2.58710563e+01] [ 1.85149982e-01 9.82678085e-01 7.95391259e-03 2.20438490e+00] [-4.42934377e-02 2.59314938e-04 9.99018530e-01 -2.03187894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.293201007999997 meters 0.061200501612823074 Centerline is valid? [True, True] Translation: X:25.90, Y:2.20, Z:-2.03 [[ 9.80766308e-01 -1.90412159e-01 4.29028882e-02 2.58994140e+01] [ 1.90251077e-01 9.81704125e-01 7.84460568e-03 2.20191303e+00] [-4.36116506e-02 4.68595718e-04 9.99048449e-01 -2.03453195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.323201007999998 meters 0.0611674470491766 Centerline is valid? [True, True] Translation: X:25.93, Y:2.21, Z:-2.03 [[ 9.80226776e-01 -1.93381442e-01 4.19414607e-02 2.59283226e+01] [ 1.93230092e-01 9.81123477e-01 7.67172985e-03 2.20611901e+00] [-4.26333219e-02 5.84317278e-04 9.99090616e-01 -2.03458414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.353201008 meters 0.06150568723774523 Centerline is valid? [True, True] Translation: X:25.96, Y:2.21, Z:-2.04 [[ 9.79974513e-01 -1.94874978e-01 4.09108386e-02 2.59563332e+01] [ 1.94731710e-01 9.80827894e-01 7.49682340e-03 2.21055641e+00] [-4.15874350e-02 6.19941704e-04 9.99134676e-01 -2.03745447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.383201007999997 meters 0.06168534506131569 Centerline is valid? [True, True] Translation: X:25.98, Y:2.22, Z:-2.04 [[ 9.79731736e-01 -1.96357726e-01 3.96152500e-02 2.59842395e+01] [ 1.96224344e-01 9.80532108e-01 7.26581792e-03 2.21606153e+00] [-4.02707241e-02 6.54924049e-04 9.99188591e-01 -2.03964836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.413201007999998 meters 0.06278413104576865 Centerline is valid? [True, True] Translation: X:26.01, Y:2.22, Z:-2.05 [[ 9.79472245e-01 -1.97859095e-01 3.85473791e-02 2.60112630e+01] [ 1.97733843e-01 9.80230226e-01 7.07323172e-03 2.21926920e+00] [-3.91848093e-02 6.94087261e-04 9.99231739e-01 -2.04764230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.443201008 meters 0.06317614237584243 Centerline is valid? [True, True] Translation: X:26.04, Y:2.23, Z:-2.05 [[ 9.78827065e-01 -2.01263739e-01 3.72891909e-02 2.60399825e+01] [ 2.01148806e-01 9.79536763e-01 6.84745118e-03 2.22568017e+00] [-3.79042769e-02 7.98205664e-04 9.99281056e-01 -2.05072181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.473201007999997 meters 0.06355742352813191 Centerline is valid? [True, True] Translation: X:26.07, Y:2.23, Z:-2.05 [[ 9.78275830e-01 -2.03751731e-01 3.82312950e-02 2.60685056e+01] [ 2.03633058e-01 9.79022155e-01 7.01413756e-03 2.22967849e+00] [-3.88584275e-02 9.23394271e-04 9.99244299e-01 -2.05226866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.503201007999998 meters 0.06330353639292284 Centerline is valid? [True, True] Translation: X:26.10, Y:2.23, Z:-2.05 [[ 9.77636891e-01 -2.06491347e-01 3.98426008e-02 2.60968298e+01] [ 2.06364375e-01 9.78447845e-01 7.31848637e-03 2.23450504e+00] [-4.04951110e-02 1.06727114e-03 9.99179167e-01 -2.05011733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.533201008 meters 0.06330353639292284 Centerline is valid? [True, True] Translation: X:26.12, Y:2.24, Z:-2.05 [[ 9.77581490e-01 -2.06753849e-01 3.98406292e-02 2.61239784e+01] [ 2.06626658e-01 9.78392410e-01 7.32919628e-03 2.23966347e+00] [-4.04951088e-02 1.06724945e-03 9.99179167e-01 -2.05224670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.563201007999997 meters 0.06314160947709993 Centerline is valid? [True, True] Translation: X:26.15, Y:2.24, Z:-2.05 [[ 9.77033600e-01 -2.08705830e-01 4.29793191e-02 2.61532925e+01] [ 2.08559047e-01 9.77977698e-01 7.92127179e-03 2.24266318e+00] [-4.36860312e-02 1.22437713e-03 9.99044559e-01 -2.04765085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.593201007999998 meters 0.06373741395690824 Centerline is valid? [True, True] Translation: X:26.18, Y:2.25, Z:-2.05 [[ 9.77056489e-01 -2.08335622e-01 4.42366915e-02 2.61809691e+01] [ 2.08179006e-01 9.78056625e-01 8.16940108e-03 2.24587777e+00] [-4.49679665e-02 1.22718411e-03 9.98987676e-01 -2.04972057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.623201008 meters 0.06312450226767805 Centerline is valid? [True, True] Translation: X:26.21, Y:2.25, Z:-2.05 [[ 9.77128113e-01 -2.07725085e-01 4.55075816e-02 2.62094985e+01] [ 2.07558675e-01 9.78186469e-01 8.40411700e-03 2.25439204e+00] [-4.62606464e-02 1.23359433e-03 9.98928642e-01 -2.04982049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.653201008 meters 0.06288451782428699 Centerline is valid? [True, True] Translation: X:26.24, Y:2.27, Z:-2.06 [[ 9.77979652e-01 -2.03732735e-01 4.52633653e-02 2.62355630e+01] [ 2.03563157e-01 9.79026007e-01 8.37365522e-03 2.26708735e+00] [-4.60199995e-02 1.02468913e-03 9.98939993e-01 -2.05516741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.683201007999998 meters 0.06281905999682826 Centerline is valid? [True, True] Translation: X:26.26, Y:2.28, Z:-2.06 [[ 9.78591442e-01 -2.00952220e-01 4.44634133e-02 2.62618766e+01] [ 2.00785609e-01 9.79600653e-01 8.22805650e-03 2.27789968e+00] [-4.52098349e-02 8.75707834e-04 9.98977129e-01 -2.06007386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.713201008 meters 0.06283214975315718 Centerline is valid? [True, True] Translation: X:26.29, Y:2.29, Z:-2.06 [[ 9.79128904e-01 -1.98545291e-01 4.34322022e-02 2.62896966e+01] [ 1.98384016e-01 9.80091428e-01 8.03580937e-03 2.28735816e+00] [-4.41630012e-02 7.48161494e-04 9.99024059e-01 -2.06487937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.743201008 meters 0.06267734446426274 Centerline is valid? [True, True] Translation: X:26.32, Y:2.29, Z:-2.07 [[ 9.79577372e-01 -1.96327601e-01 4.34009733e-02 2.63176551e+01] [ 1.96163934e-01 9.80538151e-01 8.04019045e-03 2.29484854e+00] [-4.41348215e-02 6.37717032e-04 9.99025380e-01 -2.06753261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.773201007999997 meters 0.06214600644524357 Centerline is valid? [True, True] Translation: X:26.35, Y:2.30, Z:-2.07 [[ 9.80024337e-01 -1.94237143e-01 4.27110078e-02 2.63457563e+01] [ 1.94076293e-01 9.80954461e-01 7.92071050e-03 2.30177174e+00] [-4.34360498e-02 5.26705011e-04 9.99056071e-01 -2.06546326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.803201008 meters 0.06226416584114463 Centerline is valid? [True, True] Translation: X:26.37, Y:2.31, Z:-2.07 [[ 9.80235589e-01 -1.93203380e-01 4.25516538e-02 2.63733669e+01] [ 1.93041974e-01 9.81158622e-01 7.90918902e-03 2.30613394e+00] [-4.32780041e-02 4.61386679e-04 9.99062962e-01 -2.06731335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.833201008 meters 0.062230279614366786 Centerline is valid? [True, True] Translation: X:26.40, Y:2.31, Z:-2.07 [[ 9.80222195e-01 -1.93425777e-01 4.18439669e-02 2.64018055e+01] [ 1.93269974e-01 9.81114801e-01 7.77589563e-03 2.31248279e+00] [-4.25577939e-02 4.65076922e-04 9.99093898e-01 -2.07068021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.863201007999997 meters 0.06299252587827092 Centerline is valid? [True, True] Translation: X:26.43, Y:2.32, Z:-2.08 [[ 9.79443984e-01 -1.97627729e-01 4.04074572e-02 2.64308853e+01] [ 1.97485349e-01 9.80276955e-01 7.52514345e-03 2.31636473e+00] [-4.10976761e-02 6.09424301e-04 9.99154948e-01 -2.07805646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.893201008 meters 0.0637105968492938 Centerline is valid? [True, True] Translation: X:26.46, Y:2.32, Z:-2.08 [[ 9.78727023e-01 -2.00972470e-01 4.12732453e-02 2.64589098e+01] [ 2.00826903e-01 9.79596590e-01 7.68608768e-03 2.31782089e+00] [-4.19758224e-02 7.66196325e-04 9.99118333e-01 -2.08162550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.923201008 meters 0.06378511203423654 Centerline is valid? [True, True] Translation: X:26.49, Y:2.32, Z:-2.08 [[ 9.77984972e-01 -2.04345055e-01 4.22905741e-02 2.64875976e+01] [ 2.04195210e-01 9.78898480e-01 7.87924138e-03 2.31940662e+00] [-4.30082627e-02 9.29752987e-04 9.99074284e-01 -2.08113285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.953201007999997 meters 0.06419675874670835 Centerline is valid? [True, True] Translation: X:26.52, Y:2.32, Z:-2.08 [[ 9.77309434e-01 -2.07301963e-01 4.34990417e-02 2.65172724e+01] [ 2.07146397e-01 9.78276395e-01 8.10338039e-03 2.31958319e+00] [-4.42339324e-02 1.09115966e-03 9.99020605e-01 -2.08073723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.983201007999998 meters 0.06507998241481368 Centerline is valid? [True, True] Translation: X:26.55, Y:2.31, Z:-2.08 [[ 9.76099778e-01 -2.12376564e-01 4.61022604e-02 2.65471041e+01] [ 2.12206751e-01 9.77186919e-01 8.60344942e-03 2.31392841e+00] [-4.68776968e-02 1.38538581e-03 9.98899676e-01 -2.07609864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.013201008 meters 0.06544528868834289 Centerline is valid? [True, True] Translation: X:26.58, Y:2.32, Z:-2.08 [[ 9.75471028e-01 -2.14877587e-01 4.77901280e-02 2.65760092e+01] [ 2.14697945e-01 9.76639747e-01 8.92166136e-03 2.31601785e+00] [-4.85908037e-02 1.55762011e-03 9.98817555e-01 -2.07526323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.043201007999997 meters 0.06586155051340581 Centerline is valid? [True, True] Translation: X:26.60, Y:2.32, Z:-2.08 [[ 9.74634778e-01 -2.18264108e-01 4.94755417e-02 2.66049506e+01] [ 2.18075314e-01 9.75888122e-01 9.24831430e-03 2.31940894e+00] [-5.03011685e-02 1.77566555e-03 9.98732516e-01 -2.07559077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.073201007999998 meters 0.06573297654033686 Centerline is valid? [True, True] Translation: X:26.63, Y:2.33, Z:-2.08 [[ 9.74083197e-01 -2.20469342e-01 5.05489383e-02 2.66334654e+01] [ 2.20274602e-01 9.75392017e-01 9.46108117e-03 2.32507939e+00] [-5.13909092e-02 1.91876709e-03 9.98676771e-01 -2.07680829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.103201008 meters 0.06639943972580895 Centerline is valid? [True, True] Translation: X:26.66, Y:2.33, Z:-2.08 [[ 9.73220516e-01 -2.24076587e-01 5.12982444e-02 2.66618579e+01] [ 2.23880131e-01 9.74569224e-01 9.61842627e-03 2.33108610e+00] [-5.21489543e-02 2.12380790e-03 9.98637059e-01 -2.08096101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.133201007999997 meters 0.066188398026819 Centerline is valid? [True, True] Translation: X:26.69, Y:2.34, Z:-2.08 [[ 9.73237146e-01 -2.24135016e-01 5.07242771e-02 2.66895428e+01] [ 2.23943170e-01 9.74555827e-01 9.50774952e-03 2.33814637e+00] [-5.15646594e-02 2.10606041e-03 9.98667437e-01 -2.08265830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.163201007999998 meters 0.06685924940476728 Centerline is valid? [True, True] Translation: X:26.72, Y:2.34, Z:-2.09 [[ 9.73394149e-01 -2.23742433e-01 4.94282812e-02 2.67169887e+01] [ 2.23558859e-01 9.74646226e-01 9.28279630e-03 2.34185885e+00] [-5.02520432e-02 2.01431057e-03 9.98734537e-01 -2.08572516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.193201008 meters 0.06659320720967471 Centerline is valid? [True, True] Translation: X:26.75, Y:2.35, Z:-2.09 [[ 9.73482364e-01 -2.23586801e-01 4.83841915e-02 2.67454682e+01] [ 2.23410720e-01 9.74682043e-01 9.08653640e-03 2.34769270e+00] [-4.91908322e-02 1.96396410e-03 9.98787467e-01 -2.08746266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.223201007999997 meters 0.06750909243606645 Centerline is valid? [True, True] Translation: X:26.77, Y:2.35, Z:-2.09 [[ 9.73930225e-01 -2.22047065e-01 4.64221713e-02 2.67730625e+01] [ 2.21882608e-01 9.75034293e-01 8.73128142e-03 2.35224707e+00] [-4.72019644e-02 1.79661353e-03 9.98883750e-01 -2.09342774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.253201007999998 meters 0.06702070624379217 Centerline is valid? [True, True] Translation: X:26.80, Y:2.36, Z:-2.10 [[ 9.74087950e-01 -2.21663304e-01 4.49226609e-02 2.68007064e+01] [ 2.21508803e-01 9.75121750e-01 8.45125886e-03 2.36125811e+00] [-4.56783976e-02 1.71849540e-03 9.98954719e-01 -2.09549252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.283201008 meters 0.06679355964355416 Centerline is valid? [True, True] Translation: X:26.83, Y:2.37, Z:-2.10 [[ 9.74267305e-01 -2.20917459e-01 4.47067591e-02 2.68283892e+01] [ 2.20763192e-01 9.75291086e-01 8.42083550e-03 2.36906177e+00] [-4.54624132e-02 1.66546212e-03 9.98964662e-01 -2.09807245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.313201007999997 meters 0.06581992657722666 Centerline is valid? [True, True] Translation: X:26.86, Y:2.38, Z:-2.10 [[ 9.74448335e-01 -2.20224702e-01 4.41760506e-02 2.68555440e+01] [ 2.20072929e-01 9.75447850e-01 8.33059127e-03 2.37967573e+00] [-4.49260355e-02 1.60422204e-03 9.98989028e-01 -2.10002630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.343201007999998 meters 0.06773072776442944 Centerline is valid? [True, True] Translation: X:26.88, Y:2.39, Z:-2.11 [[ 9.75181998e-01 -2.17092660e-01 4.34838896e-02 2.68819602e+01] [ 2.16941831e-01 9.76149965e-01 8.21508995e-03 2.38581895e+00] [-4.42302331e-02 1.42226681e-03 9.99020352e-01 -2.11198510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.373201008 meters 0.06566626853116955 Centerline is valid? [True, True] Translation: X:26.91, Y:2.40, Z:-2.11 [[ 9.75693410e-01 -2.14845597e-01 4.31710505e-02 2.69090172e+01] [ 2.14694788e-01 9.76647146e-01 8.15475388e-03 2.39904526e+00] [-4.39148962e-02 1.31205991e-03 9.99034414e-01 -2.11052223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.403201008 meters 0.06531459528366806 Centerline is valid? [True, True] Translation: X:26.94, Y:2.41, Z:-2.11 [[ 9.76328964e-01 -2.12030948e-01 4.27157126e-02 2.69372571e+01] [ 2.11880030e-01 9.77262264e-01 8.08212406e-03 2.40726985e+00] [-4.34581145e-02 1.15979467e-03 9.99054577e-01 -2.11322280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.433201007999998 meters 0.065062420560884 Centerline is valid? [True, True] Translation: X:26.96, Y:2.42, Z:-2.12 [[ 9.77342852e-01 -2.07352993e-01 4.24933662e-02 2.69645518e+01] [ 2.07198918e-01 9.78265737e-01 8.04706769e-03 2.41528226e+00] [-4.32383878e-02 9.39835411e-04 9.99064342e-01 -2.11650708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.463201008 meters 0.06317084192555608 Centerline is valid? [True, True] Translation: X:26.99, Y:2.43, Z:-2.11 [[ 9.79352310e-01 -1.97247022e-01 4.43019838e-02 2.69920180e+01] [ 1.97069099e-01 9.80353686e-01 8.39166576e-03 2.43256599e+00] [-4.50868442e-02 5.12154800e-04 9.98982940e-01 -2.11394420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.493201008 meters 0.0626328871979796 Centerline is valid? [True, True] Translation: X:27.02, Y:2.44, Z:-2.12 [[ 9.80252964e-01 -1.92432195e-01 4.55409324e-02 2.70185264e+01] [ 1.92238805e-01 9.81310228e-01 8.63011058e-03 2.44373448e+00] [-4.63504939e-02 2.95042921e-04 9.98925195e-01 -2.11650490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.523201007999997 meters 0.06239730244342115 Centerline is valid? [True, True] Translation: X:27.05, Y:2.45, Z:-2.12 [[ 9.80951684e-01 -1.88754641e-01 4.58854950e-02 2.70455440e+01] [ 1.88554381e-01 9.82024272e-01 8.69340853e-03 2.45454050e+00] [-4.67015910e-02 1.24097339e-04 9.98908878e-01 -2.11808300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.553201008 meters 0.06249892115794818 Centerline is valid? [True, True] Translation: X:27.07, Y:2.46, Z:-2.12 [[ 9.81507734e-01 -1.85898622e-01 4.56538145e-02 2.70713788e+01] [ 1.85696580e-01 9.82568930e-01 8.66479099e-03 2.46382200e+00] [-4.64687924e-02 -2.68021635e-05 9.98919742e-01 -2.12349489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.583201008 meters 0.0625826620646715 Centerline is valid? [True, True] Translation: X:27.10, Y:2.47, Z:-2.13 [[ 9.82202314e-01 -1.81831299e-01 4.70743292e-02 2.70985789e+01] [ 1.81611818e-01 9.83329715e-01 8.93419372e-03 2.47375447e+00] [-4.79141028e-02 -2.25931246e-04 9.98851434e-01 -2.12625456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.613201007999997 meters 0.062344476649426196 Centerline is valid? [True, True] Translation: X:27.13, Y:2.48, Z:-2.13 [[ 9.82284665e-01 -1.81105841e-01 4.81405373e-02 2.71267865e+01] [ 1.80874872e-01 9.83463572e-01 9.14788362e-03 2.47884262e+00] [-4.90011999e-02 -2.78412253e-04 9.98798681e-01 -2.12581540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.643201008 meters 0.062333640802550626 Centerline is valid? [True, True] Translation: X:27.15, Y:2.48, Z:-2.13 [[ 9.82400102e-01 -1.80459147e-01 4.82134460e-02 2.71546186e+01] [ 1.80226181e-01 9.83582428e-01 9.17229172e-03 2.48331468e+00] [-4.90771222e-02 -3.21535090e-04 9.98794940e-01 -2.12577543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.673201008 meters 0.062430064470210725 Centerline is valid? [True, True] Translation: X:27.18, Y:2.49, Z:-2.13 [[ 9.82388077e-01 -1.80353726e-01 4.88487526e-02 2.71823003e+01] [ 1.80113466e-01 9.83601754e-01 9.31282288e-03 2.48785185e+00] [-4.97273211e-02 -3.50488011e-04 9.98762770e-01 -2.12878471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.703201007999997 meters 0.06248413518899482 Centerline is valid? [True, True] Translation: X:27.21, Y:2.49, Z:-2.13 [[ 9.82365688e-01 -1.80331327e-01 4.93788246e-02 2.72100075e+01] [ 1.80085563e-01 9.83605858e-01 9.41845241e-03 2.48973288e+00] [-5.02677431e-02 -3.59951083e-04 9.98735713e-01 -2.13132341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.733201007999998 meters 0.062282492869070886 Centerline is valid? [True, True] Translation: X:27.24, Y:2.49, Z:-2.13 [[ 9.82180151e-01 -1.81085496e-01 5.03010328e-02 2.72395700e+01] [ 1.80831424e-01 9.83467303e-01 9.59482281e-03 2.49205754e+00] [-5.12069043e-02 -3.27837139e-04 9.98688012e-01 -2.13128018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.763201008 meters 0.06226900990084053 Centerline is valid? [True, True] Translation: X:27.27, Y:2.50, Z:-2.13 [[ 9.82168452e-01 -1.81015321e-01 5.07797783e-02 2.72686356e+01] [ 1.80755649e-01 9.83480215e-01 9.69856654e-03 2.49572634e+00] [-5.16964964e-02 -3.46894309e-04 9.98662782e-01 -2.13337759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.793201007999997 meters 0.06258372448133216 Centerline is valid? [True, True] Translation: X:27.30, Y:2.50, Z:-2.14 [[ 9.82245190e-01 -1.80881751e-01 4.97612075e-02 2.72962544e+01] [ 1.80631496e-01 9.83504785e-01 9.51844646e-03 2.49697851e+00] [-5.06620989e-02 -3.61006884e-04 9.98715786e-01 -2.13859100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.823201007999998 meters 0.06261805095922553 Centerline is valid? [True, True] Translation: X:27.32, Y:2.50, Z:-2.14 [[ 9.82272060e-01 -1.80763491e-01 4.96604434e-02 2.73245807e+01] [ 1.80513980e-01 9.83526524e-01 9.50150649e-03 2.49995703e+00] [-5.05598888e-02 -3.68660071e-04 9.98720963e-01 -2.14134272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.853201008 meters 0.06272725237788333 Centerline is valid? [True, True] Translation: X:27.35, Y:2.50, Z:-2.14 [[ 9.81790217e-01 -1.83472429e-01 4.92527861e-02 2.73522000e+01] [ 1.83229610e-01 9.83024826e-01 9.43933905e-03 2.49885012e+00] [-5.01485700e-02 -2.42881925e-04 9.98741739e-01 -2.14416923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.883201007999997 meters 0.06246348674912487 Centerline is valid? [True, True] Translation: X:27.38, Y:2.49, Z:-2.15 [[ 9.80652328e-01 -1.89429236e-01 4.93718116e-02 2.73831696e+01] [ 1.89192374e-01 9.81894374e-01 9.47016731e-03 2.49046647e+00] [-5.02718306e-02 5.38286190e-05 9.98735571e-01 -2.14517228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.913201007999998 meters 0.062386548854290146 Centerline is valid? [True, True] Translation: X:27.41, Y:2.49, Z:-2.15 [[ 9.80567752e-01 -1.89957911e-01 4.90191335e-02 2.74125037e+01] [ 1.89724506e-01 9.81792232e-01 9.41406326e-03 2.49362608e+00] [-4.99148803e-02 6.90040421e-05 9.98753473e-01 -2.14528717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.943201008 meters 0.06233805849149792 Centerline is valid? [True, True] Translation: X:27.44, Y:2.50, Z:-2.15 [[ 9.80728036e-01 -1.89314967e-01 4.82945476e-02 2.74408519e+01] [ 1.89087078e-01 9.81916413e-01 9.28624365e-03 2.49976626e+00] [-4.91792339e-02 2.45953845e-05 9.98789969e-01 -2.14694580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.973201007999997 meters 0.06236873704562161 Centerline is valid? [True, True] Translation: X:27.47, Y:2.51, Z:-2.15 [[ 9.80721686e-01 -1.89529895e-01 4.75751340e-02 2.74690204e+01] [ 1.89308462e-01 9.81874950e-01 9.15902940e-03 2.50579850e+00] [-4.84487423e-02 2.39167119e-05 9.98825670e-01 -2.14896704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.003201007999998 meters 0.06261877916958972 Centerline is valid? [True, True] Translation: X:27.50, Y:2.51, Z:-2.16 [[ 9.80814561e-01 -1.89232348e-01 4.68392509e-02 2.74956317e+01] [ 1.89016609e-01 9.81932339e-01 9.03342998e-03 2.51291091e+00] [-4.77023924e-02 -6.72327586e-06 9.98861593e-01 -2.15530681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.033201008 meters 0.06315525755633611 Centerline is valid? [True, True] Translation: X:27.52, Y:2.52, Z:-2.16 [[ 9.81257405e-01 -1.87795794e-01 4.32046913e-02 2.75231917e+01] [ 1.87610640e-01 9.82208091e-01 8.33748103e-03 2.52495926e+00] [-4.40017413e-02 -7.55552156e-05 9.99031451e-01 -2.16351070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.063201007999997 meters 0.06347900742510645 Centerline is valid? [True, True] Translation: X:27.55, Y:2.53, Z:-2.17 [[ 9.81385923e-01 -1.87323560e-01 4.23267602e-02 2.75508242e+01] [ 1.87145657e-01 9.82298262e-01 8.16254543e-03 2.53405608e+00] [-4.31065401e-02 -8.93378187e-05 9.99070477e-01 -2.16897858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.093201007999998 meters 0.06416468369643322 Centerline is valid? [True, True] Translation: X:27.58, Y:2.54, Z:-2.18 [[ 9.81669401e-01 -1.86221103e-01 4.05818655e-02 2.75767116e+01] [ 1.86056031e-01 9.82507852e-01 7.84055268e-03 2.54269637e+00] [-4.13320779e-02 -1.46329846e-04 9.99145454e-01 -2.17675581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.123201008 meters 0.06381089352089743 Centerline is valid? [True, True] Translation: X:27.61, Y:2.55, Z:-2.17 [[ 9.81826091e-01 -1.85434183e-01 4.03941869e-02 2.76051233e+01] [ 1.85270057e-01 9.82656671e-01 7.80214260e-03 2.55004415e+00] [-4.11404012e-02 -1.76513869e-04 9.99153360e-01 -2.17393616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.153201008 meters 0.0638779778209068 Centerline is valid? [True, True] Translation: X:27.63, Y:2.56, Z:-2.18 [[ 9.81887259e-01 -1.85069997e-01 4.05771769e-02 2.76315017e+01] [ 1.84903482e-01 9.82725320e-01 7.85166843e-03 2.55638104e+00] [-4.13293274e-02 -2.06591902e-04 9.99145557e-01 -2.17717913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.183201007999998 meters 0.06348458699795805 Centerline is valid? [True, True] Translation: X:27.66, Y:2.56, Z:-2.17 [[ 9.82123844e-01 -1.83466080e-01 4.21064364e-02 2.76603139e+01] [ 1.83285220e-01 9.83025999e-01 8.14939735e-03 2.56374920e+00] [-4.28868597e-02 -2.86230002e-04 9.99079894e-01 -2.17447699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.213201008 meters 0.06335625850384764 Centerline is valid? [True, True] Translation: X:27.69, Y:2.57, Z:-2.18 [[ 9.82055087e-01 -1.83141035e-01 4.50240691e-02 2.76878377e+01] [ 1.82933166e-01 9.83086592e-01 8.72977137e-03 2.56987717e+00] [-4.58613380e-02 -3.36720880e-04 9.98947759e-01 -2.17521132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.243201008 meters 0.06330265979826233 Centerline is valid? [True, True] Translation: X:27.72, Y:2.57, Z:-2.18 [[ 9.82041419e-01 -1.82929998e-01 4.61656573e-02 2.77160491e+01] [ 1.82711223e-01 9.83125877e-01 8.95095187e-03 2.57468020e+00] [-4.70240499e-02 -3.55221771e-04 9.98893694e-01 -2.17577773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.273201007999997 meters 0.0629941839116545 Centerline is valid? [True, True] Translation: X:27.74, Y:2.58, Z:-2.18 [[ 9.81948082e-01 -1.83311021e-01 4.66372546e-02 2.77449381e+01] [ 1.83087670e-01 9.83054905e-01 9.05311529e-03 2.57977356e+00] [-4.75065177e-02 -3.50982937e-04 9.98870866e-01 -2.17574108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.303201008 meters 0.06293845543514646 Centerline is valid? [True, True] Translation: X:27.77, Y:2.59, Z:-2.18 [[ 9.81763177e-01 -1.84249790e-01 4.68303259e-02 2.77734336e+01] [ 1.84025121e-01 9.82879399e-01 9.10171041e-03 2.58612269e+00] [-4.77055508e-02 -3.17767750e-04 9.98861392e-01 -2.17947523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.333201008 meters 0.06295111957388179 Centerline is valid? [True, True] Translation: X:27.80, Y:2.59, Z:-2.18 [[ 9.81518722e-01 -1.85172681e-01 4.82915704e-02 2.78013241e+01] [ 1.84934284e-01 9.82705954e-01 9.39778297e-03 2.59263904e+00] [-4.91966264e-02 -2.93332925e-04 9.98789070e-01 -2.18254751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.363201007999997 meters 0.06303919642629414 Centerline is valid? [True, True] Translation: X:27.83, Y:2.59, Z:-2.19 [[ 9.80841792e-01 -1.88752266e-01 4.81867261e-02 2.78294395e+01] [ 1.88518439e-01 9.82024728e-01 9.39321704e-03 2.59297802e+00] [-4.90935475e-02 -1.29173444e-04 9.98794176e-01 -2.18665939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.393201008 meters 0.06298017659838118 Centerline is valid? [True, True] Translation: X:27.86, Y:2.59, Z:-2.19 [[ 9.80431200e-01 -1.90924388e-01 4.79847865e-02 2.78566676e+01] [ 1.90695052e-01 9.81604746e-01 9.35518405e-03 2.59388916e+00] [-4.88882270e-02 -2.16529756e-05 9.98804255e-01 -2.18938823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.423201008 meters 0.06298017659838118 Centerline is valid? [True, True] Translation: X:27.88, Y:2.60, Z:-2.19 [[ 9.80383043e-01 -1.91171827e-01 4.79835637e-02 2.78837191e+01] [ 1.90942480e-01 9.81556586e-01 9.36145141e-03 2.59936864e+00] [-4.88882288e-02 -1.57075439e-05 9.98804256e-01 -2.19152075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.453201007999997 meters 0.06264330422693384 Centerline is valid? [True, True] Translation: X:27.91, Y:2.60, Z:-2.19 [[ 9.79099954e-01 -1.97129172e-01 5.00336782e-02 2.79139511e+01] [ 1.96886821e-01 9.80377484e-01 9.77590978e-03 2.59709908e+00] [-5.09790086e-02 2.79379018e-04 9.98699686e-01 -2.18827626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.483201007999998 meters 0.06275618563458385 Centerline is valid? [True, True] Translation: X:27.94, Y:2.60, Z:-2.19 [[ 9.78411392e-01 -2.00217119e-01 5.12274659e-02 2.79420979e+01] [ 1.99966410e-01 9.79751456e-01 1.00258796e-02 2.59735556e+00] [-5.21975371e-02 4.34337667e-04 9.98636685e-01 -2.19015683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.513201008 meters 0.06270359251397925 Centerline is valid? [True, True] Translation: X:27.97, Y:2.60, Z:-2.19 [[ 9.77772025e-01 -2.03279363e-01 5.13747753e-02 2.79713541e+01] [ 2.03031406e-01 9.79120596e-01 1.00551573e-02 2.59944997e+00] [-5.23461066e-02 5.99041382e-04 9.98628823e-01 -2.18871651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.543201007999997 meters 0.06290475946315563 Centerline is valid? [True, True] Translation: X:28.00, Y:2.60, Z:-2.19 [[ 9.77315606e-01 -2.05469116e-01 5.13483116e-02 2.79998085e+01] [ 2.05223566e-01 9.78663350e-01 1.00665355e-02 2.60067588e+00] [-5.23210728e-02 6.99701335e-04 9.98630070e-01 -2.18993931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.573201007999998 meters 0.06321926446672872 Centerline is valid? [True, True] Translation: X:28.03, Y:2.60, Z:-2.19 [[ 9.76719733e-01 -2.08306643e-01 5.12533481e-02 2.80278176e+01] [ 2.08065669e-01 9.78063202e-01 1.00523724e-02 2.60297474e+00] [-5.22229897e-02 8.45711660e-04 9.98635091e-01 -2.19149088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.603201008 meters 0.06329455909840705 Centerline is valid? [True, True] Translation: X:28.06, Y:2.61, Z:-2.19 [[ 9.76417418e-01 -2.09675606e-01 5.14311821e-02 2.80562340e+01] [ 2.09434818e-01 9.77770572e-01 1.00879197e-02 2.60866574e+00] [-5.24030870e-02 9.21459726e-04 9.98625589e-01 -2.19310521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.633201007999997 meters 0.06340512437299614 Centerline is valid? [True, True] Translation: X:28.08, Y:2.61, Z:-2.20 [[ 9.75839913e-01 -2.12063954e-01 5.25865430e-02 2.80844794e+01] [ 2.11814979e-01 9.77255215e-01 1.03276253e-02 2.61494396e+00] [-5.35805904e-02 1.06050855e-03 9.98562965e-01 -2.19616564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.663201007999998 meters 0.06388316839860322 Centerline is valid? [True, True] Translation: X:28.11, Y:2.62, Z:-2.20 [[ 9.75582788e-01 -2.13259627e-01 5.25219567e-02 2.81115952e+01] [ 2.13012172e-01 9.76994933e-01 1.03302804e-02 2.62123779e+00] [-5.35167173e-02 1.10977234e-03 9.98566337e-01 -2.20045104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.693201008 meters 0.06443370575075644 Centerline is valid? [True, True] Translation: X:28.14, Y:2.63, Z:-2.21 [[ 9.75374994e-01 -2.14570384e-01 5.10212780e-02 2.81376957e+01] [ 2.14338307e-01 9.76707862e-01 1.00419911e-02 2.62823297e+00] [-5.19875973e-02 1.14110737e-03 9.98647079e-01 -2.20634263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.723201007999997 meters 0.06384073963749572 Centerline is valid? [True, True] Translation: X:28.17, Y:2.63, Z:-2.20 [[ 9.75092115e-01 -2.15907675e-01 5.07862489e-02 2.81660325e+01] [ 2.15679472e-01 9.76413039e-01 9.99711064e-03 2.63456935e+00] [-5.17468085e-02 1.20544760e-03 9.98659509e-01 -2.20389127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.753201007999998 meters 0.06434498102554588 Centerline is valid? [True, True] Translation: X:28.19, Y:2.64, Z:-2.20 [[ 9.74666170e-01 -2.17632194e-01 5.15953927e-02 2.81938704e+01] [ 2.17398197e-01 9.76029986e-01 1.01729781e-02 2.63535756e+00] [-5.25726180e-02 1.30148776e-03 9.98616256e-01 -2.20387772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.783201008 meters 0.06441243727785778 Centerline is valid? [True, True] Translation: X:28.22, Y:2.64, Z:-2.20 [[ 9.74145352e-01 -2.19717665e-01 5.25830863e-02 2.82222288e+01] [ 2.19477376e-01 9.75562446e-01 1.03728707e-02 2.63915665e+00] [-5.35771872e-02 1.43611397e-03 9.98562678e-01 -2.20285456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.813201007999997 meters 0.06542127303351875 Centerline is valid? [True, True] Translation: X:28.25, Y:2.64, Z:-2.21 [[ 9.73249431e-01 -2.23400192e-01 5.36460539e-02 2.82503025e+01] [ 2.23155177e-01 9.74725391e-01 1.05914658e-02 2.64436968e+00] [-5.46563063e-02 1.66325658e-03 9.98503842e-01 -2.20771943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.843201007999998 meters 0.06532267739748657 Centerline is valid? [True, True] Translation: X:28.28, Y:2.65, Z:-2.21 [[ 9.72919914e-01 -2.24776718e-01 5.38726979e-02 2.82775783e+01] [ 2.24531808e-01 9.74408727e-01 1.06348511e-02 2.65343280e+00] [-5.48844939e-02 1.74927579e-03 9.98491178e-01 -2.21063878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.873201008 meters 0.06593774495548892 Centerline is valid? [True, True] Translation: X:28.30, Y:2.66, Z:-2.22 [[ 9.72849805e-01 -2.24891964e-01 5.46521820e-02 2.83044317e+01] [ 2.24639163e-01 9.74382106e-01 1.08054159e-02 2.66011778e+00] [-5.56821594e-02 1.76497371e-03 9.98446985e-01 -2.21519257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.903201008 meters 0.06583053116338398 Centerline is valid? [True, True] Translation: X:28.33, Y:2.67, Z:-2.22 [[ 9.73185307e-01 -2.23559192e-01 5.41446833e-02 2.83312805e+01] [ 2.23308804e-01 9.74688925e-01 1.07087426e-02 2.66800679e+00] [-5.51682610e-02 1.66939354e-03 9.98475676e-01 -2.21889176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.933201007999998 meters 0.065136528294687 Centerline is valid? [True, True] Translation: X:28.36, Y:2.68, Z:-2.22 [[ 9.74315090e-01 -2.19233029e-01 5.14488458e-02 2.83589434e+01] [ 2.19000767e-01 9.75671593e-01 1.01787648e-02 2.67797024e+00] [-5.24286987e-02 1.35001260e-03 9.98623757e-01 -2.22131184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.963201008 meters 0.0642211600992064 Centerline is valid? [True, True] Translation: X:28.39, Y:2.69, Z:-2.22 [[ 9.75060192e-01 -2.16294858e-01 4.97408968e-02 2.83864001e+01] [ 2.16073399e-01 9.76327420e-01 9.85167134e-03 2.68726835e+00] [-5.06942673e-02 1.14171210e-03 9.98713566e-01 -2.22195584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.993201008 meters 0.06395028448914435 Centerline is valid? [True, True] Translation: X:28.41, Y:2.70, Z:-2.22 [[ 9.75635350e-01 -2.13971386e-01 4.84964915e-02 2.84142892e+01] [ 2.13757456e-01 9.76839432e-01 9.61629980e-03 2.69594804e+00] [-4.94308983e-02 9.84484662e-04 9.98777061e-01 -2.22479502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.023201008 meters 0.06338892991890559 Centerline is valid? [True, True] Translation: X:28.44, Y:2.71, Z:-2.23 [[ 9.77328578e-01 -2.07002844e-01 4.44822770e-02 2.84398263e+01] [ 2.06815285e-01 9.78340174e-01 8.82846348e-03 2.71029786e+00] [-4.53463157e-02 5.71305138e-04 9.98971163e-01 -2.23052151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.053201008 meters 0.06309485730779994 Centerline is valid? [True, True] Translation: X:28.47, Y:2.72, Z:-2.23 [[ 9.78046832e-01 -2.03422445e-01 4.52073406e-02 2.84666845e+01] [ 2.03224258e-01 9.79090982e-01 8.98614317e-03 2.72138319e+00] [-4.60900827e-02 3.98359397e-04 9.98937208e-01 -2.23471417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.083201008 meters 0.06288650088337207 Centerline is valid? [True, True] Translation: X:28.49, Y:2.73, Z:-2.24 [[ 9.78590541e-01 -2.00570577e-01 4.61735385e-02 2.84934823e+01] [ 2.00360108e-01 9.79679221e-01 9.18969461e-03 2.73193741e+00] [-4.70784386e-02 2.58386912e-04 9.98891162e-01 -2.23750378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.113201008000004 meters 0.06269367164931293 Centerline is valid? [True, True] Translation: X:28.52, Y:2.74, Z:-2.24 [[ 9.79244015e-01 -1.97023860e-01 4.75684576e-02 2.85212733e+01] [ 1.96795687e-01 9.80398691e-01 9.47973105e-03 2.74260665e+00] [-4.85037867e-02 7.82973897e-05 9.98822996e-01 -2.23958361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.143201008 meters 0.06278212598614591 Centerline is valid? [True, True] Translation: X:28.55, Y:2.75, Z:-2.24 [[ 9.80529933e-01 -1.90109200e-01 4.91888430e-02 2.85486516e+01] [ 1.89855945e-01 9.81762910e-01 9.81367854e-03 2.75483212e+00] [-5.01574522e-02 -2.83811268e-04 9.98741283e-01 -2.23960418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.173201008 meters 0.06273334444539566 Centerline is valid? [True, True] Translation: X:28.58, Y:2.76, Z:-2.24 [[ 9.81092688e-01 -1.86823350e-01 5.05388375e-02 2.85765015e+01] [ 1.86551034e-01 9.82393409e-01 1.00946552e-02 2.76193972e+00] [-5.15349381e-02 -4.75720054e-04 9.98671079e-01 -2.23735250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.203201008 meters 0.06256994633502504 Centerline is valid? [True, True] Translation: X:28.60, Y:2.77, Z:-2.23 [[ 9.81521869e-01 -1.84136647e-01 5.20434138e-02 2.86043084e+01] [ 1.83843306e-01 9.82900439e-01 1.04098825e-02 2.76785160e+00] [-5.30703351e-02 -6.49694123e-04 9.98590565e-01 -2.23405060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.233201008 meters 0.06320879235098953 Centerline is valid? [True, True] Translation: X:28.63, Y:2.78, Z:-2.24 [[ 9.82081922e-01 -1.80279108e-01 5.49048377e-02 2.86302914e+01] [ 1.79945403e-01 9.83615060e-01 1.10030140e-02 2.77819189e+00] [-5.59888387e-02 -9.25987991e-04 9.98430965e-01 -2.23632927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.263201008 meters 0.06333150830633785 Centerline is valid? [True, True] Translation: X:28.66, Y:2.79, Z:-2.24 [[ 9.82274160e-01 -1.79037922e-01 5.55238402e-02 2.86578510e+01] [ 1.78694560e-01 9.83841655e-01 1.11288544e-02 2.78533338e+00] [-5.66191538e-02 -1.00977791e-03 9.98395338e-01 -2.23990077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.293201008000004 meters 0.06320512876128989 Centerline is valid? [True, True] Translation: X:28.69, Y:2.79, Z:-2.24 [[ 9.81953691e-01 -1.80337638e-01 5.69674038e-02 2.86860156e+01] [ 1.79977530e-01 9.83604285e-01 1.14323946e-02 2.78987709e+00] [-5.80950736e-02 -9.73229487e-04 9.98310581e-01 -2.24287178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.323201008000005 meters 0.06309426826511308 Centerline is valid? [True, True] Translation: X:28.71, Y:2.79, Z:-2.25 [[ 9.81698290e-01 -1.81651621e-01 5.71940256e-02 2.87144948e+01] [ 1.81290044e-01 9.83362525e-01 1.14919436e-02 2.79381844e+00] [-5.83299916e-02 -9.12913954e-04 9.98296939e-01 -2.24586151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.353201008 meters 0.06301998003746016 Centerline is valid? [True, True] Translation: X:28.74, Y:2.79, Z:-2.25 [[ 9.81520076e-01 -1.83238964e-01 5.51527126e-02 2.87431678e+01] [ 1.82904411e-01 9.83068073e-01 1.10969028e-02 2.79393347e+00] [-5.62522559e-02 -8.04158500e-04 9.98416264e-01 -2.24975962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.383201008 meters 0.06288309582663934 Centerline is valid? [True, True] Translation: X:28.77, Y:2.79, Z:-2.25 [[ 9.81270878e-01 -1.85060935e-01 5.34781727e-02 2.87724633e+01] [ 1.84748884e-01 9.82726811e-01 1.07640634e-02 2.79440470e+00] [-5.45464417e-02 -6.82429228e-04 9.98511001e-01 -2.25232458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.413201008 meters 0.06265086290160081 Centerline is valid? [True, True] Translation: X:28.80, Y:2.79, Z:-2.26 [[ 9.80952965e-01 -1.87293291e-01 5.15024609e-02 2.88003414e+01] [ 1.87006146e-01 9.82303883e-01 1.03818984e-02 2.79442109e+00] [-5.25355272e-02 -5.52877291e-04 9.98618903e-01 -2.25548186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.443201008 meters 0.06256990743333886 Centerline is valid? [True, True] Translation: X:28.83, Y:2.80, Z:-2.26 [[ 9.80521098e-01 -1.90000552e-01 4.97811841e-02 2.88292915e+01] [ 1.89735775e-01 9.81783904e-01 1.00349775e-02 2.79562756e+00] [-5.07810165e-02 -3.94235593e-04 9.98709734e-01 -2.25890708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.473201008000004 meters 0.06255862266290178 Centerline is valid? [True, True] Translation: X:28.86, Y:2.80, Z:-2.27 [[ 9.79870122e-01 -1.94152507e-01 4.64687919e-02 2.88578211e+01] [ 1.93926017e-01 9.80971341e-01 9.37695709e-03 2.79690689e+00] [-4.74051129e-02 -1.76692380e-04 9.98875730e-01 -2.26629585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.503201008000005 meters 0.06284587901138247 Centerline is valid? [True, True] Translation: X:28.89, Y:2.80, Z:-2.27 [[ 9.79515451e-01 -1.96193343e-01 4.53613691e-02 2.88852508e+01] [ 1.95979002e-01 9.80565227e-01 9.16879887e-03 2.80059495e+00] [-4.62786385e-02 -9.11043100e-05 9.98928566e-01 -2.27282024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.533201008 meters 0.06294735941171427 Centerline is valid? [True, True] Translation: X:28.91, Y:2.80, Z:-2.28 [[ 9.79218705e-01 -1.97952517e-01 4.41081423e-02 2.89140901e+01] [ 1.97751697e-01 9.80211610e-01 8.91434215e-03 2.80398341e+00] [-4.49999297e-02 -6.63059237e-06 9.98986990e-01 -2.27637313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.563201008 meters 0.06252076138206608 Centerline is valid? [True, True] Translation: X:28.94, Y:2.80, Z:-2.27 [[ 9.78816142e-01 -1.99927240e-01 4.41368267e-02 2.89434044e+01] [ 1.99727765e-01 9.79810744e-01 8.92899221e-03 2.80375859e+00] [-4.50308858e-02 7.55080427e-05 9.98985592e-01 -2.27284180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.593201008 meters 0.06247377738548378 Centerline is valid? [True, True] Translation: X:28.97, Y:2.81, Z:-2.27 [[ 9.78648384e-01 -2.00481987e-01 4.53245228e-02 2.89713023e+01] [ 2.00271322e-01 9.79697385e-01 9.18867998e-03 2.80639384e+00] [-4.62464813e-02 8.47153067e-05 9.98930056e-01 -2.27374294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.623201008 meters 0.062154032912725636 Centerline is valid? [True, True] Translation: X:29.00, Y:2.81, Z:-2.27 [[ 9.78332802e-01 -2.01585143e-01 4.72055029e-02 2.89999820e+01] [ 2.01357901e-01 9.79470985e-01 9.57005136e-03 2.80987337e+00] [-4.81656006e-02 1.42505807e-04 9.98839354e-01 -2.27249706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.653201008 meters 0.06194014129048854 Centerline is valid? [True, True] Translation: X:29.03, Y:2.81, Z:-2.27 [[ 9.77958773e-01 -2.02907218e-01 4.92473371e-02 2.90279521e+01] [ 2.02660765e-01 9.79197948e-01 9.99969618e-03 2.81393985e+00] [-5.02519019e-02 2.01212386e-04 9.98736555e-01 -2.27311470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.683201008000005 meters 0.06175602918273355 Centerline is valid? [True, True] Translation: X:29.06, Y:2.82, Z:-2.27 [[ 9.77879048e-01 -2.03181405e-01 4.96979252e-02 2.90559145e+01] [ 2.02930610e-01 9.79141088e-01 1.00944046e-02 2.82107626e+00] [-5.07122759e-02 2.14123461e-04 9.98713282e-01 -2.27393034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.713201008 meters 0.06186224936415387 Centerline is valid? [True, True] Translation: X:29.08, Y:2.83, Z:-2.28 [[ 9.77915862e-01 -2.02928245e-01 5.00069432e-02 2.90825741e+01] [ 2.02673156e-01 9.79193593e-01 1.01734426e-02 2.82895022e+00] [-5.10309573e-02 1.86294105e-04 9.98697055e-01 -2.27725649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.743201008 meters 0.061916845987693085 Centerline is valid? [True, True] Translation: X:29.11, Y:2.84, Z:-2.28 [[ 9.77907906e-01 -2.02969808e-01 4.99938402e-02 2.91094661e+01] [ 2.02714934e-01 9.79184978e-01 1.01702566e-02 2.83606908e+00] [-5.10174723e-02 1.88923673e-04 9.98697743e-01 -2.28047866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.773201008 meters 0.06185198979162372 Centerline is valid? [True, True] Translation: X:29.14, Y:2.84, Z:-2.28 [[ 9.78224938e-01 -2.01905805e-01 4.80626244e-02 2.91370991e+01] [ 2.01668323e-01 9.79404938e-01 9.79056043e-03 2.84325992e+00] [-4.90495427e-02 1.15338498e-04 9.98796340e-01 -2.28291062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.803201008 meters 0.061662146496991185 Centerline is valid? [True, True] Translation: X:29.17, Y:2.85, Z:-2.28 [[ 9.78181169e-01 -2.02220903e-01 4.76267440e-02 2.91654269e+01] [ 2.01987551e-01 9.79339927e-01 9.71274081e-03 2.84861071e+00] [-4.86068912e-02 1.19189207e-04 9.98817979e-01 -2.28251146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.833201008 meters 0.061781507640301526 Centerline is valid? [True, True] Translation: X:29.19, Y:2.85, Z:-2.29 [[ 9.78216225e-01 -2.02205036e-01 4.69695682e-02 2.91932150e+01] [ 2.01977278e-01 9.79343205e-01 9.59508817e-03 2.85315506e+00] [-4.79395027e-02 1.00714624e-04 9.98850236e-01 -2.28593771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.863201008000004 meters 0.06195764212486603 Centerline is valid? [True, True] Translation: X:29.22, Y:2.86, Z:-2.29 [[ 9.78268866e-01 -2.02026598e-01 4.66398945e-02 2.92200957e+01] [ 2.01801623e-01 9.79380031e-01 9.53199584e-03 2.85791706e+00] [-4.76038980e-02 8.71516353e-05 9.98866288e-01 -2.29101696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.893201008 meters 0.061496912571686595 Centerline is valid? [True, True] Translation: X:29.25, Y:2.86, Z:-2.29 [[ 9.77986837e-01 -2.03453977e-01 4.63489562e-02 2.92485552e+01] [ 2.03233441e-01 9.79084498e-01 9.47172814e-03 2.86465371e+00] [-4.73066053e-02 1.56432395e-04 9.98880404e-01 -2.28974438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.923201008 meters 0.06182330060591659 Centerline is valid? [True, True] Translation: X:29.28, Y:2.87, Z:-2.30 [[ 9.77995600e-01 -2.03530404e-01 4.58255420e-02 2.92755360e+01] [ 2.03314218e-01 9.79068616e-01 9.37949856e-03 2.87102733e+00] [-4.67753631e-02 1.43875889e-04 9.98905423e-01 -2.29747642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.953201008 meters 0.061509589345985334 Centerline is valid? [True, True] Translation: X:29.30, Y:2.88, Z:-2.30 [[ 9.78014982e-01 -2.03472000e-01 4.56710084e-02 2.93028570e+01] [ 2.03257135e-01 9.79080755e-01 9.34940852e-03 2.87856168e+00] [-4.66179482e-02 1.39096697e-04 9.98912783e-01 -2.29730206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.983201008 meters 0.06144260963965686 Centerline is valid? [True, True] Translation: X:29.33, Y:2.89, Z:-2.30 [[ 9.77998858e-01 -2.03494781e-01 4.59141384e-02 2.93302226e+01] [ 2.03277046e-01 9.79076022e-01 9.41195940e-03 2.88511080e+00] [-4.68687167e-02 1.28404882e-04 9.98901050e-01 -2.29887028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.013201008 meters 0.06117382462305358 Centerline is valid? [True, True] Translation: X:29.36, Y:2.89, Z:-2.30 [[ 9.78201885e-01 -2.02570523e-01 4.56755434e-02 2.93578472e+01] [ 2.02353170e-01 9.79267675e-01 9.38166640e-03 2.89049025e+00] [-4.66290323e-02 6.54272591e-05 9.98912273e-01 -2.29836674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.043201008000004 meters 0.06095457039183003 Centerline is valid? [True, True] Translation: X:29.39, Y:2.90, Z:-2.30 [[ 9.78092778e-01 -2.02837209e-01 4.68143507e-02 2.93863946e+01] [ 2.02609195e-01 9.79212469e-01 9.61529869e-03 2.89551195e+00] [-4.77915363e-02 8.03636706e-05 9.98857328e-01 -2.29887950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.073201008000005 meters 0.06084702270982104 Centerline is valid? [True, True] Translation: X:29.41, Y:2.90, Z:-2.30 [[ 9.78112234e-01 -2.02728774e-01 4.68775136e-02 2.94141827e+01] [ 2.02499517e-01 9.79234926e-01 9.63876870e-03 2.90096751e+00] [-4.78581543e-02 6.48762510e-05 9.98854140e-01 -2.29978757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.103201008 meters 0.06065182692847885 Centerline is valid? [True, True] Translation: X:29.44, Y:2.91, Z:-2.30 [[ 9.78049176e-01 -2.03008362e-01 4.69831207e-02 2.94421571e+01] [ 2.02777770e-01 9.79177002e-01 9.67342466e-03 2.90660634e+00] [-4.79685774e-02 6.60474429e-05 9.98848843e-01 -2.30001006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.133201008 meters 0.06063652449965399 Centerline is valid? [True, True] Translation: X:29.47, Y:2.91, Z:-2.30 [[ 9.77999881e-01 -2.03551564e-01 4.56398158e-02 2.94702118e+01] [ 2.03333948e-01 9.79064224e-01 9.41014517e-03 2.91205534e+00] [-4.65997606e-02 7.70030842e-05 9.98913638e-01 -2.30328804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.163201008 meters 0.06068947918950302 Centerline is valid? [True, True] Translation: X:29.50, Y:2.92, Z:-2.31 [[ 9.77659721e-01 -2.05341949e-01 4.49016021e-02 2.94984918e+01] [ 2.05132717e-01 9.78690279e-01 9.26857923e-03 2.91689672e+00] [-4.58479896e-02 1.49271043e-04 9.98948417e-01 -2.30628920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.193201008 meters 0.061037402375331784 Centerline is valid? [True, True] Translation: X:29.53, Y:2.92, Z:-2.31 [[ 9.77176284e-01 -2.07804843e-01 4.40869342e-02 2.95256948e+01] [ 2.07604997e-01 9.78170275e-01 9.11473055e-03 2.92128934e+00] [-4.50186137e-02 2.45969328e-04 9.98986118e-01 -2.31217507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.223201008000004 meters 0.0611558328856915 Centerline is valid? [True, True] Translation: X:29.56, Y:2.92, Z:-2.31 [[ 9.76244762e-01 -2.12338742e-01 4.31094288e-02 2.95553452e+01] [ 2.12151996e-01 9.77196020e-01 8.91449560e-03 2.92298420e+00] [-4.40192551e-02 4.43021744e-04 9.99030585e-01 -2.31335421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.253201008000005 meters 0.06117458104802276 Centerline is valid? [True, True] Translation: X:29.58, Y:2.93, Z:-2.31 [[ 9.75565075e-01 -2.15489040e-01 4.28632364e-02 2.95845924e+01] [ 2.15307010e-01 9.76506091e-01 8.87382721e-03 2.92616598e+00] [-4.37684240e-02 5.71759375e-04 9.99041540e-01 -2.31337408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.283201008 meters 0.061301064110646425 Centerline is valid? [True, True] Translation: X:29.61, Y:2.93, Z:-2.31 [[ 9.74942375e-01 -2.18306002e-01 4.27768087e-02 2.96133025e+01] [ 2.18126955e-01 9.75880125e-01 8.86642271e-03 2.92943244e+00] [-4.36806307e-02 6.86523787e-04 9.99045310e-01 -2.31386709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.313201008 meters 0.06119875819522777 Centerline is valid? [True, True] Translation: X:29.64, Y:2.93, Z:-2.31 [[ 9.73737508e-01 -2.23219315e-01 4.48152035e-02 2.96418900e+01] [ 2.23027448e-01 9.74767796e-01 9.30059172e-03 2.93417841e+00] [-4.57604889e-02 9.38685485e-04 9.98951999e-01 -2.31039737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.343201008 meters 0.06191316775508709 Centerline is valid? [True, True] Translation: X:29.67, Y:2.94, Z:-2.32 [[ 9.73343743e-01 -2.24766616e-01 4.56281383e-02 2.96694579e+01] [ 2.24568645e-01 9.74412100e-01 9.48593130e-03 2.93886172e+00] [-4.65927308e-02 1.01357733e-03 9.98913455e-01 -2.31558201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.373201008 meters 0.06191316775508709 Centerline is valid? [True, True] Translation: X:29.70, Y:2.94, Z:-2.32 [[ 9.73285202e-01 -2.25019911e-01 4.56284509e-02 2.96964643e+01] [ 2.24822287e-01 9.74353624e-01 9.48443403e-03 2.94466173e+00] [-4.65924330e-02 1.02723340e-03 9.98913455e-01 -2.31772130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.403201008 meters 0.062081046111465706 Centerline is valid? [True, True] Translation: X:29.72, Y:2.95, Z:-2.32 [[ 9.72871920e-01 -2.26901978e-01 4.51189395e-02 2.97245236e+01] [ 2.26710170e-01 9.73916988e-01 9.39145820e-03 2.95248203e+00] [-4.60730421e-02 1.09223647e-03 9.98937476e-01 -2.32048731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.433201008000005 meters 0.06190299033547369 Centerline is valid? [True, True] Translation: X:29.75, Y:2.96, Z:-2.32 [[ 9.72841353e-01 -2.27293749e-01 4.37864551e-02 2.97516179e+01] [ 2.27112825e-01 9.73825663e-01 9.12925235e-03 2.96120487e+00] [-4.47153956e-02 1.06315129e-03 9.98999201e-01 -2.32187335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.463201008 meters 0.06136790602991027 Centerline is valid? [True, True] Translation: X:29.78, Y:2.97, Z:-2.32 [[ 9.72784566e-01 -2.27277029e-01 4.51147504e-02 2.97799857e+01] [ 2.27084976e-01 9.73829529e-01 9.40540314e-03 2.96841967e+00] [-4.60717083e-02 1.09545103e-03 9.98937534e-01 -2.32043313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.493201008 meters 0.06121419042475386 Centerline is valid? [True, True] Translation: X:29.81, Y:2.97, Z:-2.32 [[ 9.72848964e-01 -2.27123732e-01 4.44938670e-02 2.98084575e+01] [ 2.26936284e-01 9.73865330e-01 9.28664493e-03 2.97482978e+00] [-4.54402520e-02 1.06276997e-03 9.98966493e-01 -2.32122383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.523201008 meters 0.06115793761491254 Centerline is valid? [True, True] Translation: X:29.84, Y:2.98, Z:-2.32 [[ 9.72979856e-01 -2.26722491e-01 4.36704930e-02 2.98366004e+01] [ 2.26541046e-01 9.73958871e-01 9.12532013e-03 2.98313941e+00] [-4.46021794e-02 1.01440649e-03 9.99004313e-01 -2.32365468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.553201008 meters 0.06126172547695055 Centerline is valid? [True, True] Translation: X:29.86, Y:3.00, Z:-2.33 [[ 9.74140100e-01 -2.22217327e-01 4.08720644e-02 2.98610818e+01] [ 2.22053829e-01 9.74996876e-01 8.55501984e-03 2.99928330e+00] [-4.17512088e-02 7.42010509e-04 9.99127763e-01 -2.33280600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.583201008 meters 0.060997331159574675 Centerline is valid? [True, True] Translation: X:29.89, Y:3.01, Z:-2.34 [[ 9.74878289e-01 -2.19265245e-01 3.91800299e-02 2.98882743e+01] [ 2.19112730e-01 9.75665107e-01 8.19818407e-03 3.01158393e+00] [-4.00241649e-02 5.92611656e-04 9.99198536e-01 -2.33720897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.613201008000004 meters 0.06107997742114444 Centerline is valid? [True, True] Translation: X:29.91, Y:3.02, Z:-2.34 [[ 9.75703017e-01 -2.15820077e-01 3.77533635e-02 2.99143881e+01] [ 2.15675326e-01 9.76433058e-01 7.91430617e-03 3.02139858e+00] [-3.85716984e-02 4.20456578e-04 9.99255747e-01 -2.34247414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.643201008 meters 0.06097443589380576 Centerline is valid? [True, True] Translation: X:29.94, Y:3.03, Z:-2.34 [[ 9.76399893e-01 -2.12863144e-01 3.65038392e-02 2.99418517e+01] [ 2.12725867e-01 9.77081979e-01 7.64928650e-03 3.03003563e+00] [-3.72954946e-02 2.96548330e-04 9.99304237e-01 -2.34406073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.673201008 meters 0.059997593083975405 Centerline is valid? [True, True] Translation: X:29.97, Y:3.04, Z:-2.34 [[ 9.77168308e-01 -2.08775359e-01 3.94328238e-02 2.99708955e+01] [ 2.08611102e-01 9.77963615e-01 8.28110658e-03 3.03767383e+00] [-4.02927579e-02 1.34089924e-04 9.99187908e-01 -2.33709744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.703201008 meters 0.060053778622738196 Centerline is valid? [True, True] Translation: X:30.00, Y:3.04, Z:-2.34 [[ 9.77353878e-01 -2.07509557e-01 4.14630133e-02 2.99985492e+01] [ 2.07326752e-01 9.78232987e-01 8.70870459e-03 3.04398252e+00] [-4.23676268e-02 8.49056657e-05 9.99102085e-01 -2.33926560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.733201008 meters 0.059662457924997726 Centerline is valid? [True, True] Translation: X:30.03, Y:3.05, Z:-2.34 [[ 9.77751313e-01 -2.05459544e-01 4.22935708e-02 3.00266332e+01] [ 2.05267540e-01 9.78665610e-01 8.88037896e-03 3.05215555e+00] [-4.32158219e-02 -1.30494380e-06 9.99065760e-01 -2.33894431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.763201008 meters 0.0596814178068685 Centerline is valid? [True, True] Translation: X:30.05, Y:3.06, Z:-2.34 [[ 9.78164643e-01 -2.03167597e-01 4.37819534e-02 3.00538740e+01] [ 2.02959027e-01 9.79143970e-01 9.20432902e-03 3.06142078e+00] [-4.47388571e-02 -1.17406548e-04 9.98998709e-01 -2.34227466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.793201008000004 meters 0.06044697040552965 Centerline is valid? [True, True] Translation: X:30.08, Y:3.08, Z:-2.35 [[ 9.79447414e-01 -1.96751647e-01 4.44021788e-02 3.00796925e+01] [ 1.96530021e-01 9.80453266e-01 9.34580069e-03 3.07808814e+00] [-4.53730629e-02 -4.27359181e-04 9.98970021e-01 -2.34959412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.823201008000005 meters 0.061373843851508014 Centerline is valid? [True, True] Translation: X:30.11, Y:3.09, Z:-2.36 [[ 9.80281211e-01 -1.92493089e-01 4.46671980e-02 3.01055970e+01] [ 1.92263659e-01 9.81298118e-01 9.41750032e-03 3.09033275e+00] [-4.56446410e-02 -6.43919681e-04 9.98957533e-01 -2.35508977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.853201008 meters 0.06152799700622155 Centerline is valid? [True, True] Translation: X:30.13, Y:3.10, Z:-2.36 [[ 9.80459171e-01 -1.91496538e-01 4.50431902e-02 3.01329455e+01] [ 1.91262264e-01 9.81493043e-01 9.49488060e-03 3.09622880e+00] [-4.60278146e-02 -6.94280247e-04 9.98939917e-01 -2.35588984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.883201008 meters 0.06143836168645882 Centerline is valid? [True, True] Translation: X:30.16, Y:3.10, Z:-2.35 [[ 9.80471704e-01 -1.91542137e-01 4.45740613e-02 3.01615800e+01] [ 1.91311936e-01 9.81484139e-01 9.41421343e-03 3.09850964e+00] [-4.55519527e-02 -7.02819942e-04 9.98961724e-01 -2.35363569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.913201008 meters 0.061709294205669576 Centerline is valid? [True, True] Translation: X:30.19, Y:3.10, Z:-2.36 [[ 9.80565477e-01 -1.91193459e-01 4.40046230e-02 3.01887492e+01] [ 1.90968647e-01 9.81552115e-01 9.29633253e-03 3.10323584e+00] [-4.49702287e-02 -7.12159431e-04 9.98988074e-01 -2.35598568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.943201008 meters 0.06100351446575021 Centerline is valid? [True, True] Translation: X:30.22, Y:3.11, Z:-2.35 [[ 9.80365440e-01 -1.92373502e-01 4.33132695e-02 3.02183229e+01] [ 1.92156788e-01 9.81321565e-01 9.15174718e-03 3.10506604e+00] [-4.42647990e-02 -6.49117908e-04 9.99019623e-01 -2.35419409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.973201008000004 meters 0.06087873566483922 Centerline is valid? [True, True] Translation: X:30.25, Y:3.11, Z:-2.36 [[ 9.79904212e-01 -1.94624459e-01 4.36927325e-02 3.02465920e+01] [ 1.94405670e-01 9.80877670e-01 9.24298342e-03 3.10819580e+00] [-4.46561363e-02 -5.63123457e-04 9.99002258e-01 -2.35757827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.003201008000005 meters 0.06083699167969874 Centerline is valid? [True, True] Translation: X:30.27, Y:3.11, Z:-2.36 [[ 9.79423044e-01 -1.97148010e-01 4.31643786e-02 3.02740505e+01] [ 1.96936244e-01 9.80373629e-01 9.14676657e-03 3.11053955e+00] [-4.41204853e-02 -4.57923359e-04 9.99026112e-01 -2.36132103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.033201008 meters 0.06039478601295643 Centerline is valid? [True, True] Translation: X:30.30, Y:3.11, Z:-2.37 [[ 9.78181301e-01 -2.03320877e-01 4.26844611e-02 3.03037143e+01] [ 2.03119733e-01 9.79112144e-01 9.04344327e-03 3.10912857e+00] [-4.36315950e-02 -1.76070763e-04 9.99047673e-01 -2.36696449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.063201008 meters 0.0604909624132083 Centerline is valid? [True, True] Translation: X:30.33, Y:3.11, Z:-2.37 [[ 9.77516795e-01 -2.06583760e-01 4.22382034e-02 3.03316314e+01] [ 2.06389451e-01 9.78428918e-01 8.95802405e-03 3.11161952e+00] [-4.31776620e-02 -3.90993582e-05 9.99067409e-01 -2.37208634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.093201008 meters 0.06019328481888636 Centerline is valid? [True, True] Translation: X:30.36, Y:3.11, Z:-2.37 [[ 9.76976976e-01 -2.09175048e-01 4.19736594e-02 3.03605981e+01] [ 2.08985012e-01 9.77878211e-01 8.91455875e-03 3.11337623e+00] [-4.29098302e-02 6.25470718e-05 9.99078947e-01 -2.37327871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.123201008 meters 0.060273010395547354 Centerline is valid? [True, True] Translation: X:30.39, Y:3.11, Z:-2.37 [[ 9.76591151e-01 -2.11131190e-01 4.11502574e-02 3.03892822e+01] [ 2.10949625e-01 9.77457725e-01 8.75512123e-03 3.11311054e+00] [-4.20711161e-02 1.30457446e-04 9.99114610e-01 -2.37307047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.153201008 meters 0.060164541565306914 Centerline is valid? [True, True] Translation: X:30.42, Y:3.12, Z:-2.37 [[ 9.76574397e-01 -2.11190009e-01 4.12459438e-02 3.04172060e+01] [ 2.11007778e-01 9.77445017e-01 8.77246611e-03 3.11820849e+00] [-4.21682994e-02 1.36249149e-04 9.99110512e-01 -2.37247402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.183201008000005 meters 0.06002445245446785 Centerline is valid? [True, True] Translation: X:30.44, Y:3.12, Z:-2.37 [[ 9.76685577e-01 -2.10595223e-01 4.16525503e-02 3.04449458e+01] [ 2.10408049e-01 9.77573344e-01 8.87747424e-03 3.12336727e+00] [-4.25879766e-02 9.35307779e-05 9.99092716e-01 -2.37408772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.213201008 meters 0.05974443625666177 Centerline is valid? [True, True] Translation: X:30.47, Y:3.13, Z:-2.37 [[ 9.76555007e-01 -2.10801945e-01 4.36217686e-02 3.04736477e+01] [ 2.10596870e-01 9.77528786e-01 9.29678233e-03 3.12999322e+00] [-4.46013144e-02 1.07788607e-04 9.99004860e-01 -2.37377344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.243201008 meters 0.05966348319867733 Centerline is valid? [True, True] Translation: X:30.50, Y:3.14, Z:-2.38 [[ 9.76276161e-01 -2.11960497e-01 4.42448343e-02 3.05021399e+01] [ 2.11750265e-01 9.77278222e-01 9.43934921e-03 3.13617734e+00] [-4.52402822e-02 1.53443782e-04 9.98976122e-01 -2.37610185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.273201008 meters 0.05974340500749727 Centerline is valid? [True, True] Translation: X:30.53, Y:3.14, Z:-2.38 [[ 9.76021937e-01 -2.12957956e-01 4.50564950e-02 3.05295236e+01] [ 2.12740246e-01 9.77061346e-01 9.62880019e-03 3.14216591e+00] [-4.60734892e-02 1.87409607e-04 9.98938035e-01 -2.37939607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.303201008 meters 0.059670136198768646 Centerline is valid? [True, True] Translation: X:30.56, Y:3.15, Z:-2.38 [[ 9.75836659e-01 -2.13646676e-01 4.58029833e-02 3.05576122e+01] [ 2.13422473e-01 9.76910972e-01 9.78775439e-03 3.14967958e+00] [-4.68365582e-02 2.24136436e-04 9.98902541e-01 -2.38127452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.333201008 meters 0.059886965923777694 Centerline is valid? [True, True] Translation: X:30.58, Y:3.16, Z:-2.39 [[ 9.76020086e-01 -2.12819973e-01 4.57433104e-02 3.05828164e+01] [ 2.12594752e-01 9.77091414e-01 9.78984245e-03 3.16040770e+00] [-4.67788698e-02 1.69704859e-04 9.98905255e-01 -2.38735971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.363201008000004 meters 0.05964794346101736 Centerline is valid? [True, True] Translation: X:30.61, Y:3.17, Z:-2.39 [[ 9.76350743e-01 -2.11391149e-01 4.53101296e-02 3.06101424e+01] [ 2.11168572e-01 9.77401541e-01 9.69854741e-03 3.16955619e+00] [-4.63363776e-02 9.88913893e-05 9.98925888e-01 -2.38730379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.393201008 meters 0.06001844508016131 Centerline is valid? [True, True] Translation: X:30.64, Y:3.18, Z:-2.39 [[ 9.76678876e-01 -2.10143666e-01 4.40228656e-02 3.06370654e+01] [ 2.09931586e-01 9.77670517e-01 9.43875387e-03 3.17641460e+00] [-4.50233521e-02 2.31584676e-05 9.98985934e-01 -2.39206410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.423201008 meters 0.05985908552039416 Centerline is valid? [True, True] Translation: X:30.67, Y:3.18, Z:-2.39 [[ 9.76969543e-01 -2.08858972e-01 4.36857203e-02 3.06654312e+01] [ 2.08648901e-01 9.77945770e-01 9.36522115e-03 3.18238647e+00] [-4.46782758e-02 -3.45582953e-05 9.99001427e-01 -2.39073013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.453201008 meters 0.05968780499803601 Centerline is valid? [True, True] Translation: X:30.69, Y:3.19, Z:-2.39 [[ 9.76994003e-01 -2.08515046e-01 4.47682117e-02 3.06937987e+01] [ 2.08293538e-01 9.78019157e-01 9.60886929e-03 3.18852006e+00] [-4.57877625e-02 -6.28784539e-05 9.98951188e-01 -2.39019642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.483201008 meters 0.059551019839974316 Centerline is valid? [True, True] Translation: X:30.72, Y:3.20, Z:-2.39 [[ 9.76935655e-01 -2.08677372e-01 4.52822355e-02 3.07222072e+01] [ 2.08450233e-01 9.77984534e-01 9.73401350e-03 3.19542393e+00] [-4.63165943e-02 -7.04123115e-05 9.98926808e-01 -2.39341549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.513201008 meters 0.05945024643427569 Centerline is valid? [True, True] Translation: X:30.75, Y:3.20, Z:-2.40 [[ 9.76316706e-01 -2.11304336e-01 4.64345409e-02 3.07502267e+01] [ 2.11068295e-01 9.77420316e-01 9.98499172e-03 3.20110111e+00] [-4.74959357e-02 5.23451221e-05 9.98871430e-01 -2.39674350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.543201008000004 meters 0.05947402193185738 Centerline is valid? [True, True] Translation: X:30.78, Y:3.21, Z:-2.40 [[ 9.75968332e-01 -2.12687186e-01 4.74339167e-02 3.07770926e+01] [ 2.12441700e-01 9.77120335e-01 1.02163903e-02 3.20729865e+00] [-4.85215399e-02 1.06068502e-04 9.98822131e-01 -2.40118881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.573201008000005 meters 0.059336795779091504 Centerline is valid? [True, True] Translation: X:30.81, Y:3.21, Z:-2.40 [[ 9.75171973e-01 -2.15571153e-01 5.06823509e-02 3.08056978e+01] [ 2.15294550e-01 9.76488100e-01 1.09200708e-02 3.21384014e+00] [-5.18447647e-02 2.62686894e-04 9.98655121e-01 -2.40321763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.603201008 meters 0.059299803743278735 Centerline is valid? [True, True] Translation: X:30.83, Y:3.22, Z:-2.41 [[ 9.75208508e-01 -2.15478299e-01 5.03732931e-02 3.08334349e+01] [ 2.15204589e-01 9.76508597e-01 1.08602252e-02 3.21815057e+00] [-5.15300966e-02 2.49579828e-04 9.98671411e-01 -2.40553986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.633201008 meters 0.05919272026755913 Centerline is valid? [True, True] Translation: X:30.86, Y:3.22, Z:-2.40 [[ 9.74898194e-01 -2.16567159e-01 5.16930995e-02 3.08621420e+01] [ 2.16280385e-01 9.76267672e-01 1.11457763e-02 3.22243009e+00] [-5.28801110e-02 3.14206305e-04 9.98600819e-01 -2.40399323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.663201008 meters 0.0589890971979919 Centerline is valid? [True, True] Translation: X:30.89, Y:3.23, Z:-2.40 [[ 9.75001426e-01 -2.16012444e-01 5.20657650e-02 3.08895676e+01] [ 2.15719846e-01 9.76390573e-01 1.12426444e-02 3.22632584e+00] [-5.32650732e-02 2.70024434e-04 9.98580372e-01 -2.40362817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.693201008 meters 0.05862538974949677 Centerline is valid? [True, True] Translation: X:30.92, Y:3.23, Z:-2.40 [[ 9.75119363e-01 -2.15400498e-01 5.23913460e-02 3.09178262e+01] [ 2.15103293e-01 9.76525765e-01 1.13138844e-02 3.23173206e+00] [-5.35985155e-02 2.37163337e-04 9.98562538e-01 -2.40348845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.723201008000004 meters 0.058672317963935974 Centerline is valid? [True, True] Translation: X:30.95, Y:3.24, Z:-2.41 [[ 9.75358504e-01 -2.14411613e-01 5.19946921e-02 3.09450285e+01] [ 2.14116629e-01 9.76743381e-01 1.12444013e-02 3.23892810e+00] [-5.31964015e-02 1.65605770e-04 9.98584055e-01 -2.40740779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.753201008000005 meters 0.058718933314640585 Centerline is valid? [True, True] Translation: X:30.97, Y:3.25, Z:-2.41 [[ 9.75417509e-01 -2.13957604e-01 5.27525101e-02 3.09729271e+01] [ 2.13653231e-01 9.76842937e-01 1.14093681e-02 3.24715273e+00] [-5.39720380e-02 1.41846827e-04 9.98542437e-01 -2.41184665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.783201008 meters 0.05888470672244333 Centerline is valid? [True, True] Translation: X:31.00, Y:3.25, Z:-2.42 [[ 9.75161647e-01 -2.14995204e-01 5.32618500e-02 3.10000555e+01] [ 2.14685560e-01 9.76615087e-01 1.15361383e-02 3.25255979e+00] [-5.44965406e-02 1.84950491e-04 9.98513942e-01 -2.41636810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.813201008 meters 0.05898706507334025 Centerline is valid? [True, True] Translation: X:31.03, Y:3.25, Z:-2.42 [[ 9.73996396e-01 -2.20087926e-01 5.37803407e-02 3.10294764e+01] [ 2.19779894e-01 9.75479923e-01 1.16497728e-02 3.25283351e+00] [-5.50256169e-02 4.73000836e-04 9.98484831e-01 -2.41893606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.843201008 meters 0.05893718206543921 Centerline is valid? [True, True] Translation: X:31.06, Y:3.26, Z:-2.42 [[ 9.74117665e-01 -2.19960073e-01 5.20801473e-02 3.10578010e+01] [ 2.19670405e-01 9.75508777e-01 1.12933697e-02 3.25924609e+00] [-5.32887312e-02 4.39396106e-04 9.98579049e-01 -2.42210442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.873201008 meters 0.058975070597669405 Centerline is valid? [True, True] Translation: X:31.09, Y:3.27, Z:-2.43 [[ 9.74325986e-01 -2.19313103e-01 5.08982937e-02 3.10856034e+01] [ 2.19034941e-01 9.75654455e-01 1.10489114e-02 3.26659385e+00] [-5.20823180e-02 3.83263259e-04 9.98642722e-01 -2.42602495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.903201008 meters 0.059441308938962184 Centerline is valid? [True, True] Translation: X:31.11, Y:3.28, Z:-2.44 [[ 9.74875340e-01 -2.17435122e-01 4.83739528e-02 3.11111281e+01] [ 2.17180840e-01 9.76074742e-01 1.05156840e-02 3.27710127e+00] [-4.95030726e-02 2.54414709e-04 9.98773939e-01 -2.43522381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.933201008000005 meters 0.05962446084781421 Centerline is valid? [True, True] Translation: X:31.14, Y:3.28, Z:-2.44 [[ 9.75226206e-01 -2.16043135e-01 4.75311564e-02 3.11378028e+01] [ 2.15795798e-01 9.76383804e-01 1.03363757e-02 3.28484579e+00] [-4.86417543e-02 1.76719333e-04 9.98816274e-01 -2.43938643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.963201008 meters 0.059279969968535545 Centerline is valid? [True, True] Translation: X:31.17, Y:3.29, Z:-2.44 [[ 9.75400997e-01 -2.15371164e-01 4.69910244e-02 3.11664922e+01] [ 2.15128673e-01 9.76532253e-01 1.02182375e-02 3.29184563e+00] [-4.80889646e-02 1.42237724e-04 9.98843046e-01 -2.43855690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.993201008 meters 0.05964221089142705 Centerline is valid? [True, True] Translation: X:31.19, Y:3.30, Z:-2.44 [[ 9.75393807e-01 -2.15401396e-01 4.70016986e-02 3.11931856e+01] [ 2.15158329e-01 9.76525586e-01 1.02309741e-02 3.29612903e+00] [-4.81021274e-02 1.33578114e-04 9.98842414e-01 -2.44306124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.023201008 meters 0.059059656235058475 Centerline is valid? [True, True] Translation: X:31.22, Y:3.30, Z:-2.44 [[ 9.75052903e-01 -2.16634860e-01 4.83856766e-02 3.12226510e+01] [ 2.16378046e-01 9.76252684e-01 1.05469695e-02 3.30026850e+00] [-4.95214879e-02 1.85744885e-04 9.98773041e-01 -2.43966418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.053201008 meters 0.059210287322536075 Centerline is valid? [True, True] Translation: X:31.25, Y:3.30, Z:-2.44 [[ 9.74545533e-01 -2.18590354e-01 4.97921880e-02 3.12503297e+01] [ 2.18320075e-01 9.75816674e-01 1.08703450e-02 3.30270436e+00] [-5.09641998e-02 2.76988075e-04 9.98700442e-01 -2.44329786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.083201008 meters 0.05914808403450718 Centerline is valid? [True, True] Translation: X:31.28, Y:3.31, Z:-2.45 [[ 9.74290471e-01 -2.19412918e-01 5.11473327e-02 3.12776783e+01] [ 2.19128601e-01 9.75632034e-01 1.11709333e-02 3.30935680e+00] [-5.23520233e-02 3.24109602e-04 9.98628640e-01 -2.44612140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.113201008000004 meters 0.058610145861652904 Centerline is valid? [True, True] Translation: X:31.31, Y:3.32, Z:-2.44 [[ 9.74170170e-01 -2.19572528e-01 5.27293581e-02 3.13052099e+01] [ 2.19270542e-01 9.75596119e-01 1.15170204e-02 3.31947811e+00] [-5.39713784e-02 3.42457187e-04 9.98542424e-01 -2.44379399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.143201008 meters 0.05836868990379327 Centerline is valid? [True, True] Translation: X:31.33, Y:3.33, Z:-2.44 [[ 9.74243872e-01 -2.18434046e-01 5.59950403e-02 3.13316620e+01] [ 2.18090546e-01 9.75851674e-01 1.22484417e-02 3.32854964e+00] [-5.73183305e-02 2.79019624e-04 9.98355914e-01 -2.44459175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.173201008 meters 0.058143136407767484 Centerline is valid? [True, True] Translation: X:31.36, Y:3.34, Z:-2.45 [[ 9.74424338e-01 -2.17640584e-01 5.59444893e-02 3.13586484e+01] [ 2.17296330e-01 9.76028956e-01 1.22385511e-02 3.33543756e+00] [-5.72670469e-02 2.30990181e-04 9.98358869e-01 -2.44565851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.203201008 meters 0.05821110433430599 Centerline is valid? [True, True] Translation: X:31.38, Y:3.34, Z:-2.45 [[ 9.74592186e-01 -2.16919827e-01 5.58198949e-02 3.13849838e+01] [ 2.16574862e-01 9.76189408e-01 1.22298463e-02 3.34162778e+00] [-5.71436862e-02 1.70073461e-04 9.98365950e-01 -2.44700795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.233201008 meters 0.058171493569521775 Centerline is valid? [True, True] Translation: X:31.41, Y:3.35, Z:-2.45 [[ 9.74680744e-01 -2.16671458e-01 5.52351982e-02 3.14132625e+01] [ 2.16333056e-01 9.76244568e-01 1.21058678e-02 3.34794446e+00] [-5.65460583e-02 1.49842999e-04 9.98399980e-01 -2.44852741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.263201008 meters 0.058171493569521775 Centerline is valid? [True, True] Translation: X:31.44, Y:3.35, Z:-2.45 [[ 9.74623584e-01 -2.16929100e-01 5.52325482e-02 3.14401839e+01] [ 2.16590427e-01 9.76187350e-01 1.21179442e-02 3.35404601e+00] [-5.65460496e-02 1.52406995e-04 9.98399980e-01 -2.45065699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.293201008000004 meters 0.05812942095092932 Centerline is valid? [True, True] Translation: X:31.47, Y:3.36, Z:-2.45 [[ 9.74399189e-01 -2.17836020e-01 5.56209442e-02 3.14683560e+01] [ 2.17493155e-01 9.75985365e-01 1.22186638e-02 3.35873025e+00] [-5.69468926e-02 1.91318540e-04 9.98377191e-01 -2.45111146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.323201008 meters 0.05807384846595254 Centerline is valid? [True, True] Translation: X:31.50, Y:3.36, Z:-2.45 [[ 9.74183617e-01 -2.18910316e-01 5.51774705e-02 3.14971357e+01] [ 2.18573726e-01 9.75744955e-01 1.21370813e-02 3.36429837e+00] [-5.64960708e-02 2.36599603e-04 9.98402793e-01 -2.45278371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.353201008 meters 0.05826274231850579 Centerline is valid? [True, True] Translation: X:31.52, Y:3.37, Z:-2.46 [[ 9.74070496e-01 -2.19508255e-01 5.47977577e-02 3.15240829e+01] [ 2.19176284e-01 9.75610610e-01 1.20704083e-02 3.36941330e+00] [-5.61108281e-02 2.52940314e-04 9.98424514e-01 -2.45858281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.383201008 meters 0.05829195524532455 Centerline is valid? [True, True] Translation: X:31.55, Y:3.38, Z:-2.46 [[ 9.73972005e-01 -2.20071570e-01 5.42866292e-02 3.15515975e+01] [ 2.19746564e-01 9.75483688e-01 1.19592057e-02 3.37687158e+00] [-5.55876024e-02 2.81368661e-04 9.98453774e-01 -2.46155201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.413201008 meters 0.05858359992413842 Centerline is valid? [True, True] Translation: X:31.58, Y:3.39, Z:-2.47 [[ 9.74047574e-01 -2.19957039e-01 5.33874910e-02 3.15782126e+01] [ 2.19641662e-01 9.75509526e-01 1.17772730e-02 3.38636528e+00] [-5.46705002e-02 2.54493020e-04 9.98504417e-01 -2.46763959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.443201008 meters 0.05862869615004531 Centerline is valid? [True, True] Translation: X:31.61, Y:3.39, Z:-2.47 [[ 9.73824476e-01 -2.20725485e-01 5.42784444e-02 3.16056150e+01] [ 2.20400403e-01 9.75335927e-01 1.19787691e-02 3.39154500e+00] [-5.55837365e-02 2.97772490e-04 9.98453985e-01 -2.47005919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.473201008000004 meters 0.05847437275538635 Centerline is valid? [True, True] Translation: X:31.64, Y:3.40, Z:-2.47 [[ 9.73771400e-01 -2.20789106e-01 5.49675567e-02 3.16350757e+01] [ 2.20455693e-01 9.75321526e-01 1.21329464e-02 3.39541968e+00] [-5.62898637e-02 3.03194633e-04 9.98414423e-01 -2.46984007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.503201008000005 meters 0.05829103848885652 Centerline is valid? [True, True] Translation: X:31.66, Y:3.40, Z:-2.47 [[ 9.73664654e-01 -2.20912596e-01 5.63450737e-02 3.16643076e+01] [ 2.20561722e-01 9.75293562e-01 1.24497086e-02 3.39887267e+00] [-5.77032851e-02 3.05725263e-04 9.98333730e-01 -2.46750714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.533201008 meters 0.05799253596642273 Centerline is valid? [True, True] Translation: X:31.69, Y:3.40, Z:-2.47 [[ 9.73806810e-01 -2.20233005e-01 5.65483961e-02 3.16924340e+01] [ 2.19877676e-01 9.75447261e-01 1.25079194e-02 3.40310055e+00] [-5.79146347e-02 2.53432872e-04 9.98321507e-01 -2.46681929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.563201008 meters 0.05806801894180839 Centerline is valid? [True, True] Translation: X:31.72, Y:3.41, Z:-2.47 [[ 9.74006541e-01 -2.19338873e-01 5.65837220e-02 3.17182308e+01] [ 2.18980498e-01 9.75648720e-01 1.25345891e-02 3.41083166e+00] [-5.79551586e-02 1.81959831e-04 9.98319171e-01 -2.47109329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.593201008 meters 0.05808025854457609 Centerline is valid? [True, True] Translation: X:31.75, Y:3.42, Z:-2.47 [[ 9.74124084e-01 -2.18702039e-01 5.70235733e-02 3.17454415e+01] [ 2.18336696e-01 9.75791678e-01 1.26368173e-02 3.41912616e+00] [-5.84068259e-02 1.40510477e-04 9.98292854e-01 -2.47479411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.623201008 meters 0.05811502567650125 Centerline is valid? [True, True] Translation: X:31.77, Y:3.43, Z:-2.48 [[ 9.73863718e-01 -2.19821574e-01 5.71658541e-02 3.17721038e+01] [ 2.19455554e-01 9.75540075e-01 1.26815748e-02 3.42575917e+00] [-5.85552653e-02 1.95238542e-04 9.98284149e-01 -2.47917969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.653201008 meters 0.05838559910174155 Centerline is valid? [True, True] Translation: X:31.80, Y:3.43, Z:-2.48 [[ 9.73460280e-01 -2.21859659e-01 5.61549121e-02 3.18007942e+01] [ 2.21508954e-01 9.75078563e-01 1.24731490e-02 3.42951415e+00] [-5.75227396e-02 2.96700751e-04 9.98344152e-01 -2.48437306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.683201008000005 meters 0.05845657943626569 Centerline is valid? [True, True] Translation: X:31.83, Y:3.43, Z:-2.49 [[ 9.73196435e-01 -2.23056689e-01 5.59858210e-02 3.18294188e+01] [ 2.22709304e-01 9.74805411e-01 1.24489921e-02 3.43329941e+00] [-5.73521122e-02 3.53248455e-04 9.98353950e-01 -2.48672865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.713201008 meters 0.058451141311949124 Centerline is valid? [True, True] Translation: X:31.86, Y:3.44, Z:-2.49 [[ 9.72906113e-01 -2.24318621e-01 5.59897460e-02 3.18573538e+01] [ 2.23972536e-01 9.74515769e-01 1.24627024e-02 3.43745925e+00] [-5.73585066e-02 4.15126112e-04 9.98353559e-01 -2.48843110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.743201008 meters 0.058538849560092324 Centerline is valid? [True, True] Translation: X:31.88, Y:3.44, Z:-2.49 [[ 9.72746434e-01 -2.24934032e-01 5.62943680e-02 3.18840259e+01] [ 2.24584196e-01 9.74373897e-01 1.25478500e-02 3.44115852e+00] [-5.76742012e-02 4.36949023e-04 9.98335362e-01 -2.49021042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.773201008 meters 0.05855131069430138 Centerline is valid? [True, True] Translation: X:31.91, Y:3.44, Z:-2.49 [[ 9.72347613e-01 -2.26455083e-01 5.70807772e-02 3.19122655e+01] [ 2.26097468e-01 9.74021467e-01 1.27324723e-02 3.44343369e+00] [-5.84812355e-02 5.25430204e-04 9.98288370e-01 -2.48956171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.803201008 meters 0.0584122930765285 Centerline is valid? [True, True] Translation: X:31.94, Y:3.45, Z:-2.49 [[ 9.72438037e-01 -2.26156463e-01 5.67231827e-02 3.19396456e+01] [ 2.25801919e-01 9.74090866e-01 1.26680188e-02 3.45105849e+00] [-5.81184885e-02 4.89340171e-04 9.98309572e-01 -2.49179027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.833201008 meters 0.05847716656976365 Centerline is valid? [True, True] Translation: X:31.97, Y:3.46, Z:-2.50 [[ 9.72523767e-01 -2.25735456e-01 5.69300140e-02 3.19662700e+01] [ 2.25376670e-01 9.74188535e-01 1.27301043e-02 3.46013831e+00] [-5.83342028e-02 4.50368035e-04 9.98297009e-01 -2.49636851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.863201008000004 meters 0.05858017441482308 Centerline is valid? [True, True] Translation: X:31.99, Y:3.47, Z:-2.50 [[ 9.72571317e-01 -2.25432696e-01 5.73160783e-02 3.19925010e+01] [ 2.25067354e-01 9.74258655e-01 1.28358798e-02 3.46954346e+00] [-5.87343124e-02 4.16169589e-04 9.98273563e-01 -2.50101864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.893201008 meters 0.058806827377699294 Centerline is valid? [True, True] Translation: X:32.02, Y:3.48, Z:-2.51 [[ 9.72989456e-01 -2.23748739e-01 5.68156639e-02 3.20186636e+01] [ 2.23386815e-01 9.74646811e-01 1.27250006e-02 3.48068660e+00] [-5.82224084e-02 3.10578795e-04 9.98303588e-01 -2.50506780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.923201008 meters 0.058839944737762974 Centerline is valid? [True, True] Translation: X:32.04, Y:3.49, Z:-2.51 [[ 9.73056295e-01 -2.23441367e-01 5.68805923e-02 3.20446360e+01] [ 2.23077062e-01 9.74717333e-01 1.27571400e-02 3.48671321e+00] [-5.82929721e-02 2.75340000e-04 9.98299481e-01 -2.50723310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.953201008 meters 0.058756296390200156 Centerline is valid? [True, True] Translation: X:32.07, Y:3.49, Z:-2.51 [[ 9.72910952e-01 -2.23801830e-01 5.79398071e-02 3.20726961e+01] [ 2.23423851e-01 9.74634627e-01 1.30049025e-02 3.49311878e+00] [-5.93806632e-02 2.92522734e-04 9.98235369e-01 -2.50666166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.983201008 meters 0.058659672894914 Centerline is valid? [True, True] Translation: X:32.10, Y:3.50, Z:-2.51 [[ 9.72662371e-01 -2.24351781e-01 5.99515738e-02 3.21003285e+01] [ 2.23947140e-01 9.74508171e-01 1.34723360e-02 3.49985250e+00] [-6.14458410e-02 3.21949254e-04 9.98110367e-01 -2.50817474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.013201008 meters 0.058877947017933946 Centerline is valid? [True, True] Translation: X:32.13, Y:3.51, Z:-2.51 [[ 9.72495878e-01 -2.24575302e-01 6.17875524e-02 3.21272614e+01] [ 2.24144765e-01 9.74456682e-01 1.39031707e-02 3.50516168e+00] [-6.33316021e-02 3.28580251e-04 9.97992485e-01 -2.51183835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.043201008000004 meters 0.05854977750050496 Centerline is valid? [True, True] Translation: X:32.16, Y:3.51, Z:-2.51 [[ 9.72244716e-01 -2.25230869e-01 6.33345672e-02 3.21562103e+01] [ 2.24779629e-01 9.74305349e-01 1.42549963e-02 3.51178479e+00] [-6.49178728e-02 3.76975668e-04 9.97890539e-01 -2.50922264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.073201008 meters 0.058473289261474375 Centerline is valid? [True, True] Translation: X:32.18, Y:3.52, Z:-2.51 [[ 9.72284873e-01 -2.25087022e-01 6.32294067e-02 3.21824093e+01] [ 2.24635855e-01 9.74338601e-01 1.42486003e-02 3.51645151e+00] [-6.48140267e-02 3.49893306e-04 9.97897299e-01 -2.51072290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.103201008 meters 0.058542583565168914 Centerline is valid? [True, True] Translation: X:32.21, Y:3.52, Z:-2.51 [[ 9.72183009e-01 -2.25381881e-01 6.37432743e-02 3.22099647e+01] [ 2.24923426e-01 9.74270432e-01 1.43727959e-02 3.51921884e+00] [-6.53425552e-02 3.64367759e-04 9.97862825e-01 -2.51177096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.133201008 meters 0.05856751137764168 Centerline is valid? [True, True] Translation: X:32.24, Y:3.52, Z:-2.51 [[ 9.71937722e-01 -2.26366805e-01 6.39932370e-02 3.22370465e+01] [ 2.25906652e-01 9.74042035e-01 1.44325682e-02 3.52466914e+00] [-6.55991572e-02 4.28940484e-04 9.97845963e-01 -2.51430463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.163201008 meters 0.05850756853291635 Centerline is valid? [True, True] Translation: X:32.26, Y:3.53, Z:-2.52 [[ 9.72024076e-01 -2.26081733e-01 6.36886624e-02 3.22637396e+01] [ 2.25624214e-01 9.74108257e-01 1.43811375e-02 3.53276461e+00] [-6.52909644e-02 3.90892474e-04 9.97866192e-01 -2.51655185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.193201008 meters 0.05847624255842503 Centerline is valid? [True, True] Translation: X:32.29, Y:3.54, Z:-2.52 [[ 9.72118599e-01 -2.25877836e-01 6.29653287e-02 3.22907506e+01] [ 2.25429093e-01 9.74155571e-01 1.42354256e-02 3.54139924e+00] [-6.45534929e-02 3.55694960e-04 9.97914185e-01 -2.52017470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.223201008000004 meters 0.058861040197667046 Centerline is valid? [True, True] Translation: X:32.32, Y:3.55, Z:-2.53 [[ 9.72257233e-01 -2.26086848e-01 6.00050779e-02 3.23170312e+01] [ 2.25678540e-01 9.74107092e-01 1.35856782e-02 3.54758632e+00] [-6.15229151e-02 3.33084460e-04 9.98105616e-01 -2.52815539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.253201008000005 meters 0.058898809971696636 Centerline is valid? [True, True] Translation: X:32.35, Y:3.55, Z:-2.53 [[ 9.72178792e-01 -2.26683077e-01 5.90184619e-02 3.23457654e+01] [ 2.26289038e-01 9.73968506e-01 1.33648767e-02 3.55300898e+00] [-6.05117146e-02 3.62181300e-04 9.98167421e-01 -2.52994800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.283201008 meters 0.05907158959801559 Centerline is valid? [True, True] Translation: X:32.37, Y:3.56, Z:-2.53 [[ 9.72154502e-01 -2.27368651e-01 5.67372973e-02 3.23732502e+01] [ 2.27004717e-01 9.73808686e-01 1.28647143e-02 3.55678401e+00] [-5.81763056e-02 3.73144188e-04 9.98306255e-01 -2.53369156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.313201008 meters 0.059114436647299616 Centerline is valid? [True, True] Translation: X:32.40, Y:3.56, Z:-2.54 [[ 9.71562143e-01 -2.29753928e-01 5.72724658e-02 3.24016330e+01] [ 2.29387132e-01 9.73248613e-01 1.29877217e-02 3.56009804e+00] [-5.87243280e-02 5.19187910e-04 9.98274103e-01 -2.53500898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.343201008 meters 0.05917299953512035 Centerline is valid? [True, True] Translation: X:32.43, Y:3.57, Z:-2.54 [[ 9.71141915e-01 -2.31435812e-01 5.76267793e-02 3.24289225e+01] [ 2.31066475e-01 9.72849985e-01 1.30839788e-02 3.56785488e+00] [-5.90903126e-02 6.09216522e-04 9.98252455e-01 -2.53683136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.373201008 meters 0.059434581861959476 Centerline is valid? [True, True] Translation: X:32.45, Y:3.58, Z:-2.54 [[ 9.70832921e-01 -2.32538023e-01 5.83909843e-02 3.24542433e+01] [ 2.32159621e-01 9.72587078e-01 1.32772682e-02 3.57612997e+00] [-5.98777865e-02 6.66019715e-04 9.98205493e-01 -2.54075313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.403201008 meters 0.0598262694299423 Centerline is valid? [True, True] Translation: X:32.48, Y:3.58, Z:-2.54 [[ 9.70095484e-01 -2.35650534e-01 5.81685380e-02 3.24817938e+01] [ 2.35280296e-01 9.71837488e-01 1.32317236e-02 3.58377689e+00] [-5.96484286e-02 8.49875510e-04 9.98219086e-01 -2.54433899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.433201008000005 meters 0.059817990761564646 Centerline is valid? [True, True] Translation: X:32.51, Y:3.59, Z:-2.54 [[ 9.69352128e-01 -2.38624000e-01 5.84383299e-02 3.25099527e+01] [ 2.38254856e-01 9.71111496e-01 1.33073315e-02 3.58974841e+00] [-5.99255826e-02 1.02372579e-03 9.98202322e-01 -2.54346612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.463201008 meters 0.06061925798368329 Centerline is valid? [True, True] Translation: X:32.54, Y:3.59, Z:-2.55 [[ 9.68781096e-01 -2.41150961e-01 5.75273985e-02 3.25376501e+01] [ 2.40796657e-01 9.70486942e-01 1.31174031e-02 3.59135655e+00] [-5.89928634e-02 1.14451310e-03 9.98257748e-01 -2.54756668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.493201008 meters 0.06074655832959515 Centerline is valid? [True, True] Translation: X:32.57, Y:3.60, Z:-2.55 [[ 9.68266424e-01 -2.43219646e-01 5.74833466e-02 3.25663264e+01] [ 2.42869373e-01 9.69970411e-01 1.31098876e-02 3.59510140e+00] [-5.89457276e-02 1.26708039e-03 9.98260385e-01 -2.54783108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.523201008 meters 0.06106420516534503 Centerline is valid? [True, True] Translation: X:32.60, Y:3.60, Z:-2.55 [[ 9.66947851e-01 -2.48628401e-01 5.65311596e-02 3.25966364e+01] [ 2.48297932e-01 9.68597699e-01 1.29087333e-02 3.59787765e+00] [-5.79654288e-02 1.55449809e-03 9.98317381e-01 -2.54581778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.553201008 meters 0.06208994010874541 Centerline is valid? [True, True] Translation: X:32.62, Y:3.60, Z:-2.55 [[ 9.66243973e-01 -2.51146606e-01 5.74279359e-02 3.26246614e+01] [ 2.50809647e-01 9.67947519e-01 1.31194670e-02 3.60123096e+00] [-5.88821377e-02 1.72687441e-03 9.98263448e-01 -2.54996135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.583201008 meters 0.062498212408184844 Centerline is valid? [True, True] Translation: X:32.65, Y:3.61, Z:-2.55 [[ 9.65472638e-01 -2.53809550e-01 5.86796156e-02 3.26529761e+01] [ 2.53462470e-01 9.67252292e-01 1.34082217e-02 3.60835067e+00] [-6.01611273e-02 1.92780917e-03 9.98186817e-01 -2.55217316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.613201008000004 meters 0.06195852436726761 Centerline is valid? [True, True] Translation: X:32.68, Y:3.62, Z:-2.55 [[ 9.64897615e-01 -2.55661391e-01 6.00820001e-02 3.26801339e+01] [ 2.55300181e-01 9.66764157e-01 1.37434404e-02 3.61894380e+00] [-6.15987913e-02 2.07793260e-03 9.98098828e-01 -2.55341724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.643201008 meters 0.06297422349309519 Centerline is valid? [True, True] Translation: X:32.71, Y:3.62, Z:-2.56 [[ 9.64522405e-01 -2.56902651e-01 6.08075478e-02 3.27077972e+01] [ 2.56533993e-01 9.66434859e-01 1.39274361e-02 3.62353023e+00] [-6.23445292e-02 2.16587887e-03 9.98052338e-01 -2.55808274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.673201008 meters 0.06314707878571695 Centerline is valid? [True, True] Translation: X:32.73, Y:3.63, Z:-2.56 [[ 9.64269488e-01 -2.57831950e-01 6.08854693e-02 3.27347279e+01] [ 2.57463992e-01 9.66187214e-01 1.39485048e-02 3.63409745e+00] [-6.24231321e-02 2.22569844e-03 9.98047293e-01 -2.56355599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.703201008 meters 0.0634265410382162 Centerline is valid? [True, True] Translation: X:32.76, Y:3.64, Z:-2.57 [[ 9.64445162e-01 -2.57087174e-01 6.12512479e-02 3.27616715e+01] [ 2.56712191e-01 9.66385772e-01 1.40496093e-02 3.64109905e+00] [-6.28043088e-02 2.17386439e-03 9.98023493e-01 -2.56636756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.733201008 meters 0.06335611229395471 Centerline is valid? [True, True] Translation: X:32.79, Y:3.65, Z:-2.57 [[ 9.64744627e-01 -2.55881116e-01 6.15845755e-02 3.27888822e+01] [ 2.55499379e-01 9.66705968e-01 1.41293362e-02 3.64743341e+00] [-6.31496070e-02 2.10361961e-03 9.98001855e-01 -2.56744612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.763201008 meters 0.06198485849640925 Centerline is valid? [True, True] Translation: X:32.82, Y:3.66, Z:-2.56 [[ 9.66147894e-01 -2.50232367e-01 6.27854221e-02 3.28162314e+01] [ 2.49822539e-01 9.68184226e-01 1.44223072e-02 3.65669711e+00] [-6.43967834e-02 1.75113184e-03 9.97922837e-01 -2.56422446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.793201008000004 meters 0.06092525329878432 Centerline is valid? [True, True] Translation: X:32.84, Y:3.67, Z:-2.56 [[ 9.66963635e-01 -2.47359292e-01 6.16012138e-02 3.28435025e+01] [ 2.46958824e-01 9.68922621e-01 1.41525059e-02 3.66895859e+00] [-6.31875634e-02 1.52800476e-03 9.98000500e-01 -2.56492155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.823201008 meters 0.06031697823383037 Centerline is valid? [True, True] Translation: X:32.87, Y:3.68, Z:-2.57 [[ 9.67737735e-01 -2.44637721e-01 6.02997599e-02 3.28703167e+01] [ 2.44248405e-01 9.69613661e-01 1.38587336e-02 3.68243239e+00] [-6.18578400e-02 1.31650065e-03 9.98084102e-01 -2.56826432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.853201008 meters 0.06034848586864462 Centerline is valid? [True, True] Translation: X:32.90, Y:3.69, Z:-2.58 [[ 9.68568966e-01 -2.41473287e-01 5.97060278e-02 3.28960301e+01] [ 2.41084523e-01 9.70406859e-01 1.37397674e-02 3.69392800e+00] [-6.12569257e-02 1.08628697e-03 9.98121440e-01 -2.57523530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.883201008 meters 0.06000126185183198 Centerline is valid? [True, True] Translation: X:32.92, Y:3.71, Z:-2.58 [[ 9.69399286e-01 -2.38244617e-01 5.91990374e-02 3.29223681e+01] [ 2.37856254e-01 9.71204789e-01 1.36257251e-02 3.70771307e+00] [-6.07406443e-02 8.72093049e-04 9.98153201e-01 -2.57966406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.913201008 meters 0.06034672376657354 Centerline is valid? [True, True] Translation: X:32.95, Y:3.72, Z:-2.59 [[ 9.70756044e-01 -2.32882111e-01 5.82977376e-02 3.29479334e+01] [ 2.32494784e-01 9.72504839e-01 1.34355607e-02 3.71962921e+00] [-5.98237337e-02 5.11268147e-04 9.98208826e-01 -2.58734775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.943201008 meters 0.06037329373782534 Centerline is valid? [True, True] Translation: X:32.97, Y:3.73, Z:-2.59 [[ 9.71014235e-01 -2.31951513e-01 5.77048583e-02 3.29743527e+01] [ 2.31570186e-01 9.72727247e-01 1.33023372e-02 3.72593118e+00] [-5.92165852e-02 4.45965941e-04 9.98245059e-01 -2.58922459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.973201008000004 meters 0.0601016986035986 Centerline is valid? [True, True] Translation: X:33.00, Y:3.73, Z:-2.59 [[ 9.71267424e-01 -2.30862026e-01 5.78127652e-02 3.30027320e+01] [ 2.30476773e-01 9.72986427e-01 1.33367779e-02 3.73316524e+00] [-5.93299915e-02 3.70921622e-04 9.98238356e-01 -2.58731825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.003201008000005 meters 0.060074054318520934 Centerline is valid? [True, True] Translation: X:33.03, Y:3.74, Z:-2.59 [[ 9.71716933e-01 -2.29090623e-01 5.73034786e-02 3.30300080e+01] [ 2.28708072e-01 9.73405068e-01 1.32359637e-02 3.73713378e+00] [-5.88117317e-02 2.44158071e-04 9.98269062e-01 -2.58735813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.033201008 meters 0.060183086594124226 Centerline is valid? [True, True] Translation: X:33.06, Y:3.74, Z:-2.59 [[ 9.71629927e-01 -2.29637381e-01 5.65858501e-02 3.30568796e+01] [ 2.29264884e-01 9.73276221e-01 1.30771061e-02 3.74249980e+00] [-5.80766548e-02 2.67040722e-04 9.98312091e-01 -2.59109838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.063201008 meters 0.06027286026703619 Centerline is valid? [True, True] Translation: X:33.09, Y:3.75, Z:-2.59 [[ 9.71621336e-01 -2.29833633e-01 5.59328238e-02 3.30851537e+01] [ 2.29469737e-01 9.73229895e-01 1.29310575e-02 3.74917678e+00] [-5.74074881e-02 2.70798955e-04 9.98350794e-01 -2.59393117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.093201008 meters 0.060446179813463875 Centerline is valid? [True, True] Translation: X:33.11, Y:3.76, Z:-2.60 [[ 9.71388793e-01 -2.30630523e-01 5.66866372e-02 3.31115920e+01] [ 2.30257069e-01 9.73041350e-01 1.31229984e-02 3.75530999e+00] [-5.81850059e-02 3.04965363e-04 9.98305771e-01 -2.59945205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.123201008 meters 0.06039614785778869 Centerline is valid? [True, True] Translation: X:33.14, Y:3.76, Z:-2.60 [[ 9.71053191e-01 -2.31604987e-01 5.84365547e-02 3.31396303e+01] [ 2.31209693e-01 9.72809844e-01 1.35309419e-02 3.76124373e+00] [-5.99814893e-02 3.71833576e-04 9.98199420e-01 -2.60187292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.153201008 meters 0.06052757224332387 Centerline is valid? [True, True] Translation: X:33.17, Y:3.76, Z:-2.60 [[ 9.70440920e-01 -2.33410753e-01 6.13501581e-02 3.31679884e+01] [ 2.32977482e-01 9.72378106e-01 1.42236621e-02 3.76398438e+00] [-6.29755062e-02 4.89981684e-04 9.98014953e-01 -2.60264222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.183201008000005 meters 0.06052757224332387 Centerline is valid? [True, True] Translation: X:33.19, Y:3.77, Z:-2.60 [[ 9.70379991e-01 -2.33664078e-01 6.13495788e-02 3.31948299e+01] [ 2.33231155e-01 9.72317255e-01 1.42261618e-02 3.77039585e+00] [-6.29753970e-02 5.03850335e-04 9.98014953e-01 -2.60477990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.213201008 meters 0.06044928619275715 Centerline is valid? [True, True] Translation: X:33.22, Y:3.78, Z:-2.61 [[ 9.70332237e-01 -2.34022491e-01 6.07356909e-02 3.32232123e+01] [ 2.33597838e-01 9.72231052e-01 1.41007551e-02 3.77509994e+00] [-6.23490185e-02 5.05308843e-04 9.98054279e-01 -2.60585978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.243201008 meters 0.06046242480997781 Centerline is valid? [True, True] Translation: X:33.25, Y:3.78, Z:-2.61 [[ 9.70200715e-01 -2.34614862e-01 6.05511224e-02 3.32515315e+01] [ 2.34192862e-01 9.72088263e-01 1.40752363e-02 3.77602045e+00] [-6.21632950e-02 5.24836285e-04 9.98065854e-01 -2.60853713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.273201008 meters 0.06042605772283422 Centerline is valid? [True, True] Translation: X:33.28, Y:3.78, Z:-2.61 [[ 9.70000861e-01 -2.35457326e-01 6.04828717e-02 3.32797052e+01] [ 2.35037763e-01 9.71884518e-01 1.40617850e-02 3.77986637e+00] [-6.20933169e-02 5.75815293e-04 9.98070182e-01 -2.60896702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.303201008 meters 0.06044110699640534 Centerline is valid? [True, True] Translation: X:33.31, Y:3.78, Z:-2.61 [[ 9.69787318e-01 -2.36243015e-01 6.08423898e-02 3.33073713e+01] [ 2.35818915e-01 9.71693811e-01 1.41625355e-02 3.78341577e+00] [-6.24659737e-02 6.13139027e-04 9.98046906e-01 -2.61024199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.333201008 meters 0.06049576189692846 Centerline is valid? [True, True] Translation: X:33.34, Y:3.79, Z:-2.61 [[ 9.69342343e-01 -2.37975825e-01 6.11794850e-02 3.33354228e+01] [ 2.37549232e-01 9.71270819e-01 1.42604093e-02 3.78635725e+00] [-6.28154812e-02 7.09921171e-04 9.98024905e-01 -2.61334353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.363201008000004 meters 0.060944269273975414 Centerline is valid? [True, True] Translation: X:33.36, Y:3.79, Z:-2.62 [[ 9.68491988e-01 -2.41449785e-01 6.10350013e-02 3.33645145e+01] [ 2.41031701e-01 9.70412872e-01 1.42329407e-02 3.78881519e+00] [-6.26656914e-02 9.26881216e-04 9.98034144e-01 -2.61878640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.393201008 meters 0.06118491650013603 Centerline is valid? [True, True] Translation: X:33.39, Y:3.79, Z:-2.62 [[ 9.68378143e-01 -2.42137579e-01 6.01096112e-02 3.33927206e+01] [ 2.41732502e-01 9.70241467e-01 1.40318408e-02 3.79419855e+00] [-6.17184733e-02 9.42318837e-04 9.98093153e-01 -2.62266496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.423201008 meters 0.061113186129587715 Centerline is valid? [True, True] Translation: X:33.42, Y:3.80, Z:-2.63 [[ 9.68594451e-01 -2.41440514e-01 5.94244762e-02 3.34204198e+01] [ 2.41042458e-01 9.70415228e-01 1.38859336e-02 3.80072720e+00] [-6.10190436e-02 8.73983544e-04 9.98136219e-01 -2.62578791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.453201008 meters 0.06104902901067639 Centerline is valid? [True, True] Translation: X:33.45, Y:3.81, Z:-2.63 [[ 9.68961159e-01 -2.40034920e-01 5.91397535e-02 3.34480449e+01] [ 2.39636831e-01 9.70763955e-01 1.38395266e-02 3.80634159e+00] [-6.07327107e-02 7.62099449e-04 9.98153774e-01 -2.62824026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.483201008 meters 0.060920696841663395 Centerline is valid? [True, True] Translation: X:33.47, Y:3.81, Z:-2.63 [[ 9.69767059e-01 -2.37142804e-01 5.75772640e-02 3.34748546e+01] [ 2.36760097e-01 9.71474640e-01 1.34788822e-02 3.81292769e+00] [-5.91312717e-02 5.60622650e-04 9.98250058e-01 -2.63004191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.513201008 meters 0.06069163811709721 Centerline is valid? [True, True] Translation: X:33.50, Y:3.82, Z:-2.63 [[ 9.70134261e-01 -2.35870069e-01 5.66111865e-02 3.35022034e+01] [ 2.35497883e-01 9.71784485e-01 1.32537232e-02 3.82120551e+00] [-5.81400293e-02 4.73923595e-04 9.98308325e-01 -2.63109232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.543201008000004 meters 0.06093181939966326 Centerline is valid? [True, True] Translation: X:33.53, Y:3.83, Z:-2.64 [[ 9.70414434e-01 -2.34817907e-01 5.61816437e-02 3.35278871e+01] [ 2.34448462e-01 9.72039299e-01 1.31726674e-02 3.82846078e+00] [-5.77039438e-02 3.88753369e-04 9.98333664e-01 -2.63591109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.573201008 meters 0.061157531881820416 Centerline is valid? [True, True] Translation: X:33.55, Y:3.84, Z:-2.64 [[ 9.70613555e-01 -2.34128556e-01 5.56160583e-02 3.35544406e+01] [ 2.33765159e-01 9.72205587e-01 1.30440485e-02 3.83758419e+00] [-5.71242269e-02 3.40366448e-04 9.98367020e-01 -2.64126969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.603201008 meters 0.061177688001424244 Centerline is valid? [True, True] Translation: X:33.58, Y:3.85, Z:-2.64 [[ 9.70485379e-01 -2.34489908e-01 5.63259403e-02 3.35825356e+01] [ 2.34116817e-01 9.72118491e-01 1.32270748e-02 3.84579164e+00] [-5.78571036e-02 3.50167205e-04 9.98324813e-01 -2.64250862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.633201008 meters 0.06120105519422776 Centerline is valid? [True, True] Translation: X:33.61, Y:3.85, Z:-2.64 [[ 9.70305212e-01 -2.35284553e-01 5.61157160e-02 3.36100527e+01] [ 2.34914567e-01 9.71926456e-01 1.31951157e-02 3.85241813e+00] [-5.76449559e-02 3.79109540e-04 9.98337075e-01 -2.64494373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.663201008 meters 0.06146036982217967 Centerline is valid? [True, True] Translation: X:33.64, Y:3.86, Z:-2.65 [[ 9.69705318e-01 -2.37554962e-01 5.69142884e-02 3.36378507e+01] [ 2.37178171e-01 9.71373960e-01 1.33845213e-02 3.85736968e+00] [-5.84646171e-02 5.19785364e-04 9.98289346e-01 -2.64737594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.693201008 meters 0.0615036727559731 Centerline is valid? [True, True] Translation: X:33.67, Y:3.86, Z:-2.65 [[ 9.69108459e-01 -2.39842868e-01 5.74821105e-02 3.36651354e+01] [ 2.39461370e-01 9.70811507e-01 1.35377196e-02 3.86138660e+00] [-5.90512199e-02 6.45226328e-04 9.98254746e-01 -2.64953660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.723201008000004 meters 0.06195778720012662 Centerline is valid? [True, True] Translation: X:33.69, Y:3.87, Z:-2.65 [[ 9.67816931e-01 -2.44841019e-01 5.81658339e-02 3.36941952e+01] [ 2.44459031e-01 9.69562769e-01 1.37047180e-02 3.86516512e+00] [-5.97509041e-02 9.55505363e-04 9.98212861e-01 -2.65079803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.753201008000005 meters 0.062097691665159854 Centerline is valid? [True, True] Translation: X:33.72, Y:3.87, Z:-2.65 [[ 9.67033530e-01 -2.47923782e-01 5.81373443e-02 3.37225943e+01] [ 2.47546862e-01 9.68778880e-01 1.37125062e-02 3.87107603e+00] [-5.97218877e-02 1.13126389e-03 9.98214414e-01 -2.65237419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.783201008 meters 0.0628296556170425 Centerline is valid? [True, True] Translation: X:33.75, Y:3.87, Z:-2.66 [[ 9.66322208e-01 -2.50914003e-01 5.71275136e-02 3.37500261e+01] [ 2.50554298e-01 9.68008540e-01 1.34911319e-02 3.87400219e+00] [-5.86850349e-02 1.27676373e-03 9.98275732e-01 -2.65634030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.813201008 meters 0.06332449711831646 Centerline is valid? [True, True] Translation: X:33.78, Y:3.88, Z:-2.66 [[ 9.65571900e-01 -2.53783017e-01 5.71409263e-02 3.37784851e+01] [ 2.53427943e-01 9.67260091e-01 1.34979121e-02 3.87802273e+00] [-5.86956785e-02 1.44790275e-03 9.98274872e-01 -2.65838726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.843201008 meters 0.06469894136189151 Centerline is valid? [True, True] Translation: X:33.81, Y:3.88, Z:-2.66 [[ 9.63676519e-01 -2.60736750e-01 5.78265789e-02 3.38078162e+01] [ 2.60384533e-01 9.65408114e-01 1.36773236e-02 3.87827501e+00] [-5.93924294e-02 1.87663112e-03 9.98232948e-01 -2.65891899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.873201008 meters 0.06557066004919263 Centerline is valid? [True, True] Translation: X:33.84, Y:3.88, Z:-2.66 [[ 9.62831461e-01 -2.64017446e-01 5.70119851e-02 3.38358857e+01] [ 2.63680590e-01 9.64515735e-01 1.34886286e-02 3.88239479e+00] [-5.85501900e-02 2.04567792e-03 9.98282370e-01 -2.66129277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.903201008 meters 0.06574291770774691 Centerline is valid? [True, True] Translation: X:33.86, Y:3.89, Z:-2.66 [[ 9.62039203e-01 -2.66829579e-01 5.72935134e-02 3.38637983e+01] [ 2.66494109e-01 9.63741164e-01 1.35594472e-02 3.89039172e+00] [-5.88341789e-02 2.22366406e-03 9.98265293e-01 -2.66355951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.933201008000005 meters 0.06665613334752757 Centerline is valid? [True, True] Translation: X:33.89, Y:3.90, Z:-2.67 [[ 9.61511968e-01 -2.68787361e-01 5.69920183e-02 3.38908480e+01] [ 2.68458709e-01 9.63196725e-01 1.34903890e-02 3.89698496e+00] [-5.85205714e-02 2.32883318e-03 9.98283486e-01 -2.66817487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.963201008 meters 0.06770152619402867 Centerline is valid? [True, True] Translation: X:33.92, Y:3.90, Z:-2.67 [[ 9.60804123e-01 -2.71371036e-01 5.66850830e-02 3.39176776e+01] [ 2.71050084e-01 9.62471648e-01 1.34230969e-02 3.90426583e+00] [-5.82004249e-02 2.46752970e-03 9.98301869e-01 -2.67239346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.993201008 meters 0.0670856287232532 Centerline is valid? [True, True] Translation: X:33.95, Y:3.91, Z:-2.67 [[ 9.60562263e-01 -2.72488717e-01 5.54079290e-02 3.39455963e+01] [ 2.72183915e-01 9.62155788e-01 1.31208502e-02 3.91239891e+00] [-5.68863432e-02 2.47775343e-03 9.98377586e-01 -2.67178437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.023201008 meters 0.06828273087078397 Centerline is valid? [True, True] Translation: X:33.97, Y:3.91, Z:-2.67 [[ 9.60339526e-01 -2.73109888e-01 5.62048384e-02 3.39740580e+01] [ 2.72796327e-01 9.61979504e-01 1.33265920e-02 3.91362435e+00] [-5.77075266e-02 2.53442039e-03 9.98330315e-01 -2.67289914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.053201008 meters 0.06784221806472726 Centerline is valid? [True, True] Translation: X:34.00, Y:3.92, Z:-2.67 [[ 9.60465121e-01 -2.72714620e-01 5.59775621e-02 3.40025180e+01] [ 2.72402812e-01 9.62091728e-01 1.32746042e-02 3.92131545e+00] [-5.74757281e-02 2.49865100e-03 9.98343777e-01 -2.67291679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.083201008 meters 0.06734839886220716 Centerline is valid? [True, True] Translation: X:34.03, Y:3.93, Z:-2.68 [[ 9.61344289e-01 -2.69605432e-01 5.59470171e-02 3.40277106e+01] [ 2.69287770e-01 9.62968141e-01 1.32836732e-02 3.93466880e+00] [-5.74565455e-02 2.29566408e-03 9.98345369e-01 -2.67805669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.113201008000004 meters 0.06694210526805851 Centerline is valid? [True, True] Translation: X:34.05, Y:3.95, Z:-2.68 [[ 9.62191044e-01 -2.66653252e-01 5.55377124e-02 3.40542936e+01] [ 2.66335065e-01 9.63790244e-01 1.31908341e-02 3.94651516e+00] [-5.70440843e-02 2.09953776e-03 9.98369453e-01 -2.68230202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.143201008 meters 0.06564650120022464 Centerline is valid? [True, True] Translation: X:34.08, Y:3.96, Z:-2.69 [[ 9.63181241e-01 -2.62978302e-01 5.58955186e-02 3.40811052e+01] [ 2.62649617e-01 9.64799895e-01 1.32793161e-02 3.95911647e+00] [-5.74201625e-02 1.89054846e-03 9.98348311e-01 -2.68580050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.173201008 meters 0.06435060571173606 Centerline is valid? [True, True] Translation: X:34.11, Y:3.97, Z:-2.69 [[ 9.65225486e-01 -2.55529729e-01 5.51753447e-02 3.41081355e+01] [ 2.55197165e-01 9.66800147e-01 1.31104191e-02 3.97406897e+00] [-5.66936332e-02 1.42608095e-03 9.98390604e-01 -2.68962160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.203201008 meters 0.06364768324167386 Centerline is valid? [True, True] Translation: X:34.14, Y:3.98, Z:-2.69 [[ 9.66216812e-01 -2.51804085e-01 5.49524785e-02 3.41359215e+01] [ 2.51468034e-01 9.67777486e-01 1.30600407e-02 3.98464575e+00] [-5.64703431e-02 1.19996088e-03 9.98403556e-01 -2.69194837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.233201008 meters 0.06312363930813471 Centerline is valid? [True, True] Translation: X:34.16, Y:4.00, Z:-2.69 [[ 9.67120362e-01 -2.48222411e-01 5.53519600e-02 3.41627614e+01] [ 2.47874711e-01 9.68702570e-01 1.31703795e-02 3.99577309e+00] [-5.68887692e-02 9.83008954e-04 9.98380039e-01 -2.69406276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.263201008 meters 0.06235753607713373 Centerline is valid? [True, True] Translation: X:34.19, Y:4.01, Z:-2.70 [[ 9.68749070e-01 -2.41823480e-01 5.51964078e-02 3.41891822e+01] [ 2.41467128e-01 9.70320072e-01 1.31371014e-02 4.00881783e+00] [-5.67350420e-02 6.01563329e-04 9.98389089e-01 -2.69515482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.293201008000004 meters 0.06226508640032636 Centerline is valid? [True, True] Translation: X:34.22, Y:4.02, Z:-2.70 [[ 9.69322288e-01 -2.39671160e-01 5.45163900e-02 3.42163105e+01] [ 2.39320175e-01 9.70854013e-01 1.29746002e-02 4.01675628e+00] [-5.60370934e-02 4.70302802e-04 9.98428577e-01 -2.69781071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.323201008 meters 0.0623634397837853 Centerline is valid? [True, True] Translation: X:34.24, Y:4.02, Z:-2.70 [[ 9.69585775e-01 -2.38727339e-01 5.39692796e-02 3.42431594e+01] [ 2.38381085e-01 9.71086556e-01 1.28591739e-02 4.02341709e+00] [-5.54786782e-02 3.97183315e-04 9.98459793e-01 -2.69985255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.353201008 meters 0.062360477809434676 Centerline is valid? [True, True] Translation: X:34.27, Y:4.03, Z:-2.70 [[ 9.69503919e-01 -2.39230326e-01 5.32071712e-02 3.42717977e+01] [ 2.38893716e-01 9.70962763e-01 1.26927302e-02 4.02927606e+00] [-5.46986680e-02 4.05207204e-04 9.98502825e-01 -2.70244005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.383201008 meters 0.06266522357266485 Centerline is valid? [True, True] Translation: X:34.30, Y:4.03, Z:-2.71 [[ 9.69207788e-01 -2.40467882e-01 5.30232175e-02 3.42996226e+01] [ 2.40134736e-01 9.70656987e-01 1.26618663e-02 4.03476560e+00] [-5.45121287e-02 4.60736935e-04 9.98513002e-01 -2.70612875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.413201008 meters 0.06331770417010885 Centerline is valid? [True, True] Translation: X:34.33, Y:4.03, Z:-2.71 [[ 9.68390728e-01 -2.43895783e-01 5.22900097e-02 3.43281827e+01] [ 2.43575906e-01 9.69801243e-01 1.25030486e-02 4.03363629e+00] [-5.37603573e-02 6.28750147e-04 9.98553668e-01 -2.71159497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.443201008 meters 0.06313323935807902 Centerline is valid? [True, True] Translation: X:34.36, Y:4.04, Z:-2.71 [[ 9.67706955e-01 -2.46599681e-01 5.22670653e-02 3.43573659e+01] [ 2.46283977e-01 9.69117120e-01 1.24984134e-02 4.03644889e+00] [-5.37350126e-02 7.77739092e-04 9.98554928e-01 -2.71002575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.473201008000004 meters 0.06398061656175875 Centerline is valid? [True, True] Translation: X:34.39, Y:4.04, Z:-2.71 [[ 9.66923832e-01 -2.49689847e-01 5.20891889e-02 3.43859849e+01] [ 2.49379880e-01 9.68325418e-01 1.24723827e-02 4.03541798e+00] [-5.35535130e-02 9.30151583e-04 9.98564548e-01 -2.71450939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.503201008000005 meters 0.0648535398395049 Centerline is valid? [True, True] Translation: X:34.42, Y:4.03, Z:-2.72 [[ 9.65528314e-01 -2.55062025e-01 5.19465043e-02 3.44167046e+01] [ 2.54761220e-01 9.66923925e-01 1.24436295e-02 4.03229267e+00] [-5.34022152e-02 1.21927823e-03 9.98572339e-01 -2.71627762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.533201008 meters 0.06540873729149914 Centerline is valid? [True, True] Translation: X:34.45, Y:4.03, Z:-2.72 [[ 9.64942463e-01 -2.57441353e-01 5.10880875e-02 3.44458545e+01] [ 2.57153643e-01 9.66293014e-01 1.22398757e-02 4.03477714e+00] [-5.25171122e-02 1.32671200e-03 9.98619143e-01 -2.71948128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.563201008 meters 0.06492727891672664 Centerline is valid? [True, True] Translation: X:34.47, Y:4.04, Z:-2.72 [[ 9.64612591e-01 -2.58746366e-01 5.07234341e-02 3.44744125e+01] [ 2.58464572e-01 9.65944300e-01 1.21521092e-02 4.04141202e+00] [-5.21403261e-02 1.38813311e-03 9.98638803e-01 -2.71897072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.593201008 meters 0.06492726552246646 Centerline is valid? [True, True] Translation: X:34.50, Y:4.05, Z:-2.72 [[ 9.64374312e-01 -2.59562309e-01 5.10841942e-02 3.45024833e+01] [ 2.59277026e-01 9.65725302e-01 1.22500786e-02 4.04695578e+00] [-5.25129575e-02 1.43129689e-03 9.98619217e-01 -2.72041186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.623201008 meters 0.0645266030820091 Centerline is valid? [True, True] Translation: X:34.53, Y:4.06, Z:-2.72 [[ 9.64947478e-01 -2.57260730e-01 5.18968429e-02 3.45298136e+01] [ 2.56961922e-01 9.66341144e-01 1.24645314e-02 4.05525099e+00] [-5.33566890e-02 1.30789441e-03 9.98574661e-01 -2.72289397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.653201008 meters 0.06429447315424339 Centerline is valid? [True, True] Translation: X:34.56, Y:4.06, Z:-2.73 [[ 9.65404116e-01 -2.55440588e-01 5.23927383e-02 3.45567638e+01] [ 2.55133184e-01 9.66823990e-01 1.25869058e-02 4.06329157e+00] [-5.38697629e-02 1.21567550e-03 9.98547230e-01 -2.72503722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.683201008000005 meters 0.06368845628659592 Centerline is valid? [True, True] Translation: X:34.58, Y:4.07, Z:-2.73 [[ 9.65788663e-01 -2.53961624e-01 5.24952532e-02 3.45839681e+01] [ 2.53650786e-01 9.67213630e-01 1.26123767e-02 4.07386613e+00] [-5.39771841e-02 1.13457178e-03 9.98541525e-01 -2.72595704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.713201008 meters 0.06353412905601344 Centerline is valid? [True, True] Translation: X:34.61, Y:4.08, Z:-2.73 [[ 9.66301204e-01 -2.51829325e-01 5.33289206e-02 3.46108033e+01] [ 2.51504350e-01 9.67771130e-01 1.28297125e-02 4.08215615e+00] [-5.48410876e-02 1.01508888e-03 9.98494579e-01 -2.72928500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.743201008 meters 0.06305327846607194 Centerline is valid? [True, True] Translation: X:34.64, Y:4.09, Z:-2.73 [[ 9.66903407e-01 -2.49514009e-01 5.32969078e-02 3.46382759e+01] [ 2.49185823e-01 9.68370787e-01 1.28235530e-02 4.09381053e+00] [-5.48108247e-02 8.81696734e-04 9.98496368e-01 -2.73122877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.773201008 meters 0.06280134625730771 Centerline is valid? [True, True] Translation: X:34.66, Y:4.10, Z:-2.73 [[ 9.67654866e-01 -2.46566616e-01 5.33756843e-02 3.46644643e+01] [ 2.46232126e-01 9.69125592e-01 1.28579790e-02 4.10225014e+00] [-5.48980900e-02 7.00722260e-04 9.98491717e-01 -2.73354598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.803201008 meters 0.06266238666374722 Centerline is valid? [True, True] Translation: X:34.69, Y:4.11, Z:-2.73 [[ 9.67725565e-01 -2.46273041e-01 5.34492370e-02 3.46917319e+01] [ 2.45937158e-01 9.69200248e-01 1.28760795e-02 4.10861718e+00] [-5.49740450e-02 6.84642151e-04 9.98487549e-01 -2.73476654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.833201008 meters 0.06270485712428712 Centerline is valid? [True, True] Translation: X:34.72, Y:4.11, Z:-2.74 [[ 9.67890177e-01 -2.45494187e-01 5.40482095e-02 3.47192523e+01] [ 2.45148406e-01 9.69397859e-01 1.30403081e-02 4.11315345e+00] [-5.55955384e-02 6.28246283e-04 9.98453174e-01 -2.73830739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.863201008000004 meters 0.06240117009419827 Centerline is valid? [True, True] Translation: X:34.75, Y:4.12, Z:-2.74 [[ 9.67902884e-01 -2.45314121e-01 5.46350560e-02 3.47479853e+01] [ 2.44960402e-01 9.69443446e-01 1.31835991e-02 4.12001440e+00] [-5.61997199e-02 6.22981665e-04 9.98419352e-01 -2.73766619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.893201008 meters 0.06252958316535039 Centerline is valid? [True, True] Translation: X:34.77, Y:4.13, Z:-2.74 [[ 9.68222710e-01 -2.44498817e-01 5.25843419e-02 3.47744265e+01] [ 2.44169111e-01 9.69649441e-01 1.27045888e-02 4.12705039e+00] [-5.40946347e-02 5.38600624e-04 9.98535668e-01 -2.74365202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.923201008 meters 0.06302454203873187 Centerline is valid? [True, True] Translation: X:34.80, Y:4.13, Z:-2.75 [[ 9.68300622e-01 -2.44645995e-01 5.04206580e-02 3.48007733e+01] [ 2.44342863e-01 9.69612328e-01 1.21860109e-02 4.13422451e+00] [-5.18697503e-02 5.20206010e-04 9.98653723e-01 -2.74990815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.953201008 meters 0.06293340578333352 Centerline is valid? [True, True] Translation: X:34.83, Y:4.14, Z:-2.75 [[ 9.68436050e-01 -2.44374431e-01 4.91197953e-02 3.48280481e+01] [ 2.44086199e-01 9.69680823e-01 1.18755447e-02 4.14193176e+00] [-5.05326030e-02 4.88758559e-04 9.98722292e-01 -2.75210391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.983201008 meters 0.06281828904901195 Centerline is valid? [True, True] Translation: X:34.86, Y:4.15, Z:-2.75 [[ 9.68623924e-01 -2.43740154e-01 4.85636825e-02 3.48553555e+01] [ 2.43457403e-01 9.69840470e-01 1.17454108e-02 4.14637414e+00] [-4.99618529e-02 4.46302098e-04 9.98751027e-01 -2.75363490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.013201008 meters 0.06265572065908273 Centerline is valid? [True, True] Translation: X:34.88, Y:4.15, Z:-2.75 [[ 9.68499225e-01 -2.44247939e-01 4.84994416e-02 3.48833955e+01] [ 2.43966618e-01 9.69712700e-01 1.17289661e-02 4.15263483e+00] [-4.98953002e-02 4.72750168e-04 9.98754342e-01 -2.75385635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.043201008000004 meters 0.0626519543686115 Centerline is valid? [True, True] Translation: X:34.91, Y:4.16, Z:-2.76 [[ 9.68334015e-01 -2.44758020e-01 4.92214179e-02 3.49112150e+01] [ 2.44468142e-01 9.69584071e-01 1.19187864e-02 4.15969453e+00] [-5.06415213e-02 4.91702300e-04 9.98716774e-01 -2.75581212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.073201008 meters 0.0626519543686115 Centerline is valid? [True, True] Translation: X:34.94, Y:4.17, Z:-2.76 [[ 9.68267818e-01 -2.45020287e-01 4.92188163e-02 3.49380141e+01] [ 2.44730202e-01 9.69517826e-01 1.19295178e-02 4.16636974e+00] [-5.06414936e-02 4.94362647e-04 9.98716774e-01 -2.75794221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.103201008 meters 0.06272425538963773 Centerline is valid? [True, True] Translation: X:34.97, Y:4.17, Z:-2.76 [[ 9.68059767e-01 -2.45914434e-01 4.88505726e-02 3.49659787e+01] [ 2.45629069e-01 9.69291400e-01 1.18550766e-02 4.17356981e+00] [-5.02657744e-02 5.22697999e-04 9.98735740e-01 -2.76076034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.133201008 meters 0.06351069991150908 Centerline is valid? [True, True] Translation: X:34.99, Y:4.18, Z:-2.77 [[ 9.67164209e-01 -2.49156187e-01 5.01456727e-02 3.49930735e+01] [ 2.48858994e-01 9.68463068e-01 1.21855591e-02 4.17732576e+00] [-5.16003395e-02 6.93764997e-04 9.98667574e-01 -2.76637705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.163201008 meters 0.063321879115599 Centerline is valid? [True, True] Translation: X:35.02, Y:4.18, Z:-2.77 [[ 9.66829328e-01 -2.50403025e-01 5.03922138e-02 3.50213669e+01] [ 2.50104418e-01 9.68141387e-01 1.22488315e-02 4.18281809e+00] [-5.18539322e-02 7.60785724e-04 9.98654390e-01 -2.76596717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.193201008 meters 0.0633077581127424 Centerline is valid? [True, True] Translation: X:35.05, Y:4.19, Z:-2.77 [[ 9.66190027e-01 -2.52569357e-01 5.18223060e-02 3.50490892e+01] [ 2.52256011e-01 9.67578383e-01 1.26086237e-02 4.18694219e+00] [-5.33266950e-02 8.90161757e-04 9.98576723e-01 -2.76559939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.223201008000004 meters 0.06329766073413405 Centerline is valid? [True, True] Translation: X:35.08, Y:4.19, Z:-2.77 [[ 9.65835165e-01 -2.53975656e-01 5.15635475e-02 3.50778631e+01] [ 2.53666638e-01 9.67210146e-01 1.25606476e-02 4.19190910e+00] [-5.30628850e-02 9.48436623e-04 9.98590722e-01 -2.76511405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.253201008000005 meters 0.06331083615577254 Centerline is valid? [True, True] Translation: X:35.11, Y:4.20, Z:-2.77 [[ 9.65552537e-01 -2.55063901e-01 5.14849878e-02 3.51061396e+01] [ 2.54756704e-01 9.66923687e-01 1.25540578e-02 4.19753082e+00] [-5.29841412e-02 9.94543486e-04 9.98594859e-01 -2.76614191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.283201008 meters 0.06403498965263325 Centerline is valid? [True, True] Translation: X:35.13, Y:4.20, Z:-2.77 [[ 9.64691451e-01 -2.58341491e-01 5.12842960e-02 3.51331581e+01] [ 2.58040457e-01 9.66052970e-01 1.25212316e-02 4.20297734e+00] [-5.27781002e-02 1.15429810e-03 9.98605598e-01 -2.77026240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.313201008 meters 0.06417567532783829 Centerline is valid? [True, True] Translation: X:35.16, Y:4.21, Z:-2.77 [[ 9.64643239e-01 -2.58548946e-01 5.11455146e-02 3.51599965e+01] [ 2.58249834e-01 9.65997459e-01 1.24872754e-02 4.21132926e+00] [-5.26350090e-02 1.16255486e-03 9.98613140e-01 -2.77455452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.343201008 meters 0.06463937325311947 Centerline is valid? [True, True] Translation: X:35.19, Y:4.22, Z:-2.78 [[ 9.64585001e-01 -2.58792843e-01 5.10101930e-02 3.51860424e+01] [ 2.58494713e-01 9.65932156e-01 1.24721317e-02 4.21866291e+00] [-5.25000841e-02 1.15543404e-03 9.98620251e-01 -2.78009287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.373201008 meters 0.06390914058701351 Centerline is valid? [True, True] Translation: X:35.21, Y:4.23, Z:-2.78 [[ 9.64683651e-01 -2.58297320e-01 5.16521832e-02 3.52130692e+01] [ 2.57990819e-01 9.66064798e-01 1.26310744e-02 4.23016295e+00] [-5.31619286e-02 1.14079804e-03 9.98585253e-01 -2.77979489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.403201008 meters 0.06332296805785846 Centerline is valid? [True, True] Translation: X:35.24, Y:4.24, Z:-2.78 [[ 9.65276986e-01 -2.55976410e-01 5.21192740e-02 3.52403325e+01] [ 2.55660269e-01 9.66682501e-01 1.27580822e-02 4.23996135e+00] [-5.36485583e-02 1.00974454e-03 9.98559369e-01 -2.77971176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.433201008000005 meters 0.06310084190352593 Centerline is valid? [True, True] Translation: X:35.27, Y:4.25, Z:-2.78 [[ 9.65424042e-01 -2.55195427e-01 5.32138425e-02 3.52679679e+01] [ 2.54863945e-01 9.66889004e-01 1.30393054e-02 4.24799098e+00] [-5.47794503e-02 9.73830907e-04 9.98498004e-01 -2.77958687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.463201008 meters 0.06290888921884441 Centerline is valid? [True, True] Translation: X:35.30, Y:4.26, Z:-2.78 [[ 9.65813082e-01 -2.53831776e-01 5.26737068e-02 3.52953441e+01] [ 2.53504271e-01 9.67247985e-01 1.29197753e-02 4.25673724e+00] [-5.42279862e-02 8.74921649e-04 9.98528197e-01 -2.78127851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.493201008 meters 0.06285309738680711 Centerline is valid? [True, True] Translation: X:35.32, Y:4.27, Z:-2.79 [[ 9.66217699e-01 -2.52214553e-01 5.30205342e-02 3.53216347e+01] [ 2.51879360e-01 9.67671030e-01 1.30217461e-02 4.26573985e+00] [-5.45907088e-02 7.72936710e-04 9.98508516e-01 -2.78529533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.523201008 meters 0.0627845358639283 Centerline is valid? [True, True] Translation: X:35.35, Y:4.27, Z:-2.79 [[ 9.66338879e-01 -2.51701512e-01 5.32495975e-02 3.53497008e+01] [ 2.51362565e-01 9.67804625e-01 1.30793102e-02 4.27325888e+00] [-5.48272889e-02 7.45909472e-04 9.98495574e-01 -2.78774751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.553201008 meters 0.06267259943442506 Centerline is valid? [True, True] Translation: X:35.38, Y:4.28, Z:-2.79 [[ 9.66313353e-01 -2.51730571e-01 5.35744647e-02 3.53771192e+01] [ 2.51386597e-01 9.67797075e-01 1.31757658e-02 4.27865015e+00] [-5.51659533e-02 7.35983898e-04 9.98476928e-01 -2.78972586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.583201008 meters 0.06245580649558903 Centerline is valid? [True, True] Translation: X:35.41, Y:4.28, Z:-2.79 [[ 9.66232557e-01 -2.51969790e-01 5.39061376e-02 3.54050747e+01] [ 2.51621876e-01 9.67734807e-01 1.32579983e-02 4.28457591e+00] [-5.55074607e-02 7.53653888e-04 9.98457988e-01 -2.79098054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.613201008000004 meters 0.062390990408987844 Centerline is valid? [True, True] Translation: X:35.43, Y:4.29, Z:-2.79 [[ 9.65798950e-01 -2.53441272e-01 5.47714351e-02 3.54328673e+01] [ 2.53083585e-01 9.67350413e-01 1.34861933e-02 4.29080230e+00] [-5.64011284e-02 8.36799803e-04 9.98407839e-01 -2.79063765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.643201008 meters 0.06256035922504476 Centerline is valid? [True, True] Translation: X:35.46, Y:4.30, Z:-2.79 [[ 9.65488262e-01 -2.54615318e-01 5.48037872e-02 3.54594815e+01] [ 2.54257978e-01 9.67042012e-01 1.35139622e-02 4.29705753e+00] [-5.64384264e-02 8.86728181e-04 9.98405688e-01 -2.79403693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.673201008 meters 0.06254679895792394 Centerline is valid? [True, True] Translation: X:35.49, Y:4.31, Z:-2.80 [[ 9.65568948e-01 -2.54452838e-01 5.41328018e-02 3.54868030e+01] [ 2.54103870e-01 9.67084797e-01 1.33498510e-02 4.30564053e+00] [-5.57479171e-02 8.65152819e-04 9.98444501e-01 -2.79664369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.703201008 meters 0.06291150472873767 Centerline is valid? [True, True] Translation: X:35.51, Y:4.31, Z:-2.80 [[ 9.65119135e-01 -2.56355937e-01 5.31666112e-02 3.55146850e+01] [ 2.56021495e-01 9.66581989e-01 1.31245372e-02 4.31210387e+00] [-5.47544418e-02 9.45053315e-04 9.98499403e-01 -2.80061729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.733201008 meters 0.06334198168460303 Centerline is valid? [True, True] Translation: X:35.54, Y:4.32, Z:-2.80 [[ 9.64504731e-01 -2.58725248e-01 5.28381527e-02 3.55421334e+01] [ 2.58397575e-01 9.65950376e-01 1.30600173e-02 4.31677632e+00] [-5.44179896e-02 1.05680207e-03 9.98517684e-01 -2.80460869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.763201008 meters 0.06401333651826259 Centerline is valid? [True, True] Translation: X:35.57, Y:4.32, Z:-2.81 [[ 9.63074415e-01 -2.64259329e-01 5.15235758e-02 3.55716970e+01] [ 2.63955413e-01 9.64450744e-01 1.27398378e-02 4.32047750e+00] [-5.30585720e-02 1.33051492e-03 9.98590516e-01 -2.80589989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.793201008000004 meters 0.06454071734593357 Centerline is valid? [True, True] Translation: X:35.60, Y:4.32, Z:-2.81 [[ 9.62188109e-01 -2.67459322e-01 5.15708610e-02 3.56006695e+01] [ 2.67159454e-01 9.63567971e-01 1.27511136e-02 4.32359515e+00] [-5.31024341e-02 1.50867323e-03 9.98587931e-01 -2.80745910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.823201008 meters 0.06507898014494072 Centerline is valid? [True, True] Translation: X:35.63, Y:4.33, Z:-2.81 [[ 9.61296927e-01 -2.70578949e-01 5.19158043e-02 3.56296603e+01] [ 2.70278904e-01 9.62696323e-01 1.28492654e-02 4.32817202e+00] [-5.34558946e-02 1.67978732e-03 9.98568799e-01 -2.80798396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.853201008 meters 0.06583463972205937 Centerline is valid? [True, True] Translation: X:35.66, Y:4.33, Z:-2.81 [[ 9.60343505e-01 -2.73906251e-01 5.21125452e-02 3.56590141e+01] [ 2.73608051e-01 9.61754601e-01 1.29120971e-02 4.33365595e+00] [-5.36561842e-02 1.85836332e-03 9.98557740e-01 -2.81013256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.883201008 meters 0.0675458488072856 Centerline is valid? [True, True] Translation: X:35.69, Y:4.34, Z:-2.81 [[ 9.58836777e-01 -2.78900254e-01 5.33543087e-02 3.56867542e+01] [ 2.78594703e-01 9.60317608e-01 1.32318738e-02 4.33894739e+00] [-5.49274551e-02 2.17702054e-03 9.98487975e-01 -2.81369225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.913201008 meters 0.06714429517803609 Centerline is valid? [True, True] Translation: X:35.71, Y:4.35, Z:-2.81 [[ 9.58387181e-01 -2.80143654e-01 5.48957597e-02 3.57130566e+01] [ 2.79822180e-01 9.59955303e-01 1.36148226e-02 4.34907455e+00] [-5.65115818e-02 2.31277965e-03 9.98399265e-01 -2.81487658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.943201008 meters 0.06708138558056992 Centerline is valid? [True, True] Translation: X:35.74, Y:4.36, Z:-2.82 [[ 9.58118196e-01 -2.81036876e-01 5.50254239e-02 3.57403174e+01] [ 2.80714306e-01 9.59694084e-01 1.36653884e-02 4.35721566e+00] [-5.66480519e-02 2.35336640e-03 9.98391436e-01 -2.81549827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.973201008000004 meters 0.06650492524018978 Centerline is valid? [True, True] Translation: X:35.77, Y:4.37, Z:-2.82 [[ 9.58022125e-01 -2.81187544e-01 5.59211407e-02 3.57682366e+01] [ 2.80854340e-01 9.59649845e-01 1.38929738e-02 4.36567435e+00] [-5.75712452e-02 2.39591873e-03 9.98338525e-01 -2.81535966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.003201008000005 meters 0.06651330676082737 Centerline is valid? [True, True] Translation: X:35.80, Y:4.38, Z:-2.82 [[ 9.58756956e-01 -2.78635422e-01 5.61017088e-02 3.57952895e+01] [ 2.78294701e-01 9.60394353e-01 1.39551101e-02 4.37520180e+00] [-5.77681523e-02 2.23324942e-03 9.98327528e-01 -2.81661792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.033201008 meters 0.06609064079047978 Centerline is valid? [True, True] Translation: X:35.82, Y:4.39, Z:-2.82 [[ 9.59321611e-01 -2.76961463e-01 5.47210626e-02 3.58218039e+01] [ 2.76634605e-01 9.60878776e-01 1.36115141e-02 4.38670057e+00] [-5.63501725e-02 2.07991990e-03 9.98408900e-01 -2.82024485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.063201008 meters 0.06587241367640138 Centerline is valid? [True, True] Translation: X:35.85, Y:4.40, Z:-2.82 [[ 9.60082700e-01 -2.74660029e-01 5.29441019e-02 3.58483470e+01] [ 2.74349897e-01 9.61539585e-01 1.31818398e-02 4.39781050e+00] [-5.45283742e-02 1.86955256e-03 9.98510471e-01 -2.82444507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.093201008 meters 0.0651833754212036 Centerline is valid? [True, True] Translation: X:35.88, Y:4.41, Z:-2.83 [[ 9.61054236e-01 -2.71597446e-01 5.10840798e-02 3.58754903e+01] [ 2.71303797e-01 9.62409574e-01 1.27303529e-02 4.40933939e+00] [-5.26213388e-02 1.62474521e-03 9.98613216e-01 -2.82663367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.123201008 meters 0.06430883482614981 Centerline is valid? [True, True] Translation: X:35.90, Y:4.42, Z:-2.83 [[ 9.62433137e-01 -2.66851967e-01 5.01246964e-02 3.59025623e+01] [ 2.66562170e-01 9.63736616e-01 1.25037480e-02 4.42272325e+00] [-5.16436551e-02 1.32732648e-03 9.98664694e-01 -2.82967026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.153201008 meters 0.065748132571935 Centerline is valid? [True, True] Translation: X:35.93, Y:4.43, Z:-2.84 [[ 9.62491504e-01 -2.66722002e-01 4.96938379e-02 3.59286090e+01] [ 2.66436410e-01 9.63772633e-01 1.24076839e-02 4.42732513e+00] [-5.12029633e-02 1.29795744e-03 9.98687425e-01 -2.83793158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.183201008000005 meters 0.06456796218482547 Centerline is valid? [True, True] Translation: X:35.96, Y:4.44, Z:-2.84 [[ 9.62294752e-01 -2.67568051e-01 4.89504718e-02 3.59555838e+01] [ 2.67291648e-01 9.63538068e-01 1.22297714e-02 4.44089373e+00] [-5.04379391e-02 1.31540741e-03 9.98726331e-01 -2.83682410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.213201008 meters 0.06483640746895604 Centerline is valid? [True, True] Translation: X:35.98, Y:4.45, Z:-2.84 [[ 9.61862080e-01 -2.69138671e-01 4.88437891e-02 3.59841381e+01] [ 2.68864891e-01 9.63100443e-01 1.22150621e-02 4.44704777e+00] [-5.03290205e-02 1.38317498e-03 9.98731734e-01 -2.83962523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.243201008 meters 0.0649314188856336 Centerline is valid? [True, True] Translation: X:36.01, Y:4.45, Z:-2.84 [[ 9.60799870e-01 -2.72868925e-01 4.90526221e-02 3.60133248e+01] [ 2.72596792e-01 9.62049941e-01 1.22841593e-02 4.45077457e+00] [-5.05430375e-02 1.56896879e-03 9.98720651e-01 -2.83885660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.273201008 meters 0.06545639129055951 Centerline is valid? [True, True] Translation: X:36.04, Y:4.46, Z:-2.84 [[ 9.60481037e-01 -2.74038328e-01 4.87767642e-02 3.60410162e+01] [ 2.73770671e-01 9.61717407e-01 1.22167327e-02 4.45552694e+00] [-5.02573162e-02 1.61970741e-03 9.98734989e-01 -2.84108879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.303201008 meters 0.06496698054521577 Centerline is valid? [True, True] Translation: X:36.07, Y:4.47, Z:-2.84 [[ 9.60338236e-01 -2.74454563e-01 4.92459652e-02 3.60674874e+01] [ 2.74182310e-01 9.61598640e-01 1.23335631e-02 4.46527285e+00] [-5.07398558e-02 1.65798023e-03 9.98710528e-01 -2.84214344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.333201008 meters 0.06517154750526241 Centerline is valid? [True, True] Translation: X:36.09, Y:4.47, Z:-2.85 [[ 9.60425676e-01 -2.74089719e-01 4.95716414e-02 3.60945004e+01] [ 2.73812610e-01 9.61702736e-01 1.24299087e-02 4.47337397e+00] [-5.10800933e-02 1.63533705e-03 9.98693221e-01 -2.84656326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.363201008000004 meters 0.06504584098161233 Centerline is valid? [True, True] Translation: X:36.12, Y:4.48, Z:-2.85 [[ 9.60868664e-01 -2.72338110e-01 5.06296718e-02 3.61212587e+01] [ 2.72045737e-01 9.62200355e-01 1.27119519e-02 4.48230124e+00] [-5.21778371e-02 1.55907017e-03 9.98636592e-01 -2.84973895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.393201008 meters 0.06363884032151147 Centerline is valid? [True, True] Translation: X:36.15, Y:4.49, Z:-2.85 [[ 9.62274358e-01 -2.66719862e-01 5.37454722e-02 3.61483870e+01] [ 2.66381485e-01 9.63773183e-01 1.34965404e-02 4.49462752e+00] [-5.53982402e-02 1.32942392e-03 9.98463453e-01 -2.84898080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.423201008 meters 0.062317518511941644 Centerline is valid? [True, True] Translation: X:36.17, Y:4.51, Z:-2.85 [[ 9.63074444e-01 -2.63684729e-01 5.43873069e-02 3.61749680e+01] [ 2.63332837e-01 9.64608221e-01 1.36673749e-02 4.50760707e+00] [-5.60663214e-02 1.15926435e-03 9.98426374e-01 -2.84612257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.453201008 meters 0.06218995609092548 Centerline is valid? [True, True] Translation: X:36.20, Y:4.52, Z:-2.85 [[ 9.63911677e-01 -2.60649432e-01 5.41862827e-02 3.62013594e+01] [ 2.60295146e-01 9.65433023e-01 1.36203919e-02 4.51653843e+00] [-5.58633741e-02 9.75571600e-04 9.98437946e-01 -2.85031693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.483201008 meters 0.061761637019856236 Centerline is valid? [True, True] Translation: X:36.23, Y:4.53, Z:-2.85 [[ 9.64843292e-01 -2.57411026e-01 5.30752861e-02 3.62285922e+01] [ 2.57066169e-01 9.66301697e-01 1.33422207e-02 4.52802953e+00] [-5.47211737e-02 7.70708284e-04 9.98501377e-01 -2.85299396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.513201008 meters 0.06134747013962618 Centerline is valid? [True, True] Translation: X:36.25, Y:4.54, Z:-2.86 [[ 9.66618582e-01 -2.50828218e-01 5.22850081e-02 3.62544640e+01] [ 2.50483233e-01 9.68031539e-01 1.31563352e-02 4.54296583e+00] [-5.39135170e-02 3.79359781e-04 9.98545537e-01 -2.85645474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.543201008000004 meters 0.06143540888171829 Centerline is valid? [True, True] Translation: X:36.28, Y:4.55, Z:-2.86 [[ 9.67382482e-01 -2.47705504e-01 5.30388321e-02 3.62803075e+01] [ 2.47344864e-01 9.68835356e-01 1.33630679e-02 4.55230802e+00] [-5.46960012e-02 1.91684938e-04 9.98503035e-01 -2.86160810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.573201008 meters 0.061254071773293256 Centerline is valid? [True, True] Translation: X:36.31, Y:4.56, Z:-2.86 [[ 9.68121863e-01 -2.44936594e-01 5.24034758e-02 3.63078569e+01] [ 2.44580442e-01 9.69539099e-01 1.32039158e-02 4.56194547e+00] [-5.40413408e-02 3.38657290e-05 9.98538698e-01 -2.86161216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.603201008 meters 0.061487219835737086 Centerline is valid? [True, True] Translation: X:36.33, Y:4.57, Z:-2.87 [[ 9.68628775e-01 -2.43136634e-01 5.14088859e-02 3.63345304e+01] [ 2.42790480e-01 9.69992047e-01 1.29696712e-02 4.56955939e+00] [-5.30196126e-02 -8.12086243e-05 9.98593468e-01 -2.86589016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.633201008 meters 0.061462392703766584 Centerline is valid? [True, True] Translation: X:36.36, Y:4.58, Z:-2.87 [[ 9.68878886e-01 -2.42294073e-01 5.06683979e-02 3.63625115e+01] [ 2.41956650e-01 9.70202848e-01 1.27833150e-02 4.57664663e+00] [-5.22559454e-02 -1.25928191e-04 9.98633717e-01 -2.86845710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.663201008 meters 0.06144868031982155 Centerline is valid? [True, True] Translation: X:36.39, Y:4.58, Z:-2.87 [[ 9.68819256e-01 -2.42677408e-01 4.99692432e-02 3.63908514e+01] [ 2.42349112e-01 9.70107037e-01 1.26192605e-02 4.58247705e+00] [-5.15379239e-02 -1.15780870e-04 9.98671031e-01 -2.87208048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.693201008 meters 0.06151991438305605 Centerline is valid? [True, True] Translation: X:36.42, Y:4.59, Z:-2.87 [[ 9.68705528e-01 -2.43012247e-01 5.05435301e-02 3.64200334e+01] [ 2.42676117e-01 9.70023214e-01 1.27776009e-02 4.58711953e+00] [-5.21335110e-02 -1.12025032e-04 9.98640118e-01 -2.87394100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.723201008000004 meters 0.06152082642579271 Centerline is valid? [True, True] Translation: X:36.45, Y:4.59, Z:-2.88 [[ 9.68111119e-01 -2.45268733e-01 5.10304707e-02 3.64491969e+01] [ 2.44928398e-01 9.69455130e-01 1.29163167e-02 4.58573021e+00] [-5.26397202e-02 -5.61835954e-06 9.98613569e-01 -2.87654311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.753201008000005 meters 0.06156218144987554 Centerline is valid? [True, True] Translation: X:36.48, Y:4.59, Z:-2.88 [[ 9.67924631e-01 -2.46137471e-01 5.03810925e-02 3.64767832e+01] [ 2.45806714e-01 9.69234927e-01 1.27559756e-02 4.58771736e+00] [-5.19708381e-02 3.71878354e-05 9.98648602e-01 -2.87956212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.783201008 meters 0.06163357418271889 Centerline is valid? [True, True] Translation: X:36.51, Y:4.59, Z:-2.88 [[ 9.67897345e-01 -2.46364271e-01 4.97933198e-02 3.65059861e+01] [ 2.46041406e-01 9.69177302e-01 1.26088418e-02 4.59180673e+00] [-5.13649235e-02 4.71539017e-05 9.98679950e-01 -2.88233672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.813201008 meters 0.061661867945708056 Centerline is valid? [True, True] Translation: X:36.53, Y:4.60, Z:-2.89 [[ 9.68278743e-01 -2.44837067e-01 4.99107946e-02 3.65338040e+01] [ 2.44510068e-01 9.69564237e-01 1.26498104e-02 4.59741782e+00] [-5.14888640e-02 -4.48507158e-05 9.98673568e-01 -2.88523978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.843201008 meters 0.06172239873547178 Centerline is valid? [True, True] Translation: X:36.56, Y:4.60, Z:-2.89 [[ 9.68741837e-01 -2.42969663e-01 5.00499363e-02 3.65611680e+01] [ 2.42637629e-01 9.70033875e-01 1.26989502e-02 4.60307143e+00] [-5.16355933e-02 -1.58006513e-04 9.98665980e-01 -2.88706681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.873201008 meters 0.06178052129528848 Centerline is valid? [True, True] Translation: X:36.59, Y:4.61, Z:-2.89 [[ 9.69252362e-01 -2.40826862e-01 5.05201153e-02 3.65888282e+01] [ 2.40484904e-01 9.70568050e-01 1.28324438e-02 4.60950535e+00] [-5.21236069e-02 -2.88551385e-04 9.98640599e-01 -2.88866602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.903201008 meters 0.06213333681328505 Centerline is valid? [True, True] Translation: X:36.62, Y:4.61, Z:-2.89 [[ 9.69961619e-01 -2.38105464e-01 4.98020596e-02 3.66168144e+01] [ 2.37768620e-01 9.71239202e-01 1.26686559e-02 4.61332547e+00] [-5.13861889e-02 -4.46742979e-04 9.98678757e-01 -2.89327074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.933201008000005 meters 0.06177865759514615 Centerline is valid? [True, True] Translation: X:36.65, Y:4.61, Z:-2.89 [[ 9.69097942e-01 -2.41564321e-01 4.99585674e-02 3.66461596e+01] [ 2.41229710e-01 9.70384773e-01 1.27129849e-02 4.61267331e+00] [-5.15500367e-02 -2.68636711e-04 9.98670377e-01 -2.89435389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.963201008 meters 0.06177865759514615 Centerline is valid? [True, True] Translation: X:36.67, Y:4.62, Z:-2.90 [[ 9.69033891e-01 -2.41821112e-01 4.99586644e-02 3.66728672e+01] [ 2.41486863e-01 9.70320815e-01 1.27126079e-02 4.61966690e+00] [-5.15501089e-02 -2.54586788e-04 9.98670377e-01 -2.89649228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.993201008 meters 0.06145460294876861 Centerline is valid? [True, True] Translation: X:36.70, Y:4.62, Z:-2.90 [[ 9.67767404e-01 -2.46744844e-01 5.04304807e-02 3.67029881e+01] [ 2.46409914e-01 9.69080483e-01 1.28519351e-02 4.61633039e+00] [-5.20423433e-02 -1.11134040e-05 9.98644879e-01 -2.89702539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.023201008 meters 0.061347566800836015 Centerline is valid? [True, True] Translation: X:36.73, Y:4.62, Z:-2.90 [[ 9.67802115e-01 -2.46692251e-01 5.00199909e-02 3.67309592e+01] [ 2.46362663e-01 9.69093872e-01 1.27477518e-02 4.62371966e+00] [-5.16188382e-02 -1.42429642e-05 9.98666859e-01 -2.89917530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.053201008 meters 0.06151873399300326 Centerline is valid? [True, True] Translation: X:36.76, Y:4.63, Z:-2.90 [[ 9.67823222e-01 -2.46593695e-01 5.00975141e-02 3.67572619e+01] [ 2.46262364e-01 9.69118955e-01 1.27788728e-02 4.63223635e+00] [-5.17016400e-02 -3.05576092e-05 9.98662575e-01 -2.90173435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.083201008 meters 0.06147258139543265 Centerline is valid? [True, True] Translation: X:36.78, Y:4.64, Z:-2.91 [[ 9.67743004e-01 -2.46742330e-01 5.09087556e-02 3.67843146e+01] [ 2.46399568e-01 9.69081122e-01 1.30012318e-02 4.64149783e+00] [-5.25426683e-02 -3.79557854e-05 9.98618679e-01 -2.90514411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.113201008000004 meters 0.0616863600898293 Centerline is valid? [True, True] Translation: X:36.81, Y:4.65, Z:-2.91 [[ 9.67992331e-01 -2.45538734e-01 5.19766990e-02 3.68090792e+01] [ 2.45178799e-01 9.69386773e-01 1.32906386e-02 4.65417748e+00] [-5.36488911e-02 -1.21651618e-04 9.98559854e-01 -2.91037228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.143201008 meters 0.06162216454200169 Centerline is valid? [True, True] Translation: X:36.84, Y:4.66, Z:-2.91 [[ 9.68337307e-01 -2.44271213e-01 5.15212009e-02 3.68361275e+01] [ 2.43915739e-01 9.69706934e-01 1.31747611e-02 4.66359575e+00] [-5.31786806e-02 -1.90780879e-04 9.98584995e-01 -2.91139188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.173201008 meters 0.061641615472583094 Centerline is valid? [True, True] Translation: X:36.86, Y:4.67, Z:-2.91 [[ 9.68304164e-01 -2.44504011e-01 5.10375807e-02 3.68637984e+01] [ 2.44154845e-01 9.69648263e-01 1.30636330e-02 4.67091236e+00] [-5.26826121e-02 -1.88497596e-04 9.98611289e-01 -2.91355718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.203201008 meters 0.06149957252850472 Centerline is valid? [True, True] Translation: X:36.89, Y:4.68, Z:-2.92 [[ 9.67825880e-01 -2.46381486e-01 5.10806152e-02 3.68920988e+01] [ 2.46033709e-01 9.69172923e-01 1.30866305e-02 4.67540163e+00] [-5.27302526e-02 -9.80264861e-05 9.98608788e-01 -2.91512486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.233201008 meters 0.061429091579008645 Centerline is valid? [True, True] Translation: X:36.92, Y:4.68, Z:-2.92 [[ 9.67467708e-01 -2.47983806e-01 5.01025519e-02 3.69211107e+01] [ 2.47650609e-01 9.68764177e-01 1.28508517e-02 4.68071790e+00] [-5.17243606e-02 -2.48565526e-05 9.98661399e-01 -2.91610851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.263201008 meters 0.06125881956104996 Centerline is valid? [True, True] Translation: X:36.95, Y:4.68, Z:-2.92 [[ 9.66858118e-01 -2.50343711e-01 5.01338747e-02 3.69476212e+01] [ 2.50012538e-01 9.68157022e-01 1.28729237e-02 4.68478819e+00] [-5.17601183e-02 8.78064805e-05 9.98659543e-01 -2.91806763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.293201008000004 meters 0.061178984771214445 Centerline is valid? [True, True] Translation: X:36.98, Y:4.69, Z:-2.92 [[ 9.66493843e-01 -2.51623843e-01 5.07453739e-02 3.69762593e+01] [ 2.51285835e-01 9.67825098e-01 1.30387676e-02 4.69078456e+00] [-5.23935113e-02 1.49705040e-04 9.98626506e-01 -2.92028885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.323201008 meters 0.061258592893667516 Centerline is valid? [True, True] Translation: X:37.00, Y:4.70, Z:-2.92 [[ 9.66339829e-01 -2.52397195e-01 4.98296233e-02 3.70039591e+01] [ 2.52071699e-01 9.67623700e-01 1.28153709e-02 4.69761548e+00] [-5.14508882e-02 1.76634436e-04 9.98675510e-01 -2.92295973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.353201008 meters 0.061277935615285786 Centerline is valid? [True, True] Translation: X:37.03, Y:4.70, Z:-2.93 [[ 9.65811455e-01 -2.54181617e-01 5.09895960e-02 3.70319195e+01] [ 2.53842580e-01 9.67156469e-01 1.31266664e-02 4.70472077e+00] [-5.26514749e-02 2.65445790e-04 9.98612914e-01 -2.92700493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.383201008 meters 0.06129461171649794 Centerline is valid? [True, True] Translation: X:37.06, Y:4.71, Z:-2.93 [[ 9.65682559e-01 -2.54710926e-01 5.07891725e-02 3.70588765e+01] [ 2.54374418e-01 9.67017201e-01 1.30915356e-02 4.71175835e+00] [-5.24485606e-02 2.77198597e-04 9.98623589e-01 -2.92996700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.413201008 meters 0.06135257012593488 Centerline is valid? [True, True] Translation: X:37.09, Y:4.72, Z:-2.93 [[ 9.65534231e-01 -2.55440445e-01 4.99382320e-02 3.70871631e+01] [ 2.55116084e-01 9.66824742e-01 1.28725125e-02 4.71835924e+00] [-5.15696786e-02 3.11194686e-04 9.98669350e-01 -2.93216889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.443201008 meters 0.06121507727955325 Centerline is valid? [True, True] Translation: X:37.12, Y:4.72, Z:-2.93 [[ 9.65594651e-01 -2.55315782e-01 4.94046735e-02 3.71154564e+01] [ 2.54997547e-01 9.66857677e-01 1.27469001e-02 4.72475314e+00] [-5.10217726e-02 2.89731957e-04 9.98697499e-01 -2.93427142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.473201008000004 meters 0.06130134536664597 Centerline is valid? [True, True] Translation: X:37.14, Y:4.73, Z:-2.94 [[ 9.65594614e-01 -2.55466713e-01 4.86189234e-02 3.71428326e+01] [ 2.55157966e-01 9.66817812e-01 1.25591213e-02 4.73033976e+00] [-5.02140785e-02 2.78485667e-04 9.98738439e-01 -2.93579414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.503201008000005 meters 0.06106472947303919 Centerline is valid? [True, True] Translation: X:37.17, Y:4.74, Z:-2.94 [[ 9.65374724e-01 -2.56029325e-01 5.00062727e-02 3.71700101e+01] [ 2.55703034e-01 9.66668966e-01 1.29255206e-02 4.73527133e+00] [-5.16488243e-02 3.08784723e-04 9.98665261e-01 -2.93712875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.533201008 meters 0.06096564340774819 Centerline is valid? [True, True] Translation: X:37.20, Y:4.74, Z:-2.94 [[ 9.65078144e-01 -2.57109902e-01 5.01863939e-02 3.71968913e+01] [ 2.56782731e-01 9.66382100e-01 1.29717540e-02 4.74225374e+00] [-5.18343991e-02 3.68242981e-04 9.98655626e-01 -2.93849076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.563201008 meters 0.060792756080798774 Centerline is valid? [True, True] Translation: X:37.22, Y:4.75, Z:-2.94 [[ 9.64796088e-01 -2.57861777e-01 5.17282607e-02 3.72243945e+01] [ 2.57514411e-01 9.66181732e-01 1.33861457e-02 4.75034548e+00] [-5.34306758e-02 4.05871616e-04 9.98571479e-01 -2.93843135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.593201008 meters 0.06097652833595916 Centerline is valid? [True, True] Translation: X:37.25, Y:4.76, Z:-2.94 [[ 9.64624882e-01 -2.58418331e-01 5.21421487e-02 3.72515372e+01] [ 2.58065273e-01 9.66033015e-01 1.35102901e-02 4.75696669e+00] [-5.38623437e-02 4.23715816e-04 9.98548280e-01 -2.94129424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.623201008 meters 0.06090675391160865 Centerline is valid? [True, True] Translation: X:37.28, Y:4.76, Z:-2.94 [[ 9.63578054e-01 -2.62081721e-01 5.32024935e-02 3.72806567e+01] [ 2.61719645e-01 9.65045471e-01 1.37864181e-02 4.76180145e+00] [-5.49559936e-02 6.39847778e-04 9.98488572e-01 -2.94155563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.653201008 meters 0.06110118148551563 Centerline is valid? [True, True] Translation: X:37.31, Y:4.77, Z:-2.94 [[ 9.62962068e-01 -2.64371144e-01 5.30278551e-02 3.73077238e+01] [ 2.64013986e-01 9.64420724e-01 1.37579679e-02 4.76643906e+00] [-5.47783721e-02 7.51694147e-04 9.98498255e-01 -2.94420372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.683201008000005 meters 0.06127650090136187 Centerline is valid? [True, True] Translation: X:37.34, Y:4.77, Z:-2.95 [[ 9.62224153e-01 -2.66945021e-01 5.35260229e-02 3.73362509e+01] [ 2.66585012e-01 9.63711334e-01 1.38886804e-02 4.77132266e+00] [-5.52911491e-02 9.05211741e-04 9.98469864e-01 -2.94528959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.713201008 meters 0.061544687564375464 Centerline is valid? [True, True] Translation: X:37.36, Y:4.78, Z:-2.95 [[ 9.61672453e-01 -2.68846355e-01 5.39233770e-02 3.73633245e+01] [ 2.68483033e-01 9.63182550e-01 1.40084134e-02 4.77665270e+00] [-5.57041667e-02 1.00600653e-03 9.98446811e-01 -2.94824394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.743201008 meters 0.061992990586958126 Centerline is valid? [True, True] Translation: X:37.39, Y:4.78, Z:-2.95 [[ 9.61057241e-01 -2.71178504e-01 5.32090004e-02 3.73901173e+01] [ 2.70828070e-01 9.62528421e-01 1.38273606e-02 4.78325623e+00] [-5.49648581e-02 1.12160580e-03 9.98487660e-01 -2.95094780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.773201008 meters 0.06155851451341797 Centerline is valid? [True, True] Translation: X:37.42, Y:4.79, Z:-2.95 [[ 9.60706850e-01 -2.72417565e-01 5.32073228e-02 3.74178139e+01] [ 2.72069003e-01 9.62178388e-01 1.38277818e-02 4.79394724e+00] [-5.49618667e-02 1.19161854e-03 9.98487743e-01 -2.95093200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.803201008 meters 0.06192397413554461 Centerline is valid? [True, True] Translation: X:37.44, Y:4.80, Z:-2.96 [[ 9.60534694e-01 -2.73065077e-01 5.29959093e-02 3.74443258e+01] [ 2.72719379e-01 9.61994805e-01 1.37889935e-02 4.80055323e+00] [-5.47470820e-02 1.20820479e-03 9.98499523e-01 -2.95528334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.833201008 meters 0.06240581979531093 Centerline is valid? [True, True] Translation: X:37.47, Y:4.81, Z:-2.96 [[ 9.60563189e-01 -2.73201648e-01 5.17611798e-02 3.74708445e+01] [ 2.72871656e-01 9.61956063e-01 1.34756103e-02 4.80782383e+00] [-5.34735397e-02 1.17998368e-03 9.98568570e-01 -2.96030879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.863201008000004 meters 0.06163266503459585 Centerline is valid? [True, True] Translation: X:37.50, Y:4.82, Z:-2.96 [[ 9.60746905e-01 -2.72771931e-01 5.06049262e-02 3.74985642e+01] [ 2.72455916e-01 9.62078062e-01 1.31748483e-02 4.81867564e+00] [-5.22796181e-02 1.12991682e-03 9.98631846e-01 -2.95899156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.893201008 meters 0.062018871476623126 Centerline is valid? [True, True] Translation: X:37.53, Y:4.82, Z:-2.96 [[ 9.60771678e-01 -2.72709133e-01 5.04728815e-02 3.75252402e+01] [ 2.72393850e-01 9.62095889e-01 1.31563684e-02 4.82476773e+00] [-5.21476137e-02 1.10823640e-03 9.98638773e-01 -2.96243937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.923201008 meters 0.061960311484043976 Centerline is valid? [True, True] Translation: X:37.55, Y:4.83, Z:-2.97 [[ 9.60925965e-01 -2.72366096e-01 4.93761068e-02 3.75528298e+01] [ 2.72063768e-01 9.62193109e-01 1.28734629e-02 4.83325650e+00] [-5.10156446e-02 1.06300494e-03 9.98697288e-01 -2.96525474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.953201008 meters 0.06155750246029065 Centerline is valid? [True, True] Translation: X:37.58, Y:4.84, Z:-2.97 [[ 9.61252381e-01 -2.71093366e-01 5.00224698e-02 3.75799280e+01] [ 2.70780700e-01 9.62552541e-01 1.30544429e-02 4.84413571e+00] [-5.16882282e-02 9.96505023e-04 9.98662773e-01 -2.96609868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.983201008 meters 0.061235553394037516 Centerline is valid? [True, True] Translation: X:37.61, Y:4.85, Z:-2.97 [[ 9.61342701e-01 -2.70774642e-01 5.00130506e-02 3.76077584e+01] [ 2.70461013e-01 9.62642279e-01 1.30645377e-02 4.85457429e+00] [-5.16822225e-02 9.67082425e-04 9.98663113e-01 -2.96616108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.013201008 meters 0.06101932302794263 Centerline is valid? [True, True] Translation: X:37.64, Y:4.86, Z:-2.97 [[ 9.61493712e-01 -2.70130017e-01 5.05926469e-02 3.76351898e+01] [ 2.69807570e-01 9.62823403e-01 1.32276168e-02 4.86362932e+00] [-5.22849608e-02 9.32008718e-04 9.98631771e-01 -2.96784410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.043201008000004 meters 0.06083519372999542 Centerline is valid? [True, True] Translation: X:37.66, Y:4.87, Z:-2.97 [[ 9.61520860e-01 -2.69775088e-01 5.19522531e-02 3.76631315e+01] [ 2.69433806e-01 9.62922919e-01 1.35969254e-02 4.87240368e+00] [-5.36941269e-02 9.23965806e-04 9.98557002e-01 -2.96889410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.073201008 meters 0.060827986844507596 Centerline is valid? [True, True] Translation: X:37.69, Y:4.88, Z:-2.97 [[ 9.60970165e-01 -2.70989041e-01 5.56891480e-02 3.76902676e+01] [ 2.70597812e-01 9.62581865e-01 1.45937235e-02 4.87824738e+00] [-5.75601031e-02 1.04522872e-03 9.98341496e-01 -2.96709414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.103201008 meters 0.060694254394726595 Centerline is valid? [True, True] Translation: X:37.72, Y:4.88, Z:-2.97 [[ 9.60418520e-01 -2.72878024e-01 5.59808016e-02 3.77182953e+01] [ 2.72485776e-01 9.62047937e-01 1.46720653e-02 4.88465229e+00] [-5.78598989e-02 1.16264894e-03 9.98324036e-01 -2.96686864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.133201008 meters 0.06112989405728488 Centerline is valid? [True, True] Translation: X:37.75, Y:4.89, Z:-2.97 [[ 9.59627610e-01 -2.75445308e-01 5.69625599e-02 3.77459234e+01] [ 2.75042619e-01 9.61315834e-01 1.49474472e-02 4.88869969e+00] [-5.88762149e-02 1.32314858e-03 9.98264414e-01 -2.96916181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.163201008 meters 0.06143124091698217 Centerline is valid? [True, True] Translation: X:37.77, Y:4.90, Z:-2.97 [[ 9.58862471e-01 -2.78240236e-01 5.62595166e-02 3.77741261e+01] [ 2.77851932e-01 9.60510389e-01 1.47681133e-02 4.89542171e+00] [-5.81469335e-02 1.47122576e-03 9.98306952e-01 -2.97104070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.193201008 meters 0.062379964458812255 Centerline is valid? [True, True] Translation: X:37.80, Y:4.90, Z:-2.98 [[ 9.58183335e-01 -2.80841532e-01 5.48883378e-02 3.78025174e+01] [ 2.80475892e-01 9.59752846e-01 1.44135177e-02 4.89970899e+00] [-5.67271528e-02 1.58406299e-03 9.98388462e-01 -2.97541837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.223201008000004 meters 0.06292879636507652 Centerline is valid? [True, True] Translation: X:37.83, Y:4.91, Z:-2.98 [[ 9.57620933e-01 -2.83479718e-01 5.10039025e-02 3.78311715e+01] [ 2.83167797e-01 9.58976868e-01 1.33927402e-02 4.90786977e+00] [-5.27081329e-02 1.61749434e-03 9.98608650e-01 -2.97960971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.253201008 meters 0.06368853265696875 Centerline is valid? [True, True] Translation: X:37.86, Y:4.92, Z:-2.98 [[ 9.57660488e-01 -2.83642791e-01 4.93270294e-02 3.78577917e+01] [ 2.83350693e-01 9.58928739e-01 1.29637007e-02 4.91533307e+00] [-5.09781664e-02 1.56202403e-03 9.98698546e-01 -2.98473314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.283201008 meters 0.06347866273542957 Centerline is valid? [True, True] Translation: X:37.89, Y:4.93, Z:-2.99 [[ 9.57973576e-01 -2.82964926e-01 4.70901098e-02 3.78851228e+01] [ 2.82697935e-01 9.59129151e-01 1.23753707e-02 4.92564089e+00] [-4.86672929e-02 1.45699866e-03 9.98813983e-01 -2.98778593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.313201008 meters 0.062776114935049 Centerline is valid? [True, True] Translation: X:37.91, Y:4.94, Z:-2.99 [[ 9.58654602e-01 -2.80947861e-01 4.52731094e-02 3.79113860e+01] [ 2.80698364e-01 9.59722163e-01 1.19079535e-02 4.93777089e+00] [-4.67951205e-02 1.29247331e-03 9.98903672e-01 -2.98971125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.343201008 meters 0.06192321663665151 Centerline is valid? [True, True] Translation: X:37.94, Y:4.95, Z:-2.99 [[ 9.60360186e-01 -2.75252316e-01 4.40962199e-02 3.79368761e+01] [ 2.75008901e-01 9.61371529e-01 1.16141545e-02 4.95252616e+00] [-4.55896732e-02 9.73081393e-04 9.98959776e-01 -2.99219129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.373201008 meters 0.061701912783687154 Centerline is valid? [True, True] Translation: X:37.96, Y:4.96, Z:-3.00 [[ 9.61232477e-01 -2.72377130e-01 4.29281351e-02 3.79631966e+01] [ 2.72143479e-01 9.62190230e-01 1.13087325e-02 4.96232552e+00] [-4.43852723e-02 8.12291132e-04 9.99014158e-01 -2.99513400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.403201008 meters 0.0611544611282949 Centerline is valid? [True, True] Translation: X:37.99, Y:4.97, Z:-3.00 [[ 9.61747869e-01 -2.70545760e-01 4.29654265e-02 3.79903971e+01] [ 2.70309932e-01 9.62706840e-01 1.13173008e-02 4.97272307e+00] [-4.44249577e-02 7.29591620e-04 9.99012458e-01 -2.99571444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.433201008000005 meters 0.06059756079386106 Centerline is valid? [True, True] Translation: X:38.02, Y:4.99, Z:-3.00 [[ 9.62893781e-01 -2.66345575e-01 4.35385046e-02 3.80165104e+01] [ 2.66098390e-01 9.63877459e-01 1.14843376e-02 4.98585574e+00] [-4.50245857e-02 5.27328718e-04 9.98985740e-01 -2.99803485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.463201008 meters 0.06036098751552648 Centerline is valid? [True, True] Translation: X:38.04, Y:5.00, Z:-3.00 [[ 9.63242590e-01 -2.64825997e-01 4.50655471e-02 3.80440198e+01] [ 2.64559418e-01 9.64296101e-01 1.18888550e-02 4.99658480e+00] [-4.66050092e-02 4.70663442e-04 9.98913285e-01 -2.99987796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.493201008 meters 0.06001287200825751 Centerline is valid? [True, True] Translation: X:38.07, Y:5.01, Z:-3.00 [[ 9.63670826e-01 -2.63039613e-01 4.63540826e-02 3.80712718e+01] [ 2.62755381e-01 9.64784954e-01 1.22311841e-02 5.00720147e+00] [-4.79390074e-02 3.92949405e-04 9.98850188e-01 -3.00124856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.523201008 meters 0.05986597735686637 Centerline is valid? [True, True] Translation: X:38.10, Y:5.02, Z:-3.00 [[ 9.64122107e-01 -2.61302459e-01 4.67930323e-02 3.80985042e+01] [ 2.61010214e-01 9.65256927e-01 1.23585033e-02 5.01695975e+00] [-4.83966059e-02 2.98353087e-04 9.98828153e-01 -3.00220624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.553201008 meters 0.05959949533225427 Centerline is valid? [True, True] Translation: X:38.13, Y:5.03, Z:-3.00 [[ 9.65091737e-01 -2.57945114e-01 4.54120785e-02 3.81260407e+01] [ 2.57665669e-01 9.66159565e-01 1.20040963e-02 5.02557501e+00] [-4.69717120e-02 1.16079408e-04 9.98896213e-01 -3.00029457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.583201008 meters 0.059596568750202174 Centerline is valid? [True, True] Translation: X:38.15, Y:5.03, Z:-3.00 [[ 9.65343251e-01 -2.56988509e-01 4.54897151e-02 3.81524779e+01] [ 2.56706341e-01 9.66414457e-01 1.20395686e-02 5.03237209e+00] [-4.70559491e-02 5.51820763e-05 9.98892254e-01 -3.00140817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.613201008000004 meters 0.05947466953739593 Centerline is valid? [True, True] Translation: X:38.18, Y:5.04, Z:-3.00 [[ 9.65576003e-01 -2.56168474e-01 4.51740631e-02 3.81808374e+01] [ 2.55889231e-01 9.66632150e-01 1.19577861e-02 5.03993173e+00] [-4.67299096e-02 1.34049412e-05 9.98907561e-01 -3.00251210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.643201008 meters 0.059377047583271614 Centerline is valid? [True, True] Translation: X:38.21, Y:5.05, Z:-3.00 [[ 9.65878618e-01 -2.55275257e-01 4.37383020e-02 3.82092145e+01] [ 2.55012118e-01 9.66868420e-01 1.15878290e-02 5.04715304e+00] [-4.52472690e-02 -3.86392451e-05 9.98975817e-01 -3.00298355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.673201008 meters 0.0599203523326093 Centerline is valid? [True, True] Translation: X:38.23, Y:5.05, Z:-3.01 [[ 9.66126983e-01 -2.54671046e-01 4.17290186e-02 3.82349869e+01] [ 2.54430342e-01 9.67027741e-01 1.10701897e-02 5.05410447e+00] [-4.31723754e-02 -7.80805147e-05 9.99067635e-01 -3.01210695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.703201008 meters 0.06032448968325754 Centerline is valid? [True, True] Translation: X:38.26, Y:5.06, Z:-3.02 [[ 9.66149334e-01 -2.54888574e-01 3.98406848e-02 3.82611770e+01] [ 2.54669186e-01 9.66970429e-01 1.05733405e-02 5.06080402e+00] [-4.12197877e-02 -6.92310837e-05 9.99150101e-01 -3.01854588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.733201008 meters 0.06033924923515938 Centerline is valid? [True, True] Translation: X:38.29, Y:5.07, Z:-3.02 [[ 9.66058871e-01 -2.55508447e-01 3.80222566e-02 3.82895121e+01] [ 2.55309184e-01 9.66806822e-01 1.00890344e-02 5.06582782e+00] [-3.93380106e-02 -3.91698605e-05 9.99225960e-01 -3.02167686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.763201008 meters 0.060474624151693766 Centerline is valid? [True, True] Translation: X:38.32, Y:5.07, Z:-3.02 [[ 9.66066705e-01 -2.55576256e-01 3.73617295e-02 3.83172616e+01] [ 2.55383326e-01 9.66788899e-01 9.92884907e-03 5.06990396e+00] [-3.86584834e-02 -5.03677645e-05 9.99252480e-01 -3.02374962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.793201008000004 meters 0.06030476082673674 Centerline is valid? [True, True] Translation: X:38.35, Y:5.07, Z:-3.02 [[ 9.65860054e-01 -2.56401519e-01 3.70488366e-02 3.83461570e+01] [ 2.56212525e-01 9.66570360e-01 9.84284547e-03 5.07295256e+00] [-3.83340279e-02 -1.44352963e-05 9.99264981e-01 -3.02323541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.823201008 meters 0.06036009458242765 Centerline is valid? [True, True] Translation: X:38.37, Y:5.08, Z:-3.02 [[ 9.65496911e-01 -2.57703250e-01 3.74799904e-02 3.83741041e+01] [ 2.57510204e-01 9.66224112e-01 9.97298530e-03 5.07530635e+00] [-3.87841412e-02 2.25934883e-05 9.99247612e-01 -3.02469083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.853201008 meters 0.06036009458242765 Centerline is valid? [True, True] Translation: X:38.40, Y:5.08, Z:-3.03 [[ 9.65429696e-01 -2.57954806e-01 3.74809367e-02 3.84007394e+01] [ 2.57762087e-01 9.66156983e-01 9.96943646e-03 5.08259548e+00] [-3.87841328e-02 3.63744741e-05 9.99247612e-01 -3.02682980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.883201008 meters 0.059957286508389544 Centerline is valid? [True, True] Translation: X:38.43, Y:5.08, Z:-3.03 [[ 9.64716789e-01 -2.60500763e-01 3.82213205e-02 3.84305044e+01] [ 2.60301863e-01 9.65473633e-01 1.01786355e-02 5.08295061e+00] [-3.95532194e-02 1.29580382e-04 9.99217457e-01 -3.02654047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.913201008 meters 0.0599217019929892 Centerline is valid? [True, True] Translation: X:38.46, Y:5.09, Z:-3.03 [[ 9.64252575e-01 -2.62162986e-01 3.85686481e-02 3.84584202e+01] [ 2.61961446e-01 9.65023592e-01 1.02795220e-02 5.08708384e+00] [-3.99145655e-02 1.91443286e-04 9.99203078e-01 -3.02680525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.943201008 meters 0.059799785412665986 Centerline is valid? [True, True] Translation: X:38.49, Y:5.09, Z:-3.03 [[ 9.63601356e-01 -2.64451696e-01 3.92138536e-02 3.84873499e+01] [ 2.64244731e-01 9.64398892e-01 1.04641973e-02 5.09032896e+00] [-4.05850717e-02 2.78739432e-04 9.99176048e-01 -3.02764698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.973201008000004 meters 0.06012500283291399 Centerline is valid? [True, True] Translation: X:38.52, Y:5.09, Z:-3.03 [[ 9.63082487e-01 -2.66354060e-01 3.90850082e-02 3.85153808e+01] [ 2.66149447e-01 9.63875198e-01 1.04439228e-02 5.09306280e+00] [-4.04548512e-02 3.44094160e-04 9.99181308e-01 -3.03180066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.003201008 meters 0.05988176830048849 Centerline is valid? [True, True] Translation: X:38.54, Y:5.10, Z:-3.03 [[ 9.62763947e-01 -2.67519651e-01 3.89720149e-02 3.85435309e+01] [ 2.67317138e-01 9.63552325e-01 1.04146315e-02 5.10015706e+00] [-4.03376942e-02 3.91055785e-04 9.99186027e-01 -3.03127326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.033201008 meters 0.0601362691100053 Centerline is valid? [True, True] Translation: X:38.57, Y:5.11, Z:-3.04 [[ 9.62520791e-01 -2.68403081e-01 3.89038929e-02 3.85698375e+01] [ 2.68201382e-01 9.63306605e-01 1.04116730e-02 5.10680400e+00] [-4.02709021e-02 4.12626073e-04 9.99188713e-01 -3.03597544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.063201008 meters 0.06033214613016185 Centerline is valid? [True, True] Translation: X:38.60, Y:5.11, Z:-3.04 [[ 9.62175433e-01 -2.69683662e-01 3.85896053e-02 3.85976850e+01] [ 2.69486272e-01 9.62948860e-01 1.03267261e-02 5.11342220e+00] [-3.99447658e-02 4.63246705e-04 9.99201782e-01 -3.03850214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.093201008 meters 0.061141949468354974 Centerline is valid? [True, True] Translation: X:38.63, Y:5.12, Z:-3.04 [[ 9.60911361e-01 -2.74406665e-01 3.67469584e-02 3.86271453e+01] [ 2.74230534e-01 9.61613543e-01 9.84923707e-03 5.11581825e+00] [-3.80390692e-02 6.12894253e-04 9.99276065e-01 -3.03960379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.123201008 meters 0.0616276172382438 Centerline is valid? [True, True] Translation: X:38.66, Y:5.12, Z:-3.04 [[ 9.60136161e-01 -2.77305514e-01 3.52165440e-02 3.86560875e+01] [ 2.77145671e-01 9.60781540e-01 9.43982282e-03 5.12046034e+00] [-3.64531202e-02 6.96597468e-04 9.99335121e-01 -3.04061705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.153201008 meters 0.06189277015613262 Centerline is valid? [True, True] Translation: X:38.69, Y:5.13, Z:-3.04 [[ 9.59222998e-01 -2.80576426e-01 3.41776037e-02 3.86854815e+01] [ 2.80428029e-01 9.59831356e-01 9.15910486e-03 5.12648170e+00] [-3.53745646e-02 7.98734010e-04 9.99373805e-01 -3.04100605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.183201008000005 meters 0.06347694736038188 Centerline is valid? [True, True] Translation: X:38.71, Y:5.13, Z:-3.05 [[ 9.58571931e-01 -2.83010138e-01 3.23282243e-02 3.87134598e+01] [ 2.82878375e-01 9.59116559e-01 8.67473811e-03 5.13122776e+00] [-3.34615741e-02 8.29595108e-04 9.99439660e-01 -3.04762526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.213201008 meters 0.0642490364965194 Centerline is valid? [True, True] Translation: X:38.74, Y:5.14, Z:-3.05 [[ 9.56882990e-01 -2.88709992e-01 3.19606558e-02 3.87414060e+01] [ 2.88584319e-01 9.57416059e-01 8.57792713e-03 5.14067504e+00] [-3.30761784e-02 1.01527153e-03 9.99452318e-01 -3.04915522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.243201008 meters 0.06451191509384605 Centerline is valid? [True, True] Translation: X:38.77, Y:5.15, Z:-3.05 [[ 9.56267452e-01 -2.90681302e-01 3.25106117e-02 3.87692694e+01] [ 2.90552631e-01 9.56819289e-01 8.71877238e-03 5.14852963e+00] [-3.36411645e-02 1.10856553e-03 9.99433361e-01 -3.04990024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.273201008 meters 0.06498946390313463 Centerline is valid? [True, True] Translation: X:38.80, Y:5.16, Z:-3.05 [[ 9.55944567e-01 -2.91645859e-01 3.33568343e-02 3.87963903e+01] [ 2.91510512e-01 9.56525666e-01 8.95946433e-03 5.15624562e+00] [-3.45196588e-02 1.15911661e-03 9.99403347e-01 -3.05108911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.303201008 meters 0.06450595784686182 Centerline is valid? [True, True] Translation: X:38.82, Y:5.17, Z:-3.05 [[ 9.55695043e-01 -2.92292542e-01 3.48145718e-02 3.88235507e+01] [ 2.92145347e-01 9.56328165e-01 9.35614460e-03 5.16630314e+00] [-3.60288868e-02 1.22929412e-03 9.99349993e-01 -3.04940290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.333201008 meters 0.06425361496775137 Centerline is valid? [True, True] Translation: X:38.85, Y:5.17, Z:-3.05 [[ 9.55903823e-01 -2.91428131e-01 3.62977360e-02 3.88500305e+01] [ 2.91267296e-01 9.56591920e-01 9.76020242e-03 5.17498948e+00] [-3.75665185e-02 1.24252860e-03 9.99293357e-01 -3.04937143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.363201008000004 meters 0.06343150150804465 Centerline is valid? [True, True] Translation: X:38.88, Y:5.19, Z:-3.05 [[ 9.56348139e-01 -2.89936724e-01 3.65367437e-02 3.88770705e+01] [ 2.89772679e-01 9.57045075e-01 9.82440227e-03 5.18683421e+00] [-3.78157656e-02 1.19180126e-03 9.99284017e-01 -3.04835822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.393201008 meters 0.062347335137847806 Centerline is valid? [True, True] Translation: X:38.90, Y:5.20, Z:-3.05 [[ 9.58222909e-01 -2.83525949e-01 3.77079915e-02 3.89013841e+01] [ 2.83345625e-01 9.58964091e-01 1.01552740e-02 5.20398324e+00] [-3.90398934e-02 9.53378195e-04 9.99237198e-01 -3.05032097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.423201008 meters 0.06138279863066472 Centerline is valid? [True, True] Translation: X:38.93, Y:5.22, Z:-3.05 [[ 9.59260292e-01 -2.79881994e-01 3.85455778e-02 3.89277696e+01] [ 2.79690415e-01 9.60034062e-01 1.03860973e-02 5.21799743e+00] [-3.99119492e-02 8.17857911e-04 9.99202866e-01 -3.05064636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.453201008 meters 0.06099156856785874 Centerline is valid? [True, True] Translation: X:38.95, Y:5.23, Z:-3.05 [[ 9.59761669e-01 -2.78041664e-01 3.93747729e-02 3.89547415e+01] [ 2.77840337e-01 9.60568714e-01 1.06062222e-02 5.23086381e+00] [-4.07711467e-02 7.60454653e-04 9.99168222e-01 -3.05368817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.483201008 meters 0.060559332520550395 Centerline is valid? [True, True] Translation: X:38.98, Y:5.25, Z:-3.06 [[ 9.61037966e-01 -2.73467688e-01 4.02672481e-02 3.89790215e+01] [ 2.73252492e-01 9.61881024e-01 1.08614656e-02 5.24716619e+00] [-4.17025618e-02 5.64845041e-04 9.99129910e-01 -3.05842877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.513201008 meters 0.060435707659601184 Centerline is valid? [True, True] Translation: X:39.00, Y:5.26, Z:-3.06 [[ 9.61442338e-01 -2.71960204e-01 4.08200737e-02 3.90048996e+01] [ 2.71737540e-01 9.62308368e-01 1.10142804e-02 5.25830486e+00] [-4.22769445e-02 5.02750888e-04 9.99105804e-01 -3.06081239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.543201008000004 meters 0.06031717863051158 Centerline is valid? [True, True] Translation: X:39.03, Y:5.27, Z:-3.06 [[ 9.61716419e-01 -2.70902423e-01 4.13933070e-02 3.90309529e+01] [ 2.70672316e-01 9.62606704e-01 1.11727660e-02 5.26797371e+00] [-4.28722042e-02 4.58989780e-04 9.99080459e-01 -3.06330970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.573201008 meters 0.06017403030466818 Centerline is valid? [True, True] Translation: X:39.06, Y:5.28, Z:-3.06 [[ 9.62338464e-01 -2.68799354e-01 4.06397325e-02 3.90573484e+01] [ 2.68575805e-01 9.63196126e-01 1.09663239e-02 5.27774930e+00] [-4.20917737e-02 3.61533559e-04 9.99113683e-01 -3.06466137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.603201008 meters 0.0603127148834767 Centerline is valid? [True, True] Translation: X:39.08, Y:5.29, Z:-3.07 [[ 9.62733684e-01 -2.67453006e-01 4.01589692e-02 3.90834605e+01] [ 2.67232817e-01 9.63570864e-01 1.08541030e-02 5.28595991e+00] [-4.15989751e-02 2.82183951e-04 9.99134348e-01 -3.06756396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.633201008 meters 0.06017342330462635 Centerline is valid? [True, True] Translation: X:39.11, Y:5.30, Z:-3.07 [[ 9.62990089e-01 -2.66532509e-01 4.01311684e-02 3.91096393e+01] [ 2.66311957e-01 9.63825898e-01 1.08434402e-02 5.29548905e+00] [-4.15695888e-02 2.45284541e-04 9.99135581e-01 -3.06994134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.663201008 meters 0.06022385795076677 Centerline is valid? [True, True] Translation: X:39.14, Y:5.31, Z:-3.07 [[ 9.63282904e-01 -2.65312886e-01 4.11718303e-02 3.91368249e+01] [ 2.65079043e-01 9.64162351e-01 1.11383479e-02 5.30675355e+00] [-4.26514759e-02 1.84409279e-04 9.99089995e-01 -3.07448447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.693201008 meters 0.05996378054505932 Centerline is valid? [True, True] Translation: X:39.16, Y:5.32, Z:-3.08 [[ 9.63504123e-01 -2.64207925e-01 4.30578264e-02 3.91630155e+01] [ 2.63950605e-01 9.64465735e-01 1.16586212e-02 5.31923308e+00] [-4.46080983e-02 1.32009760e-04 9.99004555e-01 -3.07811077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.723201008000004 meters 0.05976277011265378 Centerline is valid? [True, True] Translation: X:39.19, Y:5.33, Z:-3.08 [[ 9.63557481e-01 -2.63773638e-01 4.45022364e-02 3.91912446e+01] [ 2.63497762e-01 9.64584603e-01 1.20611966e-02 5.32794866e+00] [-4.61075977e-02 1.04583445e-04 9.98936474e-01 -3.07923515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.753201008 meters 0.05995513223157347 Centerline is valid? [True, True] Translation: X:39.22, Y:5.33, Z:-3.08 [[ 9.63537290e-01 -2.63651260e-01 4.56497886e-02 3.92182133e+01] [ 2.63360090e-01 9.64618062e-01 1.23877831e-02 5.33484766e+00] [-4.73006652e-02 8.62415166e-05 9.98880693e-01 -3.08247104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.783201008 meters 0.05983723961931851 Centerline is valid? [True, True] Translation: X:39.24, Y:5.34, Z:-3.08 [[ 9.63639478e-01 -2.63017566e-01 4.71244854e-02 3.92447896e+01] [ 2.62706289e-01 9.64791043e-01 1.27925152e-02 5.34181974e+00] [-4.88299377e-02 5.25260274e-05 9.98807106e-01 -3.08425911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.813201008 meters 0.05968098354589785 Centerline is valid? [True, True] Translation: X:39.27, Y:5.35, Z:-3.08 [[ 9.64012250e-01 -2.61328296e-01 4.88661811e-02 3.92727881e+01] [ 2.60991386e-01 9.65249978e-01 1.32655920e-02 5.34908306e+00] [-5.06347548e-02 -3.45408797e-05 9.98717237e-01 -3.08233674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.843201008 meters 0.05988555218210849 Centerline is valid? [True, True] Translation: X:39.30, Y:5.36, Z:-3.09 [[ 9.64307292e-01 -2.60029801e-01 4.99594717e-02 3.92997391e+01] [ 2.59675001e-01 9.65600584e-01 1.35796371e-02 5.35602035e+00] [-5.17720054e-02 -1.21717284e-04 9.98658923e-01 -3.08588848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.873201008 meters 0.060002104255600354 Centerline is valid? [True, True] Translation: X:39.33, Y:5.36, Z:-3.09 [[ 9.64662935e-01 -2.58520871e-01 5.09154336e-02 3.93275449e+01] [ 2.58150191e-01 9.66005650e-01 1.38406275e-02 5.36311194e+00] [-5.27626877e-02 -2.07711482e-04 9.98607058e-01 -3.08679060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.903201008 meters 0.059946242792733986 Centerline is valid? [True, True] Translation: X:39.36, Y:5.37, Z:-3.09 [[ 9.64800255e-01 -2.57921051e-01 5.13536659e-02 3.93550682e+01] [ 2.57542490e-01 9.66165962e-01 1.39713693e-02 5.37067054e+00] [-5.32196743e-02 -2.53829677e-04 9.98582797e-01 -3.08895944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.933201008000005 meters 0.060201846398211765 Centerline is valid? [True, True] Translation: X:39.38, Y:5.38, Z:-3.10 [[ 9.64609153e-01 -2.58447094e-01 5.22903535e-02 3.93820031e+01] [ 2.58054484e-01 9.66025383e-01 1.42422946e-02 5.37912107e+00] [-5.41946884e-02 -2.44487504e-04 9.98530358e-01 -3.09701082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.963201008 meters 0.0603616701157042 Centerline is valid? [True, True] Translation: X:39.41, Y:5.39, Z:-3.10 [[ 9.64427621e-01 -2.59104410e-01 5.23857720e-02 3.94089668e+01] [ 2.58710425e-01 9.65849292e-01 1.42850160e-02 5.38520699e+00] [-5.42980714e-02 -2.24118668e-04 9.98524746e-01 -3.10215160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.993201008 meters 0.06034257581622661 Centerline is valid? [True, True] Translation: X:39.44, Y:5.39, Z:-3.11 [[ 9.63950087e-01 -2.60802525e-01 5.27472648e-02 3.94380446e+01] [ 2.60405552e-01 9.65392162e-01 1.43847911e-02 5.38929783e+00] [-5.46733858e-02 -1.30539985e-04 9.98504283e-01 -3.10515104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.023201008 meters 0.060470748931635114 Centerline is valid? [True, True] Translation: X:39.47, Y:5.39, Z:-3.11 [[ 9.63623677e-01 -2.62102877e-01 5.22636712e-02 3.94658954e+01] [ 2.61714174e-01 9.65039935e-01 1.42693624e-02 5.39133596e+00] [-5.41765708e-02 -7.21519266e-05 9.98531369e-01 -3.10718378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.053201008 meters 0.06052173371863806 Centerline is valid? [True, True] Translation: X:39.50, Y:5.39, Z:-3.11 [[ 9.62887110e-01 -2.64931418e-01 5.15728341e-02 3.94972471e+01] [ 2.64556936e-01 9.64267254e-01 1.40815788e-02 5.38852734e+00] [-5.34606477e-02 8.49802068e-05 9.98569953e-01 -3.10738386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.083201008 meters 0.060593844306074875 Centerline is valid? [True, True] Translation: X:39.53, Y:5.39, Z:-3.11 [[ 9.62658138e-01 -2.65684805e-01 5.19701253e-02 3.95254431e+01] [ 2.65304970e-01 9.64059942e-01 1.42021881e-02 5.39187408e+00] [-5.38756216e-02 1.16080585e-04 9.98547647e-01 -3.10817511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.113201008000004 meters 0.060567618344030516 Centerline is valid? [True, True] Translation: X:39.55, Y:5.40, Z:-3.11 [[ 9.62361431e-01 -2.66645686e-01 5.25409857e-02 3.95531939e+01] [ 2.66257876e-01 9.63794612e-01 1.43766714e-02 5.39586030e+00] [-5.44721964e-02 1.53897236e-04 9.98515276e-01 -3.11099070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.143201008 meters 0.060642274094063975 Centerline is valid? [True, True] Translation: X:39.58, Y:5.40, Z:-3.11 [[ 9.62314095e-01 -2.66883863e-01 5.21975669e-02 3.95813582e+01] [ 2.66501232e-01 9.63728685e-01 1.42869094e-02 5.40182421e+00] [-5.41172380e-02 1.62221615e-04 9.98534575e-01 -3.11462382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.173201008 meters 0.0607434738672739 Centerline is valid? [True, True] Translation: X:39.61, Y:5.41, Z:-3.12 [[ 9.61584285e-01 -2.68726569e-01 5.60508246e-02 3.96086640e+01] [ 2.68287383e-01 9.63216465e-01 1.53597089e-02 5.40579295e+00] [-5.81166391e-02 2.68074331e-04 9.98309764e-01 -3.12026023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.203201008 meters 0.06081026634492633 Centerline is valid? [True, True] Translation: X:39.64, Y:5.41, Z:-3.12 [[ 9.60264435e-01 -2.72753376e-01 5.91422943e-02 3.96387410e+01] [ 2.72271793e-01 9.62083836e-01 1.62099733e-02 5.40720622e+00] [-6.13211703e-02 5.36917715e-04 9.98117942e-01 -3.11880631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.233201008 meters 0.061068885832363196 Centerline is valid? [True, True] Translation: X:39.67, Y:5.41, Z:-3.12 [[ 9.58947663e-01 -2.76693923e-01 6.21277064e-02 3.96679249e+01] [ 2.76169613e-01 9.60957758e-01 1.70450006e-02 5.40539044e+00] [-6.44183495e-02 8.12521129e-04 9.97922650e-01 -3.11513121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.263201008 meters 0.061057778691066 Centerline is valid? [True, True] Translation: X:39.70, Y:5.41, Z:-3.11 [[ 9.58178145e-01 -2.78914523e-01 6.40416423e-02 3.96961772e+01] [ 2.78361563e-01 9.60315431e-01 1.75816072e-02 5.41047248e+00] [-6.64039429e-02 9.80419863e-04 9.97792341e-01 -3.11226512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.293201008000004 meters 0.06136004076437335 Centerline is valid? [True, True] Translation: X:39.72, Y:5.42, Z:-3.11 [[ 9.57963914e-01 -2.79435643e-01 6.49681501e-02 3.97231894e+01] [ 2.78866346e-01 9.60163892e-01 1.78567227e-02 5.41535317e+00] [-6.73698766e-02 1.01133464e-03 9.97727556e-01 -3.11448760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.323201008 meters 0.06126375182173767 Centerline is valid? [True, True] Translation: X:39.75, Y:5.43, Z:-3.12 [[ 9.57832126e-01 -2.79572973e-01 6.63066502e-02 3.97496326e+01] [ 2.78979763e-01 9.60123889e-01 1.82321174e-02 5.42661898e+00] [-6.87598061e-02 1.03490586e-03 9.97632707e-01 -3.11719637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.353201008 meters 0.06121903613186229 Centerline is valid? [True, True] Translation: X:39.78, Y:5.44, Z:-3.12 [[ 9.58418563e-01 -2.77901529e-01 6.48428669e-02 3.97759774e+01] [ 2.77329371e-01 9.60609164e-01 1.78452716e-02 5.43935541e+00] [-6.72478804e-02 8.79591915e-04 9.97735911e-01 -3.12421018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.383201008 meters 0.061583863764033235 Centerline is valid? [True, True] Translation: X:39.80, Y:5.45, Z:-3.13 [[ 9.58152948e-01 -2.78828286e-01 6.47897799e-02 3.98025719e+01] [ 2.78258092e-01 9.60340526e-01 1.78468230e-02 5.44925945e+00] [-6.71964504e-02 9.28294458e-04 9.97739332e-01 -3.12982957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.413201008 meters 0.06174705750223782 Centerline is valid? [True, True] Translation: X:39.83, Y:5.46, Z:-3.13 [[ 9.58167396e-01 -2.78845718e-01 6.45004407e-02 3.98289503e+01] [ 2.78279474e-01 9.60335483e-01 1.77846638e-02 5.45575660e+00] [-6.69012393e-02 9.08463723e-04 9.97759189e-01 -3.13240069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.443201008 meters 0.06203943731034328 Centerline is valid? [True, True] Translation: X:39.86, Y:5.46, Z:-3.14 [[ 9.58152254e-01 -2.79209963e-01 6.31352043e-02 3.98564730e+01] [ 2.78667714e-01 9.60229647e-01 1.74163625e-02 5.46178058e+00] [-6.54871169e-02 9.06216045e-04 9.97853003e-01 -3.13552488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.473201008000004 meters 0.06212799510938984 Centerline is valid? [True, True] Translation: X:39.88, Y:5.47, Z:-3.14 [[ 9.57954502e-01 -2.79997079e-01 6.26482830e-02 3.98843873e+01] [ 2.79464615e-01 9.60000383e-01 1.72856538e-02 5.46910358e+00] [-6.49823082e-02 9.49108421e-04 9.97885965e-01 -3.13847719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.503201008 meters 0.062375089708459557 Centerline is valid? [True, True] Translation: X:39.91, Y:5.48, Z:-3.14 [[ 9.58148213e-01 -2.79572941e-01 6.15708805e-02 3.99114306e+01] [ 2.79056849e-01 9.60124043e-01 1.70028568e-02 5.47728342e+00] [-6.38692214e-02 8.90519084e-04 9.97957880e-01 -3.14195779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.533201008 meters 0.06261405289734939 Centerline is valid? [True, True] Translation: X:39.94, Y:5.49, Z:-3.15 [[ 9.58228229e-01 -2.79532740e-01 6.04988228e-02 3.99388819e+01] [ 2.79033320e-01 9.60135779e-01 1.67239885e-02 5.48642294e+00] [-6.27619867e-02 8.55789457e-04 9.98028156e-01 -3.14624530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.563201008 meters 0.06265600090549593 Centerline is valid? [True, True] Translation: X:39.97, Y:5.50, Z:-3.15 [[ 9.58093667e-01 -2.79789052e-01 6.14378705e-02 3.99667684e+01] [ 2.79273511e-01 9.60061106e-01 1.69993648e-02 5.49556854e+00] [-6.37403461e-02 8.70985973e-04 9.97966137e-01 -3.14923781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.593201008 meters 0.06269999576240544 Centerline is valid? [True, True] Translation: X:39.99, Y:5.50, Z:-3.15 [[ 9.58214738e-01 -2.79085720e-01 6.27349669e-02 3.99948106e+01] [ 2.78545691e-01 9.60265836e-01 1.73730267e-02 5.50480220e+00] [-6.50908091e-02 8.27464501e-04 9.97879002e-01 -3.15090854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.623201008 meters 0.06258540012395002 Centerline is valid? [True, True] Translation: X:40.02, Y:5.51, Z:-3.15 [[ 9.58202069e-01 -2.78849638e-01 6.39661934e-02 4.00225237e+01] [ 2.78286656e-01 9.60334431e-01 1.77290223e-02 5.51310760e+00] [-6.63726693e-02 8.12952245e-04 9.97794572e-01 -3.15153378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.653201008 meters 0.06256224714063408 Centerline is valid? [True, True] Translation: X:40.05, Y:5.52, Z:-3.15 [[ 9.58276160e-01 -2.78357681e-01 6.49907835e-02 4.00504854e+01] [ 2.77774248e-01 9.60477173e-01 1.80296169e-02 5.52143769e+00] [-6.74408464e-02 7.75413999e-04 9.97722973e-01 -3.15207618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.683201008000005 meters 0.06253665195541212 Centerline is valid? [True, True] Translation: X:40.08, Y:5.53, Z:-3.15 [[ 9.58488030e-01 -2.77385495e-01 6.60150281e-02 4.00770234e+01] [ 2.76779955e-01 9.60758448e-01 1.83319396e-02 5.52974195e+00] [-6.85095101e-02 7.00691897e-04 9.97650217e-01 -3.15361067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.713201008 meters 0.06239383220715246 Centerline is valid? [True, True] Translation: X:40.10, Y:5.54, Z:-3.15 [[ 9.58556925e-01 -2.76761544e-01 6.76141245e-02 4.01046794e+01] [ 2.76124382e-01 9.60938397e-01 1.87809277e-02 5.54002409e+00] [-7.01708470e-02 6.67320060e-04 9.97534765e-01 -3.15391920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.743201008 meters 0.062320909900657674 Centerline is valid? [True, True] Translation: X:40.13, Y:5.55, Z:-3.16 [[ 9.59418811e-01 -2.73534609e-01 6.85154156e-02 4.01301277e+01] [ 2.72870762e-01 9.61862070e-01 1.90500683e-02 5.55237677e+00] [-7.11132325e-02 4.18859778e-04 9.97468161e-01 -3.15709594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.773201008 meters 0.062362561045770995 Centerline is valid? [True, True] Translation: X:40.16, Y:5.56, Z:-3.16 [[ 9.59777426e-01 -2.72053822e-01 6.93830659e-02 4.01569573e+01] [ 2.71368516e-01 9.62281988e-01 1.93003502e-02 5.56258429e+00] [-7.20168087e-02 3.04339158e-04 9.97403372e-01 -3.16041059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.803201008 meters 0.062362561045770995 Centerline is valid? [True, True] Translation: X:40.18, Y:5.57, Z:-3.16 [[ 9.59705128e-01 -2.72309886e-01 6.93786185e-02 4.01834978e+01] [ 2.71624093e-01 9.62209557e-01 1.93163236e-02 5.57016068e+00] [-7.20167956e-02 3.06929522e-04 9.97403372e-01 -3.16253978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.833201008 meters 0.062389380898856525 Centerline is valid? [True, True] Translation: X:40.21, Y:5.58, Z:-3.17 [[ 9.60016810e-01 -2.71283303e-01 6.90875860e-02 4.02102393e+01] [ 2.70599183e-01 9.62499520e-01 1.92550432e-02 5.58017269e+00] [-7.17203401e-02 2.09879213e-04 9.97424758e-01 -3.16553878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.863201008000004 meters 0.0626968317652472 Centerline is valid? [True, True] Translation: X:40.24, Y:5.59, Z:-3.17 [[ 9.60688835e-01 -2.68992279e-01 6.87031021e-02 4.02356671e+01] [ 2.68308514e-01 9.63142333e-01 1.91673643e-02 5.59227996e+00] [-7.13267390e-02 1.97543918e-05 9.97453004e-01 -3.17128387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.893201008 meters 0.06295468248362615 Centerline is valid? [True, True] Translation: X:40.26, Y:5.60, Z:-3.18 [[ 9.60837710e-01 -2.68653822e-01 6.79412892e-02 4.02616863e+01] [ 2.67982961e-01 9.63236795e-01 1.89739123e-02 5.60116325e+00] [-7.05409638e-02 -2.37425893e-05 9.97508883e-01 -3.17582617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.923201008 meters 0.06303010474367512 Centerline is valid? [True, True] Translation: X:40.29, Y:5.61, Z:-3.18 [[ 9.60982570e-01 -2.68369014e-01 6.70117379e-02 4.02894981e+01] [ 2.67714388e-01 9.63316183e-01 1.87333491e-02 5.60943869e+00] [-6.95809420e-02 -6.24155791e-05 9.97576307e-01 -3.17990568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.953201008 meters 0.06325203655218778 Centerline is valid? [True, True] Translation: X:40.32, Y:5.61, Z:-3.18 [[ 9.60914700e-01 -2.69132840e-01 6.48880121e-02 4.03172465e+01] [ 2.68519676e-01 9.63103065e-01 1.81568032e-02 5.61405061e+00] [-6.73804353e-02 -2.34310739e-05 9.97727356e-01 -3.18457950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.983201008 meters 0.06331778967551324 Centerline is valid? [True, True] Translation: X:40.34, Y:5.62, Z:-3.19 [[ 9.60655655e-01 -2.70135610e-01 6.45559076e-02 4.03445757e+01] [ 2.69530723e-01 9.62822284e-01 1.80676195e-02 5.61897509e+00] [-6.70365738e-02 4.30396677e-05 9.97750518e-01 -3.18645062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.013201008 meters 0.0633113760939778 Centerline is valid? [True, True] Translation: X:40.37, Y:5.62, Z:-3.19 [[ 9.60293743e-01 -2.71343473e-01 6.48740796e-02 4.03725861e+01] [ 2.70734107e-01 9.62482575e-01 1.81751423e-02 5.62473407e+00] [-6.73718775e-02 1.10150607e-04 9.97727928e-01 -3.18731357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.043201008000004 meters 0.06324966708967283 Centerline is valid? [True, True] Translation: X:40.40, Y:5.63, Z:-3.19 [[ 9.60136975e-01 -2.71845566e-01 6.50920757e-02 4.04000502e+01] [ 2.71232001e-01 9.62340881e-01 1.82545761e-02 5.63128875e+00] [-6.76031911e-02 1.28160528e-04 9.97712279e-01 -3.18956223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.073201008 meters 0.0633579368099085 Centerline is valid? [True, True] Translation: X:40.43, Y:5.64, Z:-3.19 [[ 9.59732309e-01 -2.72977531e-01 6.63110985e-02 4.04270112e+01] [ 2.72342146e-01 9.62020390e-01 1.86152012e-02 5.64043188e+00] [-6.88741605e-02 1.93696822e-04 9.97625337e-01 -3.19258288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.103201008 meters 0.0635311386344689 Centerline is valid? [True, True] Translation: X:40.45, Y:5.65, Z:-3.20 [[ 9.59717635e-01 -2.72956840e-01 6.66079926e-02 4.04527208e+01] [ 2.72314235e-01 9.62026265e-01 1.87195982e-02 5.64865703e+00] [-6.91882807e-02 1.72776102e-04 9.97603605e-01 -3.19763188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.133201008 meters 0.0635543467117004 Centerline is valid? [True, True] Translation: X:40.48, Y:5.66, Z:-3.20 [[ 9.59706064e-01 -2.73060723e-01 6.63484110e-02 4.04792305e+01] [ 2.72422882e-01 9.61996784e-01 1.86537289e-02 5.65683200e+00] [-6.89205587e-02 1.72728579e-04 9.97622136e-01 -3.20048700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.163201008 meters 0.06361810495982159 Centerline is valid? [True, True] Translation: X:40.51, Y:5.66, Z:-3.20 [[ 9.59763301e-01 -2.73108927e-01 6.53140181e-02 4.05067269e+01] [ 2.72489681e-01 9.61983103e-01 1.83816115e-02 5.66436998e+00] [-6.78511640e-02 1.55399827e-04 9.97695442e-01 -3.20379639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.193201008 meters 0.0635963688874903 Centerline is valid? [True, True] Translation: X:40.53, Y:5.67, Z:-3.21 [[ 9.59487105e-01 -2.73956358e-01 6.58210435e-02 4.05343933e+01] [ 2.73328288e-01 9.61742103e-01 1.85411297e-02 5.67064664e+00] [-6.83823292e-02 2.00778300e-04 9.97659169e-01 -3.20542132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.223201008000004 meters 0.06348688565516646 Centerline is valid? [True, True] Translation: X:40.56, Y:5.68, Z:-3.21 [[ 9.59210945e-01 -2.74673425e-01 6.68496267e-02 4.05619688e+01] [ 2.74025796e-01 9.61537547e-01 1.88522806e-02 5.67658312e+00] [-6.94566465e-02 2.35208321e-04 9.97584943e-01 -3.20731209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.253201008 meters 0.06352371342277938 Centerline is valid? [True, True] Translation: X:40.59, Y:5.68, Z:-3.21 [[ 9.59013975e-01 -2.75417700e-01 6.66129531e-02 4.05896382e+01] [ 2.74776028e-01 9.61324613e-01 1.87915811e-02 5.68239026e+00] [-6.92122054e-02 2.82253774e-04 9.97601920e-01 -3.20987666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.283201008 meters 0.06352850801513789 Centerline is valid? [True, True] Translation: X:40.62, Y:5.68, Z:-3.21 [[ 9.57825284e-01 -2.79270309e-01 6.76669828e-02 4.06190283e+01] [ 2.78617379e-01 9.60212360e-01 1.90939873e-02 5.68495976e+00] [-7.03070570e-02 5.64493596e-04 9.97525237e-01 -3.21084369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.313201008 meters 0.06350807903935458 Centerline is valid? [True, True] Translation: X:40.65, Y:5.69, Z:-3.21 [[ 9.57697011e-01 -2.79729024e-01 6.75877875e-02 4.06459148e+01] [ 2.79077500e-01 9.60078818e-01 1.90895892e-02 5.69338549e+00] [-7.02295153e-02 5.80188185e-04 9.97530691e-01 -3.21420081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.343201008 meters 0.06363960925360532 Centerline is valid? [True, True] Translation: X:40.67, Y:5.70, Z:-3.22 [[ 9.57826600e-01 -2.79245601e-01 6.77502640e-02 4.06704642e+01] [ 2.78589354e-01 9.60219559e-01 1.91407887e-02 5.70385705e+00] [-7.04001097e-02 5.40945748e-04 9.97518688e-01 -3.21887575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.373201008 meters 0.06367540418963431 Centerline is valid? [True, True] Translation: X:40.70, Y:5.71, Z:-3.22 [[ 9.58013002e-01 -2.78742748e-01 6.71830884e-02 4.06967314e+01] [ 2.78095366e-01 9.60365681e-01 1.89927709e-02 5.71468822e+00] [-6.98144296e-02 4.87984034e-04 9.97559877e-01 -3.22430207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.403201008 meters 0.06386607695788547 Centerline is valid? [True, True] Translation: X:40.72, Y:5.72, Z:-3.23 [[ 9.58210999e-01 -2.78364967e-01 6.59137858e-02 4.07232593e+01] [ 2.77739621e-01 9.60475277e-01 1.86533018e-02 5.72265314e+00] [-6.85009874e-02 4.33070907e-04 9.97650955e-01 -3.22810907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.433201008000005 meters 0.06367680605690111 Centerline is valid? [True, True] Translation: X:40.75, Y:5.73, Z:-3.23 [[ 9.58215686e-01 -2.78500829e-01 6.52685696e-02 4.07508785e+01] [ 2.77887518e-01 9.60435891e-01 1.84777152e-02 5.72878318e+00] [-6.78323359e-02 4.31684199e-04 9.97696641e-01 -3.22916289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.463201008 meters 0.06360903942299183 Centerline is valid? [True, True] Translation: X:40.78, Y:5.73, Z:-3.23 [[ 9.58140588e-01 -2.78908057e-01 6.46290085e-02 4.07786187e+01] [ 2.78306421e-01 9.60317710e-01 1.83148142e-02 5.73499896e+00] [-6.71725307e-02 4.38501183e-04 9.97741279e-01 -3.22987774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.493201008 meters 0.06368758246394633 Centerline is valid? [True, True] Translation: X:40.81, Y:5.74, Z:-3.23 [[ 9.57869032e-01 -2.79956563e-01 6.41189548e-02 4.08050311e+01] [ 2.79365360e-01 9.60012544e-01 1.81909614e-02 5.74137097e+00] [-6.66476800e-02 4.88056324e-04 9.97776452e-01 -3.23440529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.523201008 meters 0.06374924593841824 Centerline is valid? [True, True] Translation: X:40.83, Y:5.75, Z:-3.24 [[ 9.57723430e-01 -2.80591923e-01 6.35138187e-02 4.08317548e+01] [ 2.80012887e-01 9.59827016e-01 1.80245175e-02 5.75150300e+00] [-6.60198131e-02 5.22185003e-04 9.97818176e-01 -3.23842136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.553201008 meters 0.06430116312380721 Centerline is valid? [True, True] Translation: X:40.86, Y:5.76, Z:-3.25 [[ 9.57704124e-01 -2.80938658e-01 6.22597836e-02 4.08583026e+01] [ 2.80381856e-01 9.59725587e-01 1.76865178e-02 5.75967181e+00] [-6.47211339e-02 5.18062588e-04 9.97903255e-01 -3.24643588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.583201008 meters 0.06439964617066006 Centerline is valid? [True, True] Translation: X:40.89, Y:5.77, Z:-3.25 [[ 9.57912734e-01 -2.80619156e-01 6.04655538e-02 4.08851919e+01] [ 2.80093173e-01 9.59819077e-01 1.71800685e-02 5.76977913e+00] [-6.28570484e-02 4.78982449e-04 9.98022426e-01 -3.25000754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.613201008000004 meters 0.06417279713599194 Centerline is valid? [True, True] Translation: X:40.91, Y:5.78, Z:-3.25 [[ 9.57941174e-01 -2.80639018e-01 5.99203566e-02 4.09129444e+01] [ 2.80121651e-01 9.59813278e-01 1.70391525e-02 5.77570837e+00] [-6.22942049e-02 4.62483501e-04 9.98057723e-01 -3.25049971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.643201008 meters 0.06376960983882832 Centerline is valid? [True, True] Translation: X:40.94, Y:5.78, Z:-3.25 [[ 9.57757720e-01 -2.81116480e-01 6.06108377e-02 4.09412319e+01] [ 2.80586987e-01 9.59673534e-01 1.72525740e-02 5.78119219e+00] [-6.30165997e-02 4.82826372e-04 9.98012362e-01 -3.24860539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.673201008 meters 0.06375967732534074 Centerline is valid? [True, True] Translation: X:40.97, Y:5.79, Z:-3.25 [[ 9.57185465e-01 -2.82816116e-01 6.17335467e-02 4.09693603e+01] [ 2.82269160e-01 9.59173967e-01 1.75904094e-02 5.78643773e+00] [-6.41880621e-02 5.88192204e-04 9.97937647e-01 -3.24876702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.703201008 meters 0.06376029654074518 Centerline is valid? [True, True] Translation: X:41.00, Y:5.79, Z:-3.25 [[ 9.56799924e-01 -2.84008651e-01 6.22333615e-02 4.09968046e+01] [ 2.83453966e-01 9.58821495e-01 1.77535978e-02 5.79311560e+00] [-6.47128601e-02 6.53652154e-04 9.97903712e-01 -3.25139994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.733201008 meters 0.06371635984474544 Centerline is valid? [True, True] Translation: X:41.02, Y:5.81, Z:-3.26 [[ 9.56912343e-01 -2.83748443e-01 6.16894587e-02 4.10223576e+01] [ 2.83202695e-01 9.58898549e-01 1.76013230e-02 5.80657975e+00] [-6.41482804e-02 6.27697723e-04 9.97940181e-01 -3.25652576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.763201008 meters 0.06386352699768419 Centerline is valid? [True, True] Translation: X:41.05, Y:5.82, Z:-3.26 [[ 9.56540636e-01 -2.84624471e-01 6.33949680e-02 4.10484802e+01] [ 2.84048596e-01 9.58638848e-01 1.81094947e-02 5.81531776e+00] [-6.59272844e-02 6.84784083e-04 9.97824195e-01 -3.26014761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.793201008000004 meters 0.06398063999709998 Centerline is valid? [True, True] Translation: X:41.08, Y:5.82, Z:-3.26 [[ 9.55244032e-01 -2.88549104e-01 6.51786320e-02 4.10775646e+01] [ 2.87949130e-01 9.57464599e-01 1.86236600e-02 5.82052269e+00] [-6.77800732e-02 9.77990344e-04 9.97699807e-01 -3.25991462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.823201008 meters 0.06471828867120397 Centerline is valid? [True, True] Translation: X:41.11, Y:5.82, Z:-3.26 [[ 9.53712954e-01 -2.93478720e-01 6.55884283e-02 4.11064967e+01] [ 2.92881525e-01 9.55964697e-01 1.87592817e-02 5.82326444e+00] [-6.82056720e-02 1.31866891e-03 9.97670410e-01 -3.26083651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.853201008 meters 0.06447586809522639 Centerline is valid? [True, True] Translation: X:41.13, Y:5.83, Z:-3.26 [[ 9.53333790e-01 -2.94897900e-01 6.47295386e-02 4.11342521e+01] [ 2.94319396e-01 9.55527744e-01 1.85155104e-02 5.83313016e+00] [-6.73110551e-02 1.39969694e-03 9.97731057e-01 -3.26184290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.883201008 meters 0.06463658381942215 Centerline is valid? [True, True] Translation: X:41.16, Y:5.84, Z:-3.26 [[ 9.53020532e-01 -2.95891257e-01 6.48091765e-02 4.11617871e+01] [ 2.95312509e-01 9.55220521e-01 1.85547206e-02 5.84138066e+00] [-6.73972349e-02 1.45593077e-03 9.97725159e-01 -3.26454272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.913201008 meters 0.06468196723167184 Centerline is valid? [True, True] Translation: X:41.19, Y:5.85, Z:-3.27 [[ 9.53530381e-01 -2.94457275e-01 6.38335775e-02 4.11882930e+01] [ 2.93891488e-01 9.55663736e-01 1.82925243e-02 5.85013951e+00] [-6.63898020e-02 1.31766740e-03 9.97792893e-01 -3.26768307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.943201008 meters 0.0641713552320136 Centerline is valid? [True, True] Translation: X:41.22, Y:5.86, Z:-3.27 [[ 9.53878924e-01 -2.93235048e-01 6.42511076e-02 4.12151382e+01] [ 2.92658558e-01 9.56039583e-01 1.84196507e-02 5.85978037e+00] [-6.68278893e-02 1.23351995e-03 9.97763755e-01 -3.26990062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.973201008000004 meters 0.06401428793621561 Centerline is valid? [True, True] Translation: X:41.24, Y:5.87, Z:-3.27 [[ 9.54253890e-01 -2.92131283e-01 6.37089210e-02 4.12429357e+01] [ 2.91560989e-01 9.56377558e-01 1.82799366e-02 5.86949505e+00] [-6.62699236e-02 1.13133536e-03 9.97801091e-01 -3.27240744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.003201008 meters 0.06387704545965193 Centerline is valid? [True, True] Translation: X:41.27, Y:5.88, Z:-3.28 [[ 9.54639500e-01 -2.90935346e-01 6.34038566e-02 4.12696828e+01] [ 2.90366931e-01 9.56742162e-01 1.82066159e-02 5.87975585e+00] [-6.59580910e-02 1.02962860e-03 9.97821863e-01 -3.27609723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.033201008 meters 0.06348863652097526 Centerline is valid? [True, True] Translation: X:41.30, Y:5.89, Z:-3.28 [[ 9.55625466e-01 -2.87845745e-01 6.26481880e-02 4.12963103e+01] [ 2.87283186e-01 9.57676459e-01 1.80047525e-02 5.89156452e+00] [-6.51792862e-02 7.91971016e-04 9.97873255e-01 -3.27926741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.063201008 meters 0.06322878715496483 Centerline is valid? [True, True] Translation: X:41.32, Y:5.90, Z:-3.28 [[ 9.55808237e-01 -2.87431428e-01 6.17558851e-02 4.13238803e+01] [ 2.86882998e-01 9.57800934e-01 1.77627955e-02 5.89902913e+00] [-6.42554300e-02 7.38887207e-04 9.97933211e-01 -3.28117102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.093201008 meters 0.06326613330217003 Centerline is valid? [True, True] Translation: X:41.35, Y:5.90, Z:-3.28 [[ 9.55907950e-01 -2.87138196e-01 6.15763501e-02 4.13503126e+01] [ 2.86591096e-01 9.57888912e-01 1.77306330e-02 5.90452266e+00] [-6.40744450e-02 6.98380606e-04 9.97944877e-01 -3.28362753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.123201008 meters 0.06318905945584653 Centerline is valid? [True, True] Translation: X:41.38, Y:5.91, Z:-3.29 [[ 9.55787504e-01 -2.87913289e-01 5.98012179e-02 4.13775476e+01] [ 2.87398383e-01 9.57656210e-01 1.72265126e-02 5.90937480e+00] [-6.22287495e-02 7.21887846e-04 9.98061652e-01 -3.28794350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.153201008 meters 0.06301439447089281 Centerline is valid? [True, True] Translation: X:41.41, Y:5.92, Z:-3.29 [[ 9.55589023e-01 -2.88850289e-01 5.84391079e-02 4.14057340e+01] [ 2.88360027e-01 9.57373978e-01 1.68392995e-02 5.91807004e+00] [-6.08121177e-02 7.60053008e-04 9.98148941e-01 -3.28775728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.183201008000005 meters 0.06312076337814754 Centerline is valid? [True, True] Translation: X:41.43, Y:5.92, Z:-3.29 [[ 9.55469238e-01 -2.89535370e-01 5.69895090e-02 4.14327424e+01] [ 2.89069386e-01 9.57167007e-01 1.64380650e-02 5.92341319e+00] [-5.93078790e-02 7.67856933e-04 9.98239443e-01 -3.29158850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.213201008 meters 0.06318153193227567 Centerline is valid? [True, True] Translation: X:41.46, Y:5.93, Z:-3.29 [[ 9.54868115e-01 -2.91611693e-01 5.64756832e-02 4.14602280e+01] [ 2.91157253e-01 9.56536379e-01 1.62975485e-02 5.92842011e+00] [-5.87736012e-02 8.81295329e-04 9.98270949e-01 -3.29471712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.243201008 meters 0.06354703227446012 Centerline is valid? [True, True] Translation: X:41.49, Y:5.93, Z:-3.30 [[ 9.54208535e-01 -2.93608838e-01 5.72706095e-02 4.14875846e+01] [ 2.93144575e-01 9.55925117e-01 1.65356648e-02 5.93496511e+00] [-5.96014315e-02 1.01009596e-03 9.98221743e-01 -3.29872239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.273201008 meters 0.06350827355460562 Centerline is valid? [True, True] Translation: X:41.51, Y:5.94, Z:-3.30 [[ 9.54215850e-01 -2.93633000e-01 5.70243162e-02 4.15137988e+01] [ 2.93172665e-01 9.55917701e-01 1.64662656e-02 5.94439298e+00] [-5.93455922e-02 1.00559915e-03 9.98236991e-01 -3.30141759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.303201008 meters 0.06332645313782222 Centerline is valid? [True, True] Translation: X:41.54, Y:5.95, Z:-3.30 [[ 9.54522458e-01 -2.92740333e-01 5.64798658e-02 4.15405407e+01] [ 2.92286266e-01 9.56191529e-01 1.63247856e-02 5.95405217e+00] [-5.87844924e-02 9.25914609e-04 9.98270267e-01 -3.30395406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.333201008 meters 0.06288455736240456 Centerline is valid? [True, True] Translation: X:41.57, Y:5.96, Z:-3.30 [[ 9.54841750e-01 -2.91558237e-01 5.71928879e-02 4.15681441e+01] [ 2.91089496e-01 9.56552704e-01 1.65478085e-02 5.96395158e+00] [-5.95326615e-02 8.47710461e-04 9.98225998e-01 -3.30465210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.363201008000004 meters 0.06217614832001961 Centerline is valid? [True, True] Translation: X:41.59, Y:5.97, Z:-3.30 [[ 9.55557388e-01 -2.89034360e-01 5.80449516e-02 4.15949961e+01] [ 2.88545995e-01 9.57318477e-01 1.68089659e-02 5.97480861e+00] [-6.04258734e-02 6.86706806e-04 9.98172451e-01 -3.30290741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.393201008 meters 0.061943114554471046 Centerline is valid? [True, True] Translation: X:41.62, Y:5.99, Z:-3.31 [[ 9.56167860e-01 -2.86936209e-01 5.84006408e-02 4.16205587e+01] [ 2.86436851e-01 9.57949539e-01 1.69295871e-02 5.98508233e+00] [-6.08025785e-02 5.40568524e-04 9.98149665e-01 -3.30521911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.423201008 meters 0.061828326060584624 Centerline is valid? [True, True] Translation: X:41.65, Y:6.00, Z:-3.31 [[ 9.56821096e-01 -2.84748810e-01 5.84080852e-02 4.16464165e+01] [ 2.84244928e-01 9.58602085e-01 1.69370334e-02 5.99648431e+00] [-6.08129124e-02 3.96491089e-04 9.98149103e-01 -3.30784608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.453201008 meters 0.0617562070715888 Centerline is valid? [True, True] Translation: X:41.67, Y:6.01, Z:-3.31 [[ 9.57504497e-01 -2.82220575e-01 5.94700305e-02 4.16730987e+01] [ 2.81693123e-01 9.59349514e-01 1.72479928e-02 6.00943740e+00] [-6.19202834e-02 2.37267927e-04 9.98081070e-01 -3.31005817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.483201008 meters 0.06159032605696275 Centerline is valid? [True, True] Translation: X:41.70, Y:6.02, Z:-3.31 [[ 9.58816382e-01 -2.77478751e-01 6.06356956e-02 4.16977957e+01] [ 2.76919780e-01 9.60731771e-01 1.76039892e-02 6.02432132e+00] [-6.31393722e-02 -8.77697620e-05 9.98004715e-01 -3.31221114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.513201008 meters 0.06168165953285257 Centerline is valid? [True, True] Translation: X:41.72, Y:6.03, Z:-3.32 [[ 9.59211523e-01 -2.76179061e-01 6.03189866e-02 4.17244320e+01] [ 2.75623159e-01 9.61106183e-01 1.75151004e-02 6.03499077e+00] [-6.28102550e-02 -1.75376514e-04 9.98025471e-01 -3.31500862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.543201008000004 meters 0.06170639126966618 Centerline is valid? [True, True] Translation: X:41.75, Y:6.04, Z:-3.32 [[ 9.59490468e-01 -2.75283798e-01 5.99739301e-02 4.17514485e+01] [ 2.74731558e-01 9.61362975e-01 1.74299036e-02 6.04475617e+00] [-6.24548859e-02 -2.47095116e-04 9.98047757e-01 -3.31796822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.573201008 meters 0.06167745684229833 Centerline is valid? [True, True] Translation: X:41.78, Y:6.05, Z:-3.32 [[ 9.59742707e-01 -2.74602525e-01 5.90541176e-02 4.17783755e+01] [ 2.74064770e-01 9.61557778e-01 1.71796614e-02 6.05246386e+00] [-6.15015245e-02 -3.03401600e-04 9.98106943e-01 -3.32235035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.603201008 meters 0.06149384331304899 Centerline is valid? [True, True] Translation: X:41.81, Y:6.06, Z:-3.32 [[ 9.59571455e-01 -2.75382046e-01 5.82009517e-02 4.18075960e+01] [ 2.74861015e-01 9.61334835e-01 1.69339088e-02 6.05733970e+00] [-6.06138968e-02 -2.52122826e-04 9.98161255e-01 -3.32249011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.633201008 meters 0.0612365153564069 Centerline is valid? [True, True] Translation: X:41.84, Y:6.06, Z:-3.32 [[ 9.59114651e-01 -2.77053348e-01 5.77973148e-02 4.18357421e+01] [ 2.76541723e-01 9.60854525e-01 1.68302770e-02 6.06127548e+00] [-6.01976960e-02 -1.58796295e-04 9.98186462e-01 -3.32357172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.663201008 meters 0.06120362954294177 Centerline is valid? [True, True] Translation: X:41.86, Y:6.07, Z:-3.33 [[ 9.58720065e-01 -2.78653797e-01 5.66383179e-02 4.18634295e+01] [ 2.78164187e-01 9.60391616e-01 1.65115040e-02 6.06623029e+00] [-5.89959589e-02 -7.51585418e-05 9.98258219e-01 -3.32594570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.693201008 meters 0.06120362954294177 Centerline is valid? [True, True] Translation: X:41.89, Y:6.07, Z:-3.33 [[ 9.58646844e-01 -2.78905860e-01 5.66370050e-02 4.18898729e+01] [ 2.78416422e-01 9.60318446e-01 1.65160072e-02 6.07413679e+00] [-5.89959718e-02 -6.43458650e-05 9.98258219e-01 -3.32808125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.723201008000004 meters 0.06121863987643619 Centerline is valid? [True, True] Translation: X:41.92, Y:6.08, Z:-3.33 [[ 9.57814552e-01 -2.81699052e-01 5.68940082e-02 4.19171852e+01] [ 2.81209106e-01 9.59502806e-01 1.66073268e-02 6.08081261e+00] [-5.92682288e-02 9.23738953e-05 9.98242089e-01 -3.33160972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.753201008 meters 0.0613080953058358 Centerline is valid? [True, True] Translation: X:41.94, Y:6.09, Z:-3.33 [[ 9.57455824e-01 -2.82853434e-01 5.72038484e-02 4.19432584e+01] [ 2.82359047e-01 9.59163132e-01 1.67169192e-02 6.08839361e+00] [-5.95962604e-02 1.46312496e-04 9.98222553e-01 -3.33470957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.783201008 meters 0.061244396738608625 Centerline is valid? [True, True] Translation: X:41.97, Y:6.10, Z:-3.34 [[ 9.57176797e-01 -2.83771113e-01 5.73283129e-02 4.19704650e+01] [ 2.83275948e-01 9.58892025e-01 1.67577359e-02 6.09609063e+00] [-5.97270235e-02 1.99616192e-04 9.98214728e-01 -3.33706109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.813201008 meters 0.06108703269505266 Centerline is valid? [True, True] Translation: X:42.00, Y:6.10, Z:-3.34 [[ 9.56534003e-01 -2.85805133e-01 5.79493441e-02 4.19982514e+01] [ 2.85301906e-01 9.58287706e-01 1.69556868e-02 6.10178217e+00] [-6.03781663e-02 3.14367378e-04 9.98175525e-01 -3.33750271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.843201008 meters 0.06100591942033336 Centerline is valid? [True, True] Translation: X:42.03, Y:6.11, Z:-3.34 [[ 9.56178433e-01 -2.87017798e-01 5.78237739e-02 4.20262161e+01] [ 2.86517966e-01 9.57925177e-01 1.69355061e-02 6.10900573e+00] [-6.02516404e-02 3.74184395e-04 9.98183149e-01 -3.33899410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.873201008 meters 0.06089917081748774 Centerline is valid? [True, True] Translation: X:42.05, Y:6.12, Z:-3.34 [[ 9.56050255e-01 -2.87402003e-01 5.80344548e-02 4.20519729e+01] [ 2.86898232e-01 9.57809971e-01 1.70136173e-02 6.11543166e+00] [-6.04757272e-02 3.84109321e-04 9.98169594e-01 -3.34084515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.903201008 meters 0.06075146680538687 Centerline is valid? [True, True] Translation: X:42.08, Y:6.12, Z:-3.34 [[ 9.56127513e-01 -2.87351096e-01 5.70046176e-02 4.20796664e+01] [ 2.86864684e-01 9.57825251e-01 1.67165145e-02 6.12318941e+00] [-5.94039709e-02 3.69492224e-04 9.98233956e-01 -3.34358890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.933201008000005 meters 0.060628361935879345 Centerline is valid? [True, True] Translation: X:42.11, Y:6.13, Z:-3.35 [[ 9.56475731e-01 -2.86355411e-01 5.61671980e-02 4.21069065e+01] [ 2.85880708e-01 9.58123423e-01 1.64841206e-02 6.13338283e+00] [-5.85354252e-02 2.90457086e-04 9.98285290e-01 -3.34705926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.963201008 meters 0.06058821169387545 Centerline is valid? [True, True] Translation: X:42.13, Y:6.14, Z:-3.35 [[ 9.56890913e-01 -2.85016254e-01 5.59063125e-02 4.21328038e+01] [ 2.84542932e-01 9.58522664e-01 1.64202005e-02 6.14419199e+00] [-5.82674916e-02 1.95405490e-04 9.98300987e-01 -3.34962120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.993201008 meters 0.06065522862839895 Centerline is valid? [True, True] Translation: X:42.16, Y:6.15, Z:-3.35 [[ 9.57446121e-01 -2.83229647e-01 5.54787487e-02 4.21588024e+01] [ 2.82759453e-01 9.59052117e-01 1.63134789e-02 6.15488148e+00] [-5.78274722e-02 6.78635061e-05 9.98326589e-01 -3.35344012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.023201008 meters 0.060704444728623776 Centerline is valid? [True, True] Translation: X:42.19, Y:6.16, Z:-3.36 [[ 9.58477112e-01 -2.79902959e-01 5.45523476e-02 4.21858504e+01] [ 2.79442870e-01 9.60028289e-01 1.60426485e-02 6.16473350e+00] [-5.68621818e-02 -1.32246890e-04 9.98382028e-01 -3.35607721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.053201008 meters 0.060282293641948974 Centerline is valid? [True, True] Translation: X:42.21, Y:6.17, Z:-3.36 [[ 9.58120992e-01 -2.81182406e-01 5.42274693e-02 4.22127663e+01] [ 2.80729044e-01 9.59654339e-01 1.59610082e-02 6.16888436e+00] [-5.65275809e-02 -6.93513504e-05 9.98401036e-01 -3.35634345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.083201008 meters 0.05992683797888728 Centerline is valid? [True, True] Translation: X:42.24, Y:6.17, Z:-3.35 [[ 9.57694505e-01 -2.82481210e-01 5.50054748e-02 4.22417660e+01] [ 2.82016354e-01 9.59272832e-01 1.61990693e-02 6.17442182e+00] [-5.73411903e-02 -1.31615413e-06 9.98354640e-01 -3.35431378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.113201008000004 meters 0.0600640943212993 Centerline is valid? [True, True] Translation: X:42.27, Y:6.18, Z:-3.36 [[ 9.57820058e-01 -2.82183971e-01 5.43409972e-02 4.22680564e+01] [ 2.81728885e-01 9.59360311e-01 1.60196673e-02 6.18258286e+00] [-5.66530893e-02 -3.45301107e-05 9.98393923e-01 -3.36049830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.143201008 meters 0.05997330779739248 Centerline is valid? [True, True] Translation: X:42.29, Y:6.19, Z:-3.36 [[ 9.57971206e-01 -2.81677299e-01 5.43053224e-02 4.22938351e+01] [ 2.81221750e-01 9.59509195e-01 1.60135077e-02 6.19453339e+00] [-5.66170977e-02 -6.86414489e-05 9.98395963e-01 -3.36124544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.173201008 meters 0.06020263704765129 Centerline is valid? [True, True] Translation: X:42.32, Y:6.20, Z:-3.36 [[ 9.57885736e-01 -2.81827772e-01 5.50274732e-02 4.23198242e+01] [ 2.81359108e-01 9.59465007e-01 1.62466042e-02 6.20393362e+00] [-5.73756793e-02 -7.99096534e-05 9.98352656e-01 -3.36421326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.203201008 meters 0.06023263025692376 Centerline is valid? [True, True] Translation: X:42.35, Y:6.21, Z:-3.37 [[ 9.57761291e-01 -2.82104812e-01 5.57690354e-02 4.23466684e+01] [ 2.81623763e-01 9.59383589e-01 1.64677124e-02 6.21284703e+00] [-5.81495182e-02 -6.62518979e-05 9.98307883e-01 -3.36812834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.233201008 meters 0.059921845932015695 Centerline is valid? [True, True] Translation: X:42.37, Y:6.22, Z:-3.37 [[ 9.57812942e-01 -2.81837432e-01 5.62319228e-02 4.23738311e+01] [ 2.81347096e-01 9.59462168e-01 1.66180316e-02 6.21984242e+00] [-5.86359860e-02 -9.62775376e-05 9.98279426e-01 -3.36639181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.263201008 meters 0.059900761734230534 Centerline is valid? [True, True] Translation: X:42.40, Y:6.23, Z:-3.37 [[ 9.57740557e-01 -2.82173352e-01 5.57783485e-02 4.24005168e+01] [ 2.81690334e-01 9.59363430e-01 1.65034961e-02 6.22738080e+00] [-5.81685546e-02 -9.38459271e-05 9.98306772e-01 -3.36903712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.293201008000004 meters 0.05993893839963009 Centerline is valid? [True, True] Translation: X:42.43, Y:6.24, Z:-3.37 [[ 9.57700667e-01 -2.82433524e-01 5.51428770e-02 4.24272371e+01] [ 2.81961609e-01 9.59286869e-01 1.63203401e-02 6.23544450e+00] [-5.75072490e-02 -8.18262655e-05 9.98345085e-01 -3.37216213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.323201008 meters 0.05996987868990656 Centerline is valid? [True, True] Translation: X:42.45, Y:6.24, Z:-3.37 [[ 9.57600462e-01 -2.82858942e-01 5.47007700e-02 4.24546927e+01] [ 2.82395167e-01 9.59161517e-01 1.61911747e-02 6.24356939e+00] [-5.70466921e-02 -5.74433242e-05 9.98371510e-01 -3.37452100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.353201008 meters 0.059924542354030136 Centerline is valid? [True, True] Translation: X:42.48, Y:6.25, Z:-3.38 [[ 9.57096300e-01 -2.84805255e-01 5.34100955e-02 4.24816575e+01] [ 2.84365330e-01 9.58585398e-01 1.58238622e-02 6.24835667e+00] [-5.57048567e-02 4.30194376e-05 9.98447278e-01 -3.37792674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.383201008 meters 0.05973535296088727 Centerline is valid? [True, True] Translation: X:42.51, Y:6.25, Z:-3.38 [[ 9.56001257e-01 -2.88378138e-01 5.38483541e-02 4.25104571e+01] [ 2.87936292e-01 9.57516573e-01 1.59594322e-02 6.25195277e+00] [-5.61630429e-02 2.47658208e-04 9.98421580e-01 -3.37818303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.413201008 meters 0.05954260586241198 Centerline is valid? [True, True] Translation: X:42.54, Y:6.26, Z:-3.38 [[ 9.55249218e-01 -2.90833439e-01 5.39892715e-02 4.25388505e+01] [ 2.90392102e-01 9.56773625e-01 1.60205044e-02 6.25620860e+00] [-5.63148094e-02 3.74483767e-04 9.98412992e-01 -3.37882286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.443201008 meters 0.05957715357961377 Centerline is valid? [True, True] Translation: X:42.57, Y:6.26, Z:-3.38 [[ 9.54771720e-01 -2.92419771e-01 5.38668787e-02 4.25671430e+01] [ 2.91982872e-01 9.56289946e-01 1.59856828e-02 6.26360610e+00] [-5.61868843e-02 4.65528072e-04 9.98420161e-01 -3.38146786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.473201008000004 meters 0.059568600683341834 Centerline is valid? [True, True] Translation: X:42.59, Y:6.27, Z:-3.38 [[ 9.54858487e-01 -2.92241950e-01 5.32908372e-02 4.25940787e+01] [ 2.91813355e-01 9.56344316e-01 1.58276519e-02 6.27433499e+00] [-5.55898931e-02 4.37810302e-04 9.98453590e-01 -3.38458602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.503201008 meters 0.05958122946337447 Centerline is valid? [True, True] Translation: X:42.62, Y:6.28, Z:-3.39 [[ 9.55066158e-01 -2.91598147e-01 5.30957193e-02 4.26209651e+01] [ 2.91171013e-01 9.56540836e-01 1.57819633e-02 6.28423703e+00] [-5.53902150e-02 3.87115299e-04 9.98464709e-01 -3.38665361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.533201008 meters 0.059563792078712374 Centerline is valid? [True, True] Translation: X:42.65, Y:6.29, Z:-3.39 [[ 9.55638074e-01 -2.89811851e-01 5.25829163e-02 4.26462343e+01] [ 2.89389214e-01 9.57083602e-01 1.56480498e-02 6.29342608e+00] [-5.48612372e-02 2.63056648e-04 9.98493954e-01 -3.39096124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.563201008 meters 0.05966544716494983 Centerline is valid? [True, True] Translation: X:42.67, Y:6.30, Z:-3.39 [[ 9.55297782e-01 -2.90977028e-01 5.23308408e-02 4.26725778e+01] [ 2.90559779e-01 9.56729986e-01 1.55803997e-02 6.30118243e+00] [-5.46000230e-02 3.21316242e-04 9.98508254e-01 -3.39490831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.593201008 meters 0.05993058826483539 Centerline is valid? [True, True] Translation: X:42.70, Y:6.31, Z:-3.40 [[ 9.55167319e-01 -2.91343260e-01 5.26734948e-02 4.26980804e+01] [ 2.90920947e-01 9.56618517e-01 1.56848696e-02 6.31061729e+00] [-5.49581216e-02 3.42148121e-04 9.98488602e-01 -3.39833600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.623201008 meters 0.05995242204703012 Centerline is valid? [True, True] Translation: X:42.72, Y:6.32, Z:-3.40 [[ 9.55230682e-01 -2.91182579e-01 5.24123097e-02 4.27244570e+01] [ 2.90763781e-01 9.56667445e-01 1.56148295e-02 6.32021026e+00] [-5.46879168e-02 3.23837158e-04 9.98503444e-01 -3.40106868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.653201008 meters 0.05965556744519571 Centerline is valid? [True, True] Translation: X:42.75, Y:6.33, Z:-3.40 [[ 9.55596345e-01 -2.90126751e-01 5.15954763e-02 4.27532941e+01] [ 2.89718614e-01 9.56988196e-01 1.53855986e-02 6.32753664e+00] [-5.38400355e-02 2.45748098e-04 9.98549543e-01 -3.39864429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.683201008000005 meters 0.059378903046445136 Centerline is valid? [True, True] Translation: X:42.78, Y:6.33, Z:-3.40 [[ 9.55616144e-01 -2.90219751e-01 5.06979456e-02 4.27816684e+01] [ 2.89825188e-01 9.56960000e-01 1.51300910e-02 6.33388773e+00] [-5.29069573e-02 2.34982408e-04 9.98599419e-01 -3.39722741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.713201008 meters 0.05935290110236685 Centerline is valid? [True, True] Translation: X:42.81, Y:6.34, Z:-3.40 [[ 9.55515933e-01 -2.90595984e-01 5.04308948e-02 4.28089291e+01] [ 2.90205190e-01 9.56845817e-01 1.50675307e-02 6.33893837e+00] [-5.26331547e-02 2.38041713e-04 9.98613887e-01 -3.39915671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.743201008 meters 0.05939167761776118 Centerline is valid? [True, True] Translation: X:42.84, Y:6.34, Z:-3.40 [[ 9.54995942e-01 -2.92487965e-01 4.93309317e-02 4.28372183e+01] [ 2.92116545e-01 9.56269146e-01 1.47392539e-02 6.34453029e+00] [-5.14847023e-02 3.34453636e-04 9.98673727e-01 -3.40217530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.773201008 meters 0.0597958777133659 Centerline is valid? [True, True] Translation: X:42.86, Y:6.35, Z:-3.41 [[ 9.54727229e-01 -2.93521209e-01 4.83861309e-02 4.28631962e+01] [ 2.93164390e-01 9.55952491e-01 1.44732547e-02 6.35239386e+00] [-5.05030496e-02 3.67080204e-04 9.98723839e-01 -3.40953256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.803201008 meters 0.05971449581104924 Centerline is valid? [True, True] Translation: X:42.89, Y:6.36, Z:-3.41 [[ 9.54754955e-01 -2.93452927e-01 4.82530254e-02 4.28889946e+01] [ 2.93098028e-01 9.55973455e-01 1.44325434e-02 6.36363478e+00] [-5.03638835e-02 3.63324279e-04 9.98730868e-01 -3.41011429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.833201008 meters 0.05998865623053176 Centerline is valid? [True, True] Translation: X:42.92, Y:6.37, Z:-3.42 [[ 9.54785246e-01 -2.93305786e-01 4.85473920e-02 4.29151042e+01] [ 2.92945358e-01 9.56018620e-01 1.45401591e-02 6.37293965e+00] [-5.06769235e-02 3.39003762e-04 9.98715042e-01 -3.41603784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.863201008000004 meters 0.059957435775606076 Centerline is valid? [True, True] Translation: X:42.94, Y:6.38, Z:-3.42 [[ 9.55047427e-01 -2.92427970e-01 4.86856744e-02 4.29416064e+01] [ 2.92064316e-01 9.56287507e-01 1.45821422e-02 6.38362179e+00] [-5.08217285e-02 2.92710758e-04 9.98707698e-01 -3.41792766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.893201008 meters 0.06012586521249935 Centerline is valid? [True, True] Translation: X:42.97, Y:6.40, Z:-3.42 [[ 9.56260594e-01 -2.88897828e-01 4.58663389e-02 4.29672492e+01] [ 2.88570570e-01 9.57359931e-01 1.37473336e-02 6.39853955e+00] [-4.78821699e-02 8.96422208e-05 9.98852987e-01 -3.41902313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.923201008 meters 0.060193740671206815 Centerline is valid? [True, True] Translation: X:42.99, Y:6.41, Z:-3.42 [[ 9.56755703e-01 -2.87320687e-01 4.54461032e-02 4.29937434e+01] [ 2.86997080e-01 9.57834444e-01 1.36327923e-02 6.40945432e+00] [-4.74468263e-02 -3.52885789e-07 9.98873765e-01 -3.42221044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.953201008 meters 0.060338981170713644 Centerline is valid? [True, True] Translation: X:43.02, Y:6.42, Z:-3.43 [[ 9.57013552e-01 -2.86571168e-01 4.47440150e-02 4.30190073e+01] [ 2.86255946e-01 9.58058956e-01 1.34376459e-02 6.42000835e+00] [-4.67182462e-02 -5.17689173e-05 9.98908105e-01 -3.42571830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.983201008 meters 0.06047916240703277 Centerline is valid? [True, True] Translation: X:43.05, Y:6.43, Z:-3.43 [[ 9.57331417e-01 -2.85426221e-01 4.52595993e-02 4.30450499e+01] [ 2.85102145e-01 9.58400678e-01 1.35980697e-02 6.43032202e+00] [-4.72580763e-02 -1.14250540e-04 9.98882706e-01 -3.42942776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.013201008 meters 0.06040417437176362 Centerline is valid? [True, True] Translation: X:43.07, Y:6.44, Z:-3.43 [[ 9.57495412e-01 -2.84729484e-01 4.61698697e-02 4.30727946e+01] [ 2.84391414e-01 9.58607896e-01 1.38717599e-02 6.44081564e+00] [-4.82085007e-02 -1.51831864e-04 9.98837283e-01 -3.42961318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.043201008000004 meters 0.06037670399774355 Centerline is valid? [True, True] Translation: X:43.10, Y:6.45, Z:-3.43 [[ 9.57811127e-01 -2.83421854e-01 4.76434508e-02 4.30999036e+01] [ 2.83059659e-01 9.58995306e-01 1.43259237e-02 6.45089402e+00] [-4.97501255e-02 -2.35590196e-04 9.98761668e-01 -3.43087907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.073201008 meters 0.06023176465442136 Centerline is valid? [True, True] Translation: X:43.13, Y:6.46, Z:-3.43 [[ 9.57863324e-01 -2.83093367e-01 4.85386228e-02 4.31278290e+01] [ 2.82716361e-01 9.59092317e-01 1.46077446e-02 6.45715294e+00] [-5.06883758e-02 -2.69559959e-04 9.98714482e-01 -3.43066255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.103201008 meters 0.059902600454135514 Centerline is valid? [True, True] Translation: X:43.16, Y:6.46, Z:-3.43 [[ 9.57249027e-01 -2.84930757e-01 4.98875224e-02 4.31566866e+01] [ 2.84534300e-01 9.58548083e-01 1.50267831e-02 6.46273479e+00] [-5.21011816e-02 -1.89662270e-04 9.98641793e-01 -3.43148820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.133201008 meters 0.059725388504145105 Centerline is valid? [True, True] Translation: X:43.18, Y:6.47, Z:-3.43 [[ 9.56772308e-01 -2.86385388e-01 5.06967378e-02 4.31848962e+01] [ 2.85977311e-01 9.58114499e-01 1.52834443e-02 6.46838251e+00] [-5.29502347e-02 -1.24659550e-04 9.98597145e-01 -3.43175790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.163201008 meters 0.05957706137488117 Centerline is valid? [True, True] Translation: X:43.21, Y:6.47, Z:-3.43 [[ 9.55507080e-01 -2.90709071e-01 4.99445338e-02 4.32139127e+01] [ 2.90318283e-01 9.56811489e-01 1.50687913e-02 6.47139263e+00] [-5.21681381e-02 1.01474535e-04 9.98638310e-01 -3.43443842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.193201008 meters 0.05972139256972422 Centerline is valid? [True, True] Translation: X:43.24, Y:6.48, Z:-3.44 [[ 9.55134707e-01 -2.92060653e-01 4.91758709e-02 4.32409469e+01] [ 2.91682797e-01 9.56399786e-01 1.48524683e-02 6.47776824e+00] [-5.13696140e-02 1.57647614e-04 9.98679697e-01 -3.43882880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.223201008000004 meters 0.05988861011187716 Centerline is valid? [True, True] Translation: X:43.27, Y:6.48, Z:-3.44 [[ 9.54814998e-01 -2.93169542e-01 4.87846287e-02 4.32680977e+01] [ 2.92798724e-01 9.56060446e-01 1.47421461e-02 6.48492732e+00] [-5.09630021e-02 2.08054840e-04 9.98700520e-01 -3.44172722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.253201008 meters 0.06026437060190886 Centerline is valid? [True, True] Translation: X:43.30, Y:6.49, Z:-3.45 [[ 9.54282107e-01 -2.95209574e-01 4.68718175e-02 4.32962965e+01] [ 2.94869760e-01 9.55432475e-01 1.41637007e-02 6.49085483e+00] [-4.89641167e-02 3.04915420e-04 9.98800492e-01 -3.44599751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.283201008 meters 0.06017395343914051 Centerline is valid? [True, True] Translation: X:43.32, Y:6.50, Z:-3.45 [[ 9.53735472e-01 -2.97068916e-01 4.62461802e-02 4.33247168e+01] [ 2.96739759e-01 9.54855964e-01 1.39858607e-02 6.49838893e+00] [-4.83132054e-02 3.84268866e-04 9.98832161e-01 -3.44652711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.313201008 meters 0.06044247242801816 Centerline is valid? [True, True] Translation: X:43.35, Y:6.50, Z:-3.45 [[ 9.53460486e-01 -2.97988768e-01 4.59977885e-02 4.33515126e+01] [ 2.97663461e-01 9.54569287e-01 1.39262642e-02 6.50455254e+00] [-4.80579465e-02 4.13718298e-04 9.98844464e-01 -3.44900299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.343201008 meters 0.06075985269462227 Centerline is valid? [True, True] Translation: X:43.38, Y:6.51, Z:-3.45 [[ 9.53023593e-01 -2.99349683e-01 4.62147039e-02 4.33786307e+01] [ 2.99022518e-01 9.54143354e-01 1.39997964e-02 6.50924946e+00] [-4.82862872e-02 4.77100898e-04 9.98833423e-01 -3.45283398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.373201008 meters 0.06093591972058926 Centerline is valid? [True, True] Translation: X:43.41, Y:6.52, Z:-3.45 [[ 9.52876677e-01 -2.99942522e-01 4.53929669e-02 4.34067426e+01] [ 2.99627562e-01 9.53957145e-01 1.37509509e-02 6.51543629e+00] [-4.74274400e-02 4.98023623e-04 9.98874562e-01 -3.45384940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.403201008 meters 0.06067225302335187 Centerline is valid? [True, True] Translation: X:43.43, Y:6.53, Z:-3.45 [[ 9.52990823e-01 -2.99528937e-01 4.57264483e-02 4.34338577e+01] [ 2.99208379e-01 9.54087100e-01 1.38619020e-02 6.52562147e+00] [-4.77790552e-02 4.71471045e-04 9.98857818e-01 -3.45381212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.433201008000005 meters 0.06093546993020317 Centerline is valid? [True, True] Translation: X:43.46, Y:6.54, Z:-3.46 [[ 9.53511126e-01 -2.98086701e-01 4.42814890e-02 4.34595734e+01] [ 2.97783807e-01 9.54538727e-01 1.34396442e-02 6.53558317e+00] [-4.62745753e-02 3.71460090e-04 9.98928689e-01 -3.45959330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.463201008 meters 0.06116051259848482 Centerline is valid? [True, True] Translation: X:43.48, Y:6.55, Z:-3.46 [[ 9.54164599e-01 -2.95889451e-01 4.49371882e-02 4.34844536e+01] [ 2.95574878e-01 9.55222153e-01 1.36429025e-02 6.54893901e+00] [-4.69617886e-02 2.64729327e-04 9.98896651e-01 -3.46488122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.493201008 meters 0.06115557465942055 Centerline is valid? [True, True] Translation: X:43.51, Y:6.56, Z:-3.47 [[ 9.54337644e-01 -2.95368072e-01 4.46918781e-02 4.35105506e+01] [ 2.95056444e-01 9.55383507e-01 1.35665031e-02 6.55840468e+00] [-4.67049951e-02 2.39602050e-04 9.98908698e-01 -3.46663480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.523201008 meters 0.061101085273523655 Centerline is valid? [True, True] Translation: X:43.54, Y:6.57, Z:-3.47 [[ 9.54428697e-01 -2.95064059e-01 4.47555873e-02 4.35378051e+01] [ 2.94750603e-01 9.55477449e-01 1.35987646e-02 6.56671436e+00] [-4.67754611e-02 2.12685115e-04 9.98905406e-01 -3.46716611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.553201008 meters 0.06117836307375059 Centerline is valid? [True, True] Translation: X:43.57, Y:6.57, Z:-3.47 [[ 9.54091367e-01 -2.96085030e-01 4.52030841e-02 4.35658001e+01] [ 2.95765737e-01 9.55161553e-01 1.37490794e-02 6.57487909e+00] [-4.72471446e-02 2.51645505e-04 9.98883198e-01 -3.46857251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.583201008 meters 0.06072425447584289 Centerline is valid? [True, True] Translation: X:43.59, Y:6.59, Z:-3.47 [[ 9.54426868e-01 -2.95037567e-01 4.49687405e-02 4.35926947e+01] [ 2.94719969e-01 9.55485635e-01 1.36872989e-02 6.58518849e+00] [-4.70052529e-02 1.89660009e-04 9.98894624e-01 -3.46533883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.613201008000004 meters 0.06072425447584289 Centerline is valid? [True, True] Translation: X:43.62, Y:6.59, Z:-3.47 [[ 9.54343227e-01 -2.95308597e-01 4.49648569e-02 4.36190722e+01] [ 2.94990699e-01 9.55401903e-01 1.37000409e-02 6.59339612e+00] [-4.70052498e-02 1.89673295e-04 9.98894624e-01 -3.46746702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.643201008 meters 0.06101891330544465 Centerline is valid? [True, True] Translation: X:43.65, Y:6.60, Z:-3.47 [[ 9.54434332e-01 -2.94920433e-01 4.55746082e-02 4.36454914e+01] [ 2.94592428e-01 9.55521802e-01 1.39063515e-02 6.60243686e+00] [-4.76487989e-02 1.53235199e-04 9.98864139e-01 -3.47168387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.673201008 meters 0.06097294924098657 Centerline is valid? [True, True] Translation: X:43.67, Y:6.61, Z:-3.47 [[ 9.54646407e-01 -2.94141367e-01 4.61637760e-02 4.36728806e+01] [ 2.93803910e-01 9.55761918e-01 1.40861536e-02 6.61246129e+00] [-4.82648996e-02 1.15801943e-04 9.98834564e-01 -3.47333654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.703201008 meters 0.0611065642704948 Centerline is valid? [True, True] Translation: X:43.70, Y:6.62, Z:-3.48 [[ 9.55445609e-01 -2.91443198e-01 4.67391686e-02 4.36982490e+01] [ 2.91093220e-01 9.56588135e-01 1.42785261e-02 6.62410893e+00] [-4.88715134e-02 -3.68999786e-05 9.98805073e-01 -3.47586516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.733201008 meters 0.061130745247514905 Centerline is valid? [True, True] Translation: X:43.72, Y:6.63, Z:-3.48 [[ 9.55762049e-01 -2.90537958e-01 4.58977231e-02 4.37246055e+01] [ 2.90199456e-01 9.56863464e-01 1.40209734e-02 6.63484615e+00] [-4.79914792e-02 -8.12200013e-05 9.98847742e-01 -3.48015133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.763201008 meters 0.061427264460938234 Centerline is valid? [True, True] Translation: X:43.75, Y:6.65, Z:-3.48 [[ 9.56117167e-01 -2.89410256e-01 4.56252935e-02 4.37505703e+01] [ 2.89073710e-01 9.57205140e-01 1.39538362e-02 6.64565380e+00] [-4.77111488e-02 -1.52429405e-04 9.98861163e-01 -3.48496994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.793201008000004 meters 0.061580176660109634 Centerline is valid? [True, True] Translation: X:43.78, Y:6.66, Z:-3.49 [[ 9.56457957e-01 -2.88407867e-01 4.48227518e-02 4.37776785e+01] [ 2.88081999e-01 9.57507631e-01 1.37076296e-02 6.65667357e+00] [-4.68715151e-02 -1.98143456e-04 9.98900907e-01 -3.48889955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.823201008 meters 0.061436881304666895 Centerline is valid? [True, True] Translation: X:43.81, Y:6.66, Z:-3.49 [[ 9.56027495e-01 -2.89918174e-01 4.42592583e-02 4.38063879e+01] [ 2.89601580e-01 9.57051427e-01 1.35458511e-02 6.66303944e+00] [-4.62855747e-02 -1.32654997e-04 9.98928240e-01 -3.49014440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.853201008 meters 0.06108055169804046 Centerline is valid? [True, True] Translation: X:43.84, Y:6.66, Z:-3.49 [[ 9.54495656e-01 -2.94709479e-01 4.56548601e-02 4.38365022e+01] [ 2.94377469e-01 9.55586895e-01 1.39853949e-02 6.66417333e+00] [-4.77488145e-02 9.07634532e-05 9.98859371e-01 -3.48900024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.883201008 meters 0.06122044103242073 Centerline is valid? [True, True] Translation: X:43.87, Y:6.67, Z:-3.49 [[ 9.52509219e-01 -3.01308966e-01 4.40351586e-02 4.38675030e+01] [ 3.01006610e-01 9.53526481e-01 1.35007346e-02 6.66529023e+00] [-4.60565823e-02 3.95299689e-04 9.98938754e-01 -3.48901509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.913201008 meters 0.06205521018058114 Centerline is valid? [True, True] Translation: X:43.90, Y:6.68, Z:-3.50 [[ 9.52219904e-01 -3.02724617e-01 4.04358935e-02 4.38951768e+01] [ 3.02470574e-01 9.53077978e-01 1.24064381e-02 6.67533158e+00] [-4.22942939e-02 4.17010588e-04 9.99105109e-01 -3.49753680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.943201008 meters 0.06259610678174272 Centerline is valid? [True, True] Translation: X:43.92, Y:6.69, Z:-3.51 [[ 9.52883974e-01 -3.00734536e-01 3.96342125e-02 4.39199099e+01] [ 3.00488354e-01 9.53707838e-01 1.21699716e-02 6.68708086e+00] [-4.14593899e-02 3.13048331e-04 9.99140141e-01 -3.50656276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.973201008000004 meters 0.06230983025365245 Centerline is valid? [True, True] Translation: X:43.95, Y:6.69, Z:-3.51 [[ 9.52770305e-01 -3.00891600e-01 4.11459766e-02 4.39478530e+01] [ 3.00626321e-01 9.53658291e-01 1.26364162e-02 6.69478332e+00] [-4.30413932e-02 3.29961466e-04 9.99073235e-01 -3.50702927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.003201008 meters 0.06230983025365245 Centerline is valid? [True, True] Translation: X:43.97, Y:6.70, Z:-3.51 [[ 9.52690212e-01 -3.01145449e-01 4.11433867e-02 4.39741953e+01] [ 3.00880043e-01 9.53578160e-01 1.26448409e-02 6.70307480e+00] [-4.30413713e-02 3.32607834e-04 9.99073235e-01 -3.50915973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.033201008 meters 0.06230983025365245 Centerline is valid? [True, True] Translation: X:44.00, Y:6.71, Z:-3.51 [[ 9.52610023e-01 -3.01399473e-01 4.11400140e-02 4.40005359e+01] [ 3.01133830e-01 9.53497901e-01 1.26558003e-02 6.71137205e+00] [-4.30413685e-02 3.32607813e-04 9.99073236e-01 -3.51128822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.063201008 meters 0.06149054089190397 Centerline is valid? [True, True] Translation: X:44.03, Y:6.72, Z:-3.51 [[ 9.52735920e-01 -3.00685447e-01 4.33881129e-02 4.40285599e+01] [ 3.00388316e-01 9.53723321e-01 1.33673611e-02 6.71646236e+00] [-4.53996261e-02 2.97717107e-04 9.98968861e-01 -3.50635442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.093201008 meters 0.06130201151224822 Centerline is valid? [True, True] Translation: X:44.06, Y:6.72, Z:-3.51 [[ 9.52789931e-01 -3.00305535e-01 4.48099735e-02 4.40568096e+01] [ 2.99988034e-01 9.53843018e-01 1.38085235e-02 6.72454707e+00] [-4.68884564e-02 2.85833754e-04 9.98900091e-01 -3.50709479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.123201008 meters 0.06121717842567444 Centerline is valid? [True, True] Translation: X:44.08, Y:6.73, Z:-3.51 [[ 9.52979702e-01 -2.99685898e-01 4.49227221e-02 4.40831256e+01] [ 2.99366047e-01 9.54037891e-01 1.38445773e-02 6.73398335e+00] [-4.70070036e-02 2.54736586e-04 9.98894527e-01 -3.50940351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.153201008 meters 0.06113419118002519 Centerline is valid? [True, True] Translation: X:44.11, Y:6.74, Z:-3.51 [[ 9.52753198e-01 -3.00326076e-01 4.54487856e-02 4.41102453e+01] [ 2.99998742e-01 9.53836554e-01 1.40208092e-02 6.74318330e+00] [-4.75615277e-02 2.76207767e-04 9.98868272e-01 -3.50961979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.183201008000005 meters 0.06137090987000779 Centerline is valid? [True, True] Translation: X:44.14, Y:6.75, Z:-3.51 [[ 9.53036525e-01 -2.99479730e-01 4.50918312e-02 4.41358398e+01] [ 2.99155881e-01 9.54102638e-01 1.39253361e-02 6.75254398e+00] [-4.71925910e-02 2.18132603e-04 9.98885785e-01 -3.51338268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.213201008 meters 0.061539371267473116 Centerline is valid? [True, True] Translation: X:44.16, Y:6.76, Z:-3.52 [[ 9.53153866e-01 -2.99291780e-01 4.38421904e-02 4.41635357e+01] [ 2.98985292e-01 9.54161617e-01 1.35426974e-02 6.76179960e+00] [-4.58857533e-02 1.99895730e-04 9.98946674e-01 -3.51657305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.243201008 meters 0.06212402381833724 Centerline is valid? [True, True] Translation: X:44.19, Y:6.77, Z:-3.52 [[ 9.53129740e-01 -2.99535104e-01 4.26898065e-02 4.41891916e+01] [ 2.99244134e-01 9.54085261e-01 1.32009041e-02 6.77059505e+00] [-4.46838493e-02 1.92499878e-04 9.99001159e-01 -3.52353474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.273201008 meters 0.061934191922956155 Centerline is valid? [True, True] Translation: X:44.22, Y:6.78, Z:-3.52 [[ 9.53032648e-01 -3.00007376e-01 4.15252579e-02 4.42166026e+01] [ 2.99732466e-01 9.53936859e-01 1.28420300e-02 6.78136368e+00] [-4.34651778e-02 2.07594131e-04 9.99054921e-01 -3.52266195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.303201008 meters 0.06238209410251446 Centerline is valid? [True, True] Translation: X:44.24, Y:6.79, Z:-3.53 [[ 9.52971211e-01 -3.00245763e-01 4.12110710e-02 4.42430196e+01] [ 2.99974524e-01 9.53861856e-01 1.27610331e-02 6.79022876e+00] [-4.31411148e-02 2.01374266e-04 9.99068968e-01 -3.52820717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.333201008 meters 0.06302048120155447 Centerline is valid? [True, True] Translation: X:44.27, Y:6.80, Z:-3.53 [[ 9.53537224e-01 -2.98766709e-01 3.87971054e-02 4.42697806e+01] [ 2.98524916e-01 9.54326170e-01 1.20181433e-02 6.79872803e+00] [-4.06157142e-02 1.22155622e-04 9.99174834e-01 -3.53456961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.363201008000004 meters 0.06262882367965311 Centerline is valid? [True, True] Translation: X:44.30, Y:6.81, Z:-3.53 [[ 9.53759369e-01 -2.98057630e-01 3.87906684e-02 4.42966631e+01] [ 2.97815576e-01 9.54547872e-01 1.20101014e-02 6.80872480e+00] [-4.06072524e-02 9.77185064e-05 9.99175181e-01 -3.53237786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.393201008 meters 0.06264547855648137 Centerline is valid? [True, True] Translation: X:44.32, Y:6.82, Z:-3.54 [[ 9.53871411e-01 -2.97682742e-01 3.89142251e-02 4.43230741e+01] [ 2.97438374e-01 9.54664852e-01 1.20595771e-02 6.81841719e+00] [-4.07399709e-02 7.12980049e-05 9.99169780e-01 -3.53526021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.423201008 meters 0.06266223327577919 Centerline is valid? [True, True] Translation: X:44.35, Y:6.83, Z:-3.54 [[ 9.54265813e-01 -2.96304476e-01 3.97544401e-02 4.43489583e+01] [ 2.96047471e-01 9.55093533e-01 1.23384554e-02 6.82771021e+00] [-4.16251482e-02 -4.96472413e-06 9.99133298e-01 -3.53635677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.453201008 meters 0.062216415569454835 Centerline is valid? [True, True] Translation: X:44.38, Y:6.84, Z:-3.53 [[ 9.54150685e-01 -2.96469707e-01 4.12575231e-02 4.43770880e+01] [ 2.96193101e-01 9.55042257e-01 1.28036602e-02 6.83594209e+00] [-4.31985753e-02 3.57260752e-06 9.99066506e-01 -3.53488515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.483201008 meters 0.06180865798134386 Centerline is valid? [True, True] Translation: X:44.41, Y:6.84, Z:-3.53 [[ 9.54030363e-01 -2.96590752e-01 4.31276289e-02 4.44053688e+01] [ 2.96288084e-01 9.55004673e-01 1.33957351e-02 6.84498530e+00] [-4.51601383e-02 -1.73551980e-06 9.98979761e-01 -3.53233825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.513201008 meters 0.06162634496855683 Centerline is valid? [True, True] Translation: X:44.43, Y:6.85, Z:-3.53 [[ 9.52658543e-01 -3.00362851e-01 4.71578027e-02 4.44334975e+01] [ 3.00004671e-01 9.53824998e-01 1.46653003e-02 6.85040145e+00] [-4.93852025e-02 1.76537422e-04 9.98779791e-01 -3.53268113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.543201008000004 meters 0.06151010807286291 Centerline is valid? [True, True] Translation: X:44.46, Y:6.86, Z:-3.53 [[ 9.52087079e-01 -3.01966251e-01 4.84414805e-02 4.44609633e+01] [ 3.01590454e-01 9.53318578e-01 1.50627695e-02 6.85879035e+00] [-5.07286114e-02 2.68419844e-04 9.98712439e-01 -3.53359534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.573201008 meters 0.06176115979047065 Centerline is valid? [True, True] Translation: X:44.49, Y:6.87, Z:-3.54 [[ 9.52244806e-01 -3.01715938e-01 4.68755981e-02 4.44869616e+01] [ 3.01362963e-01 9.53397839e-01 1.45919429e-02 6.86776836e+00] [-4.90937157e-02 2.31467304e-04 9.98794150e-01 -3.53830037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.603201008 meters 0.06195776006526368 Centerline is valid? [True, True] Translation: X:44.51, Y:6.88, Z:-3.54 [[ 9.52604362e-01 -3.00691719e-01 4.61456271e-02 4.45139161e+01] [ 3.00348475e-01 9.53721374e-01 1.43643433e-02 6.87838544e+00] [-4.83293100e-02 1.76232659e-04 9.98831441e-01 -3.54215918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.633201008 meters 0.062103754303396604 Centerline is valid? [True, True] Translation: X:44.54, Y:6.89, Z:-3.55 [[ 9.53389410e-01 -2.98138831e-01 4.64959173e-02 4.45394584e+01] [ 2.97786516e-01 9.54522518e-01 1.44898024e-02 6.88910674e+00] [-4.87013728e-02 3.14331100e-05 9.98813384e-01 -3.54514114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.663201008 meters 0.062103754303396604 Centerline is valid? [True, True] Translation: X:44.57, Y:6.90, Z:-3.55 [[ 9.53311222e-01 -2.98388690e-01 4.64962708e-02 4.45657569e+01] [ 2.98036727e-01 9.54444439e-01 1.44886720e-02 6.89750050e+00] [-4.87013630e-02 4.53826916e-05 9.98813384e-01 -3.54727948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.693201008 meters 0.062178989633652905 Centerline is valid? [True, True] Translation: X:44.59, Y:6.90, Z:-3.55 [[ 9.53725045e-01 -2.97179615e-01 4.57472999e-02 4.45923666e+01] [ 2.96836630e-01 9.54821593e-01 1.42737355e-02 6.90448527e+00] [-4.79223729e-02 -3.37446422e-05 9.98851062e-01 -3.54847191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.723201008000004 meters 0.06207132497422571 Centerline is valid? [True, True] Translation: X:44.62, Y:6.91, Z:-3.55 [[ 9.53777951e-01 -2.96957710e-01 4.60840316e-02 4.46193094e+01] [ 2.96609466e-01 9.54890631e-01 1.43773441e-02 6.91226602e+00] [-4.82746731e-02 -4.38337750e-05 9.98834097e-01 -3.54833751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.753201008 meters 0.06230376894875782 Centerline is valid? [True, True] Translation: X:44.64, Y:6.92, Z:-3.55 [[ 9.53591865e-01 -2.97555915e-01 4.60763818e-02 4.46447887e+01] [ 2.97207613e-01 9.54704392e-01 1.43929861e-02 6.92017932e+00] [-4.82720422e-02 -3.07830443e-05 9.98834225e-01 -3.55274269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.783201008 meters 0.06220865283468212 Centerline is valid? [True, True] Translation: X:44.67, Y:6.93, Z:-3.55 [[ 9.53484180e-01 -2.97879323e-01 4.62150054e-02 4.46714388e+01] [ 2.97529241e-01 9.54603535e-01 1.44375297e-02 6.92875043e+00] [-4.84176491e-02 -1.56406461e-05 9.98827178e-01 -3.55344730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.813201008 meters 0.06244266704844642 Centerline is valid? [True, True] Translation: X:44.70, Y:6.94, Z:-3.56 [[ 9.53422710e-01 -2.98132941e-01 4.58463232e-02 4.46973686e+01] [ 2.97787803e-01 9.54524357e-01 1.43413864e-02 6.93792201e+00] [-4.80370719e-02 -2.09275916e-05 9.98845553e-01 -3.55726920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.843201008 meters 0.06253139005172449 Centerline is valid? [True, True] Translation: X:44.73, Y:6.95, Z:-3.56 [[ 9.53420011e-01 -2.98196552e-01 4.54873399e-02 4.47251634e+01] [ 2.97856903e-01 9.54504487e-01 1.42284650e-02 6.94640713e+00] [-4.76607492e-02 -1.69850891e-05 9.98863581e-01 -3.55930093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.873201008 meters 0.06251022837165038 Centerline is valid? [True, True] Translation: X:44.75, Y:6.95, Z:-3.56 [[ 9.53444264e-01 -2.98169425e-01 4.51556215e-02 4.47529044e+01] [ 2.97834141e-01 9.54512961e-01 1.41361672e-02 6.95479884e+00] [-4.73165988e-02 -2.91618234e-05 9.98879942e-01 -3.56094758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.903201008 meters 0.06241765336853332 Centerline is valid? [True, True] Translation: X:44.78, Y:6.96, Z:-3.56 [[ 9.53633696e-01 -2.97496185e-01 4.55937811e-02 4.47802844e+01] [ 2.97153025e-01 9.54723004e-01 1.42851462e-02 6.96377297e+00] [-4.77792081e-02 -7.44667796e-05 9.98857919e-01 -3.56175104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.933201008000005 meters 0.06257599919042911 Centerline is valid? [True, True] Translation: X:44.81, Y:6.97, Z:-3.57 [[ 9.53605100e-01 -2.97496905e-01 4.61833912e-02 4.48061689e+01] [ 2.97144051e-01 9.54722778e-01 1.44854916e-02 6.97371032e+00] [-4.84017245e-02 -9.03186549e-05 9.98827946e-01 -3.56602918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.963201008 meters 0.06267296431438149 Centerline is valid? [True, True] Translation: X:44.83, Y:6.98, Z:-3.57 [[ 9.53511309e-01 -2.97783923e-01 4.62700707e-02 4.48312318e+01] [ 2.97429754e-01 9.54633295e-01 1.45193884e-02 6.98260625e+00] [-4.84945905e-02 -8.23052579e-05 9.98823442e-01 -3.57029781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.993201008 meters 0.0627330289167028 Centerline is valid? [True, True] Translation: X:44.86, Y:6.99, Z:-3.57 [[ 9.53494899e-01 -2.97861842e-01 4.61064063e-02 4.48571202e+01] [ 2.97510079e-01 9.54608986e-01 1.44719227e-02 6.99178918e+00] [-4.83242233e-02 -8.17839588e-05 9.98831699e-01 -3.57358216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.023201008 meters 0.06265198691098818 Centerline is valid? [True, True] Translation: X:44.88, Y:7.00, Z:-3.57 [[ 9.53759514e-01 -2.96721411e-01 4.79499036e-02 4.48846495e+01] [ 2.96339045e-01 9.54964073e-01 1.50595452e-02 7.00240456e+00] [-5.02589248e-02 -1.53755853e-04 9.98736210e-01 -3.57444555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.053201008 meters 0.06234969858890563 Centerline is valid? [True, True] Translation: X:44.91, Y:7.01, Z:-3.57 [[ 9.53874783e-01 -2.96246713e-01 4.85878966e-02 4.49121128e+01] [ 2.95852928e-01 9.55111433e-01 1.52707708e-02 7.01092644e+00] [-5.09307712e-02 -1.91531686e-04 9.98702168e-01 -3.57461207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.083201008 meters 0.0622147468511134 Centerline is valid? [True, True] Translation: X:44.94, Y:7.02, Z:-3.58 [[ 9.53789496e-01 -2.96511604e-01 4.86463351e-02 4.49383731e+01] [ 2.96116424e-01 9.55029231e-01 1.53046236e-02 7.01782922e+00] [-5.09966705e-02 -1.92410471e-04 9.98698805e-01 -3.57580434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.113201008000004 meters 0.06185763260952665 Centerline is valid? [True, True] Translation: X:44.97, Y:7.02, Z:-3.58 [[ 9.53391208e-01 -2.97768867e-01 4.87740366e-02 4.49656862e+01] [ 2.97373150e-01 9.54637987e-01 1.53467926e-02 7.02377817e+00] [-5.11313451e-02 -1.27408196e-04 9.98691929e-01 -3.57547709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.143201008 meters 0.06169889538866681 Centerline is valid? [True, True] Translation: X:44.99, Y:7.03, Z:-3.58 [[ 9.53114066e-01 -2.98592178e-01 4.91557657e-02 4.49938783e+01] [ 2.98190535e-01 9.54380795e-01 1.54823438e-02 7.03034173e+00] [-5.15362255e-02 -9.86555545e-05 9.98671121e-01 -3.57788695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.173201008 meters 0.0616681908079588 Centerline is valid? [True, True] Translation: X:45.02, Y:7.04, Z:-3.58 [[ 9.53033922e-01 -2.98788781e-01 4.95137110e-02 4.50208393e+01] [ 2.98380919e-01 9.54319262e-01 1.56068327e-02 7.03845693e+00] [-5.19150347e-02 -9.98944512e-05 9.98651500e-01 -3.58072114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.203201008 meters 0.06161646344182147 Centerline is valid? [True, True] Translation: X:45.05, Y:7.05, Z:-3.58 [[ 9.52859070e-01 -2.99231910e-01 5.01981695e-02 4.50490190e+01] [ 2.98812333e-01 9.54180410e-01 1.58409108e-02 7.04663408e+00] [-5.26382159e-02 -9.43234208e-05 9.98613644e-01 -3.58242425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.233201008 meters 0.061424956301432625 Centerline is valid? [True, True] Translation: X:45.08, Y:7.05, Z:-3.58 [[ 9.52871816e-01 -2.99172081e-01 5.03127097e-02 4.50760885e+01] [ 2.98750323e-01 9.54199170e-01 1.58804666e-02 7.05493959e+00] [-5.27593381e-02 -1.01110768e-04 9.98607251e-01 -3.58425293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.263201008 meters 0.061291530826090034 Centerline is valid? [True, True] Translation: X:45.10, Y:7.06, Z:-3.59 [[ 9.52730169e-01 -2.99581697e-01 5.05572102e-02 4.51029359e+01] [ 2.99155369e-01 9.54070646e-01 1.59771108e-02 7.06309689e+00] [-5.30216002e-02 -9.74145943e-05 9.98593361e-01 -3.58720738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.293201008000004 meters 0.061352957126158354 Centerline is valid? [True, True] Translation: X:45.13, Y:7.07, Z:-3.59 [[ 9.52805957e-01 -2.99565896e-01 4.92044871e-02 4.51292028e+01] [ 2.99161850e-01 9.54075607e-01 1.55538991e-02 7.07171690e+00] [-5.16042186e-02 -9.97423417e-05 9.98667610e-01 -3.59102447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.323201008 meters 0.06119951559080508 Centerline is valid? [True, True] Translation: X:45.16, Y:7.08, Z:-3.59 [[ 9.52881736e-01 -2.99579741e-01 4.76274697e-02 4.51565441e+01] [ 2.99201016e-01 9.54071260e-01 1.50593275e-02 7.07956156e+00] [-4.99514694e-02 -9.95708712e-05 9.98751641e-01 -3.59170527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.353201008 meters 0.06148058752205017 Centerline is valid? [True, True] Translation: X:45.18, Y:7.09, Z:-3.60 [[ 9.52517239e-01 -3.00764766e-01 4.74495957e-02 4.51830756e+01] [ 3.00390118e-01 9.53698356e-01 1.50074355e-02 7.08618832e+00] [-4.97663092e-02 -4.14513779e-05 9.98760889e-01 -3.59696048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.383201008 meters 0.06137566241951202 Centerline is valid? [True, True] Translation: X:45.21, Y:7.09, Z:-3.60 [[ 9.52299635e-01 -3.01344145e-01 4.81363845e-02 4.52092109e+01] [ 3.00959076e-01 9.53515446e-01 1.52292188e-02 7.09422790e+00] [-5.04880220e-02 -1.56977182e-05 9.98724666e-01 -3.60005381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.413201008 meters 0.06124400062051519 Centerline is valid? [True, True] Translation: X:45.23, Y:7.10, Z:-3.60 [[ 9.52341866e-01 -3.01049783e-01 4.91324645e-02 4.52347558e+01] [ 3.00647980e-01 9.53608424e-01 1.55488072e-02 7.10438003e+00] [-5.15340970e-02 -3.62038639e-05 9.98671235e-01 -3.60371725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.443201008 meters 0.061093741540212514 Centerline is valid? [True, True] Translation: X:45.26, Y:7.11, Z:-3.60 [[ 9.52543454e-01 -3.00504528e-01 4.85592139e-02 4.52620772e+01] [ 3.00111350e-01 9.53780386e-01 1.53672828e-02 7.11324772e+00] [-5.09327639e-02 -6.48333514e-05 9.98702082e-01 -3.60308368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.473201008000004 meters 0.06118609023410824 Centerline is valid? [True, True] Translation: X:45.29, Y:7.12, Z:-3.61 [[ 9.52660509e-01 -3.00019460e-01 4.92572736e-02 4.52885617e+01] [ 2.99613369e-01 9.53933075e-01 1.56050305e-02 7.12178383e+00] [-5.16699553e-02 -1.08158593e-04 9.98664210e-01 -3.60747276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.503201008 meters 0.06118609023410824 Centerline is valid? [True, True] Translation: X:45.31, Y:7.13, Z:-3.61 [[ 9.52586077e-01 -3.00255701e-01 4.92572905e-02 4.53148037e+01] [ 2.99849928e-01 9.53858745e-01 1.56049797e-02 7.13031840e+00] [-5.16699814e-02 -9.52913852e-05 9.98664210e-01 -3.60961022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.533201008 meters 0.06089022368756989 Centerline is valid? [True, True] Translation: X:45.34, Y:7.14, Z:-3.61 [[ 9.52075538e-01 -3.01911271e-01 4.90076980e-02 4.53421381e+01] [ 3.01511122e-01 9.53336029e-01 1.55389395e-02 7.13656741e+00] [-5.14121852e-02 -1.78781512e-05 9.98677519e-01 -3.60968757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.563201008 meters 0.060847058646654247 Centerline is valid? [True, True] Translation: X:45.37, Y:7.14, Z:-3.61 [[ 9.50180956e-01 -3.07570761e-01 5.05606262e-02 4.53712996e+01] [ 3.07151782e-01 9.51525170e-01 1.60509685e-02 7.13788547e+00] [-5.30465170e-02 2.78461800e-04 9.98592004e-01 -3.61207388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.593201008 meters 0.06047608901327684 Centerline is valid? [True, True] Translation: X:45.40, Y:7.15, Z:-3.61 [[ 9.49462553e-01 -3.09785054e-01 5.05379159e-02 4.53996360e+01] [ 3.09369545e-01 9.50806531e-01 1.60444750e-02 7.14571280e+00] [-5.30221190e-02 4.01263912e-04 9.98593257e-01 -3.61123137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.623201008 meters 0.060626078258009794 Centerline is valid? [True, True] Translation: X:45.43, Y:7.15, Z:-3.61 [[ 9.49215061e-01 -3.10587529e-01 5.02608705e-02 4.54273886e+01] [ 3.10177037e-01 9.50544686e-01 1.59688885e-02 7.15386157e+00] [-5.27349410e-02 4.31858348e-04 9.98608452e-01 -3.61319290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.653201008 meters 0.06074721328702819 Centerline is valid? [True, True] Translation: X:45.45, Y:7.16, Z:-3.62 [[ 9.48960028e-01 -3.11441541e-01 4.97898749e-02 4.54531609e+01] [ 3.11039043e-01 9.50265203e-01 1.58353447e-02 7.16321306e+00] [-5.22453697e-02 4.59485893e-04 9.98634172e-01 -3.61692008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.683201008 meters 0.060988899364268115 Centerline is valid? [True, True] Translation: X:45.48, Y:7.17, Z:-3.62 [[ 9.48648393e-01 -3.12443872e-01 4.94474853e-02 4.54788076e+01] [ 3.12048049e-01 9.49936087e-01 1.57304030e-02 7.17214946e+00] [-5.18868187e-02 5.07369734e-04 9.98652843e-01 -3.62118551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.713201008 meters 0.06113708030296768 Centerline is valid? [True, True] Translation: X:45.51, Y:7.18, Z:-3.63 [[ 9.48601979e-01 -3.12734877e-01 4.84889964e-02 4.55063038e+01] [ 3.12354567e-01 9.49840321e-01 1.54269096e-02 7.18185929e+00] [-5.08813366e-02 5.11762476e-04 9.98704575e-01 -3.62518206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.743201008 meters 0.06147655448538855 Centerline is valid? [True, True] Translation: X:45.53, Y:7.19, Z:-3.63 [[ 9.48239797e-01 -3.13886442e-01 4.81309577e-02 4.55337592e+01] [ 3.13512632e-01 9.49460368e-01 1.53244895e-02 7.19119414e+00] [-5.05085862e-02 5.58372433e-04 9.98723471e-01 -3.62869956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.773201008 meters 0.06235739214991175 Centerline is valid? [True, True] Translation: X:45.56, Y:7.20, Z:-3.64 [[ 9.47858236e-01 -3.15443031e-01 4.53922645e-02 4.55606160e+01] [ 3.15111672e-01 9.48944332e-01 1.44668526e-02 7.19982200e+00] [-4.76382000e-02 5.91106998e-04 9.98864482e-01 -3.63680208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.803201008 meters 0.062604398497707 Centerline is valid? [True, True] Translation: X:45.59, Y:7.21, Z:-3.64 [[ 9.47908367e-01 -3.15520644e-01 4.37772794e-02 4.55878945e+01] [ 3.15212389e-01 9.48918541e-01 1.39553578e-02 7.20735575e+00] [-4.59442755e-02 5.70740421e-04 9.98943841e-01 -3.63962575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.833201008 meters 0.06244949032306234 Centerline is valid? [True, True] Translation: X:45.62, Y:7.21, Z:-3.64 [[ 9.47844076e-01 -3.15661381e-01 4.41531494e-02 4.56153970e+01] [ 3.15347993e-01 9.48871726e-01 1.40744826e-02 7.21491598e+00] [-4.63384457e-02 5.83192074e-04 9.98925627e-01 -3.64094728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.863201008000004 meters 0.06216637426048436 Centerline is valid? [True, True] Translation: X:45.64, Y:7.22, Z:-3.64 [[ 9.48101527e-01 -3.14828772e-01 4.45683629e-02 4.56434909e+01] [ 3.14508045e-01 9.49148332e-01 1.42173924e-02 7.22377988e+00] [-4.67780315e-02 5.37577255e-04 9.98905164e-01 -3.64126533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.893201008 meters 0.06143209612112326 Centerline is valid? [True, True] Translation: X:45.67, Y:7.24, Z:-3.64 [[ 9.48856826e-01 -3.12072204e-01 4.77667625e-02 4.56694985e+01] [ 3.11699440e-01 9.50058297e-01 1.52542310e-02 7.23502052e+00] [-5.01416305e-02 4.14791936e-04 9.98742031e-01 -3.64017663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.923201008 meters 0.061179960318539055 Centerline is valid? [True, True] Translation: X:45.70, Y:7.25, Z:-3.64 [[ 9.49280779e-01 -3.10620597e-01 4.87939202e-02 4.56968584e+01] [ 3.10229667e-01 9.50533916e-01 1.55829304e-02 7.24607013e+00] [-5.12206552e-02 3.44745311e-04 9.98687301e-01 -3.64160529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.953201008 meters 0.06109336962959022 Centerline is valid? [True, True] Translation: X:45.72, Y:7.26, Z:-3.64 [[ 9.49622331e-01 -3.09421236e-01 4.97586888e-02 4.57222979e+01] [ 3.09012340e-01 9.50925036e-01 1.59043778e-02 7.25664049e+00] [-5.22379352e-02 2.72896613e-04 9.98634630e-01 -3.64369350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.983201008 meters 0.06108513456294146 Centerline is valid? [True, True] Translation: X:45.75, Y:7.27, Z:-3.64 [[ 9.49629490e-01 -3.09285733e-01 5.04595624e-02 4.57492727e+01] [ 3.08864840e-01 9.50969119e-01 1.61321423e-02 7.26613012e+00] [-5.29749270e-02 2.65626568e-04 9.98595807e-01 -3.64476707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.013201008 meters 0.06102453534626451 Centerline is valid? [True, True] Translation: X:45.78, Y:7.27, Z:-3.65 [[ 9.49405251e-01 -3.09843260e-01 5.12525418e-02 4.57768124e+01] [ 3.09409179e-01 9.50787605e-01 1.63978525e-02 7.27405703e+00] [-5.38110456e-02 2.89799574e-04 9.98551094e-01 -3.64542896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.043201008000004 meters 0.06102589205670814 Centerline is valid? [True, True] Translation: X:45.80, Y:7.28, Z:-3.65 [[ 9.49337721e-01 -3.09879629e-01 5.22733851e-02 4.58042528e+01] [ 3.09427439e-01 9.50775754e-01 1.67369797e-02 7.28190018e+00] [-5.48867162e-02 2.85773534e-04 9.98492547e-01 -3.64634632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.073201008 meters 0.0607050445409629 Centerline is valid? [True, True] Translation: X:45.83, Y:7.29, Z:-3.64 [[ 9.49160757e-01 -3.10324651e-01 5.28438168e-02 4.58315081e+01] [ 3.09862551e-01 9.50630590e-01 1.69316349e-02 7.29195437e+00] [-5.54892524e-02 3.03476502e-04 9.98459238e-01 -3.64426220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.103201008 meters 0.06071208729059325 Centerline is valid? [True, True] Translation: X:45.86, Y:7.30, Z:-3.65 [[ 9.48947164e-01 -3.10888266e-01 5.33644576e-02 4.58587477e+01] [ 3.10417148e-01 9.50446410e-01 1.71118506e-02 7.30083064e+00] [-5.60399307e-02 3.27000651e-04 9.98428475e-01 -3.64605690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.133201008 meters 0.061084229127803535 Centerline is valid? [True, True] Translation: X:45.88, Y:7.31, Z:-3.65 [[ 9.48956423e-01 -3.11084889e-01 5.20374730e-02 4.58846804e+01] [ 3.10636377e-01 9.50382077e-01 1.67017746e-02 7.30904329e+00] [-5.46511513e-02 3.15475744e-04 9.98505459e-01 -3.64899150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.163201008 meters 0.06120579989604575 Centerline is valid? [True, True] Translation: X:45.91, Y:7.32, Z:-3.65 [[ 9.48941770e-01 -3.11239858e-01 5.13738161e-02 4.59112963e+01] [ 3.10802639e-01 9.50331338e-01 1.64944724e-02 7.31846530e+00] [-5.39558846e-02 3.14823809e-04 9.98543271e-01 -3.65216119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.193201008 meters 0.06114935410858509 Centerline is valid? [True, True] Translation: X:45.94, Y:7.33, Z:-3.66 [[ 9.49140168e-01 -3.10653372e-01 5.12584143e-02 4.59376775e+01] [ 3.10217253e-01 9.50523226e-01 1.64575915e-02 7.32865228e+00] [-5.38349197e-02 2.80683270e-04 9.98549810e-01 -3.65600100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.223201008000004 meters 0.061095370944094264 Centerline is valid? [True, True] Translation: X:45.96, Y:7.34, Z:-3.66 [[ 9.49223021e-01 -3.10454935e-01 5.09253312e-02 4.59639407e+01] [ 3.10023459e-01 9.50588065e-01 1.63641898e-02 7.33938105e+00] [-5.34893555e-02 2.54781645e-04 9.98568387e-01 -3.65615592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.253201008 meters 0.0611396173905654 Centerline is valid? [True, True] Translation: X:45.99, Y:7.35, Z:-3.66 [[ 9.49515232e-01 -3.09461464e-01 5.15211322e-02 4.59899644e+01] [ 3.09017292e-01 9.50911967e-01 1.65754208e-02 7.35039766e+00] [-5.41215151e-02 1.82306168e-04 9.98534340e-01 -3.65808903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.283201008 meters 0.06128527870538729 Centerline is valid? [True, True] Translation: X:46.02, Y:7.36, Z:-3.66 [[ 9.49583106e-01 -3.09089823e-01 5.24919683e-02 4.60158051e+01] [ 3.08627954e-01 9.51032836e-01 1.68917233e-02 7.35993740e+00] [-5.51426452e-02 1.60393755e-04 9.98478474e-01 -3.66345664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.313201008 meters 0.061315192161050094 Centerline is valid? [True, True] Translation: X:46.04, Y:7.37, Z:-3.67 [[ 9.49711606e-01 -3.08693476e-01 5.24995541e-02 4.60422792e+01] [ 3.08230643e-01 9.51161564e-01 1.68982317e-02 7.37067797e+00] [-5.51519319e-02 1.33524570e-04 9.98477965e-01 -3.66631327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.343201008 meters 0.06103501989803083 Centerline is valid? [True, True] Translation: X:46.07, Y:7.38, Z:-3.67 [[ 9.49838953e-01 -3.08200105e-01 5.30910515e-02 4.60697548e+01] [ 3.07725179e-01 9.51321548e-01 1.71034191e-02 7.38197033e+00] [-5.57779368e-02 9.19596741e-05 9.98443195e-01 -3.66532715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.373201008 meters 0.061148760479890416 Centerline is valid? [True, True] Translation: X:46.10, Y:7.39, Z:-3.67 [[ 9.50493334e-01 -3.06162231e-01 5.31705769e-02 4.60956053e+01] [ 3.05681978e-01 9.51979352e-01 1.71418029e-02 7.39401352e+00] [-5.58654640e-02 -3.98822167e-05 9.98438305e-01 -3.66600041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.403201008 meters 0.06101403353362894 Centerline is valid? [True, True] Translation: X:46.12, Y:7.40, Z:-3.67 [[ 9.50711458e-01 -3.05287809e-01 5.42869830e-02 4.61235022e+01] [ 3.04784749e-01 9.52260123e-01 1.75189885e-02 7.40372860e+00] [-5.70436627e-02 -1.09658602e-04 9.98371679e-01 -3.66644786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.433201008 meters 0.06104898374651725 Centerline is valid? [True, True] Translation: X:46.15, Y:7.41, Z:-3.67 [[ 9.50802382e-01 -3.04942020e-01 5.46369320e-02 4.61498885e+01] [ 3.04430949e-01 9.52370906e-01 1.76480574e-02 7.41215687e+00] [-5.74162587e-02 -1.46641892e-04 9.98350315e-01 -3.66788320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.463201008 meters 0.06100331260783882 Centerline is valid? [True, True] Translation: X:46.18, Y:7.42, Z:-3.67 [[ 9.50394148e-01 -3.06397399e-01 5.35872829e-02 4.61779849e+01] [ 3.05908018e-01 9.51903688e-01 1.73105210e-02 7.41961950e+00] [-5.63138308e-02 -5.90383558e-05 9.98413115e-01 -3.67016747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.493201008 meters 0.061083390471963435 Centerline is valid? [True, True] Translation: X:46.20, Y:7.43, Z:-3.67 [[ 9.50120402e-01 -3.07217808e-01 5.37442139e-02 4.62043275e+01] [ 3.06726121e-01 9.51639227e-01 1.73743578e-02 7.42791132e+00] [-5.64828143e-02 -2.29775786e-05 9.98403571e-01 -3.67253302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.523201008 meters 0.06136624564473761 Centerline is valid? [True, True] Translation: X:46.23, Y:7.44, Z:-3.68 [[ 9.49763510e-01 -3.08561346e-01 5.23370806e-02 4.62302207e+01] [ 3.08096061e-01 9.51204444e-01 1.69388091e-02 7.43705353e+00] [-5.50099254e-02 3.69855536e-05 9.98485807e-01 -3.67846346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.553201008 meters 0.06161843018337129 Centerline is valid? [True, True] Translation: X:46.26, Y:7.45, Z:-3.68 [[ 9.49532139e-01 -3.09303835e-01 5.21522268e-02 4.62569039e+01] [ 3.08842924e-01 9.50963265e-01 1.68794838e-02 7.44668743e+00] [-5.48157410e-02 7.92339192e-05 9.98496484e-01 -3.68242020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.583201008 meters 0.06184257915439096 Centerline is valid? [True, True] Translation: X:46.28, Y:7.46, Z:-3.69 [[ 9.49488793e-01 -3.09511617e-01 5.17067811e-02 4.62843353e+01] [ 3.09058003e-01 9.50895658e-01 1.67510437e-02 7.45573427e+00] [-5.43523963e-02 7.54662939e-05 9.98521813e-01 -3.68670396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.613201008000004 meters 0.06189133008537201 Centerline is valid? [True, True] Translation: X:46.31, Y:7.46, Z:-3.69 [[ 9.49475349e-01 -3.09654530e-01 5.10943677e-02 4.63116036e+01] [ 3.09211128e-01 9.50849130e-01 1.65653702e-02 7.46424096e+00] [-5.37125770e-02 7.05363847e-05 9.98556435e-01 -3.68855021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.643201008 meters 0.061848775106963697 Centerline is valid? [True, True] Translation: X:46.34, Y:7.47, Z:-3.69 [[ 9.49728021e-01 -3.08662535e-01 5.23843973e-02 4.63382367e+01] [ 3.08194031e-01 9.51171614e-01 1.69999870e-02 7.47307413e+00] [-5.50738108e-02 -8.05411761e-07 9.98482286e-01 -3.68873549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.673201008 meters 0.06186562883190048 Centerline is valid? [True, True] Translation: X:46.37, Y:7.48, Z:-3.69 [[ 9.49940433e-01 -3.07871146e-01 5.31839430e-02 4.63656201e+01] [ 3.07386713e-01 9.51428061e-01 1.72642441e-02 7.48352970e+00] [-5.59158584e-02 -5.19660752e-05 9.98435483e-01 -3.68997753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.703201008 meters 0.06189465772417832 Centerline is valid? [True, True] Translation: X:46.39, Y:7.49, Z:-3.69 [[ 9.50187912e-01 -3.06928052e-01 5.42042640e-02 4.63917175e+01] [ 3.06422321e-01 9.51732712e-01 1.76126600e-02 7.49441938e+00] [-5.69937906e-02 -1.25940264e-04 9.98374525e-01 -3.69166205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.733201008 meters 0.06226418120671041 Centerline is valid? [True, True] Translation: X:46.42, Y:7.51, Z:-3.69 [[ 9.51143484e-01 -3.03641529e-01 5.59275834e-02 4.64168298e+01] [ 3.03097275e-01 9.52786287e-01 1.81750400e-02 7.50942941e+00] [-5.88057315e-02 -3.35572722e-04 9.98269389e-01 -3.69398254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.763201008 meters 0.06257693844711254 Centerline is valid? [True, True] Translation: X:46.44, Y:7.52, Z:-3.70 [[ 9.51642868e-01 -3.02097663e-01 5.57929551e-02 4.64424185e+01] [ 3.01552443e-01 9.53276877e-01 1.81471811e-02 7.52074983e+00] [-5.86683550e-02 -4.45133577e-04 9.98277429e-01 -3.69624545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.793201008000004 meters 0.06258263096772208 Centerline is valid? [True, True] Translation: X:46.47, Y:7.53, Z:-3.70 [[ 9.52084797e-01 -3.00492563e-01 5.69100994e-02 4.64692384e+01] [ 2.99922104e-01 9.53783994e-01 1.85155374e-02 7.53040813e+00] [-5.98437231e-02 -5.59764862e-04 9.98207601e-01 -3.69590457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.823201008 meters 0.06269118990675766 Centerline is valid? [True, True] Translation: X:46.50, Y:7.54, Z:-3.70 [[ 9.52078931e-01 -3.00455757e-01 5.72018167e-02 4.64951072e+01] [ 2.99878177e-01 9.53795574e-01 1.86301247e-02 7.53901988e+00] [-6.01563678e-02 -5.83772611e-04 9.98188795e-01 -3.69797057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.853201008 meters 0.06280189057136593 Centerline is valid? [True, True] Translation: X:46.52, Y:7.55, Z:-3.70 [[ 9.52020759e-01 -3.00786945e-01 5.64241744e-02 4.65217898e+01] [ 3.00225095e-01 9.53691196e-01 1.83846454e-02 7.54733022e+00] [-5.93410997e-02 -5.62611006e-04 9.98237606e-01 -3.70207172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.883201008 meters 0.06280216428420582 Centerline is valid? [True, True] Translation: X:46.55, Y:7.56, Z:-3.71 [[ 9.51960895e-01 -3.01238065e-01 5.50098414e-02 4.65493912e+01] [ 3.00704720e-01 9.53548822e-01 1.79252813e-02 7.55577937e+00] [-5.78543465e-02 -5.22447833e-04 9.98324898e-01 -3.70572916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.913201008 meters 0.06233065214556256 Centerline is valid? [True, True] Translation: X:46.58, Y:7.56, Z:-3.71 [[ 9.50471424e-01 -3.05835716e-01 5.53948312e-02 4.65781604e+01] [ 3.05301839e-01 9.52084265e-01 1.80648419e-02 7.55990066e+00] [-5.82654210e-02 -2.57972204e-04 9.98301094e-01 -3.70602439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.943201008 meters 0.062179307796914204 Centerline is valid? [True, True] Translation: X:46.61, Y:7.56, Z:-3.71 [[ 9.49120551e-01 -3.09940055e-01 5.57435356e-02 4.66056671e+01] [ 3.09405452e-01 9.50756100e-01 1.81962716e-02 7.56434593e+00] [-5.86382600e-02 -2.31014770e-05 9.98279297e-01 -3.70725387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.973201008000004 meters 0.0625391464113028 Centerline is valid? [True, True] Translation: X:46.64, Y:7.57, Z:-3.71 [[ 9.47291894e-01 -3.15923124e-01 5.32038254e-02 4.66350425e+01] [ 3.15445506e-01 9.48784734e-01 1.73684159e-02 7.56784606e+00] [-5.59660615e-02 3.29948009e-04 9.98432617e-01 -3.71188425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.003201008 meters 0.06278330121698804 Centerline is valid? [True, True] Translation: X:46.66, Y:7.58, Z:-3.72 [[ 9.46814051e-01 -3.17503076e-01 5.22967473e-02 4.66613949e+01] [ 3.17043146e-01 9.48257157e-01 1.70882151e-02 7.57516760e+00] [-5.50163258e-02 4.00963102e-04 9.98485375e-01 -3.71606743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.033201008 meters 0.06286663521705484 Centerline is valid? [True, True] Translation: X:46.69, Y:7.58, Z:-3.72 [[ 9.46827053e-01 -3.17683465e-01 5.09484855e-02 4.66886610e+01] [ 3.17247003e-01 9.48196740e-01 1.66517404e-02 7.58470419e+00] [-5.35991705e-02 3.96936100e-04 9.98562452e-01 -3.72022532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.063201008 meters 0.06279446975657578 Centerline is valid? [True, True] Translation: X:46.72, Y:7.59, Z:-3.72 [[ 9.47184573e-01 -3.16659784e-01 5.06750955e-02 4.67153732e+01] [ 3.16225897e-01 9.48539127e-01 1.65742948e-02 7.59461296e+00] [-5.33157234e-02 3.25861208e-04 9.98577652e-01 -3.72137310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.093201008 meters 0.06273404905101714 Centerline is valid? [True, True] Translation: X:46.74, Y:7.60, Z:-3.72 [[ 9.47508892e-01 -3.15430240e-01 5.22557463e-02 4.67430672e+01] [ 3.14966018e-01 9.48948735e-01 1.71086396e-02 7.60426799e+00] [-5.49846066e-02 2.48196151e-04 9.98487171e-01 -3.72260252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.123201008 meters 0.06264678007008116 Centerline is valid? [True, True] Translation: X:46.77, Y:7.61, Z:-3.73 [[ 9.48153952e-01 -3.13458776e-01 5.24183047e-02 4.67694827e+01] [ 3.12987707e-01 9.49601802e-01 1.71788632e-02 7.61414652e+00] [-5.51613820e-02 1.18077935e-04 9.98477445e-01 -3.72580839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.153201008 meters 0.06251791085791006 Centerline is valid? [True, True] Translation: X:46.80, Y:7.63, Z:-3.73 [[ 9.48867366e-01 -3.11081540e-01 5.36562928e-02 4.67960506e+01] [ 3.10583814e-01 9.50383225e-01 1.75903300e-02 7.62577676e+00] [-5.64660676e-02 -2.61140356e-05 9.98404518e-01 -3.72716591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.183201008 meters 0.062279415146417196 Centerline is valid? [True, True] Translation: X:46.82, Y:7.63, Z:-3.73 [[ 9.48207264e-01 -3.12586556e-01 5.65033607e-02 4.68229383e+01] [ 3.12036131e-01 9.49889279e-01 1.85421263e-02 7.63334346e+00] [-5.94679559e-02 4.93112414e-05 9.98230214e-01 -3.72519689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.213201008 meters 0.062158344988815624 Centerline is valid? [True, True] Translation: X:46.85, Y:7.64, Z:-3.73 [[ 9.48135779e-01 -3.12558880e-01 5.78402202e-02 4.68505175e+01] [ 3.11981860e-01 9.49898386e-01 1.89835422e-02 7.64368080e+00] [-6.08758066e-02 4.61238647e-05 9.98145347e-01 -3.72503268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.243201008 meters 0.06232510331905015 Centerline is valid? [True, True] Translation: X:46.88, Y:7.65, Z:-3.73 [[ 9.48381258e-01 -3.11899395e-01 5.73738343e-02 4.68763486e+01] [ 3.11329408e-01 9.50115134e-01 1.88476081e-02 7.65482219e+00] [-6.03903058e-02 -1.25563900e-05 9.98174840e-01 -3.73059208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.273201008 meters 0.06248088703085789 Centerline is valid? [True, True] Translation: X:46.90, Y:7.67, Z:-3.74 [[ 9.49004065e-01 -3.10206426e-01 5.62428374e-02 4.69028391e+01] [ 3.09655392e-01 9.50669216e-01 1.84818915e-02 7.66713928e+00] [-5.92015356e-02 -1.23492285e-04 9.98246043e-01 -3.73507029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.303201008 meters 0.06259179059387873 Centerline is valid? [True, True] Translation: X:46.93, Y:7.68, Z:-3.74 [[ 9.49486297e-01 -3.08723456e-01 5.62636661e-02 4.69293176e+01] [ 3.08168613e-01 9.51151815e-01 1.85021818e-02 7.67850503e+00] [-5.92273456e-02 -2.28872108e-04 9.98244494e-01 -3.73559540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.333201008 meters 0.062485977559327464 Centerline is valid? [True, True] Translation: X:46.96, Y:7.69, Z:-3.74 [[ 9.49611218e-01 -3.08388538e-01 5.59914653e-02 4.69568073e+01] [ 3.07837458e-01 9.51260448e-01 1.84298703e-02 7.68692995e+00] [-5.89460271e-02 -2.64941202e-04 9.98261136e-01 -3.73603457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.363201008000004 meters 0.06248063333994969 Centerline is valid? [True, True] Translation: X:46.98, Y:7.69, Z:-3.74 [[ 9.49418441e-01 -3.09105854e-01 5.53009451e-02 4.69847038e+01] [ 3.08568656e-01 9.51027611e-01 1.82172263e-02 7.69477208e+00] [-5.82237771e-02 -2.31632297e-04 9.98303530e-01 -3.73904810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.393201008 meters 0.06248063333994969 Centerline is valid? [True, True] Translation: X:47.01, Y:7.70, Z:-3.74 [[ 9.49332605e-01 -3.09370133e-01 5.52967045e-02 4.70108715e+01] [ 3.08832633e-01 9.50941675e-01 1.82300876e-02 7.70357512e+00] [-5.82237854e-02 -2.28989662e-04 9.98303530e-01 -3.74117762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.423201008 meters 0.06254108719123667 Centerline is valid? [True, True] Translation: X:47.04, Y:7.71, Z:-3.74 [[ 9.48989480e-01 -3.10578194e-01 5.44072797e-02 4.70385322e+01] [ 3.10058857e-01 9.50547819e-01 1.79540578e-02 7.71167368e+00] [-5.72928599e-02 -1.68753032e-04 9.98357401e-01 -3.74473414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.453201008 meters 0.06277394450692082 Centerline is valid? [True, True] Translation: X:47.07, Y:7.72, Z:-3.75 [[ 9.48688069e-01 -3.11577948e-01 5.39456222e-02 4.70651890e+01] [ 3.11068059e-01 9.50220589e-01 1.78184125e-02 7.71989443e+00] [-5.68120653e-02 -1.23355408e-04 9.98384883e-01 -3.74960843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.483201008 meters 0.06275988250516663 Centerline is valid? [True, True] Translation: X:47.09, Y:7.73, Z:-3.75 [[ 9.48370186e-01 -3.12490633e-01 5.42549033e-02 4.70923325e+01] [ 3.11976100e-01 9.49920838e-01 1.79252389e-02 7.72846841e+00] [-5.71393325e-02 -7.35290334e-05 9.98366211e-01 -3.75168161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.513201008 meters 0.06240572949947503 Centerline is valid? [True, True] Translation: X:47.12, Y:7.73, Z:-3.75 [[ 9.47465855e-01 -3.14665344e-01 5.73949040e-02 4.71196833e+01] [ 3.14092100e-01 9.49202676e-01 1.89850775e-02 7.73381319e+00] [-6.04533424e-02 3.95732469e-05 9.98171023e-01 -3.75132947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.543201008000004 meters 0.06235663473899773 Centerline is valid? [True, True] Translation: X:47.15, Y:7.74, Z:-3.75 [[ 9.47170398e-01 -3.15177659e-01 5.94245706e-02 4.71471983e+01] [ 3.14563893e-01 9.49032685e-01 1.96600892e-02 7.74151152e+00] [-6.25922807e-02 7.13697260e-05 9.98039178e-01 -3.75182843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.573201008 meters 0.06243724782039762 Centerline is valid? [True, True] Translation: X:47.17, Y:7.75, Z:-3.76 [[ 9.47711748e-01 -3.13743004e-01 5.83761072e-02 4.71728084e+01] [ 3.13146988e-01 9.49507939e-01 1.93297153e-02 7.75387345e+00] [-6.14931402e-02 -3.86961071e-05 9.98107505e-01 -3.75573477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.603201008 meters 0.06257554811367388 Centerline is valid? [True, True] Translation: X:47.20, Y:7.77, Z:-3.76 [[ 9.48237616e-01 -3.12322267e-01 5.74475815e-02 4.71990310e+01] [ 3.11742125e-01 9.49976202e-01 1.90279845e-02 7.76665425e+00] [-6.05166985e-02 -1.34219556e-04 9.98167176e-01 -3.76028238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.633201008 meters 0.06284140878743354 Centerline is valid? [True, True] Translation: X:47.22, Y:7.78, Z:-3.76 [[ 9.49089771e-01 -3.09863364e-01 5.66860012e-02 4.72248850e+01] [ 3.09293294e-01 9.50781050e-01 1.87897140e-02 7.77929245e+00] [-5.97182198e-02 -3.00525357e-04 9.98215229e-01 -3.76283511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.663201008 meters 0.06310186206660055 Centerline is valid? [True, True] Translation: X:47.25, Y:7.79, Z:-3.77 [[ 9.50117593e-01 -3.06936747e-01 5.53750233e-02 4.72505813e+01] [ 3.06386980e-01 9.51729792e-01 1.83690466e-02 7.79228032e+00] [-5.83401948e-02 -4.86568121e-04 9.98296642e-01 -3.76561009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.693201008 meters 0.06414124415062557 Centerline is valid? [True, True] Translation: X:47.27, Y:7.81, Z:-3.77 [[ 9.52353236e-01 -3.00097350e-01 5.44508513e-02 4.72748170e+01] [ 2.99553573e-01 9.53908149e-01 1.80803942e-02 7.81014848e+00] [-5.73669891e-02 -9.07974831e-04 9.98352745e-01 -3.76982566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.723201008000004 meters 0.06453573697629134 Centerline is valid? [True, True] Translation: X:47.30, Y:7.82, Z:-3.77 [[ 9.53138224e-01 -2.97701888e-01 5.38619734e-02 4.73005688e+01] [ 2.97165866e-01 9.54658315e-01 1.78871424e-02 7.82242421e+00] [-5.67448168e-02 -1.04297915e-03 9.98388170e-01 -3.77200800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.753201008 meters 0.06488683956700228 Centerline is valid? [True, True] Translation: X:47.33, Y:7.83, Z:-3.78 [[ 9.53320202e-01 -2.97073644e-01 5.41095419e-02 4.73265599e+01] [ 2.96531382e-01 9.54853948e-01 1.79743653e-02 7.83293623e+00] [-5.70064199e-02 -1.09014833e-03 9.98373217e-01 -3.77576796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.783201008 meters 0.06466548402806364 Centerline is valid? [True, True] Translation: X:47.35, Y:7.84, Z:-3.78 [[ 9.53099492e-01 -2.97823063e-01 5.38774637e-02 4.73535657e+01] [ 2.97286593e-01 9.54620521e-01 1.78981355e-02 7.84158338e+00] [-5.67630100e-02 -1.04165624e-03 9.98387137e-01 -3.77833223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.813201008 meters 0.06416436878493813 Centerline is valid? [True, True] Translation: X:47.38, Y:7.85, Z:-3.78 [[ 9.52437384e-01 -2.99893202e-01 5.41026525e-02 4.73818790e+01] [ 2.99354611e-01 9.53972320e-01 1.79897054e-02 7.84878632e+00] [-5.70074233e-02 -9.38189494e-04 9.98373314e-01 -3.78096353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.843201008 meters 0.06369092586884394 Centerline is valid? [True, True] Translation: X:47.41, Y:7.85, Z:-3.78 [[ 9.51076957e-01 -3.04117685e-01 5.44523291e-02 4.74095043e+01] [ 3.03578036e-01 9.52634209e-01 1.81229294e-02 7.85393105e+00] [-5.73846548e-02 -7.05769394e-04 9.98351894e-01 -3.78490950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.873201008 meters 0.06344632631068702 Centerline is valid? [True, True] Translation: X:47.44, Y:7.86, Z:-3.79 [[ 9.50489599e-01 -3.05831029e-01 5.51081045e-02 4.74374990e+01] [ 3.05280849e-01 9.52085607e-01 1.83466507e-02 7.86032805e+00] [-5.80786082e-02 -6.14851699e-04 9.98311824e-01 -3.78655540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.903201008 meters 0.06336272403360094 Centerline is valid? [True, True] Translation: X:47.46, Y:7.87, Z:-3.79 [[ 9.49972265e-01 -3.07347736e-01 5.55883558e-02 4.74647963e+01] [ 3.06789479e-01 9.51597118e-01 1.85240820e-02 7.86706826e+00] [-5.85910538e-02 -5.43441456e-04 9.98281921e-01 -3.78906167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.933201008 meters 0.06318838714361331 Centerline is valid? [True, True] Translation: X:47.49, Y:7.87, Z:-3.79 [[ 9.49515123e-01 -3.08781831e-01 5.54509854e-02 4.74926275e+01] [ 3.08228690e-01 9.51132785e-01 1.84797433e-02 7.87350303e+00] [-5.84474591e-02 -4.55211179e-04 9.98290382e-01 -3.79018604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.963201008 meters 0.06315100532579805 Centerline is valid? [True, True] Translation: X:47.52, Y:7.88, Z:-3.79 [[ 9.49541383e-01 -3.08726202e-01 5.53108872e-02 4.75188389e+01] [ 3.08174603e-01 9.51150832e-01 1.84528855e-02 7.88122379e+00] [-5.83058856e-02 -4.76367716e-04 9.98298651e-01 -3.79367986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.993201008 meters 0.06310445185881045 Centerline is valid? [True, True] Translation: X:47.55, Y:7.89, Z:-3.79 [[ 9.49684705e-01 -3.08323985e-01 5.50933837e-02 4.75475825e+01] [ 3.07775927e-01 9.51281278e-01 1.83822977e-02 7.88826494e+00] [-5.80770077e-02 -5.00969656e-04 9.98311980e-01 -3.79373163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.023201008 meters 0.0631695200471895 Centerline is valid? [True, True] Translation: X:47.57, Y:7.90, Z:-3.80 [[ 9.49798251e-01 -3.08040463e-01 5.47207007e-02 4.75738712e+01] [ 3.07498352e-01 9.51373108e-01 1.82748998e-02 7.89656214e+00] [-5.76892117e-02 -5.30942579e-04 9.98334449e-01 -3.79763497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.053201008 meters 0.06302305769121742 Centerline is valid? [True, True] Translation: X:47.60, Y:7.90, Z:-3.80 [[ 9.49811060e-01 -3.07951699e-01 5.49972924e-02 4.76010536e+01] [ 3.07403866e-01 9.51401839e-01 1.83685433e-02 7.90333158e+00] [-5.79811493e-02 -5.40265243e-04 9.98317532e-01 -3.79798517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.083201008 meters 0.06298220890550715 Centerline is valid? [True, True] Translation: X:47.63, Y:7.91, Z:-3.80 [[ 9.49427806e-01 -3.09143643e-01 5.49276734e-02 4.76282296e+01] [ 3.08598033e-01 9.51015232e-01 1.83652473e-02 7.90959844e+00] [-5.79145535e-02 -4.85904470e-04 9.98321425e-01 -3.79928650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.113201008000004 meters 0.06296790719056193 Centerline is valid? [True, True] Translation: X:47.66, Y:7.92, Z:-3.80 [[ 9.49160737e-01 -3.09883547e-01 5.53722133e-02 4.76556258e+01] [ 3.09330193e-01 9.50774415e-01 1.85160286e-02 7.91914690e+00] [-5.83842964e-02 -4.46389911e-04 9.98294082e-01 -3.80290206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.143201008 meters 0.06301141167710186 Centerline is valid? [True, True] Translation: X:47.68, Y:7.93, Z:-3.81 [[ 9.48949679e-01 -3.10611789e-01 5.49074077e-02 4.76820530e+01] [ 3.10067930e-01 9.50536767e-01 1.83775411e-02 7.92805147e+00] [-5.78997907e-02 -4.14335526e-04 9.98322314e-01 -3.80688193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.173201008 meters 0.06281261794411327 Centerline is valid? [True, True] Translation: X:47.71, Y:7.94, Z:-3.81 [[ 9.48451465e-01 -3.12208787e-01 5.44563253e-02 4.77092390e+01] [ 3.11676412e-01 9.50013460e-01 1.82274571e-02 7.93509135e+00] [-5.74250143e-02 -3.15106358e-04 9.98349773e-01 -3.80842326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.203201008 meters 0.06271377056529258 Centerline is valid? [True, True] Translation: X:47.74, Y:7.94, Z:-3.81 [[ 9.48123801e-01 -3.13295406e-01 5.39188915e-02 4.77362574e+01] [ 3.12774102e-01 9.49655684e-01 1.80677511e-02 7.94202320e+00] [-5.68649252e-02 -2.66032019e-04 9.98381846e-01 -3.81174421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.233201008 meters 0.06253304976040253 Centerline is valid? [True, True] Translation: X:47.76, Y:7.95, Z:-3.81 [[ 9.47869906e-01 -3.13997485e-01 5.42975180e-02 4.77643158e+01] [ 3.13469865e-01 9.49423787e-01 1.81965958e-02 7.94997253e+00] [-5.72650405e-02 -2.27369882e-04 9.98358985e-01 -3.81349358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.263201008 meters 0.06261784768105794 Centerline is valid? [True, True] Translation: X:47.79, Y:7.96, Z:-3.82 [[ 9.47880234e-01 -3.13949096e-01 5.43969346e-02 4.77902051e+01] [ 3.13418507e-01 9.49439784e-01 1.82465182e-02 7.95825636e+00] [-5.73750917e-02 -2.46507911e-04 9.98352662e-01 -3.81528378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.293201008000004 meters 0.06244177820101147 Centerline is valid? [True, True] Translation: X:47.82, Y:7.97, Z:-3.82 [[ 9.47489681e-01 -3.15023331e-01 5.49873148e-02 4.78174545e+01] [ 3.14482680e-01 9.49083908e-01 1.84493560e-02 7.96727211e+00] [-5.79995532e-02 -1.88016359e-04 9.98316591e-01 -3.81787593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.323201008 meters 0.06216186389857023 Centerline is valid? [True, True] Translation: X:47.84, Y:7.98, Z:-3.82 [[ 9.46788391e-01 -3.16962839e-01 5.59133431e-02 4.78447922e+01] [ 3.16406324e-01 9.48437953e-01 1.87746298e-02 7.97546742e+00] [-5.89811967e-02 -8.42661579e-05 9.98259090e-01 -3.81932258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.353201008 meters 0.062090365430398496 Centerline is valid? [True, True] Translation: X:47.87, Y:7.98, Z:-3.82 [[ 9.45663216e-01 -3.20156636e-01 5.67521795e-02 4.78719449e+01] [ 3.19587991e-01 9.47364617e-01 1.90734722e-02 7.98171851e+00] [-5.98715055e-02 1.00233949e-04 9.98206087e-01 -3.82171565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.383201008 meters 0.06194955763417377 Centerline is valid? [True, True] Translation: X:47.90, Y:7.99, Z:-3.82 [[ 9.44993285e-01 -3.22126710e-01 5.67633075e-02 4.78993640e+01] [ 3.21560872e-01 9.46696538e-01 1.90858533e-02 7.98734848e+00] [-5.98856898e-02 2.16855422e-04 9.98205218e-01 -3.82401774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.413201008 meters 0.06195433300224601 Centerline is valid? [True, True] Translation: X:47.93, Y:7.99, Z:-3.83 [[ 9.44401029e-01 -3.24000558e-01 5.59493967e-02 4.79276322e+01] [ 3.23454008e-01 9.46056832e-01 1.88142102e-02 7.99369484e+00] [-5.90271236e-02 3.28897108e-04 9.98256325e-01 -3.82541154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.443201008 meters 0.06201851939670067 Centerline is valid? [True, True] Translation: X:47.96, Y:8.00, Z:-3.83 [[ 9.43741272e-01 -3.25991653e-01 5.55144433e-02 4.79555352e+01] [ 3.25456072e-01 9.45372547e-01 1.86840169e-02 7.99907689e+00] [-5.85726642e-02 4.34634774e-04 9.98283053e-01 -3.82853688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.473201008000004 meters 0.06199307415312495 Centerline is valid? [True, True] Translation: X:47.98, Y:8.01, Z:-3.83 [[ 9.43037691e-01 -3.28081786e-01 5.51566390e-02 4.79835885e+01] [ 3.27556361e-01 9.44649158e-01 1.85687337e-02 8.00670192e+00] [-5.81957360e-02 5.55892165e-04 9.98305037e-01 -3.82954680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.503201008 meters 0.062160724538647884 Centerline is valid? [True, True] Translation: X:48.01, Y:8.02, Z:-3.83 [[ 9.42570002e-01 -3.29490775e-01 5.47505216e-02 4.80108463e+01] [ 3.28974633e-01 9.44158588e-01 1.84459361e-02 8.01619758e+00] [-5.77709409e-02 6.24946729e-04 9.98329669e-01 -3.83284005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.533201008 meters 0.062253071130201794 Centerline is valid? [True, True] Translation: X:48.04, Y:8.03, Z:-3.84 [[ 9.42601507e-01 -3.29534983e-01 5.39360149e-02 4.80379346e+01] [ 3.29033384e-01 9.44143172e-01 1.81852550e-02 8.02613348e+00] [-5.69159979e-02 6.05300769e-04 9.98378787e-01 -3.83616355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.563201008 meters 0.0621841004042988 Centerline is valid? [True, True] Translation: X:48.07, Y:8.04, Z:-3.84 [[ 9.42761866e-01 -3.29307272e-01 5.25050896e-02 4.80650593e+01] [ 3.28830866e-01 9.44222645e-01 1.77160369e-02 8.03603188e+00] [-5.54105144e-02 5.63290059e-04 9.98463498e-01 -3.83790615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.593201008 meters 0.062224960637453655 Centerline is valid? [True, True] Translation: X:48.09, Y:8.04, Z:-3.84 [[ 9.43450941e-01 -3.27404025e-01 5.20281279e-02 4.80920562e+01] [ 3.26932368e-01 9.44884342e-01 1.75729173e-02 8.04354113e+00] [-5.49140072e-02 4.30493707e-04 9.98490995e-01 -3.84241546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.623201008 meters 0.06208365189700581 Centerline is valid? [True, True] Translation: X:48.12, Y:8.05, Z:-3.84 [[ 9.43841271e-01 -3.26475436e-01 5.07685431e-02 4.81195100e+01] [ 3.26024953e-01 9.45205615e-01 1.71485996e-02 8.05279314e+00] [-5.35853085e-02 3.66255860e-04 9.98563208e-01 -3.84427813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.653201008 meters 0.061975093615306696 Centerline is valid? [True, True] Translation: X:48.15, Y:8.06, Z:-3.85 [[ 9.44109942e-01 -3.25572979e-01 5.15621310e-02 4.81464088e+01] [ 3.25106207e-01 9.45516864e-01 1.74302463e-02 8.06298929e+00] [-5.44276816e-02 3.07100002e-04 9.98517668e-01 -3.84670877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.683201008 meters 0.062049342097072274 Centerline is valid? [True, True] Translation: X:48.17, Y:8.08, Z:-3.85 [[ 9.45358416e-01 -3.22033173e-01 5.09126834e-02 4.81696258e+01] [ 3.21572103e-01 9.46728381e-01 1.72265657e-02 8.07811308e+00] [-5.37480079e-02 8.68197860e-05 9.98554527e-01 -3.85095301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.713201008 meters 0.06208434887887488 Centerline is valid? [True, True] Translation: X:48.20, Y:8.09, Z:-3.85 [[ 9.45849216e-01 -3.20623130e-01 5.06958548e-02 4.81955780e+01] [ 3.20163811e-01 9.47206846e-01 1.71559220e-02 8.08944255e+00] [-5.35200461e-02 4.06269853e-06 9.98566775e-01 -3.85401722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.743201008 meters 0.06212992818523893 Centerline is valid? [True, True] Translation: X:48.22, Y:8.10, Z:-3.86 [[ 9.45849497e-01 -3.20580313e-01 5.09606958e-02 4.82222479e+01] [ 3.20115068e-01 9.47221338e-01 1.72650184e-02 8.09813269e+00] [-5.38058834e-02 -1.68223385e-05 9.98551414e-01 -3.85549543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.773201008 meters 0.06176050543190535 Centerline is valid? [True, True] Translation: X:48.25, Y:8.10, Z:-3.86 [[ 9.45504487e-01 -3.21570434e-01 5.11245693e-02 4.82499607e+01] [ 3.21103624e-01 9.46885661e-01 1.73207561e-02 8.10463503e+00] [-5.39789647e-02 3.94318670e-05 9.98542072e-01 -3.85543539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.803201008 meters 0.061365815326717386 Centerline is valid? [True, True] Translation: X:48.28, Y:8.11, Z:-3.85 [[ 9.45136928e-01 -3.22661091e-01 5.10490684e-02 4.82774416e+01] [ 3.22196455e-01 9.46514560e-01 1.73098715e-02 8.11025329e+00] [-5.39039086e-02 8.76300513e-05 9.98546124e-01 -3.85474766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.833201008 meters 0.06161363167832319 Centerline is valid? [True, True] Translation: X:48.30, Y:8.12, Z:-3.86 [[ 9.44802788e-01 -3.23737576e-01 5.04150028e-02 4.83036877e+01] [ 3.23284908e-01 9.46146905e-01 1.71144109e-02 8.11886304e+00] [-5.32405768e-02 1.28666400e-04 9.98581706e-01 -3.86110107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.863201008000004 meters 0.061806057017250976 Centerline is valid? [True, True] Translation: X:48.33, Y:8.13, Z:-3.86 [[ 9.44421689e-01 -3.24993897e-01 4.94635223e-02 4.83313591e+01] [ 3.24559857e-01 9.45716093e-01 1.67919743e-02 8.12834586e+00] [-5.22357382e-02 1.95168937e-04 9.98634763e-01 -3.86404651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.893201008 meters 0.062163688387415275 Centerline is valid? [True, True] Translation: X:48.36, Y:8.14, Z:-3.87 [[ 9.44286424e-01 -3.25479750e-01 4.88475247e-02 4.83568920e+01] [ 3.25056264e-01 9.45548989e-01 1.65992256e-02 8.13761592e+00] [-5.15904394e-02 2.03770491e-04 9.98668306e-01 -3.87054476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.923201008 meters 0.06225939099550494 Centerline is valid? [True, True] Translation: X:48.38, Y:8.15, Z:-3.87 [[ 9.44667288e-01 -3.24454142e-01 4.83034706e-02 4.83833993e+01] [ 3.24038679e-01 9.45901416e-01 1.64148233e-02 8.15020991e+00] [-5.10161787e-02 1.45646203e-04 9.98697816e-01 -3.87370454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.953201008 meters 0.06247328113965788 Centerline is valid? [True, True] Translation: X:48.41, Y:8.16, Z:-3.88 [[ 9.45129086e-01 -3.23565229e-01 4.51281912e-02 4.84093232e+01] [ 3.23200902e-01 9.46205864e-01 1.53505867e-02 8.16134490e+00] [-4.76674753e-02 7.71861588e-05 9.98863257e-01 -3.87854591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.983201008 meters 0.062415606841412924 Centerline is valid? [True, True] Translation: X:48.44, Y:8.17, Z:-3.88 [[ 9.44808573e-01 -3.24528147e-01 4.49248615e-02 4.84368165e+01] [ 3.24168266e-01 9.45876031e-01 1.52796995e-02 8.16957071e+00] [-4.74520422e-02 1.26823446e-04 9.98873509e-01 -3.88128127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.013201008 meters 0.06218256411563901 Centerline is valid? [True, True] Translation: X:48.47, Y:8.18, Z:-3.88 [[ 9.44477056e-01 -3.25575157e-01 4.43160028e-02 4.84650910e+01] [ 3.25225643e-01 9.45516150e-01 1.50828198e-02 8.17729063e+00] [-4.68120877e-02 1.67323258e-04 9.98903699e-01 -3.88071744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.043201008000004 meters 0.06177518691326161 Centerline is valid? [True, True] Translation: X:48.49, Y:8.18, Z:-3.88 [[ 9.43770345e-01 -3.27606241e-01 4.44036921e-02 4.84923417e+01] [ 3.27257137e-01 9.44814312e-01 1.51222638e-02 8.18375136e+00] [-4.69073918e-02 2.59480967e-04 9.98899209e-01 -3.87973746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.073201008 meters 0.06176217622763634 Centerline is valid? [True, True] Translation: X:48.52, Y:8.19, Z:-3.88 [[ 9.43026048e-01 -3.29728821e-01 4.45059197e-02 4.85202999e+01] [ 3.29379801e-01 9.44075622e-01 1.51712398e-02 8.19042481e+00] [-4.70193489e-02 3.52476643e-04 9.98893917e-01 -3.88171456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.103201008 meters 0.061532363171426734 Centerline is valid? [True, True] Translation: X:48.55, Y:8.20, Z:-3.89 [[ 9.42368214e-01 -3.31536445e-01 4.50081669e-02 4.85461745e+01] [ 3.31180834e-01 9.43442313e-01 1.53576532e-02 8.19782021e+00] [-4.75542308e-02 4.33278059e-04 9.98868564e-01 -3.88596339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.133201008 meters 0.06145378262304777 Centerline is valid? [True, True] Translation: X:48.57, Y:8.21, Z:-3.89 [[ 9.42412037e-01 -3.31237153e-01 4.62763501e-02 4.85729395e+01] [ 3.30860711e-01 9.43547437e-01 1.57931759e-02 8.20877070e+00] [-4.88952181e-02 4.27346995e-04 9.98803822e-01 -3.88799717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.163201008 meters 0.06136519204598357 Centerline is valid? [True, True] Translation: X:48.60, Y:8.22, Z:-3.89 [[ 9.42669187e-01 -3.30527485e-01 4.61127492e-02 4.85986078e+01] [ 3.30152347e-01 9.43796290e-01 1.57476942e-02 8.22035110e+00] [-4.87260874e-02 3.79366296e-04 9.98812107e-01 -3.89052327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.193201008 meters 0.06113700198267779 Centerline is valid? [True, True] Translation: X:48.63, Y:8.23, Z:-3.89 [[ 9.42979439e-01 -3.29592383e-01 4.64611499e-02 4.86260402e+01] [ 3.29209721e-01 9.44123275e-01 1.58808328e-02 8.23059118e+00] [-4.90992545e-02 3.20163446e-04 9.98793853e-01 -3.89178992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.223201008000004 meters 0.06077753678104583 Centerline is valid? [True, True] Translation: X:48.65, Y:8.24, Z:-3.89 [[ 9.43421086e-01 -3.28406067e-01 4.58923689e-02 4.86533115e+01] [ 3.28030785e-01 9.44536604e-01 1.56974090e-02 8.24101470e+00] [-4.85021465e-02 2.44843172e-04 9.98823048e-01 -3.89304444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.253201008 meters 0.0610178270323159 Centerline is valid? [True, True] Translation: X:48.68, Y:8.25, Z:-3.90 [[ 9.43338828e-01 -3.28789920e-01 4.48223647e-02 4.86792763e+01] [ 3.28431875e-01 9.44403053e-01 1.53419914e-02 8.24986553e+00] [-4.73746701e-02 2.48397116e-04 9.98877159e-01 -3.89769171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.283201008 meters 0.0610178270323159 Centerline is valid? [True, True] Translation: X:48.71, Y:8.26, Z:-3.90 [[ 9.43256804e-01 -3.29025575e-01 4.48193342e-02 4.87053206e+01] [ 3.28667376e-01 9.44320977e-01 1.53508377e-02 8.25900457e+00] [-4.73746557e-02 2.50870845e-04 9.98877159e-01 -3.89982173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.313201008 meters 0.061018831683806674 Centerline is valid? [True, True] Translation: X:48.73, Y:8.27, Z:-3.90 [[ 9.42994715e-01 -3.29783856e-01 4.47613238e-02 4.87315850e+01] [ 3.29426848e-01 9.44056424e-01 1.53433935e-02 8.26762729e+00] [-4.73172188e-02 2.76842819e-04 9.98879875e-01 -3.90154370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.343201008 meters 0.0607802783020331 Centerline is valid? [True, True] Translation: X:48.76, Y:8.28, Z:-3.90 [[ 9.42864575e-01 -3.30182492e-01 4.45635978e-02 4.87594182e+01] [ 3.29828455e-01 9.43917074e-01 1.52888334e-02 8.27678248e+00] [-4.71124459e-02 2.83043183e-04 9.98889552e-01 -3.90178143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.373201008 meters 0.06025705980622313 Centerline is valid? [True, True] Translation: X:48.79, Y:8.29, Z:-3.90 [[ 9.42698966e-01 -3.30633315e-01 4.47243791e-02 4.87862915e+01] [ 3.30276757e-01 9.43759250e-01 1.53538651e-02 8.28590491e+00] [-4.72855458e-02 2.97350070e-04 9.98881369e-01 -3.89857719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.403201008 meters 0.06044991308271912 Centerline is valid? [True, True] Translation: X:48.81, Y:8.30, Z:-3.90 [[ 9.42832483e-01 -3.30295741e-01 4.44030655e-02 4.88113957e+01] [ 3.29943029e-01 9.43877458e-01 1.52624413e-02 8.29627345e+00] [-4.69521719e-02 2.60556436e-04 9.98897105e-01 -3.90337908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.433201008 meters 0.06055366469037957 Centerline is valid? [True, True] Translation: X:48.84, Y:8.31, Z:-3.91 [[ 9.43152061e-01 -3.29472083e-01 4.37302798e-02 4.88363640e+01] [ 3.29128937e-01 9.44165294e-01 1.50346779e-02 8.30774029e+00] [-4.62421191e-02 2.12913098e-04 9.98930238e-01 -3.90579304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.463201008 meters 0.06041721971650298 Centerline is valid? [True, True] Translation: X:48.86, Y:8.32, Z:-3.91 [[ 9.43502834e-01 -3.28433646e-01 4.39743432e-02 4.88628483e+01] [ 3.28085324e-01 9.44527033e-01 1.51229831e-02 8.32083716e+00] [-4.65018524e-02 1.58759252e-04 9.98918191e-01 -3.90870285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.493201008 meters 0.060680095612063084 Centerline is valid? [True, True] Translation: X:48.89, Y:8.34, Z:-3.91 [[ 9.44392038e-01 -3.25925768e-01 4.35439065e-02 4.88878504e+01] [ 3.25581066e-01 9.45395364e-01 1.49858689e-02 8.33589572e+00] [-4.60504882e-02 2.45362340e-05 9.98939113e-01 -3.91331696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.523201008 meters 0.060494557929735765 Centerline is valid? [True, True] Translation: X:48.91, Y:8.35, Z:-3.91 [[ 9.44671450e-01 -3.25159361e-01 4.32115891e-02 4.89145943e+01] [ 3.24818393e-01 9.45659235e-01 1.48869917e-02 8.34564777e+00] [-4.57040830e-02 -2.73971310e-05 9.98955022e-01 -3.91329995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.553201008 meters 0.06048651605197471 Centerline is valid? [True, True] Translation: X:48.94, Y:8.35, Z:-3.91 [[ 9.44842314e-01 -3.24765939e-01 4.24274170e-02 4.89419912e+01] [ 3.24436903e-01 9.45794419e-01 1.46155068e-02 8.35457752e+00] [-4.48742330e-02 -4.43294993e-05 9.98992643e-01 -3.91441474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.583201008 meters 0.060452512610513764 Centerline is valid? [True, True] Translation: X:48.97, Y:8.36, Z:-3.92 [[ 9.44836642e-01 -3.24825829e-01 4.20939582e-02 4.89699214e+01] [ 3.24501525e-01 9.45773851e-01 1.45114514e-02 8.36280624e+00] [-4.45250592e-02 -5.13973451e-05 9.99008266e-01 -3.91621893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.613201008000004 meters 0.0600291682393842 Centerline is valid? [True, True] Translation: X:49.00, Y:8.37, Z:-3.92 [[ 9.43975686e-01 -3.27065361e-01 4.40244630e-02 4.89982231e+01] [ 3.26712473e-01 9.45001718e-01 1.51892057e-02 8.36899619e+00] [-4.65710562e-02 4.51002897e-05 9.98914979e-01 -3.91686141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.643201008 meters 0.06018056866822307 Centerline is valid? [True, True] Translation: X:49.02, Y:8.38, Z:-3.92 [[ 9.43331820e-01 -3.28824412e-01 4.47166952e-02 4.90246840e+01] [ 3.28461512e-01 9.44391070e-01 1.54448216e-02 8.37621752e+00] [-4.73086820e-02 1.18121659e-04 9.98880310e-01 -3.92113887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.673201008 meters 0.060122675424546614 Centerline is valid? [True, True] Translation: X:49.05, Y:8.38, Z:-3.92 [[ 9.42821264e-01 -3.30134394e-01 4.58186282e-02 4.90520539e+01] [ 3.29754927e-01 9.43933921e-01 1.58253483e-02 8.38451369e+00] [-4.84742491e-02 1.88443565e-04 9.98824415e-01 -3.92246672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.703201008 meters 0.0601504663984369 Centerline is valid? [True, True] Translation: X:49.08, Y:8.39, Z:-3.92 [[ 9.42656192e-01 -3.30681128e-01 4.52691523e-02 4.90788984e+01] [ 3.30310635e-01 9.43742524e-01 1.56503172e-02 8.39388967e+00] [-4.78976886e-02 2.00014069e-04 9.98852227e-01 -3.92370325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.733201008 meters 0.06012755570232111 Centerline is valid? [True, True] Translation: X:49.11, Y:8.40, Z:-3.93 [[ 9.42415388e-01 -3.31230907e-01 4.62528089e-02 4.91063619e+01] [ 3.30844623e-01 9.43549698e-01 1.59938201e-02 8.40318527e+00] [-4.89394714e-02 2.29670899e-04 9.98801720e-01 -3.92586203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.763201008 meters 0.060103230480653407 Centerline is valid? [True, True] Translation: X:49.13, Y:8.41, Z:-3.93 [[ 9.42093535e-01 -3.32156579e-01 4.61711819e-02 4.91338671e+01] [ 3.31772231e-01 9.43224223e-01 1.59765870e-02 8.40895813e+00] [-4.88565057e-02 2.66876633e-04 9.98805772e-01 -3.92533168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.793201008000004 meters 0.05995920532384145 Centerline is valid? [True, True] Translation: X:49.16, Y:8.42, Z:-3.92 [[ 9.41916313e-01 -3.32653128e-01 4.62120686e-02 4.91612327e+01] [ 3.32268028e-01 9.43049213e-01 1.60043756e-02 8.41701934e+00] [-4.89041606e-02 2.80010467e-04 9.98803436e-01 -3.92469791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.823201008 meters 0.05989262827848253 Centerline is valid? [True, True] Translation: X:49.19, Y:8.43, Z:-3.93 [[ 9.41986345e-01 -3.32419347e-01 4.64661598e-02 4.91877299e+01] [ 3.32029020e-01 9.43131651e-01 1.61064632e-02 8.42629269e+00] [-4.91778060e-02 2.56045083e-04 9.98790007e-01 -3.92600348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.853201008 meters 0.06019001993563429 Centerline is valid? [True, True] Translation: X:49.21, Y:8.44, Z:-3.93 [[ 9.42117217e-01 -3.32163914e-01 4.56320358e-02 4.92133278e+01] [ 3.31786356e-01 9.43221652e-01 1.58344290e-02 8.43545486e+00] [-4.83007501e-02 2.22198733e-04 9.98832813e-01 -3.93073275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.883201008 meters 0.06032369338744381 Centerline is valid? [True, True] Translation: X:49.24, Y:8.45, Z:-3.94 [[ 9.41884978e-01 -3.32873658e-01 4.52527994e-02 4.92391164e+01] [ 3.32502949e-01 9.42971402e-01 1.57074671e-02 8.44885870e+00] [-4.79006977e-02 2.52061981e-04 9.98852071e-01 -3.93550953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.913201008 meters 0.060471871417564084 Centerline is valid? [True, True] Translation: X:49.26, Y:8.46, Z:-3.94 [[ 9.41879877e-01 -3.32927715e-01 4.49603679e-02 4.92647786e+01] [ 3.32561311e-01 9.42952320e-01 1.56171859e-02 8.46165052e+00] [-4.75948773e-02 2.42565760e-04 9.98866692e-01 -3.93786019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.943201008 meters 0.06053484460635132 Centerline is valid? [True, True] Translation: X:49.29, Y:8.47, Z:-3.94 [[ 9.41703222e-01 -3.33435531e-01 4.48975405e-02 4.92904173e+01] [ 3.33070226e-01 9.42772868e-01 1.56059101e-02 8.47253634e+00] [-4.75317480e-02 2.57898137e-04 9.98869694e-01 -3.93894463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.973201008000004 meters 0.0609740121770636 Centerline is valid? [True, True] Translation: X:49.32, Y:8.48, Z:-3.95 [[ 9.41261227e-01 -3.34583393e-01 4.56207815e-02 4.93168795e+01] [ 3.34206565e-01 9.42366098e-01 1.58779632e-02 8.47956514e+00] [-4.83039806e-02 3.01453612e-04 9.98832636e-01 -3.94512059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.003201008 meters 0.06067685186399705 Centerline is valid? [True, True] Translation: X:49.34, Y:8.49, Z:-3.94 [[ 9.41037052e-01 -3.35109792e-01 4.63755705e-02 4.93445778e+01] [ 3.34721009e-01 9.42179025e-01 1.61409534e-02 8.48827805e+00] [-4.91030814e-02 3.33642524e-04 9.98793660e-01 -3.94343863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.033201008 meters 0.06050715999327523 Centerline is valid? [True, True] Translation: X:49.37, Y:8.50, Z:-3.94 [[ 9.41068188e-01 -3.35027621e-01 4.63374350e-02 4.93708764e+01] [ 3.34638615e-01 9.42208254e-01 1.61432103e-02 8.49622278e+00] [-4.90679351e-02 3.14433360e-04 9.98795394e-01 -3.94390436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.063201008 meters 0.06061953314675669 Centerline is valid? [True, True] Translation: X:49.40, Y:8.51, Z:-3.95 [[ 9.41394200e-01 -3.34130224e-01 4.61947375e-02 4.93962700e+01] [ 3.33742239e-01 9.42526883e-01 1.60994737e-02 8.50622778e+00] [-4.89191027e-02 2.61183978e-04 9.98802710e-01 -3.94689650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.093201008 meters 0.06033298779649339 Centerline is valid? [True, True] Translation: X:49.42, Y:8.52, Z:-3.95 [[ 9.41737026e-01 -3.33161005e-01 4.62073440e-02 4.94223881e+01] [ 3.32771592e-01 9.42869928e-01 1.61048679e-02 8.51823632e+00] [-4.89330290e-02 2.09941030e-04 9.98802040e-01 -3.94681463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.123201008 meters 0.06066926463358699 Centerline is valid? [True, True] Translation: X:49.45, Y:8.53, Z:-3.95 [[ 9.42135632e-01 -3.31966969e-01 4.66731380e-02 4.94477798e+01] [ 3.31567188e-01 9.43291002e-01 1.62875711e-02 8.52842980e+00] [-4.94332867e-02 1.30179999e-04 9.98777419e-01 -3.95237669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.153201008 meters 0.06057867209308137 Centerline is valid? [True, True] Translation: X:49.47, Y:8.54, Z:-3.95 [[ 9.42249624e-01 -3.31491206e-01 4.77412389e-02 4.94745741e+01] [ 3.31072273e-01 9.43458303e-01 1.66607741e-02 8.53960199e+00] [-5.05647684e-02 1.07192369e-04 9.98720778e-01 -3.95212671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.183201008 meters 0.06052328084285915 Centerline is valid? [True, True] Translation: X:49.50, Y:8.55, Z:-3.96 [[ 9.42282885e-01 -3.31380134e-01 4.78557420e-02 4.95002389e+01] [ 3.30958226e-01 9.43497324e-01 1.67168446e-02 8.54826894e+00] [-5.06913947e-02 8.62549550e-05 9.98714361e-01 -3.95533456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.213201008 meters 0.06052749479828156 Centerline is valid? [True, True] Translation: X:49.53, Y:8.56, Z:-3.96 [[ 9.42205531e-01 -3.31570296e-01 4.80611789e-02 4.95266996e+01] [ 3.31144895e-01 9.43430511e-01 1.67907260e-02 8.55693719e+00] [-5.09096886e-02 9.48991375e-05 9.98703257e-01 -3.95633131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.243201008 meters 0.06044601321639715 Centerline is valid? [True, True] Translation: X:49.55, Y:8.56, Z:-3.96 [[ 9.42023230e-01 -3.32016847e-01 4.85494342e-02 4.95542462e+01] [ 3.31582377e-01 9.43273451e-01 1.69801187e-02 8.56378591e+00] [-5.14330778e-02 1.02470493e-04 9.98676438e-01 -3.95675945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.273201008 meters 0.06037002811685568 Centerline is valid? [True, True] Translation: X:49.58, Y:8.57, Z:-3.96 [[ 9.41771132e-01 -3.32564357e-01 4.96798178e-02 4.95817197e+01] [ 3.32109934e-01 9.43080554e-01 1.73798833e-02 8.57386842e+00] [-5.26319998e-02 1.31288602e-04 9.98613967e-01 -3.95839010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.303201008 meters 0.0604296026534968 Centerline is valid? [True, True] Translation: X:49.61, Y:8.58, Z:-3.96 [[ 9.41733848e-01 -3.32684655e-01 4.95810436e-02 4.96074707e+01] [ 3.32231581e-01 9.43038124e-01 1.73572107e-02 8.58456858e+00] [-5.25312921e-02 1.26515628e-04 9.98619270e-01 -3.96114122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.333201008 meters 0.06059451441985166 Centerline is valid? [True, True] Translation: X:49.63, Y:8.60, Z:-3.96 [[ 9.41627819e-01 -3.32846510e-01 5.05000114e-02 4.96333877e+01] [ 3.32375681e-01 9.42981011e-01 1.76980429e-02 8.59508172e+00] [-5.35112836e-02 1.20006101e-04 9.98567238e-01 -3.96460652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.363201008000004 meters 0.06060824193186848 Centerline is valid? [True, True] Translation: X:49.66, Y:8.60, Z:-3.97 [[ 9.41464305e-01 -3.33287962e-01 5.06369204e-02 4.96594864e+01] [ 3.32815023e-01 9.42825071e-01 1.77495340e-02 8.60475899e+00] [-5.36574640e-02 1.42175199e-04 9.98559390e-01 -3.96764319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.393201008 meters 0.06046695769785365 Centerline is valid? [True, True] Translation: X:49.69, Y:8.61, Z:-3.97 [[ 9.41174246e-01 -3.33988495e-01 5.14074346e-02 4.96876588e+01] [ 3.33501213e-01 9.42577136e-01 1.80356409e-02 8.61259825e+00] [-5.44791690e-02 1.69761094e-04 9.98514893e-01 -3.96696953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.423201008 meters 0.060375583048769686 Centerline is valid? [True, True] Translation: X:49.72, Y:8.62, Z:-3.97 [[ 9.40919653e-01 -3.34556623e-01 5.23648031e-02 4.97153742e+01] [ 3.34051119e-01 9.42375630e-01 1.83853562e-02 8.62154969e+00] [-5.54982570e-02 1.93378075e-04 9.98458765e-01 -3.96623791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.453201008 meters 0.06036627041785999 Centerline is valid? [True, True] Translation: X:49.74, Y:8.63, Z:-3.97 [[ 9.40818880e-01 -3.34778002e-01 5.27591138e-02 4.97415436e+01] [ 3.34264446e-01 9.42297008e-01 1.85372234e-02 8.63070709e+00] [-5.59206097e-02 1.95326206e-04 9.98435199e-01 -3.96821075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.483201008 meters 0.06062064247020195 Centerline is valid? [True, True] Translation: X:49.77, Y:8.64, Z:-3.97 [[ 9.41057136e-01 -3.34287025e-01 5.16105774e-02 4.97671439e+01] [ 3.33793780e-01 9.42471307e-01 1.81534632e-02 8.64158140e+00] [-5.47099556e-02 1.43843606e-04 9.98502278e-01 -3.97264347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.513201008 meters 0.06086553380690426 Centerline is valid? [True, True] Translation: X:49.79, Y:8.65, Z:-3.98 [[ 9.40732405e-01 -3.35299222e-01 5.09605068e-02 4.97928323e+01] [ 3.34819644e-01 9.42111667e-01 1.79279934e-02 8.65038621e+00] [-5.40217302e-02 1.97134394e-04 9.98539741e-01 -3.97763440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.543201008000004 meters 0.06105771170828841 Centerline is valid? [True, True] Translation: X:49.82, Y:8.66, Z:-3.98 [[ 9.40583601e-01 -3.35923697e-01 4.95757886e-02 4.98201920e+01] [ 3.35470414e-01 9.41889176e-01 1.74465185e-02 8.65913948e+00] [-5.25555977e-02 2.21301149e-04 9.98617975e-01 -3.98178973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.573201008 meters 0.061118901108227756 Centerline is valid? [True, True] Translation: X:49.85, Y:8.67, Z:-3.98 [[ 9.40537168e-01 -3.36158626e-01 4.88591284e-02 4.98477569e+01] [ 3.35718040e-01 9.41805357e-01 1.72066197e-02 8.66768189e+00] [-5.17999425e-02 2.19425508e-04 9.98657458e-01 -3.98437708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.603201008 meters 0.06111969177296786 Centerline is valid? [True, True] Translation: X:49.87, Y:8.68, Z:-3.99 [[ 9.40403990e-01 -3.36584119e-01 4.84919326e-02 4.98749955e+01] [ 3.36150066e-01 9.41653375e-01 1.70896182e-02 8.67622110e+00] [-5.14146860e-02 2.29421144e-04 9.98677364e-01 -3.98626922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.633201008 meters 0.061252502086516024 Centerline is valid? [True, True] Translation: X:49.90, Y:8.69, Z:-3.99 [[ 9.40347491e-01 -3.36842667e-01 4.77871725e-02 4.99017975e+01] [ 3.36420867e-01 9.41560920e-01 1.68533219e-02 8.68722725e+00] [-5.06714520e-02 2.28623076e-04 9.98715351e-01 -3.98898011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.663201008 meters 0.0613054569314369 Centerline is valid? [True, True] Translation: X:49.93, Y:8.70, Z:-3.99 [[ 9.40542252e-01 -3.36133250e-01 4.89357816e-02 4.99270395e+01] [ 3.35689049e-01 9.41814422e-01 1.72758859e-02 8.69760885e+00] [-5.18954245e-02 1.78505329e-04 9.98652509e-01 -3.99279572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.693201008 meters 0.06120141448964197 Centerline is valid? [True, True] Translation: X:49.95, Y:8.71, Z:-3.99 [[ 9.40652268e-01 -3.35854113e-01 4.87373061e-02 4.99534356e+01] [ 3.35413163e-01 9.41914002e-01 1.72052910e-02 8.70901207e+00] [-5.16848189e-02 1.62937996e-04 9.98663433e-01 -3.99310485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.723201008000004 meters 0.0610688086633132 Centerline is valid? [True, True] Translation: X:49.98, Y:8.72, Z:-4.00 [[ 9.40928833e-01 -3.34952646e-01 4.95949164e-02 4.99795165e+01] [ 3.34493919e-01 9.42234958e-01 1.75243551e-02 8.72024295e+00] [-5.25998931e-02 1.00026952e-04 9.98615662e-01 -3.99570951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.753201008 meters 0.06114867754092775 Centerline is valid? [True, True] Translation: X:50.00, Y:8.73, Z:-4.00 [[ 9.41152315e-01 -3.34314098e-01 4.96629019e-02 5.00041577e+01] [ 3.33852369e-01 9.42461713e-01 1.75645862e-02 8.73037687e+00] [-5.26774724e-02 4.91264811e-05 9.98611577e-01 -3.99791783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.783201008 meters 0.06095981109465676 Centerline is valid? [True, True] Translation: X:50.03, Y:8.74, Z:-4.00 [[ 9.41223240e-01 -3.34023931e-01 5.02675389e-02 5.00314240e+01] [ 3.33550273e-01 9.42564593e-01 1.77820952e-02 8.74039641e+00] [-5.33200477e-02 2.98299948e-05 9.98577474e-01 -3.99894421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.813201008 meters 0.061003825683665365 Centerline is valid? [True, True] Translation: X:50.06, Y:8.75, Z:-4.00 [[ 9.41070913e-01 -3.34394011e-01 5.06574985e-02 5.00575518e+01] [ 3.33912586e-01 9.42433363e-01 1.79371329e-02 8.74999780e+00] [-5.37393865e-02 3.50623688e-05 9.98554995e-01 -4.00182576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.843201008 meters 0.06091335566250836 Centerline is valid? [True, True] Translation: X:50.08, Y:8.76, Z:-4.00 [[ 9.41030759e-01 -3.34510459e-01 5.06346134e-02 5.00837969e+01] [ 3.34029638e-01 9.42392037e-01 1.79290241e-02 8.76032132e+00] [-5.37151026e-02 4.16984423e-05 9.98556301e-01 -4.00341036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.873201008 meters 0.06126517629834363 Centerline is valid? [True, True] Translation: X:50.11, Y:8.77, Z:-4.01 [[ 9.40780945e-01 -3.35230613e-01 5.05138586e-02 5.01083731e+01] [ 3.34752098e-01 9.42136101e-01 1.79053291e-02 8.77181046e+00] [-5.35933443e-02 6.46277512e-05 9.98562842e-01 -4.00921276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.903201008 meters 0.061417385282234845 Centerline is valid? [True, True] Translation: X:50.14, Y:8.78, Z:-4.01 [[ 9.40719459e-01 -3.35489414e-01 4.99374916e-02 5.01358345e+01] [ 3.35021959e-01 9.42043973e-01 1.77042267e-02 8.78189661e+00] [-5.29828937e-02 7.54456713e-05 9.98595417e-01 -4.01287933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.933201008 meters 0.06138763358772619 Centerline is valid? [True, True] Translation: X:50.16, Y:8.79, Z:-4.01 [[ 9.40498270e-01 -3.36042340e-01 5.03840183e-02 5.01634166e+01] [ 3.35566571e-01 9.41846875e-01 1.78756745e-02 8.79067831e+00] [-5.34610137e-02 9.51513014e-05 9.98569933e-01 -4.01400902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.963201008 meters 0.06118887786004132 Centerline is valid? [True, True] Translation: X:50.19, Y:8.80, Z:-4.02 [[ 9.40376360e-01 -3.36403202e-01 5.02512348e-02 5.01901294e+01] [ 3.35929803e-01 9.41718044e-01 1.78407557e-02 8.79873722e+00] [-5.33241819e-02 1.03862474e-04 9.98577248e-01 -4.01503586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.993201008 meters 0.06138753871435362 Centerline is valid? [True, True] Translation: X:50.22, Y:8.81, Z:-4.02 [[ 9.40358336e-01 -3.36627581e-01 4.90721067e-02 5.02165834e+01] [ 3.36175533e-01 9.41637861e-01 1.74398557e-02 8.80756090e+00] [-5.20788900e-02 9.71280015e-05 9.98642969e-01 -4.01929812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.023201008 meters 0.06139694100222495 Centerline is valid? [True, True] Translation: X:50.24, Y:8.82, Z:-4.02 [[ 9.39985143e-01 -3.37669556e-01 4.90632370e-02 5.02437045e+01] [ 3.37218944e-01 9.41264707e-01 1.74394920e-02 8.81654372e+00] [-5.20702789e-02 1.52189592e-04 9.98643411e-01 -4.01991381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.053201008 meters 0.06144293322156351 Centerline is valid? [True, True] Translation: X:50.27, Y:8.83, Z:-4.02 [[ 9.39410174e-01 -3.39329552e-01 4.86207897e-02 5.02709410e+01] [ 3.38888468e-01 9.40667531e-01 1.72974651e-02 8.82508533e+00] [-5.16055393e-02 2.27610253e-04 9.98667521e-01 -4.02242562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.083201008 meters 0.061609433787239334 Centerline is valid? [True, True] Translation: X:50.30, Y:8.83, Z:-4.03 [[ 9.39216076e-01 -3.39969932e-01 4.78916201e-02 5.02971501e+01] [ 3.39541980e-01 9.40436274e-01 1.70545512e-02 8.83415689e+00] [-5.08370514e-02 2.43306937e-04 9.98706931e-01 -4.02668299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.113201008000004 meters 0.06198393102947636 Centerline is valid? [True, True] Translation: X:50.32, Y:8.84, Z:-4.03 [[ 9.38879406e-01 -3.40873472e-01 4.80701170e-02 5.03218938e+01] [ 3.40443413e-01 9.40109138e-01 1.71199195e-02 8.84324703e+00] [-5.10268826e-02 2.91614828e-04 9.98697238e-01 -4.03183115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.143201008 meters 0.06181394723605916 Centerline is valid? [True, True] Translation: X:50.35, Y:8.85, Z:-4.03 [[ 9.38577455e-01 -3.41702934e-01 4.80777076e-02 5.03476926e+01] [ 3.41273462e-01 9.39807957e-01 1.71297488e-02 8.85482825e+00] [-5.10370976e-02 3.30049698e-04 9.98696704e-01 -4.03290063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.173201008 meters 0.06171497187233841 Centerline is valid? [True, True] Translation: X:50.37, Y:8.86, Z:-4.03 [[ 9.38338279e-01 -3.42227373e-01 4.90071332e-02 5.03739112e+01] [ 3.41780848e-01 9.39617105e-01 1.74799106e-02 8.86342027e+00] [-5.20300446e-02 3.47630348e-04 9.98645459e-01 -4.03447087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.203201008 meters 0.061644978115405265 Centerline is valid? [True, True] Translation: X:50.40, Y:8.87, Z:-4.03 [[ 9.38050257e-01 -3.42839895e-01 5.02247075e-02 5.04014259e+01] [ 3.42371535e-01 9.39393771e-01 1.79185637e-02 8.87178318e+00] [-5.33239759e-02 3.86996920e-04 9.98577190e-01 -4.03372857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.233201008 meters 0.061644978115405265 Centerline is valid? [True, True] Translation: X:50.43, Y:8.88, Z:-4.04 [[ 9.37958339e-01 -3.43091865e-01 5.02207790e-02 5.04273672e+01] [ 3.42623278e-01 9.39301773e-01 1.79295660e-02 8.88123103e+00] [-5.33239550e-02 3.89621941e-04 9.98577190e-01 -4.03585834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.263201008 meters 0.06149436855629982 Centerline is valid? [True, True] Translation: X:50.45, Y:8.89, Z:-4.04 [[ 9.37801843e-01 -3.43460612e-01 5.06212514e-02 5.04548775e+01] [ 3.42983969e-01 9.39166999e-01 1.80926906e-02 8.88857973e+00] [-5.37559354e-02 3.94919098e-04 9.98554026e-01 -4.03598789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.293201008000004 meters 0.06133278112728074 Centerline is valid? [True, True] Translation: X:50.48, Y:8.90, Z:-4.03 [[ 9.37590611e-01 -3.43841861e-01 5.19290020e-02 5.04833722e+01] [ 3.43340753e-01 9.39027472e-01 1.85616332e-02 8.89658000e+00] [-5.51450259e-02 4.26129594e-04 9.98478264e-01 -4.03447654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.323201008 meters 0.061146945121020375 Centerline is valid? [True, True] Translation: X:50.51, Y:8.91, Z:-4.04 [[ 9.37835098e-01 -3.43108172e-01 5.23651774e-02 5.05094325e+01] [ 3.42596698e-01 9.39295823e-01 1.87312420e-02 8.90872684e+00] [-5.56132346e-02 3.73320692e-04 9.98452317e-01 -4.03537076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.353201008 meters 0.06136609280753158 Centerline is valid? [True, True] Translation: X:50.54, Y:8.92, Z:-4.04 [[ 9.37955297e-01 -3.42902960e-01 5.15501714e-02 5.05350966e+01] [ 3.42406041e-01 9.39370771e-01 1.84569182e-02 8.91956869e+00] [-5.47536561e-02 3.39325923e-04 9.98499836e-01 -4.04015316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.383201008 meters 0.061966619946231684 Centerline is valid? [True, True] Translation: X:50.56, Y:8.93, Z:-4.05 [[ 9.37968393e-01 -3.43096273e-01 5.00024060e-02 5.05602835e+01] [ 3.42628797e-01 9.39300183e-01 1.79073526e-02 8.93070651e+00] [-5.31112151e-02 3.35733449e-04 9.98588547e-01 -4.04928288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.413201008 meters 0.06188892325806028 Centerline is valid? [True, True] Translation: X:50.59, Y:8.94, Z:-4.05 [[ 9.37740544e-01 -3.43737521e-01 4.98717189e-02 5.05867999e+01] [ 3.43273403e-01 9.39065694e-01 1.78603597e-02 8.94047581e+00] [-5.29720961e-02 3.71251177e-04 9.98595924e-01 -4.04925507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.443201008 meters 0.06200435387503036 Centerline is valid? [True, True] Translation: X:50.61, Y:8.95, Z:-4.05 [[ 9.37206797e-01 -3.45269260e-01 4.93209623e-02 5.06149536e+01] [ 3.44816650e-01 9.38503567e-01 1.76785772e-02 8.94886018e+00] [-5.23917683e-02 4.38206273e-04 9.98626512e-01 -4.05077379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.473201008000004 meters 0.06205760045425362 Centerline is valid? [True, True] Translation: X:50.64, Y:8.96, Z:-4.05 [[ 9.36808428e-01 -3.46496196e-01 4.82737603e-02 5.06431189e+01] [ 3.46063601e-01 9.38051252e-01 1.73156724e-02 8.95649453e+00] [-5.12830759e-02 4.84323424e-04 9.98684040e-01 -4.05363001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.503201008 meters 0.062324074127543094 Centerline is valid? [True, True] Translation: X:50.67, Y:8.96, Z:-4.06 [[ 9.36336365e-01 -3.47807646e-01 4.80005577e-02 5.06699056e+01] [ 3.47380801e-01 9.37565759e-01 1.72344406e-02 8.96358921e+00] [-5.09979496e-02 5.37238711e-04 9.98698613e-01 -4.05535255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.533201008 meters 0.06253885745255447 Centerline is valid? [True, True] Translation: X:50.70, Y:8.97, Z:-4.06 [[ 9.35908765e-01 -3.48981011e-01 4.78229906e-02 5.06976367e+01] [ 3.48558836e-01 9.37129604e-01 1.71709744e-02 8.97202123e+00] [-5.08086843e-02 5.98660492e-04 9.98708225e-01 -4.05742312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.563201008 meters 0.062344762940895374 Centerline is valid? [True, True] Translation: X:50.72, Y:8.98, Z:-4.06 [[ 9.36003820e-01 -3.48616143e-01 4.86172177e-02 5.07243216e+01] [ 3.48178663e-01 9.37265412e-01 1.74690145e-02 8.98235246e+00] [-5.16572170e-02 5.76413584e-04 9.98664708e-01 -4.05818571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.593201008 meters 0.06224655057046103 Centerline is valid? [True, True] Translation: X:50.75, Y:8.99, Z:-4.06 [[ 9.36113399e-01 -3.48253407e-01 4.91046732e-02 5.07510121e+01] [ 3.47805925e-01 9.37400268e-01 1.76571867e-02 8.99216016e+00] [-5.21799093e-02 5.49767263e-04 9.98637549e-01 -4.05975452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.623201008 meters 0.062114319068033205 Centerline is valid? [True, True] Translation: X:50.78, Y:9.00, Z:-4.06 [[ 9.36028048e-01 -3.48371370e-01 4.98886859e-02 5.07783741e+01] [ 3.47908946e-01 9.37356433e-01 1.79522323e-02 9.00293337e+00] [-5.30175244e-02 5.52927152e-04 9.98593429e-01 -4.06086732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.653201008 meters 0.062047922896696805 Centerline is valid? [True, True] Translation: X:50.80, Y:9.01, Z:-4.06 [[ 9.35837351e-01 -3.48321736e-01 5.36695503e-02 5.08046221e+01] [ 3.47785366e-01 9.37374865e-01 1.93313500e-02 9.01289675e+00] [-5.70420169e-02 5.74484812e-04 9.98371613e-01 -4.06221215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.683201008 meters 0.06178400467669719 Centerline is valid? [True, True] Translation: X:50.83, Y:9.02, Z:-4.06 [[ 9.35908913e-01 -3.48107998e-01 5.38082614e-02 5.08307221e+01] [ 3.47568434e-01 9.37454269e-01 1.93824069e-02 9.02425412e+00] [-5.71899552e-02 5.61885731e-04 9.98363157e-01 -4.06311860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.713201008 meters 0.06157588218160633 Centerline is valid? [True, True] Translation: X:50.86, Y:9.04, Z:-4.06 [[ 9.35764370e-01 -3.48378141e-01 5.45684314e-02 5.08575768e+01] [ 3.47822689e-01 9.37353906e-01 1.96731381e-02 9.03608152e+00] [-5.80036236e-02 5.70716899e-04 9.98316209e-01 -4.06348900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.743201008 meters 0.061726192156327936 Centerline is valid? [True, True] Translation: X:50.88, Y:9.05, Z:-4.07 [[ 9.36037826e-01 -3.47716415e-01 5.40969848e-02 5.08827614e+01] [ 3.47168434e-01 9.37599614e-01 1.95203047e-02 9.04617290e+00] [-5.75088424e-02 5.09021909e-04 9.98344867e-01 -4.06678365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.773201008 meters 0.0618687335243237 Centerline is valid? [True, True] Translation: X:50.91, Y:9.06, Z:-4.07 [[ 9.36896682e-01 -3.45794711e-01 5.14842296e-02 5.09080820e+01] [ 3.45295118e-01 9.38310122e-01 1.85848615e-02 9.05782358e+00] [-5.47347206e-02 3.65158060e-04 9.98500865e-01 -4.07245063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.803201008 meters 0.06196394368893931 Centerline is valid? [True, True] Translation: X:50.93, Y:9.07, Z:-4.08 [[ 9.37251105e-01 -3.44950767e-01 5.06886155e-02 5.09342402e+01] [ 3.44465219e-01 9.38620729e-01 1.82986391e-02 9.06874970e+00] [-5.38895148e-02 3.10045341e-04 9.98546856e-01 -4.07651822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.833201008 meters 0.06204960841586921 Centerline is valid? [True, True] Translation: X:50.96, Y:9.08, Z:-4.08 [[ 9.37765727e-01 -3.43730914e-01 4.94418811e-02 5.09603690e+01] [ 3.43266621e-01 9.39068160e-01 1.78610641e-02 9.08017270e+00] [-5.25686962e-02 2.22253713e-04 9.98617285e-01 -4.08026164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.863201008000004 meters 0.061901731463498665 Centerline is valid? [True, True] Translation: X:50.99, Y:9.09, Z:-4.08 [[ 9.37288163e-01 -3.44899052e-01 5.03541744e-02 5.09870446e+01] [ 3.44418203e-01 9.38639743e-01 1.82080781e-02 9.08825257e+00] [-5.35443781e-02 2.76678157e-04 9.98565433e-01 -4.07820622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.893201008 meters 0.061786122124511136 Centerline is valid? [True, True] Translation: X:51.01, Y:9.10, Z:-4.08 [[ 9.36411277e-01 -3.47164865e-01 5.10928234e-02 5.10147108e+01] [ 3.46673137e-01 9.37804024e-01 1.84756233e-02 9.09532924e+00] [-5.43291426e-02 4.11727377e-04 9.98522997e-01 -4.07715539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.923201008 meters 0.061916269608664 Centerline is valid? [True, True] Translation: X:51.04, Y:9.10, Z:-4.08 [[ 9.35718361e-01 -3.49203358e-01 4.98814923e-02 5.10420582e+01] [ 3.48736568e-01 9.37046832e-01 1.80565894e-02 9.10322043e+00] [-5.30467160e-02 4.99618207e-04 9.98591907e-01 -4.07939167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.953201008 meters 0.06229944277241483 Centerline is valid? [True, True] Translation: X:51.07, Y:9.11, Z:-4.09 [[ 9.35508373e-01 -3.50051684e-01 4.78320332e-02 5.10681818e+01] [ 3.49623382e-01 9.36730242e-01 1.73188774e-02 9.11294536e+00] [-5.08682142e-02 5.21242430e-04 9.98705238e-01 -4.08571753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.983201008 meters 0.06326485423771298 Centerline is valid? [True, True] Translation: X:51.09, Y:9.13, Z:-4.10 [[ 9.35505115e-01 -3.50550121e-01 4.40998052e-02 5.10931331e+01] [ 3.50186644e-01 9.36543836e-01 1.59673952e-02 9.12860787e+00] [-4.68987731e-02 5.05582908e-04 9.98899519e-01 -4.09781092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.013201008 meters 0.06351181492726264 Centerline is valid? [True, True] Translation: X:51.12, Y:9.14, Z:-4.10 [[ 9.35260905e-01 -3.51197488e-01 4.41289416e-02 5.11188724e+01] [ 3.50833901e-01 9.36301256e-01 1.59853845e-02 9.13945290e+00] [-4.69320104e-02 5.31423552e-04 9.98897945e-01 -4.10176700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.043201008000004 meters 0.06342531490996625 Centerline is valid? [True, True] Translation: X:51.15, Y:9.15, Z:-4.10 [[ 9.34888373e-01 -3.52070360e-01 4.50576385e-02 5.11471112e+01] [ 3.51691598e-01 9.35973361e-01 1.63366926e-02 9.14806643e+00] [-4.79244146e-02 5.73408833e-04 9.98850801e-01 -4.10179721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.073201008 meters 0.06351967438002484 Centerline is valid? [True, True] Translation: X:51.17, Y:9.15, Z:-4.10 [[ 9.34906998e-01 -3.51879399e-01 4.61496942e-02 5.11748947e+01] [ 3.51480961e-01 9.36045177e-01 1.67499499e-02 9.15427774e+00] [-4.90921610e-02 5.61093452e-04 9.98794095e-01 -4.10371839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.103201008 meters 0.06308498009737556 Centerline is valid? [True, True] Translation: X:51.20, Y:9.16, Z:-4.10 [[ 9.34976686e-01 -3.51648280e-01 4.64982234e-02 5.12034173e+01] [ 3.51243503e-01 9.36132032e-01 1.68766008e-02 9.16221509e+00] [-4.94631040e-02 5.52970563e-04 9.98775798e-01 -4.10192548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.133201008 meters 0.06273499146103387 Centerline is valid? [True, True] Translation: X:51.23, Y:9.17, Z:-4.10 [[ 9.35526333e-01 -3.50069879e-01 4.73451240e-02 5.12307097e+01] [ 3.49647560e-01 9.36723472e-01 1.71965558e-02 9.17079552e+00] [-5.03692851e-02 4.66276273e-04 9.98730553e-01 -4.10139944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.163201008 meters 0.06197306963388642 Centerline is valid? [True, True] Translation: X:51.26, Y:9.18, Z:-4.10 [[ 9.35959173e-01 -3.48781844e-01 4.82871711e-02 5.12574025e+01] [ 3.48340172e-01 9.37203858e-01 1.75514643e-02 9.18483758e+00] [-5.13765551e-02 3.92907456e-04 9.98679275e-01 -4.09791422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.193201008 meters 0.062091193959414856 Centerline is valid? [True, True] Translation: X:51.28, Y:9.20, Z:-4.10 [[ 9.36112618e-01 -3.48307799e-01 4.87323671e-02 5.12827306e+01] [ 3.47856503e-01 9.37380153e-01 1.77285841e-02 9.19658482e+00] [-5.18557578e-02 3.55919554e-04 9.98654522e-01 -4.10214468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.223201008000004 meters 0.06225380816550818 Centerline is valid? [True, True] Translation: X:51.31, Y:9.21, Z:-4.11 [[ 9.36289019e-01 -3.47831837e-01 4.87430562e-02 5.13073406e+01] [ 3.47379311e-01 9.37556883e-01 1.77399331e-02 9.20766433e+00] [-5.18699013e-02 3.22624650e-04 9.98653798e-01 -4.10675252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.253201008 meters 0.06255143879347749 Centerline is valid? [True, True] Translation: X:51.33, Y:9.22, Z:-4.11 [[ 9.37153720e-01 -3.45576817e-01 4.81618966e-02 5.13324755e+01] [ 3.45131671e-01 9.38390445e-01 1.75357284e-02 9.21965599e+00] [-5.12546048e-02 1.88522709e-04 9.98685601e-01 -4.11394122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.283201008 meters 0.062241882049553124 Centerline is valid? [True, True] Translation: X:51.36, Y:9.23, Z:-4.11 [[ 9.37493691e-01 -3.44601317e-01 4.85336145e-02 5.13595576e+01] [ 3.44147929e-01 9.38749122e-01 1.76716995e-02 9.23130935e+00] [-5.16505789e-02 1.35636154e-04 9.98665209e-01 -4.11252682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.313201008 meters 0.06225952210618402 Centerline is valid? [True, True] Translation: X:51.39, Y:9.24, Z:-4.11 [[ 9.37839181e-01 -3.43769194e-01 4.77536515e-02 5.13862725e+01] [ 3.43328583e-01 9.39054171e-01 1.73996721e-02 9.24277608e+00] [-5.08247369e-02 7.70992629e-05 9.98707585e-01 -4.11346703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.343201008 meters 0.06231663673810265 Centerline is valid? [True, True] Translation: X:51.41, Y:9.25, Z:-4.12 [[ 9.38304714e-01 -3.42422681e-01 4.82801438e-02 5.14116544e+01] [ 3.41969682e-01 9.39546011e-01 1.76076376e-02 9.25392248e+00] [-5.13906711e-02 -1.09839465e-05 9.98678626e-01 -4.11887893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.373201008 meters 0.06222210703345354 Centerline is valid? [True, True] Translation: X:51.44, Y:9.27, Z:-4.12 [[ 9.38807324e-01 -3.40884286e-01 4.93833098e-02 5.14374618e+01] [ 3.40407980e-01 9.40105257e-01 1.80142581e-02 9.26754497e+00] [-5.25662866e-02 -1.01444729e-04 9.98617432e-01 -4.11880996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.403201008 meters 0.062412163150262386 Centerline is valid? [True, True] Translation: X:51.46, Y:9.28, Z:-4.12 [[ 9.39142014e-01 -3.39956815e-01 4.94129583e-02 5.14620977e+01] [ 3.39477890e-01 9.40441033e-01 1.80395701e-02 9.27873429e+00] [-5.26026484e-02 -1.67111336e-04 9.98615508e-01 -4.12168495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.433201008 meters 0.06253451256776 Centerline is valid? [True, True] Translation: X:51.49, Y:9.29, Z:-4.12 [[ 9.39580815e-01 -3.38768982e-01 4.92287291e-02 5.14887171e+01] [ 3.38291534e-01 9.40869554e-01 1.79810944e-02 9.29111122e+00] [-5.24092495e-02 -2.41029055e-04 9.98625662e-01 -4.12435929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.463201008 meters 0.06280165008447709 Centerline is valid? [True, True] Translation: X:51.51, Y:9.31, Z:-4.13 [[ 9.40389008e-01 -3.36498297e-01 4.93701350e-02 5.15139397e+01] [ 3.36014304e-01 9.41683997e-01 1.80454029e-02 9.30560064e+00] [-5.25633134e-02 -3.80627002e-04 9.98617521e-01 -4.12652465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.493201008 meters 0.0630290376908305 Centerline is valid? [True, True] Translation: X:51.54, Y:9.32, Z:-4.13 [[ 9.40969060e-01 -3.35031032e-01 4.82849473e-02 5.15407727e+01] [ 3.34565524e-01 9.42206979e-01 1.76612108e-02 9.31719541e+00] [-5.14114680e-02 -4.64174245e-04 9.98677448e-01 -4.12977083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.523201008 meters 0.06346195635016248 Centerline is valid? [True, True] Translation: X:51.57, Y:9.33, Z:-4.13 [[ 9.41369912e-01 -3.34029005e-01 4.74058283e-02 5.15661789e+01] [ 3.33578181e-01 9.42562649e-01 1.73565229e-02 9.32803928e+00] [-5.04805452e-02 -5.25358429e-04 9.98724906e-01 -4.13370559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.553201008 meters 0.06390968235377635 Centerline is valid? [True, True] Translation: X:51.59, Y:9.34, Z:-4.14 [[ 9.41173399e-01 -3.34742850e-01 4.62585981e-02 5.15918241e+01] [ 3.34314247e-01 9.42309394e-01 1.69407714e-02 9.33780780e+00] [-4.92607136e-02 -4.79295035e-04 9.98785839e-01 -4.13941749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.583201008 meters 0.0640835378509401 Centerline is valid? [True, True] Translation: X:51.62, Y:9.35, Z:-4.14 [[ 9.41098200e-01 -3.35057523e-01 4.55042341e-02 5.16193580e+01] [ 3.34643173e-01 9.42197564e-01 1.66642503e-02 9.34742947e+00] [-4.84574610e-02 -4.55014678e-04 9.98825144e-01 -4.14311574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.613201008 meters 0.06407188061053148 Centerline is valid? [True, True] Translation: X:51.65, Y:9.36, Z:-4.14 [[ 9.40978869e-01 -3.35517115e-01 4.45761553e-02 5.16475909e+01] [ 3.35119503e-01 9.42034011e-01 1.63352580e-02 9.35568353e+00] [-4.74730130e-02 -4.32793578e-04 9.98872427e-01 -4.14451063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.643201008 meters 0.06420018132977622 Centerline is valid? [True, True] Translation: X:51.67, Y:9.36, Z:-4.15 [[ 9.40739477e-01 -3.36198820e-01 4.44925772e-02 5.16739555e+01] [ 3.35802726e-01 9.41790945e-01 1.63200888e-02 9.36295248e+00] [-4.73895009e-02 -4.12223105e-04 9.98876401e-01 -4.14724379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.673201008 meters 0.06417121444773242 Centerline is valid? [True, True] Translation: X:51.70, Y:9.37, Z:-4.15 [[ 9.40551219e-01 -3.36814494e-01 4.38109670e-02 5.17021580e+01] [ 3.36431031e-01 9.41570950e-01 1.60719336e-02 9.37058467e+00] [-4.66643940e-02 -3.77107946e-04 9.98910553e-01 -4.14947450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.703201008 meters 0.06372918716828962 Centerline is valid? [True, True] Translation: X:51.73, Y:9.38, Z:-4.15 [[ 9.39688122e-01 -3.39006880e-01 4.53934835e-02 5.17322205e+01] [ 3.38596979e-01 9.40783849e-01 1.66684061e-02 9.37532247e+00] [-4.83561605e-02 -2.93006814e-04 9.98830114e-01 -4.14611699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.733201008 meters 0.06347679302923438 Centerline is valid? [True, True] Translation: X:51.76, Y:9.38, Z:-4.15 [[ 9.39126298e-01 -3.40341712e-01 4.70033500e-02 5.17595533e+01] [ 3.39903484e-01 9.40301793e-01 1.72673019e-02 9.38241959e+00] [-5.00741174e-02 -2.39574849e-04 9.98745476e-01 -4.14727035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.763201008 meters 0.06343032782851593 Centerline is valid? [True, True] Translation: X:51.79, Y:9.39, Z:-4.15 [[ 9.38787784e-01 -3.41106984e-01 4.82029198e-02 5.17861166e+01] [ 3.40647063e-01 9.40024459e-01 1.77086119e-02 9.39212978e+00] [-5.13524548e-02 -2.04445460e-04 9.98680571e-01 -4.15078586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.793201008000004 meters 0.06351153227798162 Centerline is valid? [True, True] Translation: X:51.81, Y:9.41, Z:-4.15 [[ 9.38981814e-01 -3.40458344e-01 4.90027471e-02 5.18123362e+01] [ 3.39981446e-01 9.40259565e-01 1.80157135e-02 9.40519559e+00] [-5.22089017e-02 -2.56402574e-04 9.98636152e-01 -4.15195788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.823201008 meters 0.06362182039974822 Centerline is valid? [True, True] Translation: X:51.84, Y:9.42, Z:-4.16 [[ 9.38872859e-01 -3.40789888e-01 4.87853086e-02 5.18385473e+01] [ 3.40317039e-01 9.40139453e-01 1.79477664e-02 9.41614548e+00] [-5.19814107e-02 -2.48198941e-04 9.98648022e-01 -4.15514731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.853201008 meters 0.06373272213895957 Centerline is valid? [True, True] Translation: X:51.86, Y:9.43, Z:-4.16 [[ 9.38947657e-01 -3.40582246e-01 4.87958071e-02 5.18643478e+01] [ 3.40108150e-01 9.40214688e-01 1.79662825e-02 9.42672823e+00] [-5.19975314e-02 -2.73547167e-04 9.98647176e-01 -4.15780606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.883201008 meters 0.06386509289490912 Centerline is valid? [True, True] Translation: X:51.89, Y:9.44, Z:-4.16 [[ 9.39086741e-01 -3.40272657e-01 4.82764216e-02 5.18896435e+01] [ 3.39807296e-01 9.40326766e-01 1.77925489e-02 9.43688853e+00] [-5.14499293e-02 -3.04066430e-04 9.98675529e-01 -4.16098725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.913201008 meters 0.06358329708075663 Centerline is valid? [True, True] Translation: X:51.92, Y:9.45, Z:-4.16 [[ 9.39145890e-01 -3.40095272e-01 4.83756569e-02 5.19168885e+01] [ 3.39627544e-01 9.40390932e-01 1.78332920e-02 9.44632620e+00] [-5.15570473e-02 -3.18357294e-04 9.98670000e-01 -4.15921435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.943201008 meters 0.06344540058501984 Centerline is valid? [True, True] Translation: X:51.94, Y:9.45, Z:-4.16 [[ 9.38887344e-01 -3.40812612e-01 4.83458238e-02 5.19425653e+01] [ 3.40345405e-01 9.40131201e-01 1.78418041e-02 9.45433877e+00] [-5.15321292e-02 -2.97165137e-04 9.98671293e-01 -4.16099128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.973201008000004 meters 0.06346784930057296 Centerline is valid? [True, True] Translation: X:51.97, Y:9.46, Z:-4.16 [[ 9.38487732e-01 -3.41986385e-01 4.78130574e-02 5.19702792e+01] [ 3.41530789e-01 9.39704878e-01 1.76482928e-02 9.46222229e+00] [-5.09656391e-02 -2.33075058e-04 9.98700380e-01 -4.16350536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.003201008 meters 0.06331421969237856 Centerline is valid? [True, True] Translation: X:52.00, Y:9.47, Z:-4.17 [[ 9.38072289e-01 -3.43279813e-01 4.66835228e-02 5.19977880e+01] [ 3.42846498e-01 9.39233167e-01 1.72434835e-02 9.47005571e+00] [-4.97660528e-02 -1.70351763e-04 9.98760888e-01 -4.16555290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.033201008 meters 0.06382730525537185 Centerline is valid? [True, True] Translation: X:52.02, Y:9.48, Z:-4.17 [[ 9.37854871e-01 -3.44212846e-01 4.41107434e-02 5.20238903e+01] [ 3.43826289e-01 9.38891634e-01 1.63089837e-02 9.47960829e+00] [-4.70289697e-02 -1.29026583e-04 9.98893518e-01 -4.17264639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.063201008 meters 0.06396000312746221 Centerline is valid? [True, True] Translation: X:52.05, Y:9.49, Z:-4.18 [[ 9.37802230e-01 -3.44426987e-01 4.35548852e-02 5.20508928e+01] [ 3.44050386e-01 9.38813100e-01 1.61026215e-02 9.48953711e+00] [-4.64360742e-02 -1.15999248e-04 9.98921257e-01 -4.17682249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.093201008 meters 0.06401157527465848 Centerline is valid? [True, True] Translation: X:52.08, Y:9.50, Z:-4.18 [[ 9.37667474e-01 -3.44848756e-01 4.31166358e-02 5.20779933e+01] [ 3.44479462e-01 9.38658257e-01 1.59554635e-02 9.49786595e+00] [-4.59740079e-02 -1.08123632e-04 9.98942630e-01 -4.17953688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.123201008 meters 0.06401157527465848 Centerline is valid? [True, True] Translation: X:52.10, Y:9.51, Z:-4.18 [[ 9.37575725e-01 -3.45098181e-01 4.31161940e-02 5.21038198e+01] [ 3.44729095e-01 9.38566586e-01 1.59566597e-02 9.50762791e+00] [-4.59740333e-02 -9.71702696e-05 9.98942630e-01 -4.18167314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.153201008 meters 0.06369689201495025 Centerline is valid? [True, True] Translation: X:52.13, Y:9.51, Z:-4.18 [[ 9.36907559e-01 -3.46796695e-01 4.40031579e-02 5.21322842e+01] [ 3.46413433e-01 9.37940324e-01 1.62997325e-02 9.51474913e+00] [-4.69250296e-02 -2.80575525e-05 9.98898414e-01 -4.18196590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.183201008 meters 0.06394438361793373 Centerline is valid? [True, True] Translation: X:52.16, Y:9.52, Z:-4.19 [[ 9.36278456e-01 -3.48435498e-01 4.44449966e-02 5.21583598e+01] [ 3.48045538e-01 9.37332760e-01 1.64803193e-02 9.52295004e+00] [-4.74020795e-02 3.87148563e-05 9.98875889e-01 -4.18945657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.213201008 meters 0.06383327863983629 Centerline is valid? [True, True] Translation: X:52.19, Y:9.53, Z:-4.19 [[ 9.36178738e-01 -3.48740383e-01 4.41533213e-02 5.21858594e+01] [ 3.48355891e-01 9.37219367e-01 1.63716616e-02 9.53304150e+00] [-4.70908074e-02 5.42680864e-05 9.98890611e-01 -4.18976929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.243201008 meters 0.06384434689739686 Centerline is valid? [True, True] Translation: X:52.21, Y:9.54, Z:-4.19 [[ 9.35818027e-01 -3.49631160e-01 4.47512246e-02 5.22131995e+01] [ 3.49236629e-01 9.36887423e-01 1.66052009e-02 9.54310216e+00] [-4.77325552e-02 8.93205032e-05 9.98860148e-01 -4.19305024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.273201008 meters 0.06381889090988446 Centerline is valid? [True, True] Translation: X:52.24, Y:9.55, Z:-4.20 [[ 9.36169186e-01 -3.48746576e-01 4.43066745e-02 5.22385376e+01] [ 3.48358108e-01 9.37217064e-01 1.64561073e-02 9.55420688e+00] [-4.72639824e-02 2.88887619e-05 9.98882433e-01 -4.19519190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.303201008 meters 0.06396853616416572 Centerline is valid? [True, True] Translation: X:52.26, Y:9.56, Z:-4.20 [[ 9.36308089e-01 -3.48374263e-01 4.43005026e-02 5.22634339e+01] [ 3.47985343e-01 9.37355521e-01 1.64568650e-02 9.56409154e+00] [-4.72584689e-02 7.22981020e-06 9.98882694e-01 -4.19768527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.333201008 meters 0.06400909114543518 Centerline is valid? [True, True] Translation: X:52.29, Y:9.57, Z:-4.20 [[ 9.36434743e-01 -3.48059051e-01 4.41006758e-02 5.22897860e+01] [ 3.47673242e-01 9.37472611e-01 1.63835296e-02 9.57423633e+00] [-4.70456114e-02 -9.48135096e-06 9.98892742e-01 -4.19981944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.363201008 meters 0.0637351389305469 Centerline is valid? [True, True] Translation: X:52.32, Y:9.58, Z:-4.20 [[ 9.36632131e-01 -3.47544833e-01 4.39640913e-02 5.23168072e+01] [ 3.47160267e-01 9.37663366e-01 1.63450856e-02 9.58407402e+00] [-4.69041678e-02 -4.67467108e-05 9.98899393e-01 -4.19906096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.393201008 meters 0.0637203110129635 Centerline is valid? [True, True] Translation: X:52.34, Y:9.59, Z:-4.20 [[ 9.36430628e-01 -3.48115042e-01 4.37446749e-02 5.23428636e+01] [ 3.47734332e-01 9.37451821e-01 1.62763119e-02 9.59453185e+00] [-4.66745542e-02 -3.01116904e-05 9.98910149e-01 -4.20197039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.423201008 meters 0.06391214756965916 Centerline is valid? [True, True] Translation: X:52.37, Y:9.61, Z:-4.21 [[ 9.36285786e-01 -3.48613167e-01 4.28694091e-02 5.23692442e+01] [ 3.48247444e-01 9.37266696e-01 1.59642755e-02 9.60690577e+00] [-4.57454260e-02 -1.79621002e-05 9.98953130e-01 -4.20667243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.453201008 meters 0.06428862204241026 Centerline is valid? [True, True] Translation: X:52.39, Y:9.62, Z:-4.21 [[ 9.36185614e-01 -3.48946985e-01 4.23378943e-02 5.23945642e+01] [ 3.48589888e-01 9.37142466e-01 1.57825452e-02 9.61853451e+00] [-4.51839102e-02 -1.68298876e-05 9.98978685e-01 -4.21316668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.483201008 meters 0.06452453195580253 Centerline is valid? [True, True] Translation: X:52.42, Y:9.63, Z:-4.22 [[ 9.36173189e-01 -3.49168547e-01 4.07564259e-02 5.24211752e+01] [ 3.48837928e-01 9.37059937e-01 1.51912533e-02 9.62987771e+00] [-4.34955218e-02 -4.25686259e-06 9.99053622e-01 -4.21760342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.513201008 meters 0.06453413278830587 Centerline is valid? [True, True] Translation: X:52.45, Y:9.64, Z:-4.22 [[ 9.36078618e-01 -3.49487700e-01 4.01891682e-02 5.24484505e+01] [ 3.49165842e-01 9.36940952e-01 1.49955565e-02 9.63586235e+00] [-4.28956401e-02 -4.33498191e-06 9.99079558e-01 -4.21901729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.543201008000004 meters 0.0642423458501595 Centerline is valid? [True, True] Translation: X:52.48, Y:9.64, Z:-4.22 [[ 9.35898936e-01 -3.49906153e-01 4.07291785e-02 5.24769136e+01] [ 3.49575878e-01 9.36784758e-01 1.51993909e-02 9.64390854e+00] [-4.34728340e-02 1.28446309e-05 9.99054609e-01 -4.21964861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.573201008 meters 0.0638952070144064 Centerline is valid? [True, True] Translation: X:52.51, Y:9.65, Z:-4.22 [[ 9.35637060e-01 -3.50476272e-01 4.18291029e-02 5.25050091e+01] [ 3.50128371e-01 9.36571610e-01 1.56122504e-02 9.65248046e+00] [-4.46476736e-02 3.81555575e-05 9.99002795e-01 -4.21779254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.603201008 meters 0.06393447714664638 Centerline is valid? [True, True] Translation: X:52.53, Y:9.66, Z:-4.22 [[ 9.35714756e-01 -3.50213007e-01 4.22935587e-02 5.25312566e+01] [ 3.49856383e-01 9.36670086e-01 1.58006859e-02 9.66193748e+00] [-4.51487170e-02 1.17365130e-05 9.98980277e-01 -4.22072280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.633201008 meters 0.0634969473950899 Centerline is valid? [True, True] Translation: X:52.56, Y:9.67, Z:-4.22 [[ 9.35683088e-01 -3.49946134e-01 4.51094442e-02 5.25577515e+01] [ 3.49539871e-01 9.36769824e-01 1.68574908e-02 9.67419696e+00] [-4.81563798e-02 -5.71975070e-06 9.98839809e-01 -4.21844232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.663201008 meters 0.06345767674639466 Centerline is valid? [True, True] Translation: X:52.58, Y:9.69, Z:-4.22 [[ 9.35668647e-01 -3.49885344e-01 4.58740600e-02 5.25833727e+01] [ 3.49464445e-01 9.36792531e-01 1.71568045e-02 9.68572570e+00] [-4.89773912e-02 -2.17311442e-05 9.98799887e-01 -4.22273079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.693201008 meters 0.06347596684750444 Centerline is valid? [True, True] Translation: X:52.61, Y:9.70, Z:-4.22 [[ 9.35738878e-01 -3.49622854e-01 4.64393472e-02 5.26100852e+01] [ 3.49191192e-01 9.36890527e-01 1.73681471e-02 9.69788267e+00] [-4.95808856e-02 -3.58393917e-05 9.98770111e-01 -4.22401144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.723201008000004 meters 0.06355670810523649 Centerline is valid? [True, True] Translation: X:52.64, Y:9.71, Z:-4.23 [[ 9.36108338e-01 -3.48583302e-01 4.68066321e-02 5.26350637e+01] [ 3.48142902e-01 9.37277798e-01 1.75170921e-02 9.71112966e+00] [-4.99769828e-02 -1.02499260e-04 9.98750365e-01 -4.22706000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.753201008 meters 0.06388053671311465 Centerline is valid? [True, True] Translation: X:52.66, Y:9.72, Z:-4.23 [[ 9.36855293e-01 -3.46764954e-01 4.53456282e-02 5.26597841e+01] [ 3.46348656e-01 9.37952037e-01 1.69878194e-02 9.72453010e+00] [-4.84228048e-02 -2.09731154e-04 9.98826906e-01 -4.23172471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.783201008 meters 0.06408020007119608 Centerline is valid? [True, True] Translation: X:52.69, Y:9.73, Z:-4.24 [[ 9.36780675e-01 -3.47182476e-01 4.36611439e-02 5.26859769e+01] [ 3.46796668e-01 9.37797576e-01 1.63639270e-02 9.73353501e+00] [-4.66265836e-02 -1.87871365e-04 9.98912372e-01 -4.23518070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.813201008 meters 0.06372649234058204 Centerline is valid? [True, True] Translation: X:52.72, Y:9.74, Z:-4.24 [[ 9.35123027e-01 -3.51824260e-01 4.20073068e-02 5.27153037e+01] [ 3.51471878e-01 9.36066070e-01 1.57426549e-02 9.73775449e+00] [-4.48602626e-02 4.30678653e-05 9.98993271e-01 -4.23629329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.843201008 meters 0.06347466088324907 Centerline is valid? [True, True] Translation: X:52.74, Y:9.74, Z:-4.24 [[ 9.33285139e-01 -3.56674248e-01 4.19801111e-02 5.27446286e+01] [ 3.56326722e-01 9.34228778e-01 1.57434735e-02 9.74265373e+00] [-4.48343194e-02 2.65485550e-04 9.98994401e-01 -4.23699083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.873201008 meters 0.06416356965592634 Centerline is valid? [True, True] Translation: X:52.77, Y:9.75, Z:-4.24 [[ 9.31317175e-01 -3.61975405e-01 4.02756123e-02 5.27715276e+01] [ 3.61659890e-01 9.32187518e-01 1.51180023e-02 9.74914034e+00] [-4.30167681e-02 4.86418378e-04 9.99074232e-01 -4.24403222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.903201008 meters 0.06480792455350436 Centerline is valid? [True, True] Translation: X:52.80, Y:9.76, Z:-4.25 [[ 9.30464377e-01 -3.64305162e-01 3.89588529e-02 5.27976791e+01] [ 3.64011721e-01 9.31279456e-01 1.46301507e-02 9.75767632e+00] [-4.16114187e-02 5.68645049e-04 9.99133708e-01 -4.24998167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.933201008 meters 0.0651225852667678 Centerline is valid? [True, True] Translation: X:52.82, Y:9.77, Z:-4.25 [[ 9.29987028e-01 -3.65684242e-01 3.74053909e-02 5.28248091e+01] [ 3.65414972e-01 9.30738774e-01 1.40439478e-02 9.76767115e+00] [-3.99502981e-02 6.07800647e-04 9.99201483e-01 -4.25471302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.963201008 meters 0.06543039208959825 Centerline is valid? [True, True] Translation: X:52.85, Y:9.78, Z:-4.26 [[ 9.30257985e-01 -3.64852840e-01 3.87619138e-02 5.28514191e+01] [ 3.64562304e-01 9.31065020e-01 1.45690033e-02 9.77583178e+00] [-4.14054043e-02 5.78200952e-04 9.99142261e-01 -4.25927648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.993201008 meters 0.06493930209161643 Centerline is valid? [True, True] Translation: X:52.88, Y:9.79, Z:-4.26 [[ 9.30863033e-01 -3.63302938e-01 3.87941916e-02 5.28785832e+01] [ 3.63010646e-01 9.31670926e-01 1.45793394e-02 9.78510870e+00] [-4.14401372e-02 5.11336442e-04 9.99140858e-01 -4.25866364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.023201008 meters 0.06405240359461933 Centerline is valid? [True, True] Translation: X:52.91, Y:9.80, Z:-4.25 [[ 9.31461211e-01 -3.61613926e-01 4.01917952e-02 5.29056582e+01] [ 3.61298157e-01 9.32327825e-01 1.51151598e-02 9.79593619e+00] [-4.29377813e-02 4.42036507e-04 9.99077650e-01 -4.25338285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.053201008 meters 0.06347270111901021 Centerline is valid? [True, True] Translation: X:52.93, Y:9.80, Z:-4.25 [[ 9.31545356e-01 -3.61124658e-01 4.25703025e-02 5.29329018e+01] [ 3.60769148e-01 9.32517451e-01 1.60257537e-02 9.80332324e+00] [-4.54848449e-02 4.29335327e-04 9.98964937e-01 -4.25014327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.083201008 meters 0.06338341936867109 Centerline is valid? [True, True] Translation: X:52.96, Y:9.81, Z:-4.25 [[ 9.31437758e-01 -3.61285269e-01 4.35506274e-02 5.29598754e+01] [ 3.60913391e-01 9.32455229e-01 1.63942062e-02 9.81485260e+00] [-4.65319955e-02 4.47821915e-04 9.98916700e-01 -4.25254471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.113201008 meters 0.06306738173457022 Centerline is valid? [True, True] Translation: X:52.99, Y:9.83, Z:-4.25 [[ 9.31333518e-01 -3.61582547e-01 4.33121252e-02 5.29857123e+01] [ 3.61214557e-01 9.32339991e-01 1.63151576e-02 9.82764524e+00] [-4.62809026e-02 4.50117022e-04 9.98928364e-01 -4.25242254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.143201008 meters 0.06337496433127965 Centerline is valid? [True, True] Translation: X:53.01, Y:9.84, Z:-4.26 [[ 9.31340205e-01 -3.61605302e-01 4.29770692e-02 5.30115861e+01] [ 3.61242223e-01 9.32331175e-01 1.62060866e-02 9.83845248e+00] [-4.59290682e-02 4.31751979e-04 9.98944610e-01 -4.25795669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.173201008 meters 0.06401847042765707 Centerline is valid? [True, True] Translation: X:53.04, Y:9.85, Z:-4.26 [[ 9.31171373e-01 -3.62070253e-01 4.27200857e-02 5.30366914e+01] [ 3.61711822e-01 9.32150702e-01 1.61129453e-02 9.84848904e+00] [-4.56555761e-02 4.48446595e-04 9.98957140e-01 -4.26369313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.203201008 meters 0.06407621383215459 Centerline is valid? [True, True] Translation: X:53.06, Y:9.86, Z:-4.27 [[ 9.31071366e-01 -3.62315141e-01 4.28234743e-02 5.30627227e+01] [ 3.61955242e-01 9.32055538e-01 1.61517100e-02 9.85810353e+00] [-4.57658655e-02 4.61786254e-04 9.98952087e-01 -4.26537122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.233201008 meters 0.06369482938948938 Centerline is valid? [True, True] Translation: X:53.09, Y:9.87, Z:-4.26 [[ 9.30812714e-01 -3.62877209e-01 4.36786305e-02 5.30893274e+01] [ 3.62502763e-01 9.31836839e-01 1.64879431e-02 9.86905758e+00] [-4.66844557e-02 4.86437215e-04 9.98909568e-01 -4.26380857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.263201008 meters 0.06341306353592582 Centerline is valid? [True, True] Translation: X:53.12, Y:9.88, Z:-4.26 [[ 9.30641836e-01 -3.63146282e-01 4.50616410e-02 5.31163133e+01] [ 3.62747464e-01 9.31732002e-01 1.70221502e-02 9.88078585e+00] [-4.81669036e-02 5.04470867e-04 9.98839174e-01 -4.26290705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.293201008000004 meters 0.06327269090892575 Centerline is valid? [True, True] Translation: X:53.14, Y:9.89, Z:-4.26 [[ 9.30342197e-01 -3.63748319e-01 4.63740926e-02 5.31424084e+01] [ 3.63325783e-01 9.31497115e-01 1.75357112e-02 9.89095263e+00] [-4.95759190e-02 5.34691370e-04 9.98770215e-01 -4.26441085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.323201008 meters 0.06326787713115553 Centerline is valid? [True, True] Translation: X:53.17, Y:9.90, Z:-4.27 [[ 9.30335649e-01 -3.63733686e-01 4.66195944e-02 5.31681918e+01] [ 3.63306691e-01 9.31502827e-01 1.76275903e-02 9.90168240e+00] [-4.98380324e-02 5.37634942e-04 9.98757168e-01 -4.26558077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.353201008 meters 0.06340661411821363 Centerline is valid? [True, True] Translation: X:53.19, Y:9.91, Z:-4.27 [[ 9.30549652e-01 -3.63216187e-01 4.63826193e-02 5.31932718e+01] [ 3.62791949e-01 9.31704761e-01 1.75567733e-02 9.91049288e+00] [-4.95918115e-02 4.89791533e-04 9.98769449e-01 -4.26957891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.383201008 meters 0.06334039332720291 Centerline is valid? [True, True] Translation: X:53.22, Y:9.92, Z:-4.27 [[ 9.30470478e-01 -3.63345556e-01 4.69541936e-02 5.32208982e+01] [ 3.62910799e-01 9.31654312e-01 1.77762574e-02 9.92056281e+00] [-5.02040010e-02 4.99901201e-04 9.98738859e-01 -4.26947969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.413201008 meters 0.06319596212486425 Centerline is valid? [True, True] Translation: X:53.25, Y:9.93, Z:-4.27 [[ 9.30445084e-01 -3.63473483e-01 4.64647601e-02 5.32476670e+01] [ 3.63047308e-01 9.31604415e-01 1.76029900e-02 9.93168549e+00] [-4.96849957e-02 4.90290547e-04 9.98764818e-01 -4.27151795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.443201008 meters 0.0633285893853483 Centerline is valid? [True, True] Translation: X:53.27, Y:9.94, Z:-4.27 [[ 9.30259496e-01 -3.63980292e-01 4.62127363e-02 5.32742298e+01] [ 3.63558762e-01 9.31406514e-01 1.75195148e-02 9.94218136e+00] [-4.94196017e-02 5.03350199e-04 9.98777978e-01 -4.27397941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.473201008000004 meters 0.06338397117377566 Centerline is valid? [True, True] Translation: X:53.30, Y:9.95, Z:-4.28 [[ 9.30065657e-01 -3.64535110e-01 4.57386825e-02 5.33013287e+01] [ 3.64122288e-01 9.31189501e-01 1.73514406e-02 9.95317565e+00] [-4.89165903e-02 5.16494718e-04 9.98802733e-01 -4.27689804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.503201008 meters 0.06418973165131572 Centerline is valid? [True, True] Translation: X:53.33, Y:9.96, Z:-4.28 [[ 9.29706071e-01 -3.65739980e-01 4.33692214e-02 5.33283351e+01] [ 3.65369398e-01 9.30716918e-01 1.64688013e-02 9.96194508e+00] [-4.63877672e-02 5.34641739e-04 9.98923365e-01 -4.28314756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.533201008 meters 0.06451577600892187 Centerline is valid? [True, True] Translation: X:53.36, Y:9.97, Z:-4.29 [[ 9.29684302e-01 -3.65916639e-01 4.23333506e-02 5.33550405e+01] [ 3.65563713e-01 9.30647480e-01 1.60760455e-02 9.97027761e+00] [-4.52799186e-02 5.29889698e-04 9.98974198e-01 -4.28803783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.563201008 meters 0.06441887243589234 Centerline is valid? [True, True] Translation: X:53.38, Y:9.98, Z:-4.29 [[ 9.29477558e-01 -3.66426707e-01 4.24610181e-02 5.33818691e+01] [ 3.66072126e-01 9.30446753e-01 1.61257098e-02 9.98005990e+00] [-4.54166071e-02 5.55309853e-04 9.98967979e-01 -4.28833307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.593201008 meters 0.06440161611020695 Centerline is valid? [True, True] Translation: X:53.41, Y:9.99, Z:-4.29 [[ 9.29537163e-01 -3.66294993e-01 4.22923192e-02 5.34076605e+01] [ 3.65942285e-01 9.30498628e-01 1.60793983e-02 9.98912022e+00] [-4.52427481e-02 5.30149595e-04 9.98975882e-01 -4.29030557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.623201008 meters 0.06457796821036552 Centerline is valid? [True, True] Translation: X:53.43, Y:10.00, Z:-4.30 [[ 9.30526530e-01 -3.63808987e-01 4.19928384e-02 5.34330463e+01] [ 3.63458492e-01 9.31473489e-01 1.59707365e-02 1.00006980e+01] [-4.49255132e-02 4.01459722e-04 9.98990259e-01 -4.29546974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.653201008 meters 0.06417946424228103 Centerline is valid? [True, True] Translation: X:53.46, Y:10.02, Z:-4.30 [[ 9.31371775e-01 -3.61668223e-01 4.17458047e-02 5.34590780e+01] [ 3.61319608e-01 9.32306821e-01 1.58786551e-02 1.00151803e+01] [-4.46627035e-02 2.94646576e-04 9.99002080e-01 -4.29617280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.683201008 meters 0.06401644785401904 Centerline is valid? [True, True] Translation: X:53.49, Y:10.03, Z:-4.30 [[ 9.32515994e-01 -3.58613062e-01 4.25510528e-02 5.34852994e+01] [ 3.58247154e-01 9.33486289e-01 1.61964384e-02 1.00280213e+01] [-4.55290788e-02 1.40355687e-04 9.98963004e-01 -4.29664788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.713201008 meters 0.0637342103029708 Centerline is valid? [True, True] Translation: X:53.51, Y:10.04, Z:-4.30 [[ 9.32164384e-01 -3.59417236e-01 4.34604596e-02 5.35135657e+01] [ 3.59035839e-01 9.33176950e-01 1.65543311e-02 1.00368433e+01] [-4.65062111e-02 1.72504753e-04 9.98917986e-01 -4.29539254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.743201008 meters 0.06346337601474906 Centerline is valid? [True, True] Translation: X:53.54, Y:10.05, Z:-4.30 [[ 9.32046256e-01 -3.59636819e-01 4.41716446e-02 5.35417073e+01] [ 3.59242479e-01 9.33092347e-01 1.68378690e-02 1.00460994e+01] [-4.72717412e-02 1.74658339e-04 9.98882051e-01 -4.29557756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.773201008 meters 0.06348092203407894 Centerline is valid? [True, True] Translation: X:53.57, Y:10.05, Z:-4.30 [[ 9.31716430e-01 -3.60429394e-01 4.46670562e-02 5.35680231e+01] [ 3.60026310e-01 9.32786477e-01 1.70424474e-02 1.00544872e+01] [-4.78074250e-02 2.02587149e-04 9.98856551e-01 -4.29851187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.803201008 meters 0.06353136531510385 Centerline is valid? [True, True] Translation: X:53.59, Y:10.06, Z:-4.30 [[ 9.31314807e-01 -3.61446504e-01 4.48235934e-02 5.35941854e+01] [ 3.61041833e-01 9.32392814e-01 1.71007619e-02 1.00635343e+01] [-4.79742069e-02 2.56999538e-04 9.98848542e-01 -4.30126417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.833201008 meters 0.06385392083930201 Centerline is valid? [True, True] Translation: X:53.62, Y:10.08, Z:-4.31 [[ 9.30943372e-01 -3.62478835e-01 4.41987953e-02 5.36206600e+01] [ 3.62085860e-01 9.31991958e-01 1.68766528e-02 1.00753871e+01] [-4.73103512e-02 2.92550687e-04 9.98880196e-01 -4.30741374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.863201008 meters 0.06394408683102001 Centerline is valid? [True, True] Translation: X:53.65, Y:10.09, Z:-4.31 [[ 9.31007708e-01 -3.62421641e-01 4.33036025e-02 5.36467751e+01] [ 3.62043861e-01 9.32014206e-01 1.65457944e-02 1.00879853e+01] [-4.63561267e-02 2.73541311e-04 9.98924939e-01 -4.31129355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.893201008 meters 0.06406731735359518 Centerline is valid? [True, True] Translation: X:53.67, Y:10.10, Z:-4.32 [[ 9.31388415e-01 -3.61509626e-01 4.27365145e-02 5.36723116e+01] [ 3.61139975e-01 9.32368353e-01 1.63454054e-02 1.01000476e+01] [-4.57551950e-02 2.09942576e-04 9.98952661e-01 -4.31533592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.923201008 meters 0.0641830440714936 Centerline is valid? [True, True] Translation: X:53.70, Y:10.11, Z:-4.32 [[ 9.31806588e-01 -3.60500245e-01 4.21432853e-02 5.36985448e+01] [ 3.60139812e-01 9.32759105e-01 1.61173129e-02 1.01126693e+01] [-4.51198283e-02 1.59256454e-04 9.98981569e-01 -4.31929191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.953201008 meters 0.06401514632859324 Centerline is valid? [True, True] Translation: X:53.72, Y:10.12, Z:-4.32 [[ 9.32622526e-01 -3.58426483e-01 4.17813381e-02 5.37240170e+01] [ 3.58069479e-01 9.33557954e-01 1.59935583e-02 1.01237873e+01] [-4.47378154e-02 4.46692059e-05 9.98998762e-01 -4.31895656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.983201008 meters 0.06406005372749439 Centerline is valid? [True, True] Translation: X:53.75, Y:10.13, Z:-4.32 [[ 9.33281289e-01 -3.56759228e-01 4.13386985e-02 5.37499484e+01] [ 3.56407794e-01 9.34196367e-01 1.58313922e-02 1.01345143e+01] [-4.42664572e-02 -4.17078161e-05 9.99019759e-01 -4.32111444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.013201008 meters 0.0638753593340258 Centerline is valid? [True, True] Translation: X:53.78, Y:10.14, Z:-4.32 [[ 9.33170298e-01 -3.57006855e-01 4.17049269e-02 5.37765733e+01] [ 3.56649465e-01 9.34101764e-01 1.59704249e-02 1.01448619e+01] [-4.46581969e-02 -2.90862692e-05 9.99002325e-01 -4.32160250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.043201008000004 meters 0.0638753593340258 Centerline is valid? [True, True] Translation: X:53.80, Y:10.15, Z:-4.32 [[ 9.33077320e-01 -3.57250173e-01 4.17016688e-02 5.38022837e+01] [ 3.56892646e-01 9.34008733e-01 1.59789261e-02 1.01549192e+01] [-4.46581970e-02 -2.65546055e-05 9.99002325e-01 -4.32373269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.073201008 meters 0.06349015353198847 Centerline is valid? [True, True] Translation: X:53.83, Y:10.17, Z:-4.32 [[ 9.32975665e-01 -3.57338051e-01 4.31963618e-02 5.38293065e+01] [ 3.56953844e-01 9.33975115e-01 1.65661451e-02 1.01656563e+01] [-4.62640410e-02 -3.67028091e-05 9.98929245e-01 -4.32331469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.103201008 meters 0.06366953341933713 Centerline is valid? [True, True] Translation: X:53.85, Y:10.18, Z:-4.33 [[ 9.32901493e-01 -3.57385355e-01 4.43904541e-02 5.38548599e+01] [ 3.56978823e-01 9.33957015e-01 1.70415556e-02 1.01761910e+01] [-4.75491783e-02 -5.16405942e-05 9.98868897e-01 -4.32796744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.133201008 meters 0.06350476736362377 Centerline is valid? [True, True] Translation: X:53.88, Y:10.19, Z:-4.33 [[ 9.32892343e-01 -3.57417161e-01 4.43266358e-02 5.38809671e+01] [ 3.57011909e-01 9.33944844e-01 1.70154500e-02 1.01876701e+01] [-4.74802468e-02 -4.84460780e-05 9.98872176e-01 -4.32837432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.163201008 meters 0.06380334224498732 Centerline is valid? [True, True] Translation: X:53.91, Y:10.20, Z:-4.33 [[ 9.32694730e-01 -3.57834384e-01 4.51120121e-02 5.39065260e+01] [ 3.57414159e-01 9.33785067e-01 1.73368816e-02 1.01988619e+01] [-4.83286555e-02 -4.63462454e-05 9.98831487e-01 -4.33403284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.193201008 meters 0.06374615401922651 Centerline is valid? [True, True] Translation: X:53.93, Y:10.21, Z:-4.34 [[ 9.32959158e-01 -3.57276650e-01 4.40523059e-02 5.39338127e+01] [ 3.56875360e-01 9.33998603e-01 1.69288917e-02 1.02098691e+01] [-4.71930899e-02 -7.27820459e-05 9.98885783e-01 -4.33516827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.223201008000004 meters 0.06390842786816436 Centerline is valid? [True, True] Translation: X:53.96, Y:10.22, Z:-4.34 [[ 9.33344649e-01 -3.56408455e-01 4.29043099e-02 5.39608209e+01] [ 3.56026397e-01 9.34330240e-01 1.64986759e-02 1.02209167e+01] [-4.59670617e-02 -1.23883994e-04 9.98942948e-01 -4.33777104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.253201008 meters 0.06380369866800405 Centerline is valid? [True, True] Translation: X:53.99, Y:10.23, Z:-4.34 [[ 9.33816207e-01 -3.55299963e-01 4.18237659e-02 5.39872468e+01] [ 3.54935345e-01 9.34752322e-01 1.60934203e-02 1.02320321e+01] [-4.48128539e-02 -1.83563891e-04 9.98995383e-01 -4.33807212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.283201008 meters 0.0638639112258785 Centerline is valid? [True, True] Translation: X:54.01, Y:10.24, Z:-4.34 [[ 9.34193458e-01 -3.54269505e-01 4.21390643e-02 5.40126993e+01] [ 3.53897855e-01 9.35143336e-01 1.62249752e-02 1.02439336e+01] [-4.51540791e-02 -2.44341245e-04 9.98980005e-01 -4.34024328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.313201008 meters 0.06397731352401362 Centerline is valid? [True, True] Translation: X:54.04, Y:10.26, Z:-4.34 [[ 9.34526309e-01 -3.53371216e-01 4.23008424e-02 5.40372778e+01] [ 3.52994953e-01 9.35483132e-01 1.63056165e-02 1.02563204e+01] [-4.53336601e-02 -3.06043759e-04 9.98971854e-01 -4.34324783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.343201008 meters 0.06389084352626202 Centerline is valid? [True, True] Translation: X:54.06, Y:10.27, Z:-4.35 [[ 9.33989843e-01 -3.54679110e-01 4.31937640e-02 5.40634146e+01] [ 3.54287852e-01 9.34988056e-01 1.66569463e-02 1.02655236e+01] [-4.62935243e-02 -2.54392824e-04 9.98927848e-01 -4.34620795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.373201008 meters 0.06395458875307367 Centerline is valid? [True, True] Translation: X:54.09, Y:10.27, Z:-4.35 [[ 9.33382102e-01 -3.56209666e-01 4.37324274e-02 5.40898824e+01] [ 3.55810062e-01 9.34406036e-01 1.68688891e-02 1.02738509e+01] [-4.68727055e-02 -1.84681438e-04 9.98900854e-01 -4.35021754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.403201008 meters 0.06358023611324133 Centerline is valid? [True, True] Translation: X:54.12, Y:10.28, Z:-4.35 [[ 9.32787289e-01 -3.57721625e-01 4.40807551e-02 5.41183909e+01] [ 3.57317356e-01 9.33828264e-01 1.70023509e-02 1.02822123e+01] [-4.72459637e-02 -1.08757934e-04 9.98883280e-01 -4.34762815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.433201008 meters 0.06344654279910072 Centerline is valid? [True, True] Translation: X:54.15, Y:10.29, Z:-4.35 [[ 9.32470185e-01 -3.58589664e-01 4.37356490e-02 5.41450072e+01] [ 3.58191870e-01 9.33495285e-01 1.68860208e-02 1.02909131e+01] [-4.68821746e-02 -7.99569970e-05 9.98900423e-01 -4.35010561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.463201008 meters 0.06319787600190256 Centerline is valid? [True, True] Translation: X:54.17, Y:10.30, Z:-4.35 [[ 9.31770330e-01 -3.60083510e-01 4.63024678e-02 5.41726212e+01] [ 3.59639266e-01 9.32920075e-01 1.78810623e-02 1.03008943e+01] [-4.96351774e-02 -8.85782691e-06 9.98767415e-01 -4.35084417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.493201008 meters 0.06313341327341464 Centerline is valid? [True, True] Translation: X:54.20, Y:10.31, Z:-4.35 [[ 9.31663959e-01 -3.60189492e-01 4.76003943e-02 5.41991195e+01] [ 3.59719806e-01 9.32879161e-01 1.83883456e-02 1.03104745e+01] [-5.10287047e-02 -8.95424056e-06 9.98697187e-01 -4.35229313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.523201008 meters 0.0628553865414371 Centerline is valid? [True, True] Translation: X:54.23, Y:10.32, Z:-4.35 [[ 9.30883923e-01 -3.62084792e-01 4.84739539e-02 5.42267636e+01] [ 3.61599900e-01 9.32145158e-01 1.87327857e-02 1.03170439e+01] [-5.19676182e-02 9.01278423e-05 9.98648766e-01 -4.35223090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.553201008 meters 0.06265197043611617 Centerline is valid? [True, True] Translation: X:54.25, Y:10.33, Z:-4.35 [[ 9.30608235e-01 -3.62791964e-01 4.84799245e-02 5.42525462e+01] [ 3.62307770e-01 9.31870149e-01 1.87377918e-02 1.03273934e+01] [-5.19749148e-02 1.27109990e-04 9.98648383e-01 -4.35257587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.583201008 meters 0.06265691881341108 Centerline is valid? [True, True] Translation: X:54.28, Y:10.34, Z:-4.36 [[ 9.30604996e-01 -3.62663266e-01 4.94944217e-02 5.42786892e+01] [ 3.62157507e-01 9.31920246e-01 1.91466997e-02 1.03386221e+01] [-5.30686582e-02 1.06761994e-04 9.98590860e-01 -4.35620123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.613201008 meters 0.06273696121405951 Centerline is valid? [True, True] Translation: X:54.30, Y:10.35, Z:-4.36 [[ 9.30748672e-01 -3.62310994e-01 4.93725982e-02 5.43037128e+01] [ 3.61806360e-01 9.32057261e-01 1.91159589e-02 1.03487185e+01] [-5.29440107e-02 7.11666755e-05 9.98597480e-01 -4.35907880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.643201008 meters 0.06270655055363152 Centerline is valid? [True, True] Translation: X:54.33, Y:10.36, Z:-4.36 [[ 9.30820605e-01 -3.62174148e-01 4.90192617e-02 5.43295432e+01] [ 3.61676192e-01 9.32110446e-01 1.89854775e-02 1.03581739e+01] [-5.25674150e-02 5.70262241e-05 9.98617376e-01 -4.36154591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.673201008 meters 0.06277154079955742 Centerline is valid? [True, True] Translation: X:54.36, Y:10.37, Z:-4.36 [[ 9.30694901e-01 -3.62451601e-01 4.93542034e-02 5.43557168e+01] [ 3.61946764e-01 9.32002592e-01 1.91234825e-02 1.03683413e+01] [-5.29295824e-02 6.54665493e-05 9.98598245e-01 -4.36392178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.703201008 meters 0.06286018698602193 Centerline is valid? [True, True] Translation: X:54.38, Y:10.38, Z:-4.37 [[ 9.30652451e-01 -3.62585727e-01 4.91691461e-02 5.43816029e+01] [ 3.62084864e-01 9.31950420e-01 1.90516656e-02 1.03796610e+01] [-5.27310684e-02 7.29243104e-05 9.98608747e-01 -4.36705901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.733201008 meters 0.06294753601266301 Centerline is valid? [True, True] Translation: X:54.41, Y:10.39, Z:-4.37 [[ 9.30539830e-01 -3.62818755e-01 4.95800030e-02 5.44074891e+01] [ 3.62308760e-01 9.31859725e-01 1.92306018e-02 1.03898731e+01] [-5.31788309e-02 6.84284640e-05 9.98585003e-01 -4.36973484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.763201008 meters 0.06328117665195268 Centerline is valid? [True, True] Translation: X:54.43, Y:10.40, Z:-4.37 [[ 9.30544004e-01 -3.62987171e-01 4.82511222e-02 5.44342178e+01] [ 3.62504375e-01 9.31794134e-01 1.87154948e-02 1.04002132e+01] [-5.17535971e-02 7.56514822e-05 9.98659882e-01 -4.37281030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.793201008000004 meters 0.06361774045212693 Centerline is valid? [True, True] Translation: X:54.46, Y:10.41, Z:-4.38 [[ 9.30852170e-01 -3.62452744e-01 4.62844002e-02 5.44611283e+01] [ 3.62007308e-01 9.32002150e-01 1.79638871e-02 1.04104905e+01] [-4.96482207e-02 3.35678468e-05 9.98766766e-01 -4.37610486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.823201008 meters 0.06382706887754369 Centerline is valid? [True, True] Translation: X:54.49, Y:10.42, Z:-4.38 [[ 9.31035746e-01 -3.62158800e-01 4.48714114e-02 5.44880813e+01] [ 3.61739289e-01 9.32116411e-01 1.74265218e-02 1.04209839e+01] [-4.81365472e-02 7.03775461e-06 9.98840764e-01 -4.37896568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.853201008 meters 0.06402378817405496 Centerline is valid? [True, True] Translation: X:54.51, Y:10.43, Z:-4.38 [[ 9.30864841e-01 -3.62609964e-01 4.47734496e-02 5.45134851e+01] [ 3.62192078e-01 9.31940993e-01 1.74035762e-02 1.04304759e+01] [-4.80369232e-02 1.62116079e-05 9.98845561e-01 -4.38214661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.883201008 meters 0.06365829013557674 Centerline is valid? [True, True] Translation: X:54.54, Y:10.44, Z:-4.38 [[ 9.30297067e-01 -3.64035876e-01 4.50027533e-02 5.45412554e+01] [ 3.63615316e-01 9.31384922e-01 1.74936773e-02 1.04388192e+01] [-4.82832120e-02 8.93736282e-05 9.98833682e-01 -4.37898238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.913201008 meters 0.0634731562380436 Centerline is valid? [True, True] Translation: X:54.57, Y:10.45, Z:-4.38 [[ 9.29313776e-01 -3.66294241e-01 4.69514078e-02 5.45687067e+01] [ 3.65838498e-01 9.30499054e-01 1.82675632e-02 1.04475295e+01] [-5.03795437e-02 2.00334408e-04 9.98730124e-01 -4.37913336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.943201008 meters 0.06356876771844565 Centerline is valid? [True, True] Translation: X:54.59, Y:10.46, Z:-4.38 [[ 9.29701071e-01 -3.65352363e-01 4.66215636e-02 5.45935657e+01] [ 3.64900967e-01 9.30869289e-01 1.81562920e-02 1.04604391e+01] [-5.00320260e-02 1.32329558e-04 9.98747605e-01 -4.38343188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.973201008000004 meters 0.06429570137488871 Centerline is valid? [True, True] Translation: X:54.62, Y:10.47, Z:-4.39 [[ 9.30264139e-01 -3.63993425e-01 4.60154166e-02 5.46178813e+01] [ 3.63551819e-01 9.31401516e-01 1.79245969e-02 1.04727268e+01] [-4.93832642e-02 5.43787628e-05 9.98779901e-01 -4.39256462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.003201008 meters 0.06384963092186038 Centerline is valid? [True, True] Translation: X:54.64, Y:10.48, Z:-4.39 [[ 9.30394467e-01 -3.63662833e-01 4.59943358e-02 5.46440458e+01] [ 3.63221285e-01 9.31530645e-01 1.79152429e-02 1.04841035e+01] [-4.93602413e-02 3.78788946e-05 9.98781040e-01 -4.39042720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.033201008 meters 0.06396156425983603 Centerline is valid? [True, True] Translation: X:54.67, Y:10.50, Z:-4.39 [[ 9.31049733e-01 -3.61905858e-01 4.65890939e-02 5.46702651e+01] [ 3.61449827e-01 9.32214645e-01 1.81625336e-02 1.04965442e+01] [-5.00041630e-02 -7.06020806e-05 9.98749007e-01 -4.39274367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.063201008 meters 0.06401227610542982 Centerline is valid? [True, True] Translation: X:54.70, Y:10.51, Z:-4.39 [[ 9.31402147e-01 -3.61020189e-01 4.64162041e-02 5.46970937e+01] [ 3.60565826e-01 9.32557991e-01 1.81074163e-02 1.05078997e+01] [-4.98229449e-02 -1.29189465e-04 9.98758058e-01 -4.39466596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.093201008 meters 0.06391380820777348 Centerline is valid? [True, True] Translation: X:54.72, Y:10.52, Z:-4.40 [[ 9.31570174e-01 -3.60472514e-01 4.72924802e-02 5.47238842e+01] [ 3.59999453e-01 9.32769820e-01 1.84623097e-02 1.05187812e+01] [-5.07681534e-02 -1.73670062e-04 9.98710451e-01 -4.39632505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.123201008 meters 0.06393525256142185 Centerline is valid? [True, True] Translation: X:54.75, Y:10.53, Z:-4.40 [[ 9.31609622e-01 -3.60321131e-01 4.76675496e-02 5.47502499e+01] [ 3.59839515e-01 9.32828303e-01 1.86247191e-02 1.05290661e+01] [-5.11765192e-02 -1.98299560e-04 9.98689604e-01 -4.39738402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.153201008 meters 0.06394545242404377 Centerline is valid? [True, True] Translation: X:54.78, Y:10.54, Z:-4.40 [[ 9.31323921e-01 -3.61175944e-01 4.67727651e-02 5.47776404e+01] [ 3.60713155e-01 9.32497675e-01 1.82785656e-02 1.05392286e+01] [-5.02172730e-02 -1.51713712e-04 9.98738305e-01 -4.40095295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.183201008 meters 0.06407199360177604 Centerline is valid? [True, True] Translation: X:54.80, Y:10.55, Z:-4.41 [[ 9.30920928e-01 -3.62363625e-01 4.55941827e-02 5.48043022e+01] [ 3.61924734e-01 9.32036799e-01 1.78295390e-02 1.05506351e+01] [-4.89562324e-02 -9.62284975e-05 9.98800920e-01 -4.40605656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.213201008 meters 0.06427343091360892 Centerline is valid? [True, True] Translation: X:54.83, Y:10.56, Z:-4.41 [[ 9.30647718e-01 -3.63110146e-01 4.52310348e-02 5.48305210e+01] [ 3.62678524e-01 9.31746219e-01 1.76994468e-02 1.05619916e+01] [-4.85706944e-02 -6.76247943e-05 9.98819745e-01 -4.41062912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.243201008 meters 0.06458621498086908 Centerline is valid? [True, True] Translation: X:54.86, Y:10.57, Z:-4.41 [[ 9.30471712e-01 -3.63798758e-01 4.32765123e-02 5.48574937e+01] [ 3.63403917e-01 9.31477569e-01 1.69449233e-02 1.05727944e+01] [-4.64756425e-02 -3.99176720e-05 9.98919423e-01 -4.41365864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.273201008 meters 0.06487670741153478 Centerline is valid? [True, True] Translation: X:54.88, Y:10.58, Z:-4.42 [[ 9.30145123e-01 -3.64705257e-01 4.26629261e-02 5.48837648e+01] [ 3.64321742e-01 9.31123018e-01 1.67210365e-02 1.05816521e+01] [-4.58226825e-02 -9.95902696e-06 9.98949589e-01 -4.41826364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.303201008 meters 0.06482228535218795 Centerline is valid? [True, True] Translation: X:54.91, Y:10.59, Z:-4.42 [[ 9.30202303e-01 -3.64670796e-01 4.16999486e-02 5.49106635e+01] [ 3.64304431e-01 9.31136515e-01 1.63423088e-02 1.05913783e+01] [-4.47879076e-02 -1.01771777e-05 9.98996518e-01 -4.41929202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.333201008 meters 0.06477896499213935 Centerline is valid? [True, True] Translation: X:54.94, Y:10.60, Z:-4.42 [[ 9.30285193e-01 -3.64443440e-01 4.18382403e-02 5.49374123e+01] [ 3.64073956e-01 9.31225525e-01 1.64065913e-02 1.06011726e+01] [-4.49401118e-02 -3.05952746e-05 9.98989682e-01 -4.41993433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.363201008 meters 0.06457817324738697 Centerline is valid? [True, True] Translation: X:54.96, Y:10.61, Z:-4.42 [[ 9.30001764e-01 -3.65011118e-01 4.31694670e-02 5.49643961e+01] [ 3.64617422e-01 9.31003160e-01 1.69485151e-02 1.06086371e+01] [-4.63773066e-02 -2.18091922e-05 9.98923994e-01 -4.42128333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.393201008 meters 0.06429296715544619 Centerline is valid? [True, True] Translation: X:54.99, Y:10.62, Z:-4.42 [[ 9.29790754e-01 -3.65431049e-01 4.41509026e-02 5.49918380e+01] [ 3.65019735e-01 9.30838412e-01 1.73333292e-02 1.06194328e+01] [-4.74314927e-02 -4.18395781e-07 9.98874493e-01 -4.41882150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.423201008 meters 0.06407077379574115 Centerline is valid? [True, True] Translation: X:55.02, Y:10.63, Z:-4.42 [[ 9.29850543e-01 -3.65171444e-01 4.50309184e-02 5.50182951e+01] [ 3.64742660e-01 9.30940286e-01 1.76911173e-02 1.06317453e+01] [-4.83813869e-02 -2.53980791e-05 9.98828935e-01 -4.42063311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.453201008 meters 0.06445764479725703 Centerline is valid? [True, True] Translation: X:55.04, Y:10.65, Z:-4.43 [[ 9.30103488e-01 -3.64543592e-01 4.48939976e-02 5.50419933e+01] [ 3.64115870e-01 9.31186321e-01 1.76541510e-02 1.06469096e+01] [-4.82403840e-02 -7.35705039e-05 9.98835752e-01 -4.42797613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.483201008 meters 0.06470916226675438 Centerline is valid? [True, True] Translation: X:55.07, Y:10.66, Z:-4.43 [[ 9.30365711e-01 -3.63917457e-01 4.45390680e-02 5.50677921e+01] [ 3.63495774e-01 9.31431196e-01 1.75142541e-02 1.06598115e+01] [-4.78588202e-02 -1.04898463e-04 9.98854105e-01 -4.43145216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.513201008 meters 0.06493604658874953 Centerline is valid? [True, True] Translation: X:55.09, Y:10.67, Z:-4.43 [[ 9.30721978e-01 -3.63102422e-01 4.37405016e-02 5.50942658e+01] [ 3.62694308e-01 9.31749219e-01 1.72113920e-02 1.06714429e+01] [-4.70046764e-02 -1.54589802e-04 9.98894657e-01 -4.43421516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.543201008000004 meters 0.06467551108635809 Centerline is valid? [True, True] Translation: X:55.12, Y:10.68, Z:-4.43 [[ 9.30921689e-01 -3.62584262e-01 4.37888398e-02 5.51210977e+01] [ 3.62174195e-01 9.31950973e-01 1.72405210e-02 1.06820098e+01] [-4.70601935e-02 -1.90387141e-04 9.98892037e-01 -4.43247498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.573201008 meters 0.06479227211305548 Centerline is valid? [True, True] Translation: X:55.15, Y:10.69, Z:-4.44 [[ 9.31219939e-01 -3.61734624e-01 4.44689529e-02 5.51472720e+01] [ 3.61309781e-01 9.32281071e-01 1.75284263e-02 1.06919510e+01] [-4.77982018e-02 -2.55752404e-04 9.98856980e-01 -4.43527431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.603201008 meters 0.06438325709388897 Centerline is valid? [True, True] Translation: X:55.18, Y:10.70, Z:-4.43 [[ 9.31054195e-01 -3.62214464e-01 4.40314506e-02 5.51753910e+01] [ 3.61798518e-01 9.32094754e-01 1.73551961e-02 1.07013410e+01] [-4.73277872e-02 -2.28114605e-04 9.98879386e-01 -4.43378606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.633201008 meters 0.06448855085178633 Centerline is valid? [True, True] Translation: X:55.20, Y:10.71, Z:-4.44 [[ 9.30749082e-01 -3.62951860e-01 4.44082563e-02 5.52016131e+01] [ 3.62528779e-01 9.31807869e-01 1.75208630e-02 1.07112456e+01] [-4.77391925e-02 -2.08256261e-04 9.98859813e-01 -4.43728675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.663201008 meters 0.0644324373180703 Centerline is valid? [True, True] Translation: X:55.23, Y:10.72, Z:-4.44 [[ 9.30321003e-01 -3.64059587e-01 4.43108249e-02 5.52282049e+01] [ 3.63639692e-01 9.31375646e-01 1.74808321e-02 1.07211056e+01] [-4.76340877e-02 -1.49610468e-04 9.98864841e-01 -4.43995936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.693201008 meters 0.06440936080494263 Centerline is valid? [True, True] Translation: X:55.26, Y:10.73, Z:-4.44 [[ 9.29537115e-01 -3.65950040e-01 4.51809757e-02 5.52552660e+01] [ 3.65514966e-01 9.30634495e-01 1.78394442e-02 1.07318547e+01] [-4.85753198e-02 -6.81027470e-05 9.98819520e-01 -4.44275514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.723201008000004 meters 0.06455270325641109 Centerline is valid? [True, True] Translation: X:55.28, Y:10.74, Z:-4.45 [[ 9.29347709e-01 -3.66386106e-01 4.55418188e-02 5.52815743e+01] [ 3.65943732e-01 9.30462905e-01 1.79990983e-02 1.07411839e+01] [-4.89695925e-02 -6.16776180e-05 9.98800268e-01 -4.44589195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.753201008 meters 0.06440735059865148 Centerline is valid? [True, True] Translation: X:55.31, Y:10.75, Z:-4.45 [[ 9.29062798e-01 -3.66981431e-01 4.65504723e-02 5.53081422e+01] [ 3.66519745e-01 9.30228267e-01 1.84024016e-02 1.07491115e+01] [-5.00559048e-02 -3.53194727e-05 9.98746417e-01 -4.44613293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.783201008 meters 0.06365340439611684 Centerline is valid? [True, True] Translation: X:55.34, Y:10.76, Z:-4.44 [[ 9.29239621e-01 -3.66355318e-01 4.79323245e-02 5.53370036e+01] [ 3.65864939e-01 9.30475027e-01 1.89491513e-02 1.07569514e+01] [-5.15419533e-02 -7.15452237e-05 9.98670828e-01 -4.44190084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.813201008 meters 0.06355334135003356 Centerline is valid? [True, True] Translation: X:55.36, Y:10.77, Z:-4.44 [[ 9.29454139e-01 -3.65630484e-01 4.92884700e-02 5.53637088e+01] [ 3.65110183e-01 9.30760083e-01 1.94992715e-02 1.07688404e+01] [-5.30052685e-02 -1.27956330e-04 9.98594224e-01 -4.44344440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.843201008 meters 0.06341458391191579 Centerline is valid? [True, True] Translation: X:55.39, Y:10.78, Z:-4.44 [[ 9.29402563e-01 -3.65495518e-01 5.12240450e-02 5.53899825e+01] [ 3.64932511e-01 9.30813087e-01 2.02795498e-02 1.07808534e+01] [-5.50920960e-02 -1.54546217e-04 9.98481265e-01 -4.44483054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.873201008 meters 0.06329355267202116 Centerline is valid? [True, True] Translation: X:55.42, Y:10.79, Z:-4.45 [[ 9.29031320e-01 -3.66385248e-01 5.16009328e-02 5.54167353e+01] [ 3.65814508e-01 9.30463238e-01 2.04428160e-02 1.07915385e+01] [-5.55027172e-02 -1.15646520e-04 9.98458529e-01 -4.44754918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.903201008 meters 0.06306994588119572 Centerline is valid? [True, True] Translation: X:55.44, Y:10.80, Z:-4.45 [[ 9.28202583e-01 -3.68175727e-01 5.37270856e-02 5.54429851e+01] [ 3.67558932e-01 9.29756223e-01 2.13025276e-02 1.08011968e+01] [-5.77961657e-02 -2.51909294e-05 9.98328404e-01 -4.44899701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.933201008 meters 0.06306994588119572 Centerline is valid? [True, True] Translation: X:55.47, Y:10.81, Z:-4.45 [[ 9.28107208e-01 -3.68416309e-01 5.37255361e-02 5.54685663e+01] [ 3.67799691e-01 9.29660918e-01 2.13064356e-02 1.08115508e+01] [-5.77961696e-02 -1.44208786e-05 9.98328404e-01 -4.45113250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.963201008 meters 0.06304487529548451 Centerline is valid? [True, True] Translation: X:55.49, Y:10.82, Z:-4.45 [[ 9.27687626e-01 -3.69405446e-01 5.41782677e-02 5.54944348e+01] [ 3.68779110e-01 9.29268323e-01 2.15023805e-02 1.08220473e+01] [-5.82892444e-02 3.23209801e-05 9.98299736e-01 -4.45296978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.993201008 meters 0.0630482797103574 Centerline is valid? [True, True] Translation: X:55.52, Y:10.83, Z:-4.45 [[ 9.27738725e-01 -3.69375055e-01 5.35063319e-02 5.55203893e+01] [ 3.68763167e-01 9.29280404e-01 2.12522425e-02 1.08337883e+01] [-5.75724340e-02 1.46360755e-05 9.98341332e-01 -4.45494890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.023201008 meters 0.06318339183148337 Centerline is valid? [True, True] Translation: X:55.55, Y:10.84, Z:-4.46 [[ 9.27803736e-01 -3.69226420e-01 5.34048561e-02 5.55450979e+01] [ 3.68615618e-01 9.29339470e-01 2.12291338e-02 1.08441988e+01] [-5.74695977e-02 -1.06056355e-05 9.98347257e-01 -4.45821105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.053201008 meters 0.06341649858850289 Centerline is valid? [True, True] Translation: X:55.57, Y:10.85, Z:-4.46 [[ 9.28191078e-01 -3.68481952e-01 5.17916326e-02 5.55707061e+01] [ 3.67905941e-01 9.29634900e-01 2.05954269e-02 1.08547653e+01] [-5.57363523e-02 -6.20422329e-05 9.98445519e-01 -4.46294967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.083201008 meters 0.06346740721542993 Centerline is valid? [True, True] Translation: X:55.60, Y:10.87, Z:-4.47 [[ 9.28034000e-01 -3.68873112e-01 5.18220196e-02 5.55968074e+01] [ 3.68296991e-01 9.29479761e-01 2.06082743e-02 1.08652935e+01] [-5.57693567e-02 -3.92853267e-05 9.98443678e-01 -4.46563308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.113201008 meters 0.06336495158445865 Centerline is valid? [True, True] Translation: X:55.62, Y:10.88, Z:-4.47 [[ 9.27988542e-01 -3.69022948e-01 5.15686902e-02 5.56230035e+01] [ 3.68451829e-01 9.29420283e-01 2.05228571e-02 1.08758766e+01] [-5.55023918e-02 -4.43979864e-05 9.98458553e-01 -4.46691180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.143201008 meters 0.06354095661321627 Centerline is valid? [True, True] Translation: X:55.65, Y:10.89, Z:-4.47 [[ 9.27961528e-01 -3.69165237e-01 5.10336197e-02 5.56490956e+01] [ 3.68605005e-01 9.29363774e-01 2.03304046e-02 1.08857980e+01] [-5.49340761e-02 -5.45855859e-05 9.98489982e-01 -4.47136122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.173201008 meters 0.06355891225395681 Centerline is valid? [True, True] Translation: X:55.68, Y:10.90, Z:-4.47 [[ 9.28049729e-01 -3.69084728e-01 5.00016421e-02 5.56761726e+01] [ 3.68546763e-01 9.29395750e-01 1.99204238e-02 1.08959010e+01] [-5.38236379e-02 -5.92005685e-05 9.98550456e-01 -4.47372167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.203201008 meters 0.06351859907154964 Centerline is valid? [True, True] Translation: X:55.70, Y:10.90, Z:-4.48 [[ 9.27895680e-01 -3.69476172e-01 4.99696496e-02 5.57023801e+01] [ 3.68938595e-01 9.29240204e-01 1.99237774e-02 1.09035873e+01] [-5.37951683e-02 -5.14546281e-05 9.98551990e-01 -4.47592242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.233201008 meters 0.06346497680787043 Centerline is valid? [True, True] Translation: X:55.73, Y:10.91, Z:-4.48 [[ 9.27695690e-01 -3.69955503e-01 5.01361425e-02 5.57281738e+01] [ 3.69414871e-01 9.29049474e-01 1.99931915e-02 1.09135427e+01] [-5.39755480e-02 -2.65609395e-05 9.98542257e-01 -4.47742778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.263201008 meters 0.06333200800640716 Centerline is valid? [True, True] Translation: X:55.75, Y:10.92, Z:-4.48 [[ 9.27666961e-01 -3.70003849e-01 5.03106404e-02 5.57538696e+01] [ 3.69458714e-01 9.29030220e-01 2.00775562e-02 1.09242422e+01] [-5.41688784e-02 -3.75809923e-05 9.98531788e-01 -4.47852061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.293201008000004 meters 0.06387975521500967 Centerline is valid? [True, True] Translation: X:55.78, Y:10.94, Z:-4.49 [[ 9.27744067e-01 -3.70013050e-01 4.87984558e-02 5.57777852e+01] [ 3.69499209e-01 9.29026555e-01 1.94934402e-02 1.09380481e+01] [-5.25478886e-02 -5.39326739e-05 9.98618404e-01 -4.48569284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.323201008 meters 0.06397498665277844 Centerline is valid? [True, True] Translation: X:55.80, Y:10.95, Z:-4.49 [[ 9.28188266e-01 -3.69006356e-01 4.79671996e-02 5.58033414e+01] [ 3.68508518e-01 9.29426865e-01 1.91618016e-02 1.09520089e+01] [-5.16528306e-02 -1.09437763e-04 9.98665096e-01 -4.49043635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.353201008 meters 0.06426934683230917 Centerline is valid? [True, True] Translation: X:55.83, Y:10.96, Z:-4.49 [[ 9.28653688e-01 -3.67986589e-01 4.67781816e-02 5.58278819e+01] [ 3.67511084e-01 9.29831081e-01 1.87019719e-02 1.09641481e+01] [-5.03778820e-02 -1.76154919e-04 9.98730213e-01 -4.49456692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.383201008 meters 0.06420620861651512 Centerline is valid? [True, True] Translation: X:55.85, Y:10.97, Z:-4.49 [[ 9.29027207e-01 -3.67018307e-01 4.69681893e-02 5.58537085e+01] [ 3.66537558e-01 9.30213690e-01 1.87805798e-02 1.09747310e+01] [-5.05832693e-02 -2.32064239e-04 9.98719820e-01 -4.49492629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.413201008 meters 0.06399498347655425 Centerline is valid? [True, True] Translation: X:55.88, Y:10.99, Z:-4.49 [[ 9.30050309e-01 -3.64440934e-01 4.67891974e-02 5.58810065e+01] [ 3.63959822e-01 9.31226427e-01 1.87240520e-02 1.09860740e+01] [-5.03951481e-02 -3.84922357e-04 9.98729283e-01 -4.49286207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.443201008 meters 0.06375099564215102 Centerline is valid? [True, True] Translation: X:55.91, Y:10.99, Z:-4.50 [[ 9.28679876e-01 -3.67981563e-01 4.62953262e-02 5.59082725e+01] [ 3.67514394e-01 9.29833065e-01 1.85375775e-02 1.09945461e+01] [-4.98684118e-02 -2.01276443e-04 9.98755776e-01 -4.49507750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.473201008000004 meters 0.06363603651500906 Centerline is valid? [True, True] Translation: X:55.93, Y:11.00, Z:-4.50 [[ 9.27754690e-01 -3.70238813e-01 4.68450257e-02 5.59345738e+01] [ 3.69762543e-01 9.28936603e-01 1.87736402e-02 1.10048860e+01] [-5.04667893e-02 -9.57969759e-05 9.98725735e-01 -4.49942238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.503201008 meters 0.06373279582839916 Centerline is valid? [True, True] Translation: X:55.96, Y:11.02, Z:-4.50 [[ 9.26950908e-01 -3.72263834e-01 4.67081588e-02 5.59610976e+01] [ 3.71792325e-01 9.28126951e-01 1.87304314e-02 1.10151826e+01] [-5.03237633e-02 3.54455159e-06 9.98732957e-01 -4.50240229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.533201008 meters 0.06373649332782452 Centerline is valid? [True, True] Translation: X:55.99, Y:11.02, Z:-4.50 [[ 9.24545877e-01 -3.78171292e-01 4.69190373e-02 5.59892493e+01] [ 3.77702092e-01 9.25735588e-01 1.88348263e-02 1.10201030e+01] [-5.05574132e-02 3.07757570e-04 9.98721109e-01 -4.50278013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.563201008 meters 0.06370383477707696 Centerline is valid? [True, True] Translation: X:56.02, Y:11.03, Z:-4.50 [[ 9.24014108e-01 -3.79495919e-01 4.66987774e-02 5.60165549e+01] [ 3.79032799e-01 9.25193333e-01 1.87465471e-02 1.10306840e+01] [-5.03196357e-02 3.78294362e-04 9.98733093e-01 -4.50409936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.593201008 meters 0.06371316319653585 Centerline is valid? [True, True] Translation: X:56.04, Y:11.04, Z:-4.51 [[ 9.23634932e-01 -3.80410897e-01 4.67553293e-02 5.60422563e+01] [ 3.79947247e-01 9.24817482e-01 1.87807059e-02 1.10419579e+01] [-5.03845311e-02 4.18042573e-04 9.98729805e-01 -4.50647169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.623201008 meters 0.06389107286653996 Centerline is valid? [True, True] Translation: X:56.07, Y:11.06, Z:-4.51 [[ 9.25049383e-01 -3.77296377e-01 4.39440930e-02 5.60667421e+01] [ 3.76882699e-01 9.26092541e-01 1.76645396e-02 1.10581401e+01] [-4.73610635e-02 2.21196928e-04 9.98877811e-01 -4.51185644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.653201008 meters 0.06412908523971592 Centerline is valid? [True, True] Translation: X:56.09, Y:11.07, Z:-4.52 [[ 9.25902905e-01 -3.75310895e-01 4.29597825e-02 5.60907365e+01] [ 3.74912666e-01 9.26898981e-01 1.72849851e-02 1.10717530e+01] [-4.63066219e-02 1.01948657e-04 9.98927268e-01 -4.51655986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.683201008 meters 0.06413589816923904 Centerline is valid? [True, True] Translation: X:56.12, Y:11.09, Z:-4.52 [[ 9.26686551e-01 -3.73290171e-01 4.36633134e-02 5.61150807e+01] [ 3.72876399e-01 9.27714637e-01 1.75710853e-02 1.10862924e+01] [-4.70662084e-02 -1.86940316e-06 9.98891772e-01 -4.51956593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.713201008 meters 0.06413631272889073 Centerline is valid? [True, True] Translation: X:56.14, Y:11.10, Z:-4.52 [[ 9.27567689e-01 -3.71011160e-01 4.43723035e-02 5.61411520e+01] [ 3.70581081e-01 9.28628399e-01 1.78594044e-02 1.10999500e+01] [-4.78314196e-02 -1.22270243e-04 9.98855415e-01 -4.52029402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.743201008 meters 0.06348429595213592 Centerline is valid? [True, True] Translation: X:56.17, Y:11.11, Z:-4.51 [[ 9.28358941e-01 -3.68583715e-01 4.79136840e-02 5.61686871e+01] [ 3.68078224e-01 9.29594517e-01 1.92990821e-02 1.11115667e+01] [-5.16536254e-02 -2.80491715e-04 9.98665021e-01 -4.51392607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.773201008 meters 0.06329500910925434 Centerline is valid? [True, True] Translation: X:56.20, Y:11.12, Z:-4.51 [[ 9.28486305e-01 -3.68040891e-01 4.95891562e-02 5.61955097e+01] [ 3.67497958e-01 9.29809546e-01 1.99864853e-02 1.11231742e+01] [-5.34643147e-02 -3.33264282e-04 9.98569705e-01 -4.51324497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.803201008 meters 0.06343212374823297 Centerline is valid? [True, True] Translation: X:56.22, Y:11.14, Z:-4.52 [[ 9.28859117e-01 -3.66889550e-01 5.11155354e-02 5.62208444e+01] [ 3.66309956e-01 9.30264411e-01 2.06189638e-02 1.11356368e+01] [-5.51158458e-02 -4.27983057e-04 9.98479875e-01 -4.51571531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.833201008 meters 0.06356073956535031 Centerline is valid? [True, True] Translation: X:56.25, Y:11.15, Z:-4.52 [[ 9.29346117e-01 -3.65662385e-01 5.10569726e-02 5.62460516e+01] [ 3.65082011e-01 9.30747423e-01 2.05999916e-02 1.11505413e+01] [-5.50537877e-02 -5.04539946e-04 9.98483263e-01 -4.51910891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.863201008 meters 0.06400108344193513 Centerline is valid? [True, True] Translation: X:56.27, Y:11.16, Z:-4.52 [[ 9.29888956e-01 -3.64344010e-01 5.05961664e-02 5.62700973e+01] [ 3.63771170e-01 9.31264243e-01 2.04314879e-02 1.11638359e+01] [-5.45624908e-02 -5.93588280e-04 9.98510181e-01 -4.52309453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.893201008 meters 0.06422983991686475 Centerline is valid? [True, True] Translation: X:56.30, Y:11.18, Z:-4.53 [[ 9.30168128e-01 -3.63641012e-01 5.05219506e-02 5.62960036e+01] [ 3.63068751e-01 9.31538948e-01 2.04027133e-02 1.11763623e+01] [-5.44824280e-02 -6.35012080e-04 9.98514528e-01 -4.52611722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.923201008 meters 0.06458045622026946 Centerline is valid? [True, True] Translation: X:56.32, Y:11.19, Z:-4.53 [[ 9.30769690e-01 -3.62303866e-01 4.90274684e-02 5.63207680e+01] [ 3.61762247e-01 9.32059766e-01 1.98158753e-02 1.11882208e+01] [-5.28758989e-02 -7.07728956e-04 9.98600840e-01 -4.52895840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.953201008 meters 0.06466303543782215 Centerline is valid? [True, True] Translation: X:56.35, Y:11.20, Z:-4.53 [[ 9.31278779e-01 -3.60972323e-01 4.91814729e-02 5.63488735e+01] [ 3.60425395e-01 9.32576197e-01 1.98789232e-02 1.11973389e+01] [-5.30412120e-02 -7.86567516e-04 9.98592014e-01 -4.52777387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.983201008 meters 0.06444788510843028 Centerline is valid? [True, True] Translation: X:56.38, Y:11.21, Z:-4.53 [[ 9.31223949e-01 -3.60998077e-01 5.00234515e-02 5.63767871e+01] [ 3.60431539e-01 9.32566207e-01 2.02330384e-02 1.12066484e+01] [-5.39542684e-02 -8.11460283e-04 9.98543078e-01 -4.52776253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.013201008 meters 0.06416706623300679 Centerline is valid? [True, True] Translation: X:56.40, Y:11.22, Z:-4.53 [[ 9.30626661e-01 -3.62340053e-01 5.14169634e-02 5.64042778e+01] [ 3.61742716e-01 9.32045651e-01 2.08113219e-02 1.12156169e+01] [-5.54637326e-02 -7.67859079e-04 9.98460407e-01 -4.52926093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.043201008000004 meters 0.06410770167101716 Centerline is valid? [True, True] Translation: X:56.43, Y:11.23, Z:-4.53 [[ 9.30001966e-01 -3.64004755e-01 5.09596148e-02 5.64301671e+01] [ 3.63419541e-01 9.31396842e-01 2.06436295e-02 1.12251206e+01] [-5.49780035e-02 -6.78896162e-04 9.98487335e-01 -4.53325405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.073201008 meters 0.06405840847944202 Centerline is valid? [True, True] Translation: X:56.46, Y:11.24, Z:-4.54 [[ 9.29659108e-01 -3.64953826e-01 5.04246812e-02 5.64559645e+01] [ 3.64382233e-01 9.31025416e-01 2.04270199e-02 1.12356275e+01] [-5.44015788e-02 -6.16307112e-04 9.98518947e-01 -4.53670151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.103201008 meters 0.06390868700119351 Centerline is valid? [True, True] Translation: X:56.48, Y:11.24, Z:-4.54 [[ 9.29067635e-01 -3.66182630e-01 5.23795019e-02 5.64830426e+01] [ 3.65566729e-01 9.30542821e-01 2.12373357e-02 1.12447046e+01] [-5.65181129e-02 -5.82718040e-04 9.98401404e-01 -4.53722262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.133201008 meters 0.06359964346568031 Centerline is valid? [True, True] Translation: X:56.51, Y:11.25, Z:-4.54 [[ 9.28611773e-01 -3.67238796e-01 5.30645077e-02 5.65097743e+01] [ 3.66607340e-01 9.30126536e-01 2.15333604e-02 1.12535078e+01] [-5.72645921e-02 -5.42293980e-04 9.98358890e-01 -4.53746325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.163201008 meters 0.06385257242189073 Centerline is valid? [True, True] Translation: X:56.54, Y:11.26, Z:-4.54 [[ 9.28998768e-01 -3.66285605e-01 5.28785820e-02 5.65362071e+01] [ 3.65656920e-01 9.30502281e-01 2.14597861e-02 1.12648482e+01] [-5.70640518e-02 -6.00695423e-04 9.98370339e-01 -4.54005756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.193201008 meters 0.06382342811095734 Centerline is valid? [True, True] Translation: X:56.56, Y:11.27, Z:-4.54 [[ 9.28660604e-01 -3.67191341e-01 5.25357263e-02 5.65620221e+01] [ 3.66571493e-01 9.30145264e-01 2.13337279e-02 1.12748724e+01] [-5.66994172e-02 -5.53692956e-04 9.98391141e-01 -4.54350078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.223201008000004 meters 0.06372747179104586 Centerline is valid? [True, True] Translation: X:56.59, Y:11.29, Z:-4.55 [[ 9.28616749e-01 -3.67318791e-01 5.24198286e-02 5.65875390e+01] [ 3.66700987e-01 9.30094937e-01 2.13024383e-02 1.12860052e+01] [-5.65802031e-02 -5.59398178e-04 9.98397900e-01 -4.54745482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.253201008 meters 0.06378713415420921 Centerline is valid? [True, True] Translation: X:56.61, Y:11.30, Z:-4.55 [[ 9.28575695e-01 -3.67542775e-01 5.15702138e-02 5.66139482e+01] [ 3.66944277e-01 9.30006454e-01 2.09736414e-02 1.12971006e+01] [-5.56693420e-02 -5.52218794e-04 9.98449107e-01 -4.55092730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.283201008 meters 0.06401073732166467 Centerline is valid? [True, True] Translation: X:56.64, Y:11.31, Z:-4.56 [[ 9.28648908e-01 -3.67687610e-01 4.91632701e-02 5.66393948e+01] [ 3.67143044e-01 9.29949212e-01 2.00112119e-02 1.13074680e+01] [-5.30772190e-02 -5.33437449e-04 9.98590268e-01 -4.55544200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.313201008 meters 0.06387888486944465 Centerline is valid? [True, True] Translation: X:56.67, Y:11.32, Z:-4.56 [[ 9.28472386e-01 -3.68367807e-01 4.73728401e-02 5.66663448e+01] [ 3.67863086e-01 9.29680016e-01 1.92825952e-02 1.13174916e+01] [-5.11446700e-02 -4.76638017e-04 9.98691141e-01 -4.55822252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.343201008 meters 0.06428429841735983 Centerline is valid? [True, True] Translation: X:56.69, Y:11.33, Z:-4.56 [[ 9.28532356e-01 -3.68468151e-01 4.53749546e-02 5.66915767e+01] [ 3.68004473e-01 9.29640256e-01 1.84852167e-02 1.13284960e+01] [-4.89935981e-02 -4.65935573e-04 9.98798984e-01 -4.56357499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.373201008 meters 0.06470204814571627 Centerline is valid? [True, True] Translation: X:56.72, Y:11.34, Z:-4.57 [[ 9.28943302e-01 -3.67803445e-01 4.22488811e-02 5.67185079e+01] [ 3.67400844e-01 9.29903441e-01 1.72107735e-02 1.13392463e+01] [-4.56175617e-02 -4.65558225e-04 9.98958869e-01 -4.56905327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.403201008 meters 0.06468882067842277 Centerline is valid? [True, True] Translation: X:56.74, Y:11.35, Z:-4.57 [[ 9.27720332e-01 -3.70958161e-01 4.15334549e-02 5.67442348e+01] [ 3.70571640e-01 9.28649526e-01 1.69327353e-02 1.13462198e+01] [-4.48513595e-02 -3.17722327e-04 9.98993621e-01 -4.57391261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.433201008 meters 0.06462621535887124 Centerline is valid? [True, True] Translation: X:56.77, Y:11.36, Z:-4.58 [[ 9.27209529e-01 -3.72315941e-01 4.07839311e-02 5.67712992e+01] [ 3.71944516e-01 9.28106017e-01 1.66282624e-02 1.13554936e+01] [-4.40427790e-02 -2.48523828e-04 9.99029615e-01 -4.57671578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.463201008 meters 0.06430822319761145 Centerline is valid? [True, True] Translation: X:56.80, Y:11.37, Z:-4.58 [[ 9.26631462e-01 -3.73587014e-01 4.22714627e-02 5.67981246e+01] [ 3.73188762e-01 9.27595117e-01 1.72466627e-02 1.13651314e+01] [-4.56539316e-02 -2.06065478e-04 9.98957294e-01 -4.57899939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.493201008 meters 0.06418572887391862 Centerline is valid? [True, True] Translation: X:56.83, Y:11.37, Z:-4.58 [[ 9.26268861e-01 -3.74535103e-01 4.18264770e-02 5.68256088e+01] [ 3.74145682e-01 9.27212720e-01 1.70757082e-02 1.13749506e+01] [-4.51774936e-02 -1.67501074e-04 9.98978962e-01 -4.58017281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.523201008 meters 0.06434365341638813 Centerline is valid? [True, True] Translation: X:56.85, Y:11.39, Z:-4.58 [[ 9.26238800e-01 -3.74603317e-01 4.18812596e-02 5.68501196e+01] [ 3.74212250e-01 9.27185161e-01 1.71134313e-02 1.13854733e+01] [-4.52424306e-02 -1.78643665e-04 9.98976021e-01 -4.58397017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.553201008 meters 0.06435219784983293 Centerline is valid? [True, True] Translation: X:56.88, Y:11.40, Z:-4.59 [[ 9.26273424e-01 -3.74490465e-01 4.21240407e-02 5.68761908e+01] [ 3.74094687e-01 9.27230746e-01 1.72136203e-02 1.13960055e+01] [-4.55050423e-02 -1.86139227e-04 9.98964092e-01 -4.58510113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.583201008 meters 0.0638457474545893 Centerline is valid? [True, True] Translation: X:56.90, Y:11.41, Z:-4.58 [[ 9.26012808e-01 -3.75005451e-01 4.32572570e-02 5.69038475e+01] [ 3.74587982e-01 9.27022589e-01 1.76907898e-02 1.14051942e+01] [-4.67345970e-02 -1.78249286e-04 9.98907326e-01 -4.58221979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.613201008 meters 0.06321847359218269 Centerline is valid? [True, True] Translation: X:56.93, Y:11.41, Z:-4.58 [[ 9.25579094e-01 -3.75868536e-01 4.50131641e-02 5.69327099e+01] [ 3.75416843e-01 9.26672985e-01 1.84220952e-02 1.14131415e+01] [-4.86367691e-02 -1.52406209e-04 9.98816520e-01 -4.57900206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.643201008 meters 0.0630520432928323 Centerline is valid? [True, True] Translation: X:56.96, Y:11.42, Z:-4.58 [[ 9.25287885e-01 -3.76477895e-01 4.58990737e-02 5.69596482e+01] [ 3.76008411e-01 9.26425591e-01 1.87962343e-02 1.14237120e+01] [-4.95984432e-02 -1.33490066e-04 9.98769231e-01 -4.58039701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.673201008 meters 0.06309488306215282 Centerline is valid? [True, True] Translation: X:56.98, Y:11.44, Z:-4.58 [[ 9.25417788e-01 -3.76123565e-01 4.61842215e-02 5.69844534e+01] [ 3.75646964e-01 9.26569498e-01 1.89294329e-02 1.14356068e+01] [-4.99126968e-02 -1.68671304e-04 9.98753570e-01 -4.58362109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.703201008 meters 0.06356929530793103 Centerline is valid? [True, True] Translation: X:57.01, Y:11.45, Z:-4.59 [[ 9.25379742e-01 -3.76292837e-01 4.55635031e-02 5.70087821e+01] [ 3.75828845e-01 9.26500768e-01 1.86816863e-02 1.14491384e+01] [-4.92444054e-02 -1.63575326e-04 9.98786745e-01 -4.59155766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.733201008 meters 0.06376402300635134 Centerline is valid? [True, True] Translation: X:57.04, Y:11.46, Z:-4.60 [[ 9.25512008e-01 -3.76041973e-01 4.49439468e-02 5.70351202e+01] [ 3.75590231e-01 9.26602614e-01 1.84275223e-02 1.14617809e+01] [-4.85747005e-02 -1.74385771e-04 9.98819537e-01 -4.59564933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.763201008 meters 0.06359962545772686 Centerline is valid? [True, True] Translation: X:57.06, Y:11.47, Z:-4.60 [[ 9.25352075e-01 -3.76437893e-01 4.49227184e-02 5.70607366e+01] [ 3.75986545e-01 9.26441842e-01 1.84290966e-02 1.14730586e+01] [-4.85556963e-02 -1.63065120e-04 9.98820463e-01 -4.59665510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.793201008000004 meters 0.06370051996486555 Centerline is valid? [True, True] Translation: X:57.09, Y:11.49, Z:-4.60 [[ 9.25460489e-01 -3.76148808e-01 4.51104959e-02 5.70864565e+01] [ 3.75692660e-01 9.26559247e-01 1.85199198e-02 1.14853421e+01] [-4.87637929e-02 -1.91771775e-04 9.98810320e-01 -4.59877447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.823201008 meters 0.06370051996486555 Centerline is valid? [True, True] Translation: X:57.11, Y:11.50, Z:-4.60 [[ 9.25360912e-01 -3.76394295e-01 4.51056256e-02 5.71119179e+01] [ 3.75937862e-01 9.26459550e-01 1.85317714e-02 1.14960082e+01] [-4.87637906e-02 -1.91664437e-04 9.98810320e-01 -4.60090263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.853201008 meters 0.06354817018284414 Centerline is valid? [True, True] Translation: X:57.14, Y:11.51, Z:-4.60 [[ 9.25748296e-01 -3.75365719e-01 4.57238401e-02 5.71388006e+01] [ 3.74894668e-01 9.26876749e-01 1.88010746e-02 1.15079121e+01] [-4.94376431e-02 -2.63438946e-04 9.98777177e-01 -4.59986046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.883201008 meters 0.06345612894246433 Centerline is valid? [True, True] Translation: X:57.16, Y:11.52, Z:-4.60 [[ 9.25929954e-01 -3.74909040e-01 4.57922704e-02 5.71647310e+01] [ 3.74435437e-01 9.27061552e-01 1.88409565e-02 1.15188589e+01] [-4.95158982e-02 -2.99157212e-04 9.98773291e-01 -4.60113263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.913201008 meters 0.06355679470057952 Centerline is valid? [True, True] Translation: X:57.19, Y:11.53, Z:-4.60 [[ 9.25994709e-01 -3.74548655e-01 4.74036373e-02 5.71902286e+01] [ 3.74039561e-01 9.27207195e-01 1.95249550e-02 1.15297752e+01] [-5.12660393e-02 -3.49169327e-04 9.98684971e-01 -4.60319926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.943201008 meters 0.06354793097686029 Centerline is valid? [True, True] Translation: X:57.21, Y:11.54, Z:-4.60 [[ 9.26364815e-01 -3.73565861e-01 4.79246954e-02 5.72148220e+01] [ 3.73043984e-01 9.27603567e-01 1.97435433e-02 1.15412874e+01] [-5.18306321e-02 -4.11704482e-04 9.98655805e-01 -4.60457198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.973201008000004 meters 0.06341983516072022 Centerline is valid? [True, True] Translation: X:57.24, Y:11.55, Z:-4.61 [[ 9.26393149e-01 -3.73538816e-01 4.75866287e-02 5.72418607e+01] [ 3.73024105e-01 9.27614458e-01 1.96069951e-02 1.15525224e+01] [-5.14660186e-02 -4.12826281e-04 9.98674661e-01 -4.60526089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00320100799999 meters 0.06359681067286298 Centerline is valid? [True, True] Translation: X:57.27, Y:11.56, Z:-4.61 [[ 9.26331337e-01 -3.73573897e-01 4.85056425e-02 5.72671495e+01] [ 3.73038209e-01 9.27600320e-01 2.00035258e-02 1.15646956e+01] [-5.24666446e-02 -4.35434860e-04 9.98622582e-01 -4.60905586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03320100799999 meters 0.06345104264575469 Centerline is valid? [True, True] Translation: X:57.29, Y:11.58, Z:-4.61 [[ 9.25736679e-01 -3.74835942e-01 5.00960904e-02 5.72935275e+01] [ 3.74266288e-01 9.27091082e-01 2.06608654e-02 1.15758164e+01] [-5.41880736e-02 -3.77243152e-04 9.98530676e-01 -4.61274955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.063201008 meters 0.0633862527111385 Centerline is valid? [True, True] Translation: X:57.32, Y:11.59, Z:-4.62 [[ 9.25509125e-01 -3.75453698e-01 4.96727298e-02 5.73211015e+01] [ 3.74893815e-01 9.26841086e-01 2.04995060e-02 1.15858644e+01] [-5.37353421e-02 -3.50480673e-04 9.98555151e-01 -4.61506246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.093201008 meters 0.06341057419548662 Centerline is valid? [True, True] Translation: X:57.35, Y:11.60, Z:-4.62 [[ 9.25170165e-01 -3.76346401e-01 4.92295863e-02 5.73474663e+01] [ 3.75797073e-01 9.26478975e-01 2.03290047e-02 1.15953234e+01] [-5.32609244e-02 -3.07454253e-04 9.98580582e-01 -4.61824659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.123201008 meters 0.06341241498633199 Centerline is valid? [True, True] Translation: X:57.37, Y:11.61, Z:-4.62 [[ 9.25109189e-01 -3.76638645e-01 4.81281499e-02 5.73746404e+01] [ 3.76113246e-01 9.26360212e-01 1.98893057e-02 1.16056811e+01] [-5.20750843e-02 -2.98144748e-04 9.98643128e-01 -4.62126965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.153201008 meters 0.06340142274557328 Centerline is valid? [True, True] Translation: X:57.40, Y:11.62, Z:-4.62 [[ 9.25051978e-01 -3.76925699e-01 4.69665378e-02 5.74023167e+01] [ 3.76425130e-01 9.26243454e-01 1.94212759e-02 1.16154991e+01] [-5.08228262e-02 -2.86304582e-04 9.98707644e-01 -4.62314546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.183201008 meters 0.06354752238399387 Centerline is valid? [True, True] Translation: X:57.43, Y:11.62, Z:-4.63 [[ 9.24554563e-01 -3.78151049e-01 4.69110373e-02 5.74279282e+01] [ 3.77652507e-01 9.25743880e-01 1.94127031e-02 1.16240319e+01] [-5.07685397e-02 -2.32032346e-04 9.98710419e-01 -4.62648872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.213201008 meters 0.06332599841072675 Centerline is valid? [True, True] Translation: X:57.45, Y:11.63, Z:-4.63 [[ 9.23970826e-01 -3.79556022e-01 4.70652627e-02 5.74544124e+01] [ 3.79055630e-01 9.25168741e-01 1.94840987e-02 1.16328582e+01] [-5.09386168e-02 -1.62386003e-04 9.98701773e-01 -4.62640984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.243201008 meters 0.06311998033612728 Centerline is valid? [True, True] Translation: X:57.48, Y:11.64, Z:-4.63 [[ 9.22342428e-01 -3.83442784e-01 4.74981795e-02 5.74816531e+01] [ 3.82937227e-01 9.23564632e-01 1.96837399e-02 1.16397694e+01] [-5.14152267e-02 3.36727424e-05 9.98677362e-01 -4.62991619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27320100799999 meters 0.06324343660321623 Centerline is valid? [True, True] Translation: X:57.51, Y:11.65, Z:-4.63 [[ 9.20775873e-01 -3.87121430e-01 4.80498645e-02 5.75083557e+01] [ 3.86608936e-01 9.22028710e-01 1.99145495e-02 1.16465276e+01] [-5.20127034e-02 2.39670264e-04 9.98646394e-01 -4.63265475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30320100799999 meters 0.06319291255048168 Centerline is valid? [True, True] Translation: X:57.54, Y:11.65, Z:-4.63 [[ 9.19906859e-01 -3.89072577e-01 4.89274997e-02 5.75360197e+01] [ 3.88543439e-01 9.21207039e-01 2.02875934e-02 1.16547403e+01] [-5.29657033e-02 3.47762640e-04 9.98596271e-01 -4.63323394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33320100799999 meters 0.06304940803585123 Centerline is valid? [True, True] Translation: X:57.56, Y:11.67, Z:-4.63 [[ 9.19835293e-01 -3.89099562e-01 5.00456257e-02 5.75625579e+01] [ 3.88545238e-01 9.21195642e-01 2.07650183e-02 1.16656977e+01] [-5.41814718e-02 3.44592826e-04 9.98531046e-01 -4.63381727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36320100799999 meters 0.06302274821741116 Centerline is valid? [True, True] Translation: X:57.59, Y:11.68, Z:-4.64 [[ 9.21055925e-01 -3.86098771e-01 5.08303290e-02 5.75873323e+01] [ 3.85521574e-01 9.22457432e-01 2.11045348e-02 1.16817301e+01] [-5.50372497e-02 1.57731633e-04 9.98484289e-01 -4.63555901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39320100799999 meters 0.06294311430537067 Centerline is valid? [True, True] Translation: X:57.61, Y:11.70, Z:-4.64 [[ 9.21825468e-01 -3.84234887e-01 5.10035007e-02 5.76121987e+01] [ 3.83650184e-01 9.23235371e-01 2.11892843e-02 1.16956695e+01] [-5.52298982e-02 3.46805734e-05 9.98473664e-01 -4.63772135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42320100799999 meters 0.06309299767093056 Centerline is valid? [True, True] Translation: X:57.64, Y:11.71, Z:-4.64 [[ 9.21940153e-01 -3.83923919e-01 5.12716107e-02 5.76378049e+01] [ 3.83331691e-01 9.23364730e-01 2.13164314e-02 1.17073297e+01] [-5.55262849e-02 1.55915900e-06 9.98457226e-01 -4.64015747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.453201008 meters 0.06331973949805576 Centerline is valid? [True, True] Translation: X:57.66, Y:11.72, Z:-4.64 [[ 9.22547844e-01 -3.82704473e-01 4.94243128e-02 5.76623574e+01] [ 3.82151429e-01 9.23870813e-01 2.05671242e-02 1.17196383e+01] [-5.35328105e-02 -8.65843752e-05 9.98566087e-01 -4.64467990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.483201008 meters 0.0638873595977303 Centerline is valid? [True, True] Translation: X:57.69, Y:11.74, Z:-4.65 [[ 9.23479923e-01 -3.80685307e-01 4.75765570e-02 5.76853409e+01] [ 3.80169970e-01 9.24704632e-01 1.98024444e-02 1.17350683e+01] [-5.15327623e-02 -1.99981642e-04 9.98671284e-01 -4.65151989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.513201008 meters 0.06384725818973253 Centerline is valid? [True, True] Translation: X:57.71, Y:11.75, Z:-4.65 [[ 9.23921566e-01 -3.79659795e-01 4.71951291e-02 5.77107817e+01] [ 3.79151357e-01 9.25126140e-01 1.96436611e-02 1.17485608e+01] [-5.11193559e-02 -2.55104876e-04 9.98692518e-01 -4.65252607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.543201008 meters 0.06428896196070256 Centerline is valid? [True, True] Translation: X:57.73, Y:11.76, Z:-4.66 [[ 9.24381513e-01 -3.78557680e-01 4.70414801e-02 5.77348977e+01] [ 3.78050255e-01 9.25577643e-01 1.95967139e-02 1.17622528e+01] [-5.09590289e-02 -3.30796438e-04 9.98700690e-01 -4.65730041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.573201008 meters 0.06418879651668581 Centerline is valid? [True, True] Translation: X:57.76, Y:11.77, Z:-4.66 [[ 9.24495749e-01 -3.78282270e-01 4.70120765e-02 5.77610790e+01] [ 3.77775159e-01 9.25690232e-01 1.95837678e-02 1.17733933e+01] [-5.09268121e-02 -3.45115403e-04 9.98702328e-01 -4.65672113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.603201008 meters 0.0643455157191189 Centerline is valid? [True, True] Translation: X:57.79, Y:11.79, Z:-4.66 [[ 9.24696839e-01 -3.77771116e-01 4.71671446e-02 5.77851514e+01] [ 3.77259018e-01 9.25898931e-01 1.96673133e-02 1.17851353e+01] [-5.11017516e-02 -3.92071813e-04 9.98693375e-01 -4.65932038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.633201008 meters 0.06433343610504226 Centerline is valid? [True, True] Translation: X:57.81, Y:11.80, Z:-4.66 [[ 9.24785408e-01 -3.77611276e-01 4.67083764e-02 5.78116167e+01] [ 3.77108756e-01 9.25964127e-01 1.94787456e-02 1.17964705e+01] [-5.06056750e-02 -3.99522014e-04 9.98718632e-01 -4.66090916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66320100799999 meters 0.06427203660798451 Centerline is valid? [True, True] Translation: X:57.84, Y:11.81, Z:-4.66 [[ 9.24749819e-01 -3.77712500e-01 4.65944066e-02 5.78372952e+01] [ 3.77211970e-01 9.25922839e-01 1.94428775e-02 1.18072749e+01] [-5.04866431e-02 -4.03829567e-04 9.98724655e-01 -4.66228825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69320100799999 meters 0.06411261724053666 Centerline is valid? [True, True] Translation: X:57.86, Y:11.82, Z:-4.66 [[ 9.24532045e-01 -3.78081454e-01 4.79052343e-02 5.78632658e+01] [ 3.77551802e-01 9.25772242e-01 2.00098161e-02 1.18162433e+01] [-5.19146765e-02 -4.13008698e-04 9.98651439e-01 -4.66415381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72320100799999 meters 0.06406939502118861 Centerline is valid? [True, True] Translation: X:57.89, Y:11.83, Z:-4.67 [[ 9.24050942e-01 -3.79123346e-01 4.89422688e-02 5.78897352e+01] [ 3.78571505e-01 9.25346071e-01 2.04515004e-02 1.18252690e+01] [-5.30421774e-02 -3.70079808e-04 9.98592204e-01 -4.66528377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75320100799999 meters 0.06375999742737105 Centerline is valid? [True, True] Translation: X:57.92, Y:11.83, Z:-4.67 [[ 9.23623358e-01 -3.80093025e-01 4.94892338e-02 5.79174777e+01] [ 3.79530111e-01 9.24948210e-01 2.06809998e-02 1.18348364e+01] [-5.36356820e-02 -3.18800063e-04 9.98560520e-01 -4.66574745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78320100799999 meters 0.06372439066510877 Centerline is valid? [True, True] Translation: X:57.94, Y:11.85, Z:-4.67 [[ 9.23432399e-01 -3.80444962e-01 5.03411876e-02 5.79438392e+01] [ 3.79862239e-01 9.24803509e-01 2.10510933e-02 1.18456952e+01] [-5.45644893e-02 -3.16545393e-04 9.98510198e-01 -4.66727186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.813201008 meters 0.06396437389759367 Centerline is valid? [True, True] Translation: X:57.97, Y:11.86, Z:-4.67 [[ 9.23638707e-01 -3.80070105e-01 4.93786731e-02 5.79689658e+01] [ 3.79508027e-01 9.24957617e-01 2.06655046e-02 1.18565294e+01] [-5.35275203e-02 -3.47857092e-04 9.98566314e-01 -4.67020997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.843201008 meters 0.06401811365023304 Centerline is valid? [True, True] Translation: X:58.00, Y:11.87, Z:-4.67 [[ 9.23691156e-01 -3.79991409e-01 4.90018066e-02 5.79952998e+01] [ 3.79437736e-01 9.24989949e-01 2.05085050e-02 1.18676671e+01] [-5.31192343e-02 -3.50390169e-04 9.98588115e-01 -4.67219968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.873201008 meters 0.06409733255268849 Centerline is valid? [True, True] Translation: X:58.02, Y:11.88, Z:-4.67 [[ 9.24279713e-01 -3.78695569e-01 4.79236722e-02 5.80218814e+01] [ 3.78163621e-01 9.25521196e-01 2.00696719e-02 1.18789648e+01] [-5.19546702e-02 -4.27001209e-04 9.98649353e-01 -4.67316884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.903201008 meters 0.06415860975991433 Centerline is valid? [True, True] Translation: X:58.05, Y:11.89, Z:-4.68 [[ 9.24491990e-01 -3.78281095e-01 4.70953723e-02 5.80478433e+01] [ 3.77766198e-01 9.25690665e-01 1.97355667e-02 1.18908343e+01] [-5.10613383e-02 -4.54333587e-04 9.98695416e-01 -4.67580950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.933201008 meters 0.06437254050041105 Centerline is valid? [True, True] Translation: X:58.07, Y:11.90, Z:-4.68 [[ 9.24644753e-01 -3.77899483e-01 4.71599526e-02 5.80725825e+01] [ 3.77381824e-01 9.25846499e-01 1.97792672e-02 1.19021822e+01] [-5.11374519e-02 -4.91486665e-04 9.98691504e-01 -4.67919951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.963201008 meters 0.06431264829748315 Centerline is valid? [True, True] Translation: X:58.10, Y:11.91, Z:-4.68 [[ 9.24517569e-01 -3.78327956e-01 4.62084563e-02 5.80989818e+01] [ 3.77831392e-01 9.25671510e-01 1.93828269e-02 1.19133042e+01] [-5.01069168e-02 -4.60758635e-04 9.98743753e-01 -4.68203818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.993201008 meters 0.06469777626136443 Centerline is valid? [True, True] Translation: X:58.12, Y:11.93, Z:-4.69 [[ 9.24164822e-01 -3.79261059e-01 4.56117471e-02 5.81237727e+01] [ 3.78777526e-01 9.25289615e-01 1.91497586e-02 1.19251534e+01] [-4.94668337e-02 -4.20828534e-04 9.98775678e-01 -4.68922182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02320100799999 meters 0.06422843421413041 Centerline is valid? [True, True] Translation: X:58.15, Y:11.93, Z:-4.69 [[ 9.23453537e-01 -3.80861198e-01 4.66724070e-02 5.81522428e+01] [ 3.80356922e-01 9.24632159e-01 1.95954573e-02 1.19336287e+01] [-5.06179578e-02 -3.43321318e-04 9.98718031e-01 -4.68734637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05320100799999 meters 0.06425816938763175 Centerline is valid? [True, True] Translation: X:58.18, Y:11.94, Z:-4.69 [[ 9.23496681e-01 -3.80822055e-01 4.61350441e-02 5.81783369e+01] [ 3.80328425e-01 9.24648276e-01 1.93869641e-02 1.19434921e+01] [-5.00416725e-02 -3.57328338e-04 9.98747067e-01 -4.68914789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08320100799999 meters 0.06441964358241602 Centerline is valid? [True, True] Translation: X:58.20, Y:11.95, Z:-4.69 [[ 9.23615050e-01 -3.80449165e-01 4.68366614e-02 5.82035017e+01] [ 3.79939674e-01 9.24801753e-01 1.96865716e-02 1.19546837e+01] [-5.08043663e-02 -3.87707929e-04 9.98708549e-01 -4.69133323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11320100799999 meters 0.06426435015379305 Centerline is valid? [True, True] Translation: X:58.23, Y:11.97, Z:-4.69 [[ 9.23504558e-01 -3.80584292e-01 4.79054123e-02 5.82290667e+01] [ 3.80051416e-01 9.24746152e-01 2.01364392e-02 1.19677077e+01] [-5.19639581e-02 -3.89573630e-04 9.98648885e-01 -4.69235845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14320100799999 meters 0.06404823262541215 Centerline is valid? [True, True] Translation: X:58.26, Y:11.98, Z:-4.70 [[ 9.22630892e-01 -3.82621295e-01 4.85096094e-02 5.82551825e+01] [ 3.82076979e-01 9.23905222e-01 2.04039733e-02 1.19763492e+01] [-5.26252762e-02 -2.90931092e-04 9.98614288e-01 -4.69529825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17320100799999 meters 0.06388412684915647 Centerline is valid? [True, True] Translation: X:58.28, Y:11.99, Z:-4.70 [[ 9.22155777e-01 -3.83821480e-01 4.80603183e-02 5.82820188e+01] [ 3.83288215e-01 9.23407287e-01 2.02268832e-02 1.19854478e+01] [-5.21427604e-02 -2.31383560e-04 9.98639614e-01 -4.69709750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.203201008 meters 0.06392097824026137 Centerline is valid? [True, True] Translation: X:58.31, Y:12.00, Z:-4.70 [[ 9.22452702e-01 -3.83434027e-01 4.53801683e-02 5.83090839e+01] [ 3.82957467e-01 9.23568234e-01 1.91126980e-02 1.19959056e+01] [-4.92401407e-02 -2.51885609e-04 9.98786937e-01 -4.70045583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.233201008 meters 0.06394645755023885 Centerline is valid? [True, True] Translation: X:58.34, Y:12.01, Z:-4.70 [[ 9.22226531e-01 -3.83929509e-01 4.57860049e-02 5.83355394e+01] [ 3.83444365e-01 9.23362375e-01 1.92962237e-02 1.20067610e+01] [-4.96854639e-02 -2.39103834e-04 9.98764886e-01 -4.70302652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.263201008 meters 0.0642021951269942 Centerline is valid? [True, True] Translation: X:58.36, Y:12.02, Z:-4.71 [[ 9.22303277e-01 -3.83738983e-01 4.58373129e-02 5.83596007e+01] [ 3.83251812e-01 9.23441565e-01 1.93319485e-02 1.20177211e+01] [-4.97465022e-02 -2.62686194e-04 9.98761842e-01 -4.70753764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.293201008 meters 0.0639835180438612 Centerline is valid? [True, True] Translation: X:58.39, Y:12.03, Z:-4.71 [[ 9.22052782e-01 -3.84307511e-01 4.61129483e-02 5.83867812e+01] [ 3.83814745e-01 9.23205112e-01 1.94566992e-02 1.20285182e+01] [-5.00490652e-02 -2.41274127e-04 9.98746731e-01 -4.70906653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.323201008 meters 0.06434257522479186 Centerline is valid? [True, True] Translation: X:58.41, Y:12.04, Z:-4.71 [[ 9.22333898e-01 -3.83734842e-01 4.52520825e-02 5.84117444e+01] [ 3.83258820e-01 9.23443280e-01 1.91098267e-02 1.20405936e+01] [-4.91208378e-02 -2.82381157e-04 9.98792803e-01 -4.71367089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.353201008 meters 0.06415441881004195 Centerline is valid? [True, True] Translation: X:58.44, Y:12.05, Z:-4.71 [[ 9.22505118e-01 -3.83307185e-01 4.53862226e-02 5.84372710e+01] [ 3.82827872e-01 9.23620869e-01 1.91653756e-02 1.20526402e+01] [-4.92658885e-02 -3.05046097e-04 9.98785652e-01 -4.71305239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.383201008 meters 0.0640501741785835 Centerline is valid? [True, True] Translation: X:58.46, Y:12.06, Z:-4.71 [[ 9.22648962e-01 -3.82912361e-01 4.57931981e-02 5.84627881e+01] [ 3.82423225e-01 9.23784611e-01 1.93512320e-02 1.20646116e+01] [-4.97128776e-02 -3.42011604e-04 9.98763492e-01 -4.71341818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41320100799999 meters 0.06411862305293684 Centerline is valid? [True, True] Translation: X:58.49, Y:12.08, Z:-4.72 [[ 9.22404941e-01 -3.83386311e-01 4.67339289e-02 5.84885950e+01] [ 3.82876419e-01 9.23588014e-01 1.97693803e-02 1.20757848e+01] [-5.07422064e-02 -3.42054737e-04 9.98711726e-01 -4.71680439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44320100799999 meters 0.06383568413569343 Centerline is valid? [True, True] Translation: X:58.52, Y:12.09, Z:-4.72 [[ 9.22149053e-01 -3.83909073e-01 4.74862816e-02 5.85159565e+01] [ 3.83383261e-01 9.23370847e-01 2.00886455e-02 1.20870650e+01] [-5.15596614e-02 -3.19279952e-04 9.98669865e-01 -4.71673944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47320100799999 meters 0.06361584239669328 Centerline is valid? [True, True] Translation: X:58.54, Y:12.10, Z:-4.72 [[ 9.21772429e-01 -3.84666857e-01 4.86518147e-02 5.85410937e+01] [ 3.84115081e-01 9.23055426e-01 2.05981689e-02 1.20979540e+01] [-5.28317544e-02 -2.98928420e-04 9.98603383e-01 -4.71879623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50320100799999 meters 0.06365752738374376 Centerline is valid? [True, True] Translation: X:58.57, Y:12.11, Z:-4.72 [[ 9.21305803e-01 -3.85624223e-01 4.98956424e-02 5.85673310e+01] [ 3.85045181e-01 9.22655892e-01 2.11261368e-02 1.21090803e+01] [-5.41832586e-02 -2.51555795e-04 9.98530977e-01 -4.72082172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53320100799999 meters 0.06307305615329332 Centerline is valid? [True, True] Translation: X:58.60, Y:12.12, Z:-4.72 [[ 9.20753756e-01 -3.86713294e-01 5.16270133e-02 5.85962066e+01] [ 3.86094222e-01 9.22199970e-01 2.18738903e-02 1.21159906e+01] [-5.60693543e-02 -2.07575166e-04 9.98426855e-01 -4.71771230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.563201008 meters 0.06278408490867841 Centerline is valid? [True, True] Translation: X:58.62, Y:12.12, Z:-4.72 [[ 9.20273174e-01 -3.87767885e-01 5.22814821e-02 5.86243278e+01] [ 3.87133881e-01 9.21757041e-01 2.21656478e-02 1.21244274e+01] [-5.67859506e-02 -1.58517960e-04 9.98386363e-01 -4.71621689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.593201008 meters 0.0626879118933135 Centerline is valid? [True, True] Translation: X:58.65, Y:12.13, Z:-4.72 [[ 9.20000997e-01 -3.88385076e-01 5.24899787e-02 5.86505362e+01] [ 3.87746213e-01 9.21497160e-01 2.22679031e-02 1.21342739e+01] [-5.70178875e-02 -1.33702573e-04 9.98373148e-01 -4.71745334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.623201008 meters 0.0626894654151772 Centerline is valid? [True, True] Translation: X:58.67, Y:12.15, Z:-4.72 [[ 9.19756252e-01 -3.88970641e-01 5.24430775e-02 5.86746844e+01] [ 3.88332746e-01 9.21250144e-01 2.22677268e-02 1.21453247e+01] [-5.69746847e-02 -1.15516634e-04 9.98375617e-01 -4.72131556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.653201008 meters 0.06293147524737779 Centerline is valid? [True, True] Translation: X:58.70, Y:12.16, Z:-4.73 [[ 9.19565441e-01 -3.89601337e-01 5.10900908e-02 5.87005424e+01] [ 3.88996707e-01 9.20983600e-01 2.16972310e-02 1.21580584e+01] [-5.55064059e-02 -7.81466825e-05 9.98458328e-01 -4.72791081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.683201008 meters 0.06315904178020855 Centerline is valid? [True, True] Translation: X:58.73, Y:12.17, Z:-4.73 [[ 9.19487357e-01 -3.90023439e-01 4.92414168e-02 5.87269778e+01] [ 3.89461741e-01 9.20804927e-01 2.09246142e-02 1.21698083e+01] [-5.35028291e-02 -6.22702690e-05 9.98567696e-01 -4.73134222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.713201008 meters 0.06315904178020855 Centerline is valid? [True, True] Translation: X:58.75, Y:12.18, Z:-4.73 [[ 9.19383439e-01 -3.90268915e-01 4.92368365e-02 5.87523088e+01] [ 3.89706991e-01 9.20700913e-01 2.09353849e-02 1.21807803e+01] [-5.35028302e-02 -5.97067517e-05 9.98567696e-01 -4.73347187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.743201008 meters 0.06323376941682347 Centerline is valid? [True, True] Translation: X:58.78, Y:12.19, Z:-4.74 [[ 9.19045335e-01 -3.91245039e-01 4.77806529e-02 5.87779301e+01] [ 3.90716213e-01 9.20286542e-01 2.03352496e-02 1.21899426e+01] [-5.19279574e-02 -2.03405740e-05 9.98650833e-01 -4.73753047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77320100799999 meters 0.0632216027945272 Centerline is valid? [True, True] Translation: X:58.80, Y:12.20, Z:-4.74 [[ 9.19029697e-01 -3.91417550e-01 4.66553094e-02 5.88048436e+01] [ 3.90913504e-01 9.20213183e-01 1.98577621e-02 1.22008986e+01] [-5.07055074e-02 -1.16826051e-05 9.98713648e-01 -4.73964386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80320100799999 meters 0.06329366507343838 Centerline is valid? [True, True] Translation: X:58.83, Y:12.21, Z:-4.74 [[ 9.18549342e-01 -3.92675990e-01 4.55266179e-02 5.88317944e+01] [ 3.92197005e-01 9.19676881e-01 1.93892935e-02 1.22108667e+01] [-4.94834880e-02 4.53803642e-05 9.98774941e-01 -4.74294892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83320100799999 meters 0.06352844924005852 Centerline is valid? [True, True] Translation: X:58.86, Y:12.22, Z:-4.75 [[ 9.16914384e-01 -3.96698061e-01 4.35736192e-02 5.88595174e+01] [ 3.96263086e-01 9.17949123e-01 1.85734767e-02 1.22177990e+01] [-4.73664277e-02 2.36328908e-04 9.98877553e-01 -4.74680163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86320100799999 meters 0.06356253149719064 Centerline is valid? [True, True] Translation: X:58.89, Y:12.23, Z:-4.75 [[ 9.16299376e-01 -3.98118537e-01 4.35555244e-02 5.88867315e+01] [ 3.97685552e-01 9.17333927e-01 1.85652222e-02 1.22286076e+01] [-4.73461193e-02 3.10101260e-04 9.98878496e-01 -4.74977349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89320100799999 meters 0.06349094056654807 Centerline is valid? [True, True] Translation: X:58.91, Y:12.24, Z:-4.75 [[ 9.16066831e-01 -3.98709183e-01 4.30412294e-02 5.89135681e+01] [ 3.98286495e-01 9.17077358e-01 1.83572070e-02 1.22399826e+01] [-4.67913240e-02 3.26311911e-04 9.98904633e-01 -4.75066683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92320100799999 meters 0.06337025144979498 Centerline is valid? [True, True] Translation: X:58.94, Y:12.25, Z:-4.75 [[ 9.16189659e-01 -3.98376128e-01 4.35082597e-02 5.89404960e+01] [ 3.97943266e-01 9.17222094e-01 1.85684412e-02 1.22518895e+01] [-4.73039607e-02 3.01605186e-04 9.98880496e-01 -4.75129750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.953201008 meters 0.06297600920547651 Centerline is valid? [True, True] Translation: X:58.97, Y:12.27, Z:-4.75 [[ 9.17284758e-01 -3.95581098e-01 4.58722931e-02 5.89650320e+01] [ 3.95095534e-01 9.18431039e-01 1.95945491e-02 1.22656155e+01] [-4.98817711e-02 1.50156879e-04 9.98755118e-01 -4.75107032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.983201008 meters 0.0628347186299106 Centerline is valid? [True, True] Translation: X:58.99, Y:12.28, Z:-4.75 [[ 9.18096843e-01 -3.93468704e-01 4.77552717e-02 5.89893404e+01] [ 3.92939160e-01 9.19338011e-01 2.04068061e-02 1.22793915e+01] [-5.19326760e-02 2.94920713e-05 9.98650588e-01 -4.75141304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.013201008 meters 0.06263033250346475 Centerline is valid? [True, True] Translation: X:59.02, Y:12.29, Z:-4.75 [[ 9.18390815e-01 -3.92531996e-01 4.97689053e-02 5.90156694e+01] [ 3.91955348e-01 9.19738350e-01 2.12690757e-02 1.22929452e+01] [-5.41231635e-02 -2.61351787e-05 9.98534267e-01 -4.75164328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.043201008 meters 0.06256233227421203 Centerline is valid? [True, True] Translation: X:59.04, Y:12.31, Z:-4.75 [[ 9.18550806e-01 -3.92011780e-01 5.09036417e-02 5.90414777e+01] [ 3.91407020e-01 9.19960195e-01 2.17665991e-02 1.23059665e+01] [-5.53620874e-02 -6.96844856e-05 9.98466341e-01 -4.75171227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.073201008 meters 0.06230683476256856 Centerline is valid? [True, True] Translation: X:59.07, Y:12.32, Z:-4.75 [[ 9.18827362e-01 -3.91249200e-01 5.17720260e-02 5.90674248e+01] [ 3.90621594e-01 9.20284764e-01 2.21522919e-02 1.23181317e+01] [-5.63120732e-02 -1.30860660e-04 9.98413208e-01 -4.75185811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.103201008 meters 0.06228192350958156 Centerline is valid? [True, True] Translation: X:59.09, Y:12.33, Z:-4.75 [[ 9.18798022e-01 -3.91413166e-01 5.10482936e-02 5.90935011e+01] [ 3.90802269e-01 9.20215038e-01 2.18602608e-02 1.23282922e+01] [-5.55318013e-02 -1.35375436e-04 9.98456910e-01 -4.75445615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.133201008 meters 0.06240856370261593 Centerline is valid? [True, True] Translation: X:59.12, Y:12.33, Z:-4.76 [[ 9.17083394e-01 -3.95479453e-01 5.05376208e-02 5.91211923e+01] [ 3.94886668e-01 9.18474818e-01 2.16455251e-02 1.23340093e+01] [-5.49778925e-02 1.05881057e-04 9.98487566e-01 -4.75736919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16320100799999 meters 0.06254268585485934 Centerline is valid? [True, True] Translation: X:59.15, Y:12.34, Z:-4.76 [[ 9.16285315e-01 -3.97415072e-01 4.98245148e-02 5.91479943e+01] [ 3.96841315e-01 9.17638935e-01 2.13484165e-02 1.23426034e+01] [-5.42050972e-02 2.11185399e-04 9.98529801e-01 -4.76212884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19320100799999 meters 0.06289971026138597 Centerline is valid? [True, True] Translation: X:59.17, Y:12.35, Z:-4.77 [[ 9.15517173e-01 -3.99356711e-01 4.83996271e-02 5.91747914e+01] [ 3.98817792e-01 9.16795571e-01 2.07424536e-02 1.23509720e+01] [-5.26562018e-02 3.12559904e-04 9.98612651e-01 -4.76798866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22320100799999 meters 0.06309892722708764 Centerline is valid? [True, True] Translation: X:59.20, Y:12.36, Z:-4.77 [[ 9.15029423e-01 -4.00603549e-01 4.73069877e-02 5.92013999e+01] [ 4.00090348e-01 9.16251415e-01 2.02745487e-02 1.23612424e+01] [-5.14671506e-02 3.75260583e-04 9.98674617e-01 -4.77268166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25320100799999 meters 0.06312942711086429 Centerline is valid? [True, True] Translation: X:59.23, Y:12.37, Z:-4.77 [[ 9.14846149e-01 -4.01138597e-01 4.63071199e-02 5.92275436e+01] [ 4.00646971e-01 9.16017291e-01 1.98576744e-02 1.23728990e+01] [-5.03838022e-02 3.86090382e-04 9.98729855e-01 -4.77445357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28320100799999 meters 0.06353367919632484 Centerline is valid? [True, True] Translation: X:59.25, Y:12.38, Z:-4.78 [[ 9.15243055e-01 -4.00439069e-01 4.44826146e-02 5.92523127e+01] [ 3.99983832e-01 9.16323333e-01 1.90914556e-02 1.23846587e+01] [-4.84054223e-02 3.19004515e-04 9.98827720e-01 -4.78046951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.313201008 meters 0.06355608694237076 Centerline is valid? [True, True] Translation: X:59.28, Y:12.40, Z:-4.78 [[ 9.15293876e-01 -4.00349061e-01 4.42464718e-02 5.92780383e+01] [ 3.99898621e-01 9.16362663e-01 1.89884741e-02 1.23954299e+01] [-4.81478325e-02 3.14068975e-04 9.98840171e-01 -4.78129264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.343201008 meters 0.06333559723233961 Centerline is valid? [True, True] Translation: X:59.30, Y:12.41, Z:-4.78 [[ 9.15386967e-01 -4.00168991e-01 4.39485943e-02 5.93044979e+01] [ 3.99723730e-01 9.16441321e-01 1.88744549e-02 1.24065449e+01] [-4.78292794e-02 2.89865984e-04 9.98855483e-01 -4.78124419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.373201008 meters 0.06315416825897338 Centerline is valid? [True, True] Translation: X:59.33, Y:12.42, Z:-4.78 [[ 9.15674200e-01 -3.99340310e-01 4.54761039e-02 5.93300273e+01] [ 3.98861539e-01 9.16802738e-01 1.95502366e-02 1.24176812e+01] [-4.94998141e-02 2.37021499e-04 9.98774105e-01 -4.78128571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.403201008 meters 0.06293924705496501 Centerline is valid? [True, True] Translation: X:59.36, Y:12.43, Z:-4.78 [[ 9.15789092e-01 -3.98933226e-01 4.67185164e-02 5.93568102e+01] [ 3.98427200e-01 9.16979953e-01 2.00881158e-02 1.24298778e+01] [-5.08537598e-02 2.17450356e-04 9.98706087e-01 -4.78124575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.433201008 meters 0.06277410667867594 Centerline is valid? [True, True] Translation: X:59.38, Y:12.44, Z:-4.78 [[ 9.15640542e-01 -3.99228719e-01 4.71044256e-02 5.93833006e+01] [ 3.98714004e-01 9.16851340e-01 2.02672963e-02 1.24424993e+01] [-5.12790425e-02 2.23635935e-04 9.98684339e-01 -4.78343461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.463201008 meters 0.06302672406639614 Centerline is valid? [True, True] Translation: X:59.41, Y:12.45, Z:-4.79 [[ 9.14066369e-01 -4.02629759e-01 4.87026699e-02 5.94089240e+01] [ 4.02083336e-01 9.15362829e-01 2.09733868e-02 1.24525166e+01] [-5.30251234e-02 4.11464487e-04 9.98593094e-01 -4.78706783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.493201008 meters 0.06322894511342114 Centerline is valid? [True, True] Translation: X:59.44, Y:12.46, Z:-4.79 [[ 9.13435271e-01 -4.03947991e-01 4.96188105e-02 5.94351808e+01] [ 4.03382466e-01 9.14781820e-01 2.13730565e-02 1.24628018e+01] [-5.40239890e-02 4.92454481e-04 9.98539517e-01 -4.79024248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52320100799999 meters 0.06319115028062916 Centerline is valid? [True, True] Translation: X:59.46, Y:12.47, Z:-4.79 [[ 9.13234257e-01 -4.04458963e-01 4.91542416e-02 5.94616311e+01] [ 4.03904678e-01 9.14556002e-01 2.11738362e-02 1.24744298e+01] [-5.35182545e-02 5.16955529e-04 9.98566737e-01 -4.79237229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55320100799999 meters 0.06325311880387316 Centerline is valid? [True, True] Translation: X:59.49, Y:12.49, Z:-4.80 [[ 9.13740633e-01 -4.03427287e-01 4.82128601e-02 5.94865418e+01] [ 4.02891773e-01 9.15011605e-01 2.07841988e-02 1.24863744e+01] [-5.25002395e-02 4.33197687e-04 9.98620818e-01 -4.79676239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58320100799999 meters 0.06306230712781102 Centerline is valid? [True, True] Translation: X:59.51, Y:12.50, Z:-4.80 [[ 9.14974245e-01 -4.00873418e-01 4.60720522e-02 5.95113759e+01] [ 4.00381044e-01 9.16133412e-01 1.98643108e-02 1.25007641e+01] [-5.01712206e-02 2.71043637e-04 9.98740595e-01 -4.80028370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61320100799999 meters 0.06282255431164828 Centerline is valid? [True, True] Translation: X:59.54, Y:12.51, Z:-4.80 [[ 9.15244404e-01 -4.00274040e-01 4.59170195e-02 5.95369109e+01] [ 3.99783655e-01 9.16395461e-01 1.98087996e-02 1.25122970e+01] [-5.00070965e-02 2.26980861e-04 9.98748837e-01 -4.80079150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64320100799999 meters 0.06301337651008476 Centerline is valid? [True, True] Translation: X:59.56, Y:12.52, Z:-4.80 [[ 9.14964647e-01 -4.00883503e-01 4.61747949e-02 5.95619373e+01] [ 4.00387467e-01 9.16129007e-01 1.99378847e-02 1.25225724e+01] [-5.02948381e-02 2.45349555e-04 9.98734384e-01 -4.80416550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67320100799999 meters 0.06278221868563565 Centerline is valid? [True, True] Translation: X:59.59, Y:12.53, Z:-4.81 [[ 9.14848325e-01 -4.01116774e-01 4.64529331e-02 5.95879296e+01] [ 4.00614631e-01 9.16026894e-01 2.00660842e-02 1.25333101e+01] [-5.06009789e-02 2.52301129e-04 9.98718918e-01 -4.80601080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.703201008 meters 0.06272717553323971 Centerline is valid? [True, True] Translation: X:59.61, Y:12.54, Z:-4.81 [[ 9.14626426e-01 -4.01530922e-01 4.72379082e-02 5.96137037e+01] [ 4.01011214e-01 9.15845429e-01 2.04244151e-02 1.25437316e+01] [-5.14636565e-02 2.62221174e-04 9.98674834e-01 -4.80909573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.733201008 meters 0.06261538522651111 Centerline is valid? [True, True] Translation: X:59.64, Y:12.56, Z:-4.81 [[ 9.14260218e-01 -4.02279027e-01 4.79566279e-02 5.96400910e+01] [ 4.01744188e-01 9.15517062e-01 2.07392419e-02 1.25557811e+01] [-5.22480731e-02 3.05232740e-04 9.98634090e-01 -4.80917519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.763201008 meters 0.06274516730710186 Centerline is valid? [True, True] Translation: X:59.67, Y:12.57, Z:-4.81 [[ 9.13894770e-01 -4.03083674e-01 4.81653538e-02 5.96659605e+01] [ 4.02544620e-01 9.15163065e-01 2.08420996e-02 1.25672417e+01] [-5.24802629e-02 3.41218235e-04 9.98621903e-01 -4.81246393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.793201008 meters 0.06293376572574645 Centerline is valid? [True, True] Translation: X:59.69, Y:12.58, Z:-4.82 [[ 9.13641175e-01 -4.03500609e-01 4.94677892e-02 5.96920034e+01] [ 4.02931470e-01 9.14979307e-01 2.14265935e-02 1.25777473e+01] [-5.39076470e-02 3.55910926e-04 9.98545862e-01 -4.81649345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.823201008 meters 0.06259946583748008 Centerline is valid? [True, True] Translation: X:59.72, Y:12.59, Z:-4.81 [[ 9.13455215e-01 -4.03921487e-01 4.94671801e-02 5.97180037e+01] [ 4.03352971e-01 9.14793576e-01 2.14264604e-02 1.25893958e+01] [-5.39068663e-02 3.80622091e-04 9.98545895e-01 -4.81476916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.853201008 meters 0.06246943939438297 Centerline is valid? [True, True] Translation: X:59.74, Y:12.60, Z:-4.82 [[ 9.13524195e-01 -4.03742851e-01 4.96513369e-02 5.97442348e+01] [ 4.03168946e-01 9.14872441e-01 2.15225057e-02 1.26008240e+01] [-5.41141976e-02 3.56547485e-04 9.98534690e-01 -4.81641059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.883201008 meters 0.06243809047722648 Centerline is valid? [True, True] Translation: X:59.77, Y:12.61, Z:-4.82 [[ 9.13675369e-01 -4.03330229e-01 5.02199898e-02 5.97694522e+01] [ 4.02741420e-01 9.15054438e-01 2.17881524e-02 1.26114104e+01] [-5.47418451e-02 3.18371801e-04 9.98500490e-01 -4.81910623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91320100799999 meters 0.0622032437260114 Centerline is valid? [True, True] Translation: X:59.80, Y:12.62, Z:-4.82 [[ 9.13984954e-01 -4.02639708e-01 5.01275211e-02 5.97952885e+01] [ 4.02052020e-01 9.15358503e-01 2.17481943e-02 1.26239082e+01] [-5.46413393e-02 2.76348770e-04 9.98506008e-01 -4.81784539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94320100799999 meters 0.06223764428509878 Centerline is valid? [True, True] Translation: X:59.82, Y:12.64, Z:-4.82 [[ 9.14128287e-01 -4.02368293e-01 4.96913573e-02 5.98206549e+01] [ 4.01789333e-01 9.15477853e-01 2.15785288e-02 1.26353658e+01] [-5.41738528e-02 2.39913740e-04 9.98531490e-01 -4.82093392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97320100799999 meters 0.06227424163848333 Centerline is valid? [True, True] Translation: X:59.85, Y:12.65, Z:-4.83 [[ 9.14257656e-01 -4.02216856e-01 4.85235936e-02 5.98460741e+01] [ 4.01664156e-01 9.15544403e-01 2.10796763e-02 1.26462820e+01] [-5.29041057e-02 2.17932798e-04 9.98599573e-01 -4.82600479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00320100799999 meters 0.06230899094620855 Centerline is valid? [True, True] Translation: X:59.87, Y:12.66, Z:-4.83 [[ 9.14082959e-01 -4.02579139e-01 4.88096376e-02 5.98722540e+01] [ 4.02020409e-01 9.15385153e-01 2.12040505e-02 1.26576913e+01] [-5.32159260e-02 2.40209192e-04 9.98583000e-01 -4.82783170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03320100799999 meters 0.06253614367595692 Centerline is valid? [True, True] Translation: X:59.90, Y:12.67, Z:-4.83 [[ 9.13314350e-01 -4.04515393e-01 4.71613801e-02 5.98992678e+01] [ 4.03995597e-01 9.14531131e-01 2.05028610e-02 1.26682613e+01] [-5.14242731e-02 3.27432759e-04 9.98676843e-01 -4.83129239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.063201008 meters 0.0627412775270527 Centerline is valid? [True, True] Translation: X:59.93, Y:12.68, Z:-4.83 [[ 9.12716121e-01 -4.05917623e-01 4.66922546e-02 5.99257870e+01] [ 4.05409307e-01 9.13909586e-01 2.03116438e-02 1.26797273e+01] [-5.09173533e-02 3.90709815e-04 9.98702794e-01 -4.83432302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.093201008 meters 0.06311282346303627 Centerline is valid? [True, True] Translation: X:59.95, Y:12.69, Z:-4.84 [[ 9.11949324e-01 -4.07623509e-01 4.68135145e-02 5.99521267e+01] [ 4.07114130e-01 9.13149960e-01 2.03773487e-02 1.26905603e+01] [-5.10540452e-02 4.75333844e-04 9.98695779e-01 -4.83800889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.123201008 meters 0.0636951730924 Centerline is valid? [True, True] Translation: X:59.98, Y:12.70, Z:-4.84 [[ 9.11359220e-01 -4.09083262e-01 4.55549816e-02 5.99782135e+01] [ 4.08601972e-01 9.12496907e-01 1.98449717e-02 1.26992095e+01] [-4.96870256e-02 5.27957343e-04 9.98764697e-01 -4.84381013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.153201008 meters 0.06327092483317827 Centerline is valid? [True, True] Translation: X:60.00, Y:12.71, Z:-4.84 [[ 9.11242267e-01 -4.09454871e-01 4.45448027e-02 6.00045682e+01] [ 4.08995006e-01 9.12330217e-01 1.94077639e-02 1.27110125e+01] [-4.85861729e-02 5.33427073e-04 9.98818852e-01 -4.84229639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.183201008 meters 0.06316025269692335 Centerline is valid? [True, True] Translation: X:60.03, Y:12.72, Z:-4.84 [[ 9.11339018e-01 -4.09240262e-01 4.45376486e-02 6.00294807e+01] [ 4.08779498e-01 9.12426518e-01 1.94209023e-02 1.27208467e+01] [-4.85851468e-02 5.07051544e-04 9.98818916e-01 -4.84411671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.213201008 meters 0.06302498818775923 Centerline is valid? [True, True] Translation: X:60.06, Y:12.73, Z:-4.84 [[ 9.11616508e-01 -4.08620504e-01 4.45491375e-02 6.00556692e+01] [ 4.08158688e-01 9.12704257e-01 1.94274361e-02 1.27325248e+01] [-4.85986361e-02 4.72745986e-04 9.98818276e-01 -4.84467440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.243201008 meters 0.06294055002063911 Centerline is valid? [True, True] Translation: X:60.08, Y:12.74, Z:-4.85 [[ 9.11792644e-01 -4.08229118e-01 4.45326940e-02 6.00799530e+01] [ 4.07766257e-01 9.12879400e-01 1.94391642e-02 1.27438713e+01] [-4.85886118e-02 4.34443044e-04 9.98818781e-01 -4.84714581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27320100799999 meters 0.06303791448302584 Centerline is valid? [True, True] Translation: X:60.10, Y:12.76, Z:-4.85 [[ 9.12019866e-01 -4.07720061e-01 4.45434197e-02 6.01039624e+01] [ 4.07256066e-01 9.13106889e-01 1.94500882e-02 1.27567713e+01] [-4.86030945e-02 4.01711029e-04 9.98818090e-01 -4.85153816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30320100799999 meters 0.0629015980696498 Centerline is valid? [True, True] Translation: X:60.13, Y:12.77, Z:-4.85 [[ 9.12027062e-01 -4.07704232e-01 4.45409564e-02 6.01287345e+01] [ 4.07240210e-01 9.13113958e-01 1.94502364e-02 1.27689735e+01] [-4.86009127e-02 3.99726495e-04 9.98818197e-01 -4.85484766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33320100799999 meters 0.06317376998874599 Centerline is valid? [True, True] Translation: X:60.15, Y:12.78, Z:-4.86 [[ 9.11894837e-01 -4.07882540e-01 4.56030583e-02 6.01531293e+01] [ 4.07395338e-01 9.13034322e-01 1.99340425e-02 1.27810444e+01] [-4.97679053e-02 4.00722904e-04 9.98760730e-01 -4.85963394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36320100799999 meters 0.06310395982322667 Centerline is valid? [True, True] Translation: X:60.18, Y:12.79, Z:-4.86 [[ 9.11818547e-01 -4.08078861e-01 4.53715881e-02 6.01781566e+01] [ 4.07596891e-01 9.12946589e-01 1.98317788e-02 1.27948775e+01] [-4.95147663e-02 4.10334542e-04 9.98773307e-01 -4.86024071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39320100799999 meters 0.06292216126167188 Centerline is valid? [True, True] Translation: X:60.20, Y:12.81, Z:-4.86 [[ 9.12072270e-01 -4.07504323e-01 4.54356777e-02 6.02027145e+01] [ 4.07019594e-01 9.13203204e-01 1.98735539e-02 1.28090429e+01] [-4.95905656e-02 3.67093692e-04 9.98769564e-01 -4.86082733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42320100799999 meters 0.06284701751155104 Centerline is valid? [True, True] Translation: X:60.23, Y:12.82, Z:-4.86 [[ 9.11982027e-01 -4.07582786e-01 4.65301464e-02 6.02292864e+01] [ 4.07073684e-01 9.13168187e-01 2.03685287e-02 1.28209725e+01] [-5.07917111e-02 3.65466051e-04 9.98709201e-01 -4.86157237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.453201008 meters 0.06261725396998394 Centerline is valid? [True, True] Translation: X:60.26, Y:12.83, Z:-4.86 [[ 9.12074297e-01 -4.07318813e-01 4.70304249e-02 6.02555478e+01] [ 4.06797676e-01 9.13285972e-01 2.06005572e-02 1.28329380e+01] [-5.13432219e-02 3.42628794e-04 9.98681008e-01 -4.86180026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.483201008 meters 0.06262641141336171 Centerline is valid? [True, True] Translation: X:60.28, Y:12.84, Z:-4.86 [[ 9.12471960e-01 -4.06501613e-01 4.63827533e-02 6.02808223e+01] [ 4.05992831e-01 9.13650021e-01 2.03337131e-02 1.28438901e+01] [-5.06432907e-02 2.77122295e-04 9.98716767e-01 -4.86296873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.513201008 meters 0.06274122400160573 Centerline is valid? [True, True] Translation: X:60.31, Y:12.86, Z:-4.87 [[ 9.12606147e-01 -4.06308949e-01 4.54209122e-02 6.03068091e+01] [ 4.05820835e-01 9.13735722e-01 1.99118034e-02 1.28566174e+01] [-4.95930539e-02 2.61118358e-04 9.98769473e-01 -4.86547714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.543201008 meters 0.06284280358100862 Centerline is valid? [True, True] Translation: X:60.33, Y:12.87, Z:-4.87 [[ 9.12706814e-01 -4.06177481e-01 4.45659628e-02 6.03310773e+01] [ 4.05706614e-01 9.13794178e-01 1.95536247e-02 1.28691188e+01] [-4.86663593e-02 2.33979375e-04 9.98815063e-01 -4.86932002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.573201008 meters 0.0630299099580643 Centerline is valid? [True, True] Translation: X:60.36, Y:12.88, Z:-4.87 [[ 9.12655465e-01 -4.06208560e-01 4.53277766e-02 6.03559455e+01] [ 4.05721319e-01 9.13780362e-01 1.98912480e-02 1.28814294e+01] [-4.94996274e-02 2.36589096e-04 9.98774114e-01 -4.87335576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.603201008 meters 0.06321904441796462 Centerline is valid? [True, True] Translation: X:60.38, Y:12.89, Z:-4.88 [[ 9.12465541e-01 -4.06732911e-01 4.44406944e-02 6.03822047e+01] [ 4.06265046e-01 9.13547083e-01 1.95048448e-02 1.28932451e+01] [-4.85319290e-02 2.57201968e-04 9.98821599e-01 -4.87699235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.633201008 meters 0.06321904441796462 Centerline is valid? [True, True] Translation: X:60.41, Y:12.90, Z:-4.88 [[ 9.12360695e-01 -4.06968486e-01 4.44366362e-02 6.04074052e+01] [ 4.06500450e-01 9.13442163e-01 1.95140846e-02 1.29045084e+01] [-4.85319145e-02 2.59628829e-04 9.98821599e-01 -4.87912221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66320100799999 meters 0.06351464934761775 Centerline is valid? [True, True] Translation: X:60.43, Y:12.91, Z:-4.88 [[ 9.11758738e-01 -4.08494191e-01 4.27609594e-02 6.04341547e+01] [ 4.08061627e-01 9.12760866e-01 1.87965320e-02 1.29131491e+01] [-4.67088045e-02 3.11204374e-04 9.98908500e-01 -4.88287049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69320100799999 meters 0.06351410369740122 Centerline is valid? [True, True] Translation: X:60.46, Y:12.92, Z:-4.89 [[ 9.11318517e-01 -4.09439874e-01 4.30993007e-02 6.04591290e+01] [ 4.09001342e-01 9.12337032e-01 1.89484017e-02 1.29221559e+01] [-4.70793193e-02 3.59642502e-04 9.98891089e-01 -4.88515475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72320100799999 meters 0.063076748833594 Centerline is valid? [True, True] Translation: X:60.49, Y:12.93, Z:-4.88 [[ 9.11073120e-01 -4.09956813e-01 4.33725956e-02 6.04852403e+01] [ 4.09513244e-01 9.12104852e-01 1.90693971e-02 1.29323129e+01] [-4.73779841e-02 3.88037170e-04 9.98876957e-01 -4.88296102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75320100799999 meters 0.06299555498778803 Centerline is valid? [True, True] Translation: X:60.51, Y:12.94, Z:-4.88 [[ 9.10899277e-01 -4.10265385e-01 4.41001300e-02 6.05115977e+01] [ 4.09806432e-01 9.11966094e-01 1.94044381e-02 1.29440694e+01] [-4.81787925e-02 3.97028270e-04 9.98838649e-01 -4.88440581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78320100799999 meters 0.06279623732658789 Centerline is valid? [True, True] Translation: X:60.54, Y:12.96, Z:-4.89 [[ 9.11165369e-01 -4.09574405e-01 4.50164005e-02 6.05378374e+01] [ 4.09094701e-01 9.12276647e-01 1.98203420e-02 1.29564064e+01] [-4.91853157e-02 3.56361665e-04 9.98789606e-01 -4.88501645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.813201008 meters 0.0626461180199453 Centerline is valid? [True, True] Translation: X:60.56, Y:12.97, Z:-4.89 [[ 9.11665713e-01 -4.08455326e-01 4.50541229e-02 6.05626531e+01] [ 4.07972670e-01 9.12778269e-01 1.98527842e-02 1.29685897e+01] [-4.92333997e-02 2.81748111e-04 9.98787261e-01 -4.88750285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.843201008 meters 0.06246561261808434 Centerline is valid? [True, True] Translation: X:60.59, Y:12.98, Z:-4.89 [[ 9.12036484e-01 -4.07568729e-01 4.55761306e-02 6.05879224e+01] [ 4.07073529e-01 9.13174505e-01 2.00864503e-02 1.29832933e+01] [-4.98055696e-02 2.33260773e-04 9.98758905e-01 -4.88910199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.873201008 meters 0.06260536424599253 Centerline is valid? [True, True] Translation: X:60.61, Y:13.01, Z:-4.89 [[ 9.14324181e-01 -4.02297532e-01 4.65616496e-02 6.06078891e+01] [ 4.01772930e-01 9.15508979e-01 2.05383117e-02 1.30053343e+01] [-5.08901204e-02 -7.14646627e-05 9.98704256e-01 -4.89472067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.903201008 meters 0.06301924132432656 Centerline is valid? [True, True] Translation: X:60.63, Y:13.02, Z:-4.90 [[ 9.15571660e-01 -3.99477031e-01 4.63318211e-02 6.06318024e+01] [ 3.98953974e-01 9.16743176e-01 2.04371411e-02 1.30223798e+01] [-5.06385492e-02 -2.27403029e-04 9.98717020e-01 -4.89859434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.933201008 meters 0.06344113362615181 Centerline is valid? [True, True] Translation: X:60.66, Y:13.04, Z:-4.90 [[ 9.16701323e-01 -3.96947898e-01 4.57280140e-02 6.06567453e+01] [ 3.96434634e-01 9.17841068e-01 2.01830153e-02 1.30380977e+01] [-4.99826547e-02 -3.73628288e-04 9.98750016e-01 -4.90264942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.963201008 meters 0.06411132915402833 Centerline is valid? [True, True] Translation: X:60.68, Y:13.05, Z:-4.91 [[ 9.17879639e-01 -3.94374290e-01 4.43383412e-02 6.06810124e+01] [ 3.93887979e-01 9.18949757e-01 1.95858111e-02 1.30519617e+01] [-4.84688483e-02 -5.13077642e-04 9.98824563e-01 -4.90749737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.993201008 meters 0.06377139862045697 Centerline is valid? [True, True] Translation: X:60.71, Y:13.06, Z:-4.91 [[ 9.18094922e-01 -3.93980030e-01 4.33756835e-02 6.07093138e+01] [ 3.93514214e-01 9.19118852e-01 1.91598511e-02 1.30593485e+01] [-4.74160072e-02 -5.21614038e-04 9.98875092e-01 -4.90540474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02320100799999 meters 0.063058247417918 Centerline is valid? [True, True] Translation: X:60.74, Y:13.07, Z:-4.91 [[ 9.16623458e-01 -3.97402497e-01 4.32745975e-02 6.07384824e+01] [ 3.96942108e-01 9.17644337e-01 1.91267768e-02 1.30654366e+01] [-4.73117182e-02 -3.54542363e-04 9.98880111e-01 -4.90508537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05320100799999 meters 0.06253118173268246 Centerline is valid? [True, True] Translation: X:60.77, Y:13.07, Z:-4.91 [[ 9.14429316e-01 -4.02232074e-01 4.50375868e-02 6.07674962e+01] [ 4.01738537e-01 9.15537735e-01 1.99199451e-02 1.30709394e+01] [-4.92460510e-02 -1.22047548e-04 9.98786670e-01 -4.90724109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08320100799999 meters 0.06273423610421179 Centerline is valid? [True, True] Translation: X:60.79, Y:13.08, Z:-4.91 [[ 9.14172397e-01 -4.02806915e-01 4.51156123e-02 6.07908465e+01] [ 4.02311688e-01 9.15284971e-01 1.99681481e-02 1.30831296e+01] [-4.93369500e-02 -1.03791632e-04 9.98782186e-01 -4.91362314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11320100799999 meters 0.06264448904934453 Centerline is valid? [True, True] Translation: X:60.82, Y:13.10, Z:-4.92 [[ 9.13931266e-01 -4.03449381e-01 4.42519776e-02 6.08168652e+01] [ 4.02973585e-01 9.15001963e-01 1.95881995e-02 1.30959625e+01] [-4.83934933e-02 -6.98898980e-05 9.98828346e-01 -4.91542400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14320100799999 meters 0.06281607322682829 Centerline is valid? [True, True] Translation: X:60.84, Y:13.11, Z:-4.92 [[ 9.13866875e-01 -4.03565104e-01 4.45257448e-02 6.08419430e+01] [ 4.03082719e-01 9.14950928e-01 1.97261600e-02 1.31084041e+01] [-4.86996614e-02 -7.95259199e-05 9.98813464e-01 -4.91920016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17320100799999 meters 0.06256141600307473 Centerline is valid? [True, True] Translation: X:60.87, Y:13.12, Z:-4.92 [[ 9.14216418e-01 -4.02600675e-01 4.60547185e-02 6.08683084e+01] [ 4.02083321e-01 9.15375703e-01 2.04040483e-02 1.31210167e+01] [-5.03720540e-02 -1.35881757e-04 9.98730513e-01 -4.91803213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.203201008 meters 0.0625632035053443 Centerline is valid? [True, True] Translation: X:60.89, Y:13.13, Z:-4.92 [[ 9.14461062e-01 -4.02015000e-01 4.63131258e-02 6.08937908e+01] [ 4.01490471e-01 9.15633064e-01 2.05303396e-02 1.31323359e+01] [-5.06593338e-02 -1.79917438e-04 9.98715975e-01 -4.91883538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.233201008 meters 0.062248667240084765 Centerline is valid? [True, True] Translation: X:60.92, Y:13.14, Z:-4.92 [[ 9.14383488e-01 -4.02227387e-01 4.59996392e-02 6.09211164e+01] [ 4.01709453e-01 9.15539784e-01 2.04063341e-02 1.31427656e+01] [-5.03224862e-02 -1.80725055e-04 9.98733005e-01 -4.91800852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.263201008 meters 0.06231028263185497 Centerline is valid? [True, True] Translation: X:60.95, Y:13.15, Z:-4.92 [[ 9.14305696e-01 -4.02333451e-01 4.66142628e-02 6.09470287e+01] [ 4.01800802e-01 9.15493177e-01 2.06968203e-02 1.31525324e+01] [-5.10020627e-02 -1.93572548e-04 9.98698529e-01 -4.91914453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.293201008 meters 0.06215031292547128 Centerline is valid? [True, True] Translation: X:60.97, Y:13.16, Z:-4.92 [[ 9.14193696e-01 -4.02576452e-01 4.67128031e-02 6.09736040e+01] [ 4.02041891e-01 9.15386349e-01 2.07400641e-02 1.31627341e+01] [-5.11097237e-02 -1.79932151e-04 9.98693028e-01 -4.92067885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.323201008 meters 0.062488400882148035 Centerline is valid? [True, True] Translation: X:61.00, Y:13.18, Z:-4.93 [[ 9.14619725e-01 -4.01510259e-01 4.75423016e-02 6.09976129e+01] [ 4.00954025e-01 9.15854488e-01 2.11288012e-02 1.31769109e+01] [-5.20252607e-02 -2.62541092e-04 9.98645735e-01 -4.92555221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.353201008 meters 0.06240833193871388 Centerline is valid? [True, True] Translation: X:61.02, Y:13.19, Z:-4.93 [[ 9.14888993e-01 -4.00919990e-01 4.73422938e-02 6.10231451e+01] [ 4.00367613e-01 9.16113025e-01 2.10404404e-02 1.31899321e+01] [-5.18064252e-02 -2.95346179e-04 9.98657102e-01 -4.92811835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.383201008 meters 0.06253948510594058 Centerline is valid? [True, True] Translation: X:61.05, Y:13.20, Z:-4.93 [[ 9.14276698e-01 -4.02179948e-01 4.84707101e-02 6.10492756e+01] [ 4.01601739e-01 9.15560609e-01 2.15595465e-02 1.31998957e+01] [-5.30486901e-02 -2.45469584e-04 9.98591897e-01 -4.93315088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41320100799999 meters 0.06248069162045019 Centerline is valid? [True, True] Translation: X:61.08, Y:13.21, Z:-4.93 [[ 9.14049355e-01 -4.02736897e-01 4.81328269e-02 6.10765982e+01] [ 4.02167467e-01 9.15315763e-01 2.14098629e-02 1.32102905e+01] [-5.26792770e-02 -2.12214294e-04 9.98611460e-01 -4.93381532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44320100799999 meters 0.06225083261682755 Centerline is valid? [True, True] Translation: X:61.10, Y:13.22, Z:-4.94 [[ 9.13684522e-01 -4.03492510e-01 4.87276995e-02 6.11034440e+01] [ 4.02909250e-01 9.14982929e-01 2.16881437e-02 1.32203840e+01] [-5.33360168e-02 -1.83280360e-04 9.98576605e-01 -4.93541918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47320100799999 meters 0.06237189411433754 Centerline is valid? [True, True] Translation: X:61.13, Y:13.23, Z:-4.94 [[ 9.13409622e-01 -4.04189506e-01 4.81010017e-02 6.11292333e+01] [ 4.03621231e-01 9.14675253e-01 2.14262289e-02 1.32302550e+01] [-5.26570528e-02 -1.56338076e-04 9.98612643e-01 -4.93881720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50320100799999 meters 0.06233541201719224 Centerline is valid? [True, True] Translation: X:61.16, Y:13.24, Z:-4.94 [[ 9.13693530e-01 -4.03708227e-01 4.67311616e-02 6.11558386e+01] [ 4.03171237e-01 9.14887772e-01 2.08162838e-02 1.32417771e+01] [-5.11574734e-02 -1.79043544e-04 9.98690583e-01 -4.94222278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53320100799999 meters 0.06250880476165407 Centerline is valid? [True, True] Translation: X:61.18, Y:13.25, Z:-4.94 [[ 9.14137108e-01 -4.02726014e-01 4.65306905e-02 6.11809688e+01] [ 4.02191502e-01 9.15320543e-01 2.07436686e-02 1.32542546e+01] [-5.09445119e-02 -2.48308982e-04 9.98701454e-01 -4.94493659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.563201008 meters 0.06258594968998339 Centerline is valid? [True, True] Translation: X:61.21, Y:13.27, Z:-4.95 [[ 9.14503895e-01 -4.01904642e-01 4.64250351e-02 6.12071665e+01] [ 4.01371483e-01 9.15681480e-01 2.06968720e-02 1.32674211e+01] [-5.08287138e-02 -2.93684899e-04 9.98707342e-01 -4.94734621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.593201008 meters 0.06239197345281571 Centerline is valid? [True, True] Translation: X:61.23, Y:13.28, Z:-4.95 [[ 9.14801829e-01 -4.01155620e-01 4.70295954e-02 6.12334106e+01] [ 4.00606840e-01 9.16009850e-01 2.09789187e-02 1.32800958e+01] [-5.14953838e-02 -3.51175582e-04 9.98673171e-01 -4.94693146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.623201008 meters 0.06281645732953804 Centerline is valid? [True, True] Translation: X:61.26, Y:13.30, Z:-4.95 [[ 9.15516023e-01 -3.99542050e-01 4.68674854e-02 6.12558431e+01] [ 3.98994139e-01 9.16714756e-01 2.09220838e-02 1.32961038e+01] [-5.13233677e-02 -4.54650967e-04 9.98681984e-01 -4.95302094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.653201008 meters 0.0630758176459571 Centerline is valid? [True, True] Translation: X:61.28, Y:13.31, Z:-4.96 [[ 9.15551986e-01 -3.99569041e-01 4.59254016e-02 6.12810730e+01] [ 3.99042500e-01 9.16702993e-01 2.05111334e-02 1.33077056e+01] [-5.02955670e-02 -4.52821890e-04 9.98734274e-01 -4.95700870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.683201008 meters 0.06273802721122625 Centerline is valid? [True, True] Translation: X:61.31, Y:13.31, Z:-4.96 [[ 9.14447907e-01 -4.02111967e-01 4.57273621e-02 6.13087550e+01] [ 4.01592973e-01 9.15590447e-01 2.04258799e-02 1.33148961e+01] [-5.00810267e-02 -3.14615836e-04 9.98745109e-01 -4.95981893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.713201008 meters 0.06199084205579292 Centerline is valid? [True, True] Translation: X:61.34, Y:13.31, Z:-4.96 [[ 9.10687290e-01 -4.10606919e-01 4.52837469e-02 6.13411954e+01] [ 4.10108306e-01 9.11812446e-01 2.02297215e-02 1.33126575e+01] [-4.95967477e-02 1.48290479e-04 9.98769313e-01 -4.95649190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.743201008 meters 0.061956182743334275 Centerline is valid? [True, True] Translation: X:61.37, Y:13.32, Z:-4.96 [[ 9.08778734e-01 -4.14743773e-01 4.59218379e-02 6.13687781e+01] [ 4.14235557e-01 9.09938167e-01 2.05288760e-02 1.33199317e+01] [-5.03002565e-02 3.66252182e-04 9.98734074e-01 -4.95623488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77320100799999 meters 0.06240485859950247 Centerline is valid? [True, True] Translation: X:61.40, Y:13.33, Z:-4.96 [[ 9.07569228e-01 -4.17369945e-01 4.60480875e-02 6.13950221e+01] [ 4.16861296e-01 9.08736532e-01 2.06052425e-02 1.33290409e+01] [-5.04455882e-02 4.94981353e-04 9.98726688e-01 -4.96017051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80320100799999 meters 0.06315228805781468 Centerline is valid? [True, True] Translation: X:61.42, Y:13.34, Z:-4.97 [[ 9.07190263e-01 -4.18358296e-01 4.45214972e-02 6.14200240e+01] [ 4.17883818e-01 9.08281926e-01 1.99262850e-02 1.33409789e+01] [-4.87743979e-02 5.27881523e-04 9.98809681e-01 -4.96696302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83320100799999 meters 0.06263614478396119 Centerline is valid? [True, True] Translation: X:61.44, Y:13.36, Z:-4.97 [[ 9.08254175e-01 -4.16052879e-01 4.44337260e-02 6.14443150e+01] [ 4.15577537e-01 9.09340332e-01 1.98864899e-02 1.33570576e+01] [-4.86792106e-02 4.03670892e-04 9.98814383e-01 -4.96593675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86320100799999 meters 0.06246113017150348 Centerline is valid? [True, True] Translation: X:61.47, Y:13.37, Z:-4.97 [[ 9.08889491e-01 -4.14643838e-01 4.46136817e-02 6.14698468e+01] [ 4.14162332e-01 9.09983729e-01 1.99793961e-02 1.33714473e+01] [-4.88820579e-02 3.18243300e-04 9.98804507e-01 -4.96786549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89320100799999 meters 0.062450428464827165 Centerline is valid? [True, True] Translation: X:61.50, Y:13.38, Z:-4.97 [[ 9.09013503e-01 -4.14327947e-01 4.50200402e-02 6.14960557e+01] [ 4.13836607e-01 9.10127610e-01 2.01741311e-02 1.33844445e+01] [-4.93326879e-02 2.92383092e-04 9.98782359e-01 -4.96978608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92320100799999 meters 0.06238627606790684 Centerline is valid? [True, True] Translation: X:61.52, Y:13.40, Z:-4.97 [[ 9.08979806e-01 -4.14308386e-01 4.58723712e-02 6.15222315e+01] [ 4.13797563e-01 9.10136517e-01 2.05693147e-02 1.33966210e+01] [-5.02721598e-02 2.84783762e-04 9.98735515e-01 -4.97011482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.953201008 meters 0.062406694694014206 Centerline is valid? [True, True] Translation: X:61.55, Y:13.41, Z:-4.97 [[ 9.09008689e-01 -4.14318254e-01 4.52060565e-02 6.15484801e+01] [ 4.13821403e-01 9.10132031e-01 2.02862853e-02 1.34069360e+01] [-4.95484583e-02 2.66824130e-04 9.98771685e-01 -4.97280059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.983201008 meters 0.062483828248099366 Centerline is valid? [True, True] Translation: X:61.58, Y:13.42, Z:-4.97 [[ 9.08974997e-01 -4.14483252e-01 4.43631424e-02 6.15753164e+01] [ 4.14004816e-01 9.10056901e-01 1.99110530e-02 1.34177983e+01] [-4.86257819e-02 2.67905272e-04 9.98817031e-01 -4.97457576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.013201008 meters 0.06263000149065981 Centerline is valid? [True, True] Translation: X:61.60, Y:13.43, Z:-4.98 [[ 9.08654115e-01 -4.15304771e-01 4.32394035e-02 6.16017079e+01] [ 4.14850433e-01 9.09682287e-01 1.94230336e-02 1.34281255e+01] [-4.74005980e-02 2.89065865e-04 9.98875918e-01 -4.97677945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.043201008 meters 0.06290039276090442 Centerline is valid? [True, True] Translation: X:61.63, Y:13.44, Z:-4.98 [[ 9.08248055e-01 -4.16204071e-01 4.31235611e-02 6.16285965e+01] [ 4.15753213e-01 9.09271169e-01 1.93702838e-02 1.34393309e+01] [-4.72730018e-02 3.35736498e-04 9.98881950e-01 -4.97962968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.073201008 meters 0.06332913074217762 Centerline is valid? [True, True] Translation: X:61.65, Y:13.45, Z:-4.98 [[ 9.07878892e-01 -4.17027276e-01 4.29437812e-02 6.16530784e+01] [ 4.16580291e-01 9.08893899e-01 1.93065121e-02 1.34519352e+01] [-4.70826829e-02 3.61558036e-04 9.98890930e-01 -4.98403370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.103201008 meters 0.06337496732928648 Centerline is valid? [True, True] Translation: X:61.68, Y:13.47, Z:-4.99 [[ 9.08039733e-01 -4.16759089e-01 4.21391266e-02 6.16790984e+01] [ 4.16328460e-01 9.09016911e-01 1.89438196e-02 1.34654336e+01] [-4.62001877e-02 3.41976876e-04 9.98932143e-01 -4.98612840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.133201008 meters 0.0638479697887513 Centerline is valid? [True, True] Translation: X:61.70, Y:13.48, Z:-4.99 [[ 9.07676226e-01 -4.17604303e-01 4.15994593e-02 6.17037318e+01] [ 4.17184780e-01 9.08628919e-01 1.87175674e-02 1.34769512e+01] [-4.56150084e-02 3.65170375e-04 9.98959027e-01 -4.99105501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16320100799999 meters 0.06398767794930765 Centerline is valid? [True, True] Translation: X:61.73, Y:13.49, Z:-4.99 [[ 9.07747188e-01 -4.17510418e-01 4.09889436e-02 6.17287401e+01] [ 4.17102851e-01 9.08672068e-01 1.84467962e-02 1.34895391e+01] [-4.49472378e-02 3.51577899e-04 9.98989300e-01 -4.99455996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19320100799999 meters 0.06398099353963177 Centerline is valid? [True, True] Translation: X:61.75, Y:13.50, Z:-5.00 [[ 9.08016555e-01 -4.17044848e-01 3.97433033e-02 6.17547755e+01] [ 4.16661324e-01 9.08885852e-01 1.78843198e-02 1.35019739e+01] [-4.35806895e-02 3.20238924e-04 9.99049859e-01 -4.99621638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22320100799999 meters 0.06396569951809224 Centerline is valid? [True, True] Translation: X:61.78, Y:13.51, Z:-5.00 [[ 9.08228557e-01 -4.16592073e-01 3.96476063e-02 6.17795640e+01] [ 4.16209309e-01 9.09093485e-01 1.78562701e-02 1.35131781e+01] [-4.34821612e-02 2.84128364e-04 9.99054163e-01 -4.99774296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25320100799999 meters 0.06384675284753116 Centerline is valid? [True, True] Translation: X:61.81, Y:13.53, Z:-5.00 [[ 9.08277003e-01 -4.16372051e-01 4.08313699e-02 6.18050425e+01] [ 4.15965602e-01 9.09194280e-01 1.83950866e-02 1.35250544e+01] [-4.47828479e-02 2.76611204e-04 9.98996707e-01 -4.99949672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28320100799999 meters 0.06366970077046324 Centerline is valid? [True, True] Translation: X:61.83, Y:13.54, Z:-5.00 [[ 9.08403766e-01 -4.15986657e-01 4.19249210e-02 6.18306013e+01] [ 4.15557604e-01 9.09370679e-01 1.88903484e-02 1.35387365e+01] [-4.59834268e-02 2.62156099e-04 9.98942168e-01 -5.00095783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.313201008 meters 0.06369922455877793 Centerline is valid? [True, True] Translation: X:61.85, Y:13.55, Z:-5.00 [[ 9.08661878e-01 -4.15207058e-01 4.40078528e-02 6.18547198e+01] [ 4.14732757e-01 9.09726909e-01 1.98416325e-02 1.35547862e+01] [-4.82735138e-02 2.22163066e-04 9.98834130e-01 -5.00248454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.343201008 meters 0.06362064463359755 Centerline is valid? [True, True] Translation: X:61.88, Y:13.57, Z:-5.00 [[ 9.09328168e-01 -4.13673841e-01 4.46792490e-02 6.18789643e+01] [ 4.13182338e-01 9.10425140e-01 2.01598521e-02 1.35692433e+01] [-4.90167150e-02 1.28755173e-04 9.98797950e-01 -5.00390755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.373201008 meters 0.0637801447444365 Centerline is valid? [True, True] Translation: X:61.90, Y:13.58, Z:-5.01 [[ 9.09940006e-01 -4.12165121e-01 4.61421646e-02 6.19040093e+01] [ 4.11638748e-01 9.11109165e-01 2.08237909e-02 1.35838700e+01] [-5.06233893e-02 4.55023966e-05 9.98717813e-01 -5.00606368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.403201008 meters 0.0639038585779555 Centerline is valid? [True, True] Translation: X:61.93, Y:13.60, Z:-5.00 [[ 9.11804897e-01 -4.08050599e-01 4.58970434e-02 6.19275536e+01] [ 4.07524003e-01 9.12959294e-01 2.07247561e-02 1.36026919e+01] [-5.03588815e-02 -1.92787290e-04 9.98731168e-01 -5.00497762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.433201008 meters 0.06452032363757484 Centerline is valid? [True, True] Translation: X:61.95, Y:13.62, Z:-5.01 [[ 9.13036292e-01 -4.05381284e-01 4.50637694e-02 6.19512440e+01] [ 4.04869556e-01 9.14147631e-01 2.03654301e-02 1.36182912e+01] [-4.94507022e-02 -3.49428464e-04 9.98776505e-01 -5.00927464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.463201008 meters 0.06479667943601118 Centerline is valid? [True, True] Translation: X:61.98, Y:13.63, Z:-5.01 [[ 9.13923824e-01 -4.03316091e-01 4.56001647e-02 6.19755475e+01] [ 4.02789578e-01 9.15060607e-01 2.06068312e-02 1.36321953e+01] [-5.00379809e-02 -4.65802843e-04 9.98747207e-01 -5.00880182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.493201008 meters 0.06515998972176991 Centerline is valid? [True, True] Translation: X:62.00, Y:13.64, Z:-5.01 [[ 9.14477126e-01 -4.02060756e-01 4.55931366e-02 6.20003519e+01] [ 4.01531825e-01 9.15612824e-01 2.06240365e-02 1.36448270e+01] [-5.00377762e-02 -5.53114278e-04 9.98747173e-01 -5.01110413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52320100799999 meters 0.06515998972176991 Centerline is valid? [True, True] Translation: X:62.03, Y:13.66, Z:-5.01 [[ 9.14370545e-01 -4.02303048e-01 4.55934742e-02 6.20254207e+01] [ 4.01774455e-01 9.15506399e-01 2.06232927e-02 1.36563800e+01] [-5.00379309e-02 -5.39038175e-04 9.98747173e-01 -5.01324228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55320100799999 meters 0.06531788908372582 Centerline is valid? [True, True] Translation: X:62.05, Y:13.67, Z:-5.02 [[ 9.14257784e-01 -4.02533286e-01 4.58220274e-02 6.20506260e+01] [ 4.01998683e-01 9.15405186e-01 2.07461912e-02 1.36671765e+01] [-5.02967540e-02 -5.46972115e-04 9.98734168e-01 -5.01527285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58320100799999 meters 0.06562546409124191 Centerline is valid? [True, True] Translation: X:62.08, Y:13.68, Z:-5.02 [[ 9.13649572e-01 -4.04007071e-01 4.49749499e-02 6.20769145e+01] [ 4.03493531e-01 9.14755745e-01 2.03690506e-02 1.36764734e+01] [-4.93703343e-02 -4.63073017e-04 9.98780434e-01 -5.01954334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61320100799999 meters 0.06567614847346138 Centerline is valid? [True, True] Translation: X:62.10, Y:13.69, Z:-5.02 [[ 9.13398049e-01 -4.04581220e-01 4.49226155e-02 6.21027949e+01] [ 4.04069635e-01 9.14501969e-01 2.03440058e-02 1.36872011e+01] [-4.93126231e-02 -4.30310361e-04 9.98783300e-01 -5.02043915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64320100799999 meters 0.06598359671873395 Centerline is valid? [True, True] Translation: X:62.13, Y:13.70, Z:-5.02 [[ 9.12061837e-01 -4.07325293e-01 4.72155856e-02 6.21295336e+01] [ 4.06762712e-01 9.13283092e-01 2.14030337e-02 1.36959449e+01] [-5.18391930e-02 -3.15350570e-04 9.98655395e-01 -5.02417617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67320100799999 meters 0.06594115622196191 Centerline is valid? [True, True] Translation: X:62.16, Y:13.71, Z:-5.02 [[ 9.11949471e-01 -4.07536197e-01 4.75648077e-02 6.21557790e+01] [ 4.06965395e-01 9.13189002e-01 2.15641788e-02 1.37056309e+01] [-5.22238427e-02 -3.08210662e-04 9.98635357e-01 -5.02355690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.703201008 meters 0.06585753315882335 Centerline is valid? [True, True] Translation: X:62.18, Y:13.72, Z:-5.02 [[ 9.11927468e-01 -4.07601687e-01 4.74252853e-02 6.21821117e+01] [ 4.07033558e-01 9.13159769e-01 2.15155388e-02 1.37166736e+01] [-5.20766325e-02 -3.16928233e-04 9.98643041e-01 -5.02380153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.733201008 meters 0.06608195310000374 Centerline is valid? [True, True] Translation: X:62.21, Y:13.73, Z:-5.03 [[ 9.11974060e-01 -4.07430108e-01 4.80002270e-02 6.22075385e+01] [ 4.06846839e-01 9.13236325e-01 2.17959589e-02 1.37285710e+01] [-5.27158808e-02 -3.48608531e-04 9.98609490e-01 -5.02710793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.763201008 meters 0.06643479127522378 Centerline is valid? [True, True] Translation: X:62.23, Y:13.74, Z:-5.03 [[ 9.11887930e-01 -4.07753560e-01 4.68768382e-02 6.22338137e+01] [ 4.07197307e-01 9.13091959e-01 2.12938313e-02 1.37392549e+01] [-5.14854996e-02 -3.29465466e-04 9.98673688e-01 -5.02955697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.793201008 meters 0.0666975966728471 Centerline is valid? [True, True] Translation: X:62.26, Y:13.75, Z:-5.03 [[ 9.11824237e-01 -4.07931798e-01 4.65640422e-02 6.22591754e+01] [ 4.07383004e-01 9.13012347e-01 2.11552030e-02 1.37503346e+01] [-5.11434254e-02 -3.20427461e-04 9.98691267e-01 -5.03289534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.823201008 meters 0.06686497693364035 Centerline is valid? [True, True] Translation: X:62.29, Y:13.76, Z:-5.03 [[ 9.11669265e-01 -4.08340881e-01 4.60095186e-02 6.22857485e+01] [ 4.07805421e-01 9.12829467e-01 2.09069931e-02 1.37612586e+01] [-5.05360243e-02 -2.97331900e-04 9.98722195e-01 -5.03493117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.853201008 meters 0.06683228301497207 Centerline is valid? [True, True] Translation: X:62.31, Y:13.77, Z:-5.04 [[ 9.11310759e-01 -4.09123417e-01 4.61598327e-02 6.23114484e+01] [ 4.08584850e-01 9.12479018e-01 2.09871772e-02 1.37720075e+01] [-5.07062245e-02 -2.65632115e-04 9.98713577e-01 -5.03727294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88320100799999 meters 0.06671402721675213 Centerline is valid? [True, True] Translation: X:62.34, Y:13.78, Z:-5.04 [[ 9.10992899e-01 -4.09806230e-01 4.63766385e-02 6.23382376e+01] [ 4.09262739e-01 9.12172569e-01 2.11001126e-02 1.37824165e+01] [-5.09504551e-02 -2.41822611e-04 9.98701153e-01 -5.03673612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91320100799999 meters 0.06671131219123065 Centerline is valid? [True, True] Translation: X:62.36, Y:13.79, Z:-5.04 [[ 9.10611025e-01 -4.10569957e-01 4.71155062e-02 6.23643424e+01] [ 4.10009166e-01 9.11829076e-01 2.14527536e-02 1.37940745e+01] [-5.17691446e-02 -2.17324571e-04 9.98659055e-01 -5.03843920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94320100799999 meters 0.06693930775422938 Centerline is valid? [True, True] Translation: X:62.39, Y:13.81, Z:-5.04 [[ 9.10760826e-01 -4.10152520e-01 4.78500667e-02 6.23891758e+01] [ 4.09572582e-01 9.12016909e-01 2.18049859e-02 1.38067560e+01] [-5.25834399e-02 -2.61051586e-04 9.98616500e-01 -5.04098310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97320100799999 meters 0.06699817232039988 Centerline is valid? [True, True] Translation: X:62.42, Y:13.82, Z:-5.04 [[ 9.09818926e-01 -4.12081678e-01 4.91753203e-02 6.24153584e+01] [ 4.11471890e-01 9.11146896e-01 2.24102010e-02 1.38185577e+01] [-5.40407737e-02 -1.54962999e-04 9.98538718e-01 -5.04294438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00320100799999 meters 0.0670934601264324 Centerline is valid? [True, True] Translation: X:62.44, Y:13.83, Z:-5.04 [[ 9.09306086e-01 -4.13182150e-01 4.94262398e-02 6.24410182e+01] [ 4.12567035e-01 9.10648396e-01 2.25375422e-02 1.38294784e+01] [-5.43220361e-02 -1.01887139e-04 9.98523463e-01 -5.04475314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03320100799999 meters 0.06702418355592817 Centerline is valid? [True, True] Translation: X:62.47, Y:13.84, Z:-5.05 [[ 9.08766547e-01 -4.14220617e-01 5.06423147e-02 6.24674986e+01] [ 4.13575282e-01 9.10176509e-01 2.31129753e-02 1.38391617e+01] [-5.56673161e-02 -5.98892348e-05 9.98449371e-01 -5.04656249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.063201008 meters 0.06689115140429024 Centerline is valid? [True, True] Translation: X:62.49, Y:13.85, Z:-5.05 [[ 9.08095014e-01 -4.15585113e-01 5.15020285e-02 6.24945229e+01] [ 4.14919750e-01 9.09554294e-01 2.35071913e-02 1.38487905e+01] [-5.66131300e-02 2.24455521e-05 9.98396190e-01 -5.04687182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.093201008 meters 0.06698984795087545 Centerline is valid? [True, True] Translation: X:62.52, Y:13.86, Z:-5.05 [[ 9.07640448e-01 -4.16513106e-01 5.20158564e-02 6.25198384e+01] [ 4.15834900e-01 9.09129709e-01 2.37593702e-02 1.38595200e+01] [-5.71852495e-02 6.50430609e-05 9.98363583e-01 -5.04921970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.123201008 meters 0.06739701216265727 Centerline is valid? [True, True] Translation: X:62.54, Y:13.87, Z:-5.06 [[ 9.07242802e-01 -4.17533492e-01 5.07570716e-02 6.25448147e+01] [ 4.16889070e-01 9.08661526e-01 2.31891197e-02 1.38716827e+01] [-5.58032323e-02 1.21906403e-04 9.98441778e-01 -5.05659927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.153201008 meters 0.06765145564946913 Centerline is valid? [True, True] Translation: X:62.57, Y:13.88, Z:-5.06 [[ 9.06936292e-01 -4.18266181e-01 5.01992366e-02 6.25703964e+01] [ 4.17636905e-01 9.08324488e-01 2.29355695e-02 1.38839526e+01] [-5.51903690e-02 1.63953444e-04 9.98475837e-01 -5.06094928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.183201008 meters 0.06794254267298266 Centerline is valid? [True, True] Translation: X:62.60, Y:13.90, Z:-5.06 [[ 9.06723806e-01 -4.18892717e-01 4.87937672e-02 6.25968222e+01] [ 4.18298467e-01 9.08035714e-01 2.23054903e-02 1.38966622e+01] [-5.36500906e-02 1.85438975e-04 9.98559780e-01 -5.06337572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.213201008 meters 0.0682331016695604 Centerline is valid? [True, True] Translation: X:62.62, Y:13.91, Z:-5.07 [[ 9.06502316e-01 -4.19546997e-01 4.72638098e-02 6.26225175e+01] [ 4.18989475e-01 9.07733593e-01 2.16227655e-02 1.39072709e+01] [-5.19747142e-02 2.01951778e-04 9.98648381e-01 -5.06843887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.243201008 meters 0.06854468292571492 Centerline is valid? [True, True] Translation: X:62.65, Y:13.92, Z:-5.07 [[ 9.06371848e-01 -4.20119793e-01 4.46030621e-02 6.26484812e+01] [ 4.19623848e-01 9.07468629e-01 2.04086793e-02 1.39169374e+01] [-4.90499697e-02 2.18656185e-04 9.98796302e-01 -5.07283721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27320100799999 meters 0.06854306237276019 Centerline is valid? [True, True] Translation: X:62.67, Y:13.93, Z:-5.08 [[ 9.06566207e-01 -4.19782947e-01 4.38177007e-02 6.26747853e+01] [ 4.19303846e-01 9.07624504e-01 2.00510532e-02 1.39280448e+01] [-4.81871090e-02 1.95323177e-04 9.98838307e-01 -5.07559551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30320100799999 meters 0.06863590234387597 Centerline is valid? [True, True] Translation: X:62.70, Y:13.94, Z:-5.08 [[ 9.06418027e-01 -4.20158541e-01 4.32800333e-02 6.27012204e+01] [ 4.19691009e-01 9.07450693e-01 1.98165767e-02 1.39397853e+01] [-4.76006001e-02 2.02138474e-04 9.98866429e-01 -5.07891890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33320100799999 meters 0.0688024509294553 Centerline is valid? [True, True] Translation: X:62.73, Y:13.95, Z:-5.08 [[ 9.06226218e-01 -4.20583976e-01 4.31643539e-02 6.27254939e+01] [ 4.20118791e-01 9.07253589e-01 1.97769444e-02 1.39506621e+01] [-4.74788809e-02 2.11770652e-04 9.98872220e-01 -5.08325293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36320100799999 meters 0.06856476431943949 Centerline is valid? [True, True] Translation: X:62.75, Y:13.96, Z:-5.08 [[ 9.06166318e-01 -4.20676324e-01 4.35205086e-02 6.27518504e+01] [ 4.20203170e-01 9.07210772e-01 1.99477084e-02 1.39628795e+01] [-4.78738029e-02 2.11514179e-04 9.98853370e-01 -5.08314542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39320100799999 meters 0.06847740325684386 Centerline is valid? [True, True] Translation: X:62.78, Y:13.98, Z:-5.08 [[ 9.06162053e-01 -4.20508887e-01 4.51952308e-02 6.27779732e+01] [ 4.19997729e-01 9.07288398e-01 2.07285174e-02 1.39757983e+01] [-4.97216343e-02 1.98498351e-04 9.98763095e-01 -5.08472935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42320100799999 meters 0.0683772392407385 Centerline is valid? [True, True] Translation: X:62.80, Y:13.99, Z:-5.09 [[ 9.06184335e-01 -4.20278326e-01 4.68623513e-02 6.28042100e+01] [ 4.19727721e-01 9.07395226e-01 2.15068380e-02 1.39889481e+01] [-5.15615318e-02 1.80268220e-04 9.98669803e-01 -5.08553249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.453201008 meters 0.06810234103778069 Centerline is valid? [True, True] Translation: X:62.83, Y:14.00, Z:-5.09 [[ 9.06227103e-01 -4.20077175e-01 4.78289151e-02 6.28290591e+01] [ 4.19502381e-01 9.07488371e-01 2.19683766e-02 1.40005043e+01] [-5.26325978e-02 1.56005469e-04 9.98613932e-01 -5.08764073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.483201008 meters 0.06802559035595783 Centerline is valid? [True, True] Translation: X:62.85, Y:14.01, Z:-5.09 [[ 9.06679510e-01 -4.18807148e-01 5.03273268e-02 6.28539147e+01] [ 4.18168482e-01 9.08075198e-01 2.31204454e-02 1.40125359e+01] [-5.53840051e-02 8.24677726e-05 9.98465125e-01 -5.08865612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.513201008 meters 0.06781456650613948 Centerline is valid? [True, True] Translation: X:62.88, Y:14.02, Z:-5.09 [[ 9.06598818e-01 -4.18936510e-01 5.07029004e-02 6.28794417e+01] [ 4.18288255e-01 9.08015524e-01 2.32968394e-02 1.40246447e+01] [-5.57989173e-02 8.75406662e-05 9.98442023e-01 -5.08881158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.543201008 meters 0.06795679459920635 Centerline is valid? [True, True] Translation: X:62.91, Y:14.04, Z:-5.09 [[ 9.06598142e-01 -4.18835102e-01 5.15457784e-02 6.29050620e+01] [ 4.18163786e-01 9.08062307e-01 2.37043170e-02 1.40363691e+01] [-5.67349785e-02 6.42881289e-05 9.98389272e-01 -5.09208388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.573201008 meters 0.06762735343073199 Centerline is valid? [True, True] Translation: X:62.93, Y:14.05, Z:-5.09 [[ 9.05950271e-01 -4.20214103e-01 5.17128089e-02 6.29318907e+01] [ 4.19540418e-01 9.07424975e-01 2.37855467e-02 1.40466486e+01] [-5.69205165e-02 1.47090955e-04 9.98378702e-01 -5.09251100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.603201008 meters 0.0675910323348127 Centerline is valid? [True, True] Translation: X:62.96, Y:14.06, Z:-5.09 [[ 9.05335755e-01 -4.21297168e-01 5.36271181e-02 6.29583709e+01] [ 4.20573409e-01 9.06922629e-01 2.46850922e-02 1.40571183e+01] [-5.90354064e-02 2.05843296e-04 9.98255868e-01 -5.09440032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63320100799999 meters 0.06736815464257719 Centerline is valid? [True, True] Translation: X:62.99, Y:14.07, Z:-5.10 [[ 9.05092635e-01 -4.21674422e-01 5.47540336e-02 6.29850224e+01] [ 4.20919625e-01 9.06747282e-01 2.52197555e-02 1.40689673e+01] [-6.02825970e-02 2.20832408e-04 9.98181326e-01 -5.09605212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66320100799999 meters 0.06738338922332562 Centerline is valid? [True, True] Translation: X:63.01, Y:14.08, Z:-5.10 [[ 9.04498091e-01 -4.22775701e-01 5.60705756e-02 6.30116056e+01] [ 4.21985253e-01 9.06234310e-01 2.58422494e-02 1.40803476e+01] [-6.17385545e-02 2.86690770e-04 9.98092315e-01 -5.09807840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69320100799999 meters 0.06741217300728768 Centerline is valid? [True, True] Translation: X:63.04, Y:14.09, Z:-5.10 [[ 9.04976253e-01 -4.21809126e-01 5.56331050e-02 6.30357023e+01] [ 4.21028073e-01 9.06684631e-01 2.56581814e-02 1.40927683e+01] [-6.12645363e-02 2.03054085e-04 9.98121543e-01 -5.10170942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72320100799999 meters 0.06743592210472833 Centerline is valid? [True, True] Translation: X:63.06, Y:14.11, Z:-5.10 [[ 9.05162923e-01 -4.21548233e-01 5.45634524e-02 6.30611711e+01] [ 4.20796168e-01 9.06805964e-01 2.51700096e-02 1.41061887e+01] [-6.00888371e-02 1.77132188e-04 9.98193018e-01 -5.10486416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75320100799999 meters 0.06754041786985147 Centerline is valid? [True, True] Translation: X:63.09, Y:14.12, Z:-5.11 [[ 9.05836865e-01 -4.20189567e-01 5.38544401e-02 6.30853241e+01] [ 4.19453457e-01 9.07436346e-01 2.48611057e-02 1.41193047e+01] [-5.93158536e-02 6.93249997e-05 9.98239262e-01 -5.10942699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78320100799999 meters 0.06749718824663585 Centerline is valid? [True, True] Translation: X:63.11, Y:14.13, Z:-5.11 [[ 9.06129687e-01 -4.19625469e-01 5.33240708e-02 6.31118733e+01] [ 4.18902690e-01 9.07697342e-01 2.46185174e-02 1.41317469e+01] [-5.87326743e-02 3.00272479e-05 9.98273746e-01 -5.11063918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.813201008 meters 0.06733834290457034 Centerline is valid? [True, True] Translation: X:63.14, Y:14.14, Z:-5.11 [[ 9.06313242e-01 -4.19279633e-01 5.29235000e-02 6.31388325e+01] [ 4.18566218e-01 9.07857142e-01 2.44485574e-02 1.41431091e+01] [-5.82977596e-02 -6.06206794e-06 9.98299239e-01 -5.11274260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.843201008 meters 0.06729410107676342 Centerline is valid? [True, True] Translation: X:63.16, Y:14.15, Z:-5.12 [[ 9.05649615e-01 -4.20614083e-01 5.36895580e-02 6.31642540e+01] [ 4.19881089e-01 9.07239654e-01 2.48210010e-02 1.41540880e+01] [-5.91493586e-02 6.41000578e-05 9.98249142e-01 -5.11637995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.873201008 meters 0.06742367684881444 Centerline is valid? [True, True] Translation: X:63.19, Y:14.17, Z:-5.12 [[ 9.05122114e-01 -4.21666839e-01 5.43234403e-02 6.31905795e+01] [ 4.20918156e-01 9.06750826e-01 2.51166582e-02 1.41668349e+01] [-5.98486863e-02 1.32079529e-04 9.98207452e-01 -5.12030127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.903201008 meters 0.06753361703619433 Centerline is valid? [True, True] Translation: X:63.21, Y:14.18, Z:-5.12 [[ 9.04944353e-01 -4.22031756e-01 5.44510368e-02 6.32147608e+01] [ 4.21279141e-01 9.06581037e-01 2.51934128e-02 1.41791836e+01] [-5.99966977e-02 1.40449342e-04 9.98198566e-01 -5.12415333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.933201008 meters 0.06761760216345845 Centerline is valid? [True, True] Translation: X:63.24, Y:14.19, Z:-5.13 [[ 9.04976475e-01 -4.22038909e-01 5.38585050e-02 6.32402424e+01] [ 4.21302303e-01 9.06577708e-01 2.49244535e-02 1.41925428e+01] [-5.93460092e-02 1.34668149e-04 9.98237463e-01 -5.12730848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.963201008 meters 0.06761302353470999 Centerline is valid? [True, True] Translation: X:63.27, Y:14.20, Z:-5.13 [[ 9.05634186e-01 -4.20775387e-01 5.26763170e-02 6.32654815e+01] [ 4.20067640e-01 9.07164854e-01 2.43947837e-02 1.42048745e+01] [-5.80508279e-02 3.48661014e-05 9.98313628e-01 -5.13041401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.993201008 meters 0.06753914529116717 Centerline is valid? [True, True] Translation: X:63.29, Y:14.22, Z:-5.13 [[ 9.05845090e-01 -4.20421528e-01 5.18691819e-02 6.32922889e+01] [ 4.19734638e-01 9.07328903e-01 2.40227859e-02 1.42166181e+01] [-5.71621043e-02 1.03696656e-05 9.98364910e-01 -5.13186195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02320100799999 meters 0.06731072539324717 Centerline is valid? [True, True] Translation: X:63.32, Y:14.23, Z:-5.13 [[ 9.05725719e-01 -4.20720893e-01 5.15252583e-02 6.33184080e+01] [ 4.20042773e-01 9.07190129e-01 2.38775801e-02 1.42280259e+01] [-5.67890026e-02 1.62739858e-05 9.98386202e-01 -5.13398005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05320100799999 meters 0.06719987224955179 Centerline is valid? [True, True] Translation: X:63.34, Y:14.24, Z:-5.14 [[ 9.05582516e-01 -4.20883255e-01 5.27028692e-02 6.33445387e+01] [ 4.20173167e-01 9.07114814e-01 2.44381777e-02 1.42411243e+01] [-5.80931732e-02 1.35449641e-05 9.98311165e-01 -5.13647677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08320100799999 meters 0.06711852564990575 Centerline is valid? [True, True] Translation: X:63.37, Y:14.25, Z:-5.14 [[ 9.05508072e-01 -4.20987218e-01 5.31497288e-02 6.33694973e+01] [ 4.20264401e-01 9.07066570e-01 2.46590950e-02 1.42541501e+01] [-5.85915060e-02 7.92942079e-06 9.98282042e-01 -5.13709441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11320100799999 meters 0.06711825771387711 Centerline is valid? [True, True] Translation: X:63.40, Y:14.27, Z:-5.14 [[ 9.05584074e-01 -4.20735600e-01 5.38427270e-02 6.33953607e+01] [ 4.19992247e-01 9.07183308e-01 2.49991630e-02 1.42679203e+01] [-5.93632610e-02 -2.53159897e-05 9.98236446e-01 -5.13966831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14320100799999 meters 0.0673004978999107 Centerline is valid? [True, True] Translation: X:63.42, Y:14.28, Z:-5.14 [[ 9.05583331e-01 -4.20612914e-01 5.48051786e-02 6.34205640e+01] [ 4.19841359e-01 9.07240196e-01 2.54648796e-02 1.42793872e+01] [-6.04323182e-02 -5.10898104e-05 9.98172296e-01 -5.14291073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17320100799999 meters 0.06687262772880294 Centerline is valid? [True, True] Translation: X:63.45, Y:14.28, Z:-5.14 [[ 9.03542203e-01 -4.25005904e-01 5.46028234e-02 6.34502863e+01] [ 4.24247870e-01 9.05190546e-01 2.53736092e-02 1.42849289e+01] [-6.02098933e-02 2.39004758e-04 9.98185710e-01 -5.14185157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.203201008 meters 0.06672213022052334 Centerline is valid? [True, True] Translation: X:63.48, Y:14.30, Z:-5.15 [[ 9.03405363e-01 -4.25263450e-01 5.48611701e-02 6.34751513e+01] [ 4.24497622e-01 9.05069577e-01 2.55113471e-02 1.42959514e+01] [-6.05022195e-02 2.41348482e-04 9.98168034e-01 -5.14507580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.233201008 meters 0.06677673040527017 Centerline is valid? [True, True] Translation: X:63.50, Y:14.31, Z:-5.15 [[ 9.03492419e-01 -4.25166693e-01 5.41731695e-02 6.35010258e+01] [ 4.24419486e-01 9.05115038e-01 2.51965955e-02 1.43092265e+01] [-5.97457036e-02 2.27215716e-04 9.98213604e-01 -5.14885832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.263201008 meters 0.06694251895158924 Centerline is valid? [True, True] Translation: X:63.53, Y:14.32, Z:-5.15 [[ 9.04322889e-01 -4.23497101e-01 5.33883715e-02 6.35263104e+01] [ 4.22767649e-01 9.05897453e-01 2.48459101e-02 1.43244151e+01] [-5.88865607e-02 1.02151153e-04 9.98264676e-01 -5.15110518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.293201008 meters 0.06694462618835387 Centerline is valid? [True, True] Translation: X:63.55, Y:14.34, Z:-5.15 [[ 9.04822171e-01 -4.22583661e-01 5.21525425e-02 6.35521857e+01] [ 4.21885269e-01 9.06323920e-01 2.42852023e-02 1.43368931e+01] [-5.75296265e-02 2.85999541e-05 9.98343799e-01 -5.15376279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.323201008 meters 0.06687966750309957 Centerline is valid? [True, True] Translation: X:63.58, Y:14.35, Z:-5.16 [[ 9.04898592e-01 -4.22376012e-01 5.25075511e-02 6.35781085e+01] [ 4.21666884e-01 9.06420710e-01 2.44649581e-02 1.43486574e+01] [-5.79273432e-02 2.38939060e-06 9.98320802e-01 -5.15592505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.353201008 meters 0.06691458297581086 Centerline is valid? [True, True] Translation: X:63.60, Y:14.36, Z:-5.16 [[ 9.05002435e-01 -4.22232554e-01 5.18677424e-02 6.36036109e+01] [ 4.21539201e-01 9.06487545e-01 2.41874369e-02 1.43601437e+01] [-5.72301858e-02 -2.54025815e-05 9.98361009e-01 -5.15856742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38320100799999 meters 0.06692806094226154 Centerline is valid? [True, True] Translation: X:63.63, Y:14.37, Z:-5.16 [[ 9.04960642e-01 -4.22364756e-01 5.15194066e-02 6.36297936e+01] [ 4.21680807e-01 9.06425955e-01 2.40267408e-02 1.43721934e+01] [-5.68465758e-02 -1.85098568e-05 9.98382926e-01 -5.16100848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41320100799999 meters 0.06685721845916859 Centerline is valid? [True, True] Translation: X:63.65, Y:14.38, Z:-5.16 [[ 9.04813465e-01 -4.22698139e-01 5.13699942e-02 6.36540275e+01] [ 4.22017837e-01 9.06270535e-01 2.39721265e-02 1.43831820e+01] [-5.66880854e-02 -1.12490468e-05 9.98391937e-01 -5.16250734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44320100799999 meters 0.06685721845916859 Centerline is valid? [True, True] Translation: X:63.68, Y:14.40, Z:-5.16 [[ 9.04702542e-01 -4.22936037e-01 5.13655437e-02 6.36789596e+01] [ 4.22255576e-01 9.06159538e-01 2.39816581e-02 1.43950267e+01] [-5.66880848e-02 -6.87980058e-06 9.98391938e-01 -5.16463821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47320100799999 meters 0.06673041911822995 Centerline is valid? [True, True] Translation: X:63.70, Y:14.41, Z:-5.17 [[ 9.04944235e-01 -4.22361370e-01 5.18343918e-02 6.37042920e+01] [ 4.21666515e-01 9.06427531e-01 2.42173543e-02 1.44078773e+01] [-5.72125947e-02 -5.85277888e-05 9.98362016e-01 -5.16655104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50320100799999 meters 0.06662402497427658 Centerline is valid? [True, True] Translation: X:63.73, Y:14.42, Z:-5.17 [[ 9.04862188e-01 -4.22506917e-01 5.20799924e-02 6.37295035e+01] [ 4.21804729e-01 9.06359697e-01 2.43489033e-02 1.44209867e+01] [-5.74907862e-02 -6.48147852e-05 9.98346035e-01 -5.16926900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53320100799999 meters 0.06671217182922892 Centerline is valid? [True, True] Translation: X:63.76, Y:14.43, Z:-5.17 [[ 9.02251063e-01 -4.27787767e-01 5.42277188e-02 6.37571259e+01] [ 4.27034611e-01 9.03879172e-01 2.53748634e-02 1.44285673e+01] [-5.98703617e-02 2.62615331e-04 9.98206126e-01 -5.17120664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.563201008 meters 0.06659186099499895 Centerline is valid? [True, True] Translation: X:63.78, Y:14.44, Z:-5.17 [[ 9.01108617e-01 -4.30218717e-01 5.39918143e-02 6.37845360e+01] [ 4.29476310e-01 9.02724587e-01 2.52669754e-02 1.44384373e+01] [-5.96100640e-02 4.19915891e-04 9.98221651e-01 -5.17275149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.593201008 meters 0.06677327877564114 Centerline is valid? [True, True] Translation: X:63.81, Y:14.45, Z:-5.18 [[ 9.00226759e-01 -4.32113940e-01 5.35660878e-02 6.38119986e+01] [ 4.31385690e-01 9.01818864e-01 2.50823209e-02 1.44486877e+01] [-5.91453289e-02 5.27867302e-04 9.98249243e-01 -5.17553747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.623201008 meters 0.06646424796114256 Centerline is valid? [True, True] Translation: X:63.84, Y:14.46, Z:-5.18 [[ 9.00139750e-01 -4.32339628e-01 5.32059802e-02 6.38386574e+01] [ 4.31620716e-01 9.01710690e-01 2.49276822e-02 1.44600366e+01] [-5.87536260e-02 5.26405606e-04 9.98272375e-01 -5.17695786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.653201008 meters 0.06641709774619234 Centerline is valid? [True, True] Translation: X:63.86, Y:14.47, Z:-5.18 [[ 9.00366518e-01 -4.31684189e-01 5.46707753e-02 6.38631756e+01] [ 4.30922714e-01 9.02024684e-01 2.56336465e-02 1.44727220e+01] [-6.03800288e-02 4.79201812e-04 9.98175347e-01 -5.17965885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.683201008 meters 0.06607290216521468 Centerline is valid? [True, True] Translation: X:63.89, Y:14.49, Z:-5.18 [[ 9.01196100e-01 -4.29873262e-01 5.52681379e-02 6.38876178e+01] [ 4.29091453e-01 9.02889168e-01 2.59166979e-02 1.44888959e+01] [-6.10418985e-02 3.59058534e-04 9.98135140e-01 -5.18086322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.713201008 meters 0.06596894256735882 Centerline is valid? [True, True] Translation: X:63.91, Y:14.50, Z:-5.18 [[ 9.02099808e-01 -4.28057141e-01 5.46170263e-02 6.39108281e+01] [ 4.27289487e-01 9.03751645e-01 2.56253622e-02 1.45043208e+01] [-6.03293466e-02 2.20646796e-04 9.98178502e-01 -5.18343049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.743201008 meters 0.0659304589991196 Centerline is valid? [True, True] Translation: X:63.93, Y:14.52, Z:-5.19 [[ 9.02991631e-01 -4.26119647e-01 5.50287244e-02 6.39342026e+01] [ 4.25335691e-01 9.04666812e-01 2.58361848e-02 1.45212850e+01] [-6.07919666e-02 7.58218936e-05 9.98150455e-01 -5.18730742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77320100799999 meters 0.06582931214464857 Centerline is valid? [True, True] Translation: X:63.96, Y:14.53, Z:-5.19 [[ 9.03374510e-01 -4.25362262e-01 5.46025676e-02 6.39596318e+01] [ 4.24588151e-01 9.05023174e-01 2.56506584e-02 1.45347013e+01] [-6.03274111e-02 1.14522218e-05 9.98178643e-01 -5.18960496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80320100799999 meters 0.06576413097679337 Centerline is valid? [True, True] Translation: X:63.99, Y:14.55, Z:-5.19 [[ 9.03681333e-01 -4.24833803e-01 5.36310337e-02 6.39858678e+01] [ 4.24085255e-01 9.05271362e-01 2.52082899e-02 1.45472892e+01] [-5.92599726e-02 -3.61303848e-05 9.98242583e-01 -5.19047536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83320100799999 meters 0.0656153359141059 Centerline is valid? [True, True] Translation: X:64.01, Y:14.56, Z:-5.20 [[ 9.03866985e-01 -4.24516284e-01 5.30131954e-02 6.40106439e+01] [ 4.23783339e-01 9.05420300e-01 2.49351650e-02 1.45583664e+01] [-5.85846069e-02 -7.19634064e-05 9.98282444e-01 -5.19505090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86320100799999 meters 0.06543467910729628 Centerline is valid? [True, True] Translation: X:64.04, Y:14.57, Z:-5.19 [[ 9.03602533e-01 -4.25266760e-01 5.14844215e-02 6.40377059e+01] [ 4.24576572e-01 9.05068054e-01 2.42188369e-02 1.45689887e+01] [-5.68963715e-02 -2.51232245e-05 9.98380089e-01 -5.19424971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89320100799999 meters 0.06544237627977663 Centerline is valid? [True, True] Translation: X:64.06, Y:14.58, Z:-5.20 [[ 9.03360893e-01 -4.25844518e-01 5.09464820e-02 6.40639868e+01] [ 4.25168592e-01 9.04796356e-01 2.39837861e-02 1.45793605e+01] [-5.63095551e-02 -5.17041188e-06 9.98413358e-01 -5.19728023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92320100799999 meters 0.06535324074293884 Centerline is valid? [True, True] Translation: X:64.09, Y:14.59, Z:-5.20 [[ 9.02855499e-01 -4.27018071e-01 5.00750841e-02 6.40897230e+01] [ 4.26366665e-01 9.04243088e-01 2.35776139e-02 1.45903274e+01] [-5.53481159e-02 6.31682772e-05 9.98467116e-01 -5.20227961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.953201008 meters 0.06539406303297503 Centerline is valid? [True, True] Translation: X:64.12, Y:14.60, Z:-5.21 [[ 9.02325077e-01 -4.28167118e-01 4.98234246e-02 6.41156028e+01] [ 4.27523732e-01 9.03699564e-01 2.34639284e-02 1.46026372e+01] [-5.50718897e-02 1.28605460e-04 9.98482384e-01 -5.20525809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.983201008 meters 0.06530449779085698 Centerline is valid? [True, True] Translation: X:64.14, Y:14.61, Z:-5.21 [[ 9.01735743e-01 -4.29446599e-01 4.94799892e-02 6.41418220e+01] [ 4.28813230e-01 9.03092233e-01 2.33159186e-02 1.46143133e+01] [-5.46979359e-02 1.92876831e-04 9.98502929e-01 -5.20715724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.013201008 meters 0.06493143292137721 Centerline is valid? [True, True] Translation: X:64.17, Y:14.62, Z:-5.21 [[ 9.01166946e-01 -4.30428023e-01 5.12820910e-02 6.41678743e+01] [ 4.29748164e-01 9.02624871e-01 2.41838342e-02 1.46247556e+01] [-5.66978907e-02 2.44712441e-04 9.98391351e-01 -5.20809210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.043201008 meters 0.06448766433301217 Centerline is valid? [True, True] Translation: X:64.19, Y:14.64, Z:-5.21 [[ 9.01786487e-01 -4.29117081e-01 5.13776452e-02 6.41930599e+01] [ 4.28432498e-01 9.03248861e-01 2.42299359e-02 1.46370323e+01] [-5.68042789e-02 1.61624089e-04 9.98385320e-01 -5.20760783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.073201008 meters 0.0641363717970237 Centerline is valid? [True, True] Translation: X:64.22, Y:14.65, Z:-5.21 [[ 9.02469486e-01 -4.27672616e-01 5.14291840e-02 6.42173531e+01] [ 4.26983206e-01 9.03933698e-01 2.42736700e-02 1.46491007e+01] [-5.68697565e-02 5.31513535e-05 9.98381604e-01 -5.20937581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.103201008 meters 0.06409156254173079 Centerline is valid? [True, True] Translation: X:64.24, Y:14.67, Z:-5.21 [[ 9.04772708e-01 -4.22892464e-01 5.04807916e-02 6.42404497e+01] [ 4.22220446e-01 9.06179840e-01 2.38326152e-02 1.46673747e+01] [-5.58233090e-02 -2.49077423e-04 9.98440632e-01 -5.21141380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13320100799999 meters 0.06410612197316454 Centerline is valid? [True, True] Translation: X:64.26, Y:14.68, Z:-5.21 [[ 9.05132222e-01 -4.22128683e-01 5.04285225e-02 6.42642239e+01] [ 4.21456135e-01 9.06535868e-01 2.38211216e-02 1.46821376e+01] [-5.57708431e-02 -3.07854563e-04 9.98443548e-01 -5.21353326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16320100799999 meters 0.06422834807776696 Centerline is valid? [True, True] Translation: X:64.29, Y:14.70, Z:-5.22 [[ 9.04888998e-01 -4.22697700e-01 5.00255569e-02 6.42889962e+01] [ 4.22035794e-01 9.06270695e-01 2.36477484e-02 1.46970178e+01] [-5.53325451e-02 -2.86011691e-04 9.98467940e-01 -5.21837082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19320100799999 meters 0.06447240444965228 Centerline is valid? [True, True] Translation: X:64.31, Y:14.71, Z:-5.22 [[ 9.05172944e-01 -4.22147174e-01 4.95348902e-02 6.43135715e+01] [ 4.21496589e-01 9.06527250e-01 2.34301226e-02 1.47114811e+01] [-5.47956878e-02 -3.29525837e-04 9.98497533e-01 -5.22270441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22320100799999 meters 0.06439768500427742 Centerline is valid? [True, True] Translation: X:64.34, Y:14.72, Z:-5.23 [[ 9.04832633e-01 -4.22904208e-01 4.92943857e-02 6.43371575e+01] [ 4.22260205e-01 9.06174345e-01 2.33318768e-02 1.47236868e+01] [-5.45364566e-02 -2.96386098e-04 9.98511736e-01 -5.22718086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25320100799999 meters 0.06401572957876947 Centerline is valid? [True, True] Translation: X:64.36, Y:14.73, Z:-5.23 [[ 9.03596865e-01 -4.25312153e-01 5.12081934e-02 6.43641243e+01] [ 4.24620705e-01 9.05046710e-01 2.42427416e-02 1.47341313e+01] [-5.66565396e-02 -1.61606114e-04 9.98393715e-01 -5.22589705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28320100799999 meters 0.06382788771539731 Centerline is valid? [True, True] Translation: X:64.39, Y:14.74, Z:-5.23 [[ 9.03002056e-01 -4.26616312e-01 5.08508583e-02 6.43907149e+01] [ 4.25935781e-01 9.04432703e-01 2.40872700e-02 1.47445910e+01] [-5.62672015e-02 -9.16542777e-05 9.98415742e-01 -5.22725849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.313201008 meters 0.06339844027632405 Centerline is valid? [True, True] Translation: X:64.42, Y:14.75, Z:-5.23 [[ 9.02603113e-01 -4.27532031e-01 5.02392564e-02 6.44178081e+01] [ 4.26868273e-01 9.04000199e-01 2.38142259e-02 1.47546860e+01] [-5.55976422e-02 -4.92498346e-05 9.98453254e-01 -5.22841452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.343201008 meters 0.06304572555863996 Centerline is valid? [True, True] Translation: X:64.45, Y:14.76, Z:-5.23 [[ 9.01899778e-01 -4.28920437e-01 5.10298945e-02 6.44450665e+01] [ 4.28236997e-01 9.03342271e-01 2.42036357e-02 1.47645594e+01] [-5.64788948e-02 2.36351128e-05 9.98403793e-01 -5.22974135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.373201008 meters 0.06252319086773468 Centerline is valid? [True, True] Translation: X:64.47, Y:14.77, Z:-5.23 [[ 9.01525375e-01 -4.29717697e-01 5.09381882e-02 6.44707576e+01] [ 4.29037079e-01 9.02963287e-01 2.41761791e-02 1.47738961e+01] [-5.63842459e-02 5.89325169e-05 9.98409141e-01 -5.23184055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.403201008 meters 0.062379056324799745 Centerline is valid? [True, True] Translation: X:64.50, Y:14.79, Z:-5.23 [[ 9.01480260e-01 -4.29794672e-01 5.10869862e-02 6.44961990e+01] [ 4.29109819e-01 9.02926651e-01 2.42533945e-02 1.47857804e+01] [-5.65517811e-02 5.79710311e-05 9.98399666e-01 -5.23464673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.433201008 meters 0.06250376583776679 Centerline is valid? [True, True] Translation: X:64.52, Y:14.80, Z:-5.24 [[ 9.01177723e-01 -4.30381353e-01 5.14840037e-02 6.45215314e+01] [ 4.29685825e-01 9.02647154e-01 2.44582760e-02 1.47984907e+01] [-5.69982753e-02 8.06931411e-05 9.98374274e-01 -5.23816227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.463201008 meters 0.062478621991651474 Centerline is valid? [True, True] Translation: X:64.55, Y:14.81, Z:-5.24 [[ 9.00089942e-01 -4.32718588e-01 5.09187567e-02 6.45481348e+01] [ 4.32041063e-01 9.01529023e-01 2.42062024e-02 1.48090101e+01] [-5.63792107e-02 2.11234467e-04 9.98409405e-01 -5.24103843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.493201008 meters 0.06256335794513083 Centerline is valid? [True, True] Translation: X:64.57, Y:14.82, Z:-5.24 [[ 8.99352758e-01 -4.34388633e-01 4.97104822e-02 6.45744692e+01] [ 4.33744728e-01 9.00725501e-01 2.36449379e-02 1.48200396e+01] [-5.50465913e-02 2.96519446e-04 9.98483743e-01 -5.24485758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52320100799999 meters 0.06303541776706381 Centerline is valid? [True, True] Translation: X:64.60, Y:14.83, Z:-5.25 [[ 8.98524339e-01 -4.36405465e-01 4.69497825e-02 6.46002729e+01] [ 4.35833139e-01 8.99750034e-01 2.23461910e-02 1.48307025e+01] [-5.19950682e-02 3.83674595e-04 9.98647268e-01 -5.25146530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55320100799999 meters 0.06299555486870256 Centerline is valid? [True, True] Translation: X:64.63, Y:14.84, Z:-5.25 [[ 8.98512704e-01 -4.36527669e-01 4.60273226e-02 6.46262163e+01] [ 4.35977579e-01 8.99690753e-01 2.19112029e-02 1.48438710e+01] [-5.09752029e-02 3.79386449e-04 9.98699847e-01 -5.25408370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58320100799999 meters 0.06317092216482582 Centerline is valid? [True, True] Translation: X:64.65, Y:14.86, Z:-5.26 [[ 8.98491365e-01 -4.36638885e-01 4.53844891e-02 6.46513704e+01] [ 4.36103391e-01 8.99636788e-01 2.16213261e-02 1.48558892e+01] [-5.02702677e-02 3.65754780e-04 9.98735584e-01 -5.25717508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61320100799999 meters 0.06267229100988997 Centerline is valid? [True, True] Translation: X:64.68, Y:14.87, Z:-5.26 [[ 8.98622666e-01 -4.36472630e-01 4.43728266e-02 6.46767911e+01] [ 4.35960594e-01 8.99717467e-01 2.11385720e-02 1.48699186e+01] [-4.91494153e-02 3.49203945e-04 9.98791376e-01 -5.25551465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64320100799999 meters 0.0629109430526766 Centerline is valid? [True, True] Translation: X:64.70, Y:14.88, Z:-5.26 [[ 8.98480343e-01 -4.36778022e-01 4.42496556e-02 6.47006559e+01] [ 4.36268458e-01 8.99569250e-01 2.10949452e-02 1.48810938e+01] [-4.90194380e-02 3.51335350e-04 9.98797763e-01 -5.26007527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67320100799999 meters 0.06275557803065746 Centerline is valid? [True, True] Translation: X:64.73, Y:14.89, Z:-5.26 [[ 8.98461127e-01 -4.36841394e-01 4.40136240e-02 6.47258795e+01] [ 4.36337110e-01 8.99538479e-01 2.09869513e-02 1.48939112e+01] [-4.87599174e-02 3.48817593e-04 9.98810467e-01 -5.26030164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.703201008 meters 0.06293828225894121 Centerline is valid? [True, True] Translation: X:64.75, Y:14.90, Z:-5.27 [[ 8.98072710e-01 -4.37515922e-01 4.52241666e-02 6.47519757e+01] [ 4.36983536e-01 8.99210583e-01 2.15804607e-02 1.49042783e+01] [-5.01078443e-02 3.81393427e-04 9.98743740e-01 -5.26710904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.733201008 meters 0.062330756586397015 Centerline is valid? [True, True] Translation: X:64.78, Y:14.92, Z:-5.26 [[ 8.97054895e-01 -4.39488801e-01 4.62829267e-02 6.47792551e+01] [ 4.38933123e-01 8.98247935e-01 2.20988842e-02 1.49167400e+01] [-5.12857555e-02 4.91197343e-04 9.98683899e-01 -5.26130541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.763201008 meters 0.06255199570070989 Centerline is valid? [True, True] Translation: X:64.80, Y:14.93, Z:-5.26 [[ 8.96264079e-01 -4.41018727e-01 4.70444891e-02 6.48046279e+01] [ 4.40445847e-01 8.97497718e-01 2.24789337e-02 1.49262789e+01] [-5.21359523e-02 5.73489039e-04 9.98639832e-01 -5.26454810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.793201008 meters 0.06219621619386351 Centerline is valid? [True, True] Translation: X:64.83, Y:14.94, Z:-5.26 [[ 8.95958995e-01 -4.41586479e-01 4.75274760e-02 6.48297148e+01] [ 4.41002330e-01 8.97218486e-01 2.27141633e-02 1.49386752e+01] [-5.26727974e-02 6.08768758e-04 9.98611639e-01 -5.26314302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.823201008 meters 0.062347305748209916 Centerline is valid? [True, True] Translation: X:64.86, Y:14.95, Z:-5.27 [[ 8.96064172e-01 -4.41428460e-01 4.70097257e-02 6.48550612e+01] [ 4.40855680e-01 8.97296264e-01 2.24874324e-02 1.49499274e+01] [-5.21082439e-02 5.74322115e-04 9.98641277e-01 -5.26660003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.853201008 meters 0.06213094917537771 Centerline is valid? [True, True] Translation: X:64.88, Y:14.96, Z:-5.27 [[ 8.96337569e-01 -4.40891452e-01 4.68368342e-02 6.48789834e+01] [ 4.40322160e-01 8.97560268e-01 2.24044793e-02 1.49642473e+01] [-5.19168248e-02 5.41319515e-04 9.98651266e-01 -5.26756987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88320100799999 meters 0.06208842593673051 Centerline is valid? [True, True] Translation: X:64.90, Y:14.98, Z:-5.27 [[ 8.96998008e-01 -4.39702786e-01 4.53435082e-02 6.49036838e+01] [ 4.39166967e-01 8.98143231e-01 2.17051110e-02 1.49788660e+01] [-5.02687627e-02 4.43929680e-04 9.98735628e-01 -5.26993719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91320100799999 meters 0.062225313183815606 Centerline is valid? [True, True] Translation: X:64.93, Y:14.99, Z:-5.27 [[ 8.97659101e-01 -4.38425131e-01 4.46267007e-02 6.49287241e+01] [ 4.37903942e-01 8.98767644e-01 2.13742681e-02 1.49941324e+01] [-4.94800509e-02 3.55401856e-04 9.98775049e-01 -5.27383906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94320100799999 meters 0.0621250590647073 Centerline is valid? [True, True] Translation: X:64.95, Y:15.01, Z:-5.28 [[ 8.99037976e-01 -4.35683289e-01 4.37125832e-02 6.49508553e+01] [ 4.35179248e-01 9.00100015e-01 2.09519631e-02 1.50122204e+01] [-4.84741171e-02 1.86198574e-04 9.98824422e-01 -5.27700805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97320100799999 meters 0.06207765203210343 Centerline is valid? [True, True] Translation: X:64.97, Y:15.03, Z:-5.28 [[ 8.99951410e-01 -4.33802360e-01 4.36230781e-02 6.49740336e+01] [ 4.33298097e-01 9.01008050e-01 2.09106060e-02 1.50284069e+01] [-4.83758147e-02 8.32673626e-05 9.98829201e-01 -5.27838454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00320100799999 meters 0.06207023209999018 Centerline is valid? [True, True] Translation: X:65.00, Y:15.04, Z:-5.28 [[ 9.00711370e-01 -4.32235858e-01 4.34878243e-02 6.49969149e+01] [ 4.31732241e-01 9.01760590e-01 2.08592773e-02 1.50446809e+01] [-4.82317337e-02 -1.30923448e-05 9.98836173e-01 -5.28038856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03320100799999 meters 0.0621173640753385 Centerline is valid? [True, True] Translation: X:65.02, Y:15.06, Z:-5.28 [[ 9.02178878e-01 -4.29109463e-01 4.40265910e-02 6.50196022e+01] [ 4.28588862e-01 9.03252473e-01 2.11318996e-02 1.50633409e+01] [-4.88350253e-02 -1.95446924e-04 9.98806839e-01 -5.28204978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.063201008 meters 0.06214101399463411 Centerline is valid? [True, True] Translation: X:65.04, Y:15.08, Z:-5.28 [[ 9.02651199e-01 -4.28129012e-01 4.38903285e-02 6.50446346e+01] [ 4.27609718e-01 9.03717589e-01 2.10819561e-02 1.50777723e+01] [-4.86902589e-02 -2.61721990e-04 9.98813892e-01 -5.28299534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.093201008 meters 0.06220766814675615 Centerline is valid? [True, True] Translation: X:65.07, Y:15.09, Z:-5.28 [[ 9.03033125e-01 -4.27273418e-01 4.43689232e-02 6.50691154e+01] [ 4.26740847e-01 9.04122403e-01 2.13290863e-02 1.50910293e+01] [-4.92282890e-02 -3.26839646e-04 9.98787499e-01 -5.28443344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.123201008 meters 0.06198229425525719 Centerline is valid? [True, True] Translation: X:65.10, Y:15.10, Z:-5.28 [[ 9.03191625e-01 -4.26881018e-01 4.49164284e-02 6.50956643e+01] [ 4.26334648e-01 9.04307731e-01 2.15939028e-02 1.51037622e+01] [-4.98363006e-02 -3.54002527e-04 9.98757337e-01 -5.28342850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.153201008 meters 0.06141293938680194 Centerline is valid? [True, True] Translation: X:65.12, Y:15.11, Z:-5.28 [[ 9.02630471e-01 -4.27919764e-01 4.62915542e-02 6.51222535e+01] [ 4.27339818e-01 9.03816669e-01 2.22735042e-02 1.51134144e+01] [-5.13703510e-02 -3.22519262e-04 9.98679620e-01 -5.28301151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.183201008 meters 0.06125632200635783 Centerline is valid? [True, True] Translation: X:65.15, Y:15.12, Z:-5.29 [[ 9.01913779e-01 -4.29357479e-01 4.69434731e-02 6.51487535e+01] [ 4.28762974e-01 9.03134594e-01 2.25879960e-02 1.51246046e+01] [-5.20945996e-02 -2.44801736e-04 9.98642124e-01 -5.28514345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.213201008 meters 0.061173944445755864 Centerline is valid? [True, True] Translation: X:65.17, Y:15.14, Z:-5.29 [[ 9.01066643e-01 -4.31089694e-01 4.73347719e-02 6.51740848e+01] [ 4.30486682e-01 9.02309065e-01 2.27940250e-02 1.51353826e+01] [-5.25368631e-02 -1.61946695e-04 9.98618972e-01 -5.28750809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.243201008 meters 0.061310668508273165 Centerline is valid? [True, True] Translation: X:65.20, Y:15.15, Z:-5.29 [[ 8.99931979e-01 -4.33464465e-01 4.72333666e-02 6.52002032e+01] [ 4.32867313e-01 9.01170659e-01 2.27449352e-02 1.51452574e+01] [-5.24244453e-02 -2.31140575e-05 9.98624893e-01 -5.28963793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27320100799999 meters 0.06123891798960182 Centerline is valid? [True, True] Translation: X:65.23, Y:15.15, Z:-5.29 [[ 8.98738346e-01 -4.36063774e-01 4.60192409e-02 6.52272915e+01] [ 4.35499350e-01 8.99915759e-01 2.21797850e-02 1.51545474e+01] [-5.10852408e-02 1.07526231e-04 9.98694291e-01 -5.29107401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30320100799999 meters 0.061543909557372406 Centerline is valid? [True, True] Translation: X:65.25, Y:15.16, Z:-5.30 [[ 8.97093092e-01 -4.39586172e-01 4.45867942e-02 6.52544346e+01] [ 4.39060505e-01 8.98200373e-01 2.14933232e-02 1.51611159e+01] [-4.94960429e-02 2.94788617e-04 9.98774276e-01 -5.29508347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33320100799999 meters 0.061543909557372406 Centerline is valid? [True, True] Translation: X:65.28, Y:15.17, Z:-5.30 [[ 8.96979487e-01 -4.39817962e-01 4.45865485e-02 6.52792177e+01] [ 4.39292555e-01 8.98086892e-01 2.14938348e-02 1.51732694e+01] [-4.94959694e-02 3.07009935e-04 9.98774276e-01 -5.29722049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36320100799999 meters 0.06124689789633465 Centerline is valid? [True, True] Translation: X:65.30, Y:15.19, Z:-5.29 [[ 8.96298876e-01 -4.41142761e-01 4.51817281e-02 6.53047766e+01] [ 4.40604192e-01 8.97436864e-01 2.17949703e-02 1.51856077e+01] [-5.01624417e-02 3.72451401e-04 9.98741003e-01 -5.29491026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39320100799999 meters 0.06134549843975352 Centerline is valid? [True, True] Translation: X:65.33, Y:15.20, Z:-5.30 [[ 8.96115176e-01 -4.41505862e-01 4.52787563e-02 6.53299902e+01] [ 4.40964425e-01 8.97258287e-01 2.18619139e-02 1.51956592e+01] [-5.02789025e-02 3.75527896e-04 9.98735146e-01 -5.29779228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42320100799999 meters 0.06132791875552131 Centerline is valid? [True, True] Translation: X:65.36, Y:15.21, Z:-5.30 [[ 8.95653427e-01 -4.42412369e-01 4.55657180e-02 6.53551452e+01] [ 4.41865089e-01 8.96811638e-01 2.20029489e-02 1.52072747e+01] [-5.05982429e-02 4.26883472e-04 9.98718997e-01 -5.29941461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.453201008 meters 0.061251884128970764 Centerline is valid? [True, True] Translation: X:65.38, Y:15.22, Z:-5.30 [[ 8.95337494e-01 -4.42980425e-01 4.62505646e-02 6.53805028e+01] [ 4.42416472e-01 8.96531170e-01 2.23500755e-02 1.52202124e+01] [-5.13657188e-02 4.51151056e-04 9.98679808e-01 -5.30180048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.483201008 meters 0.061661233651521985 Centerline is valid? [True, True] Translation: X:65.41, Y:15.23, Z:-5.31 [[ 8.93660255e-01 -4.46355839e-01 4.62364882e-02 6.54060277e+01] [ 4.45795828e-01 8.94855334e-01 2.23609120e-02 1.52316732e+01] [-5.13558917e-02 6.28975191e-04 9.98680217e-01 -5.30530039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.513201008 meters 0.06178029045387824 Centerline is valid? [True, True] Translation: X:65.43, Y:15.24, Z:-5.31 [[ 8.93074390e-01 -4.47569450e-01 4.58227178e-02 6.54323279e+01] [ 4.47021010e-01 8.94248907e-01 2.21609566e-02 1.52444602e+01] [-5.08954825e-02 6.92334838e-04 9.98703745e-01 -5.30698770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.543201008 meters 0.0623052682093295 Centerline is valid? [True, True] Translation: X:65.46, Y:15.25, Z:-5.31 [[ 8.91328798e-01 -4.51151113e-01 4.46726661e-02 6.54593799e+01] [ 4.50633741e-01 8.92447157e-01 2.16172000e-02 1.52547270e+01] [-4.96206177e-02 8.62977742e-04 9.98767766e-01 -5.30891378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.573201008 meters 0.06261329764304573 Centerline is valid? [True, True] Translation: X:65.49, Y:15.26, Z:-5.31 [[ 8.90442152e-01 -4.52894503e-01 4.47140081e-02 6.54852737e+01] [ 4.52377503e-01 8.91563613e-01 2.16545549e-02 1.52644158e+01] [-4.96726114e-02 9.45482881e-04 9.98765106e-01 -5.31051603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.603201008 meters 0.06333268778334991 Centerline is valid? [True, True] Translation: X:65.51, Y:15.27, Z:-5.31 [[ 8.89448526e-01 -4.54998167e-01 4.31043784e-02 6.55122430e+01] [ 4.54520064e-01 8.90491788e-01 2.08779249e-02 1.52733015e+01] [-4.78835125e-02 1.02196530e-03 9.98852404e-01 -5.31300171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63320100799999 meters 0.06325608228814758 Centerline is valid? [True, True] Translation: X:65.54, Y:15.29, Z:-5.31 [[ 8.88991433e-01 -4.55899281e-01 4.30125314e-02 6.55382001e+01] [ 4.55424132e-01 8.90030736e-01 2.08362514e-02 1.52869743e+01] [-4.77817070e-02 1.06569582e-03 9.98857233e-01 -5.31426235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66320100799999 meters 0.06338176879047358 Centerline is valid? [True, True] Translation: X:65.56, Y:15.30, Z:-5.32 [[ 8.87936051e-01 -4.58210933e-01 4.01535727e-02 6.55631516e+01] [ 4.57798785e-01 8.88842802e-01 1.94614014e-02 1.53025273e+01] [-4.46076409e-02 1.10177690e-03 9.99003976e-01 -5.31557646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69320100799999 meters 0.06509925000053879 Centerline is valid? [True, True] Translation: X:65.59, Y:15.31, Z:-5.32 [[ 8.87172727e-01 -4.59684262e-01 4.01862196e-02 6.55892540e+01] [ 4.59272220e-01 8.88081657e-01 1.94935688e-02 1.53119008e+01] [-4.46495313e-02 1.16225168e-03 9.99002036e-01 -5.32296899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72320100799999 meters 0.06521523411852385 Centerline is valid? [True, True] Translation: X:65.61, Y:15.32, Z:-5.32 [[ 8.86147882e-01 -4.61712803e-01 3.95375569e-02 6.56146045e+01] [ 4.61315852e-01 8.87028605e-01 1.91817299e-02 1.53249692e+01] [-4.39273942e-02 1.24145242e-03 9.99033955e-01 -5.32457676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75320100799999 meters 0.0650384588402973 Centerline is valid? [True, True] Translation: X:65.64, Y:15.34, Z:-5.32 [[ 8.84562739e-01 -4.64706703e-01 3.99554856e-02 6.56405035e+01] [ 4.64304283e-01 8.85463557e-01 1.93861164e-02 1.53380571e+01] [-4.43879847e-02 1.40326688e-03 9.99013382e-01 -5.32328109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78320100799999 meters 0.06593640216069857 Centerline is valid? [True, True] Translation: X:65.67, Y:15.35, Z:-5.32 [[ 8.82196842e-01 -4.69108816e-01 4.08123812e-02 6.56672456e+01] [ 4.68692923e-01 8.83138840e-01 1.98174786e-02 1.53489559e+01] [-4.53395529e-02 1.64555720e-03 9.98970278e-01 -5.32277989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.813201008 meters 0.0670266651961767 Centerline is valid? [True, True] Translation: X:65.69, Y:15.36, Z:-5.32 [[ 8.81184015e-01 -4.70909750e-01 4.19373300e-02 6.56938148e+01] [ 4.70472288e-01 8.82179597e-01 2.03711935e-02 1.53584940e+01] [-4.65892505e-02 1.77958147e-03 9.98912546e-01 -5.32483503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.843201008 meters 0.06485918226773611 Centerline is valid? [True, True] Translation: X:65.72, Y:15.38, Z:-5.32 [[ 8.80384835e-01 -4.72278254e-01 4.33104328e-02 6.57170967e+01] [ 4.71813395e-01 8.81447438e-01 2.10364881e-02 1.53765875e+01] [-4.81109459e-02 1.91423723e-03 9.98840164e-01 -5.32025976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.873201008 meters 0.06802585269031859 Centerline is valid? [True, True] Translation: X:65.74, Y:15.38, Z:-5.33 [[ 8.80334930e-01 -4.72359304e-01 4.34407641e-02 6.57442178e+01] [ 4.71890835e-01 8.81404021e-01 2.11185201e-02 1.53808850e+01] [-4.82643936e-02 1.90792755e-03 9.98832773e-01 -5.32642851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.903201008 meters 0.06480141957494626 Centerline is valid? [True, True] Translation: X:65.77, Y:15.40, Z:-5.32 [[ 8.80774840e-01 -4.71553101e-01 4.32822662e-02 6.57663150e+01] [ 4.71086866e-01 8.81835721e-01 2.10457939e-02 1.54027215e+01] [-4.80920578e-02 1.85310137e-03 9.98841189e-01 -5.32174175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.933201008 meters 0.06369445517817973 Centerline is valid? [True, True] Translation: X:65.79, Y:15.42, Z:-5.32 [[ 8.83147333e-01 -4.67050028e-01 4.37614014e-02 6.57878915e+01] [ 4.66567135e-01 8.84229423e-01 2.12940275e-02 1.54231401e+01] [-4.86404949e-02 1.61186813e-03 9.98815050e-01 -5.32383516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.963201008 meters 0.06505179744867716 Centerline is valid? [True, True] Translation: X:65.81, Y:15.43, Z:-5.33 [[ 8.84271815e-01 -4.64819141e-01 4.47942426e-02 6.58132283e+01] [ 4.64309848e-01 8.85404353e-01 2.18058922e-02 1.54348541e+01] [-4.97968134e-02 1.51607206e-03 9.98758218e-01 -5.33128202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.993201008 meters 0.06378048189771383 Centerline is valid? [True, True] Translation: X:65.84, Y:15.45, Z:-5.33 [[ 8.85917843e-01 -4.61654600e-01 4.49956179e-02 6.58365362e+01] [ 4.61136456e-01 8.87058753e-01 2.19074600e-02 1.54536045e+01] [-5.00274364e-02 1.34091006e-03 9.98746944e-01 -5.33241751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02320100799999 meters 0.062330726542555205 Centerline is valid? [True, True] Translation: X:65.86, Y:15.47, Z:-5.33 [[ 8.87158468e-01 -4.59317457e-01 4.44671454e-02 6.58592579e+01] [ 4.58807952e-01 8.88271394e-01 2.16608926e-02 1.54727011e+01] [-4.94481193e-02 1.18523559e-03 9.98775990e-01 -5.33175575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05320100799999 meters 0.06223439415332766 Centerline is valid? [True, True] Translation: X:65.88, Y:15.49, Z:-5.34 [[ 8.88802612e-01 -4.56303423e-01 4.26274997e-02 6.58813625e+01] [ 4.55830992e-01 8.89823726e-01 2.07808463e-02 1.54910723e+01] [-4.74133319e-02 9.60865000e-04 9.98874893e-01 -5.33619853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08320100799999 meters 0.06225727654447968 Centerline is valid? [True, True] Translation: X:65.91, Y:15.51, Z:-5.34 [[ 8.89323857e-01 -4.55378109e-01 4.16395893e-02 6.59062406e+01] [ 4.54926357e-01 8.90297694e-01 2.02984181e-02 1.55062884e+01] [-4.63150856e-02 8.91079141e-04 9.98926483e-01 -5.33975201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11320100799999 meters 0.06206866873992972 Centerline is valid? [True, True] Translation: X:65.93, Y:15.52, Z:-5.34 [[ 8.89850193e-01 -4.54432839e-01 4.07115468e-02 6.59308016e+01] [ 4.53999536e-01 8.90780631e-01 1.98566862e-02 1.55209746e+01] [-4.52885876e-02 8.13547339e-04 9.98973614e-01 -5.34149145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14320100799999 meters 0.06184527164098302 Centerline is valid? [True, True] Translation: X:65.96, Y:15.54, Z:-5.34 [[ 8.90400708e-01 -4.53369275e-01 4.05324510e-02 6.59562213e+01] [ 4.52938178e-01 8.91322469e-01 1.97803642e-02 1.55357280e+01] [-4.50952936e-02 7.46244232e-04 9.98982411e-01 -5.34270847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17320100799999 meters 0.06205790183947249 Centerline is valid? [True, True] Translation: X:65.98, Y:15.55, Z:-5.35 [[ 8.90700666e-01 -4.52990174e-01 3.81080707e-02 6.59803354e+01] [ 4.52608198e-01 8.91515256e-01 1.86109537e-02 1.55505793e+01] [-4.24045056e-02 6.71236327e-04 9.99100299e-01 -5.34545885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.203201008 meters 0.062251067971846784 Centerline is valid? [True, True] Translation: X:66.01, Y:15.56, Z:-5.35 [[ 8.90784563e-01 -4.52865417e-01 3.76268149e-02 6.60051173e+01] [ 4.52492654e-01 8.91578651e-01 1.83822558e-02 1.55637245e+01] [-4.18719528e-02 6.51227648e-04 9.99122773e-01 -5.34987040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.233201008 meters 0.062245663240658625 Centerline is valid? [True, True] Translation: X:66.03, Y:15.58, Z:-5.35 [[ 8.90938221e-01 -4.52574910e-01 3.74838260e-02 6.60292955e+01] [ 4.52204854e-01 8.91726160e-01 1.83091828e-02 1.55772010e+01] [-4.17115850e-02 6.38017267e-04 9.99129489e-01 -5.35290548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.263201008 meters 0.062118456527911835 Centerline is valid? [True, True] Translation: X:66.05, Y:15.59, Z:-5.36 [[ 8.91229103e-01 -4.51997717e-01 3.75333199e-02 6.60546111e+01] [ 4.51625628e-01 8.92018892e-01 1.83463691e-02 1.55911282e+01] [-4.17729474e-02 6.00191117e-04 9.99126949e-01 -5.35502827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.293201008 meters 0.061875721673741155 Centerline is valid? [True, True] Translation: X:66.08, Y:15.60, Z:-5.36 [[ 8.91863674e-01 -4.50669718e-01 3.84186479e-02 6.60794365e+01] [ 4.50278159e-01 8.92690603e-01 1.87900678e-02 1.56048619e+01] [-4.27640805e-02 5.40899187e-04 9.99085052e-01 -5.35636011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.323201008 meters 0.061418631019914766 Centerline is valid? [True, True] Translation: X:66.10, Y:15.62, Z:-5.35 [[ 8.92016314e-01 -4.50291746e-01 3.92968035e-02 6.61048442e+01] [ 4.49881235e-01 8.92881329e-01 1.92303645e-02 1.56191635e+01] [-4.37466566e-02 5.25095644e-04 9.99042519e-01 -5.35496571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.353201008 meters 0.06153966214485635 Centerline is valid? [True, True] Translation: X:66.13, Y:15.63, Z:-5.36 [[ 8.92562948e-01 -4.49147726e-01 3.99712758e-02 6.61298070e+01] [ 4.48721092e-01 8.93457389e-01 1.95774184e-02 1.56310186e+01] [-4.45057847e-02 4.61876269e-04 9.99009020e-01 -5.35860722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38320100799999 meters 0.06145625897161178 Centerline is valid? [True, True] Translation: X:66.16, Y:15.64, Z:-5.36 [[ 8.92829201e-01 -4.48503832e-01 4.12350727e-02 6.61557038e+01] [ 4.48048889e-01 8.93780801e-01 2.02008270e-02 1.56415675e+01] [-4.59152646e-02 4.39440240e-04 9.98945241e-01 -5.36006960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41320100799999 meters 0.06125122977686296 Centerline is valid? [True, True] Translation: X:66.18, Y:15.65, Z:-5.36 [[ 8.92963385e-01 -4.48208556e-01 4.15389486e-02 6.61814778e+01] [ 4.47746592e-01 8.93928916e-01 2.03490079e-02 1.56540127e+01] [-4.62534667e-02 4.28003688e-04 9.98929644e-01 -5.36086307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44320100799999 meters 0.060765429183670644 Centerline is valid? [True, True] Translation: X:66.21, Y:15.67, Z:-5.36 [[ 8.93111538e-01 -4.47843816e-01 4.22811635e-02 6.62074947e+01] [ 4.47364228e-01 8.94111711e-01 2.07242993e-02 1.56683309e+01] [-4.70853327e-02 4.05969206e-04 9.98890788e-01 -5.35972036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47320100799999 meters 0.06089758453509747 Centerline is valid? [True, True] Translation: X:66.23, Y:15.68, Z:-5.36 [[ 8.92988096e-01 -4.48082550e-01 4.23590409e-02 6.62324140e+01] [ 4.47600883e-01 8.93992093e-01 2.07746879e-02 1.56786804e+01] [-4.71774228e-02 4.08395158e-04 9.98886442e-01 -5.36248388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50320100799999 meters 0.06149173418366413 Centerline is valid? [True, True] Translation: X:66.26, Y:15.69, Z:-5.37 [[ 8.93030914e-01 -4.48091203e-01 4.13528802e-02 6.62574740e+01] [ 4.47631674e-01 8.93987764e-01 2.02919278e-02 1.56888511e+01] [-4.60616032e-02 3.89540195e-04 9.98938525e-01 -5.36981657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53320100799999 meters 0.06100563333796237 Centerline is valid? [True, True] Translation: X:66.28, Y:15.70, Z:-5.37 [[ 8.92877365e-01 -4.48436964e-01 4.09182138e-02 6.62829718e+01] [ 4.47987321e-01 8.93814370e-01 2.00806308e-02 1.57026200e+01] [-4.55781846e-02 4.01300221e-04 9.98960694e-01 -5.36761565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.563201008 meters 0.06117051725940384 Centerline is valid? [True, True] Translation: X:66.31, Y:15.72, Z:-5.37 [[ 8.93098868e-01 -4.48115221e-01 3.95873850e-02 6.63085872e+01] [ 4.47693579e-01 8.93975736e-01 1.94381780e-02 1.57162174e+01] [-4.41007051e-02 3.62803288e-04 9.99027025e-01 -5.37225844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.593201008 meters 0.06120823780188534 Centerline is valid? [True, True] Translation: X:66.33, Y:15.73, Z:-5.38 [[ 8.93782105e-01 -4.46869243e-01 3.82286385e-02 6.63333755e+01] [ 4.46474485e-01 8.94599240e-01 1.87812194e-02 1.57306480e+01] [-4.25920603e-02 2.81793858e-04 9.99092507e-01 -5.37523673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.623201008 meters 0.06134097985874778 Centerline is valid? [True, True] Translation: X:66.36, Y:15.74, Z:-5.38 [[ 8.93934980e-01 -4.46579865e-01 3.80351839e-02 6.63586068e+01] [ 4.46188425e-01 8.94743739e-01 1.86957673e-02 1.57432898e+01] [-4.23808958e-02 2.58058376e-04 9.99101493e-01 -5.37816725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.653201008 meters 0.06172155331728514 Centerline is valid? [True, True] Translation: X:66.38, Y:15.75, Z:-5.38 [[ 8.93750379e-01 -4.46955052e-01 3.79663329e-02 6.63830439e+01] [ 4.46564601e-01 8.94556379e-01 1.86800085e-02 1.57536172e+01] [-4.23121494e-02 2.59155662e-04 9.99104406e-01 -5.38373301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.683201008 meters 0.061795103012370144 Centerline is valid? [True, True] Translation: X:66.41, Y:15.76, Z:-5.39 [[ 8.93150671e-01 -4.48135709e-01 3.81610575e-02 6.64090098e+01] [ 4.47742316e-01 8.93965484e-01 1.87758470e-02 1.57638842e+01] [-4.25287957e-02 3.16659928e-04 9.99095191e-01 -5.38515396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.713201008 meters 0.06148683919832173 Centerline is valid? [True, True] Translation: X:66.44, Y:15.77, Z:-5.38 [[ 8.91886632e-01 -4.50773727e-01 3.66235134e-02 6.64372378e+01] [ 4.50413168e-01 8.92638155e-01 1.80306095e-02 1.57725343e+01] [-4.08192705e-02 4.14453094e-04 9.99166460e-01 -5.38275547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.743201008 meters 0.06178015373407863 Centerline is valid? [True, True] Translation: X:66.46, Y:15.78, Z:-5.39 [[ 8.91182566e-01 -4.52163875e-01 3.66260098e-02 6.64641636e+01] [ 4.51804011e-01 8.91934757e-01 1.80423083e-02 1.57838004e+01] [-4.08260912e-02 4.68787572e-04 9.99166158e-01 -5.38532770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77320100799999 meters 0.061995357338717444 Centerline is valid? [True, True] Translation: X:66.49, Y:15.79, Z:-5.39 [[ 8.90139537e-01 -4.54165457e-01 3.72201786e-02 6.64893128e+01] [ 4.53795030e-01 8.90917182e-01 1.83478895e-02 1.57937872e+01] [-4.14930743e-02 5.58150150e-04 9.99138636e-01 -5.38824070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80320100799999 meters 0.062409044984884636 Centerline is valid? [True, True] Translation: X:66.52, Y:15.80, Z:-5.39 [[ 8.88445716e-01 -4.57406859e-01 3.79891343e-02 6.65167649e+01] [ 4.57023594e-01 8.89257247e-01 1.87345706e-02 1.58028764e+01] [-4.23514341e-02 7.17281692e-04 9.99102518e-01 -5.38997807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83320100799999 meters 0.06290288961742377 Centerline is valid? [True, True] Translation: X:66.54, Y:15.81, Z:-5.39 [[ 8.87606919e-01 -4.59062815e-01 3.76203370e-02 6.65432580e+01] [ 4.58687829e-01 8.88403473e-01 1.85673236e-02 1.58114453e+01] [-4.19456059e-02 7.75505848e-04 9.99119595e-01 -5.39298199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86320100799999 meters 0.06305456610292258 Centerline is valid? [True, True] Translation: X:66.57, Y:15.82, Z:-5.39 [[ 8.86879649e-01 -4.60496864e-01 3.72441324e-02 6.65698123e+01] [ 4.60130519e-01 8.87660940e-01 1.83837357e-02 1.58213534e+01] [-4.15258142e-02 8.33000893e-04 9.99137084e-01 -5.39431622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89320100799999 meters 0.06333987336240099 Centerline is valid? [True, True] Translation: X:66.60, Y:15.83, Z:-5.40 [[ 8.86380641e-01 -4.61528826e-01 3.63387164e-02 6.65966996e+01] [ 4.61180881e-01 8.87124797e-01 1.79384756e-02 1.58320249e+01] [-4.05161000e-02 8.58403759e-04 9.99178517e-01 -5.39662168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92320100799999 meters 0.06396251408297572 Centerline is valid? [True, True] Translation: X:66.62, Y:15.84, Z:-5.40 [[ 8.85023920e-01 -4.64023042e-01 3.76201643e-02 6.66231611e+01] [ 4.63651812e-01 8.85822570e-01 1.85841741e-02 1.58400587e+01] [-4.19482756e-02 9.95218731e-04 9.99119288e-01 -5.39840707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.953201008 meters 0.06366532288440471 Centerline is valid? [True, True] Translation: X:66.65, Y:15.85, Z:-5.40 [[ 8.84198232e-01 -4.65648185e-01 3.69493565e-02 6.66495367e+01] [ 4.65291415e-01 8.84969300e-01 1.82547675e-02 1.58519524e+01] [-4.11993455e-02 1.05138518e-03 9.99150393e-01 -5.39779309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.983201008 meters 0.06415513626170914 Centerline is valid? [True, True] Translation: X:66.68, Y:15.86, Z:-5.40 [[ 8.83277186e-01 -4.67280994e-01 3.83390794e-02 6.66756527e+01] [ 4.66897740e-01 8.84108102e-01 1.89569190e-02 1.58612916e+01] [-4.27540987e-02 1.15621544e-03 9.99084956e-01 -5.39988250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.013201008 meters 0.06386711589351933 Centerline is valid? [True, True] Translation: X:66.70, Y:15.87, Z:-5.40 [[ 8.82435402e-01 -4.68825737e-01 3.88611600e-02 6.67023497e+01] [ 4.68433420e-01 8.83289802e-01 1.92160786e-02 1.58737089e+01] [-4.33346585e-02 1.24691800e-03 9.99059834e-01 -5.39862929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.043201008 meters 0.06436662571122856 Centerline is valid? [True, True] Translation: X:66.73, Y:15.88, Z:-5.40 [[ 8.81550538e-01 -4.70402692e-01 3.98742590e-02 6.67279806e+01] [ 4.69990789e-01 8.82450840e-01 1.97274806e-02 1.58849350e+01] [-4.44669334e-02 1.34976333e-03 9.99009945e-01 -5.40112477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.073201008 meters 0.06419040349805175 Centerline is valid? [True, True] Translation: X:66.75, Y:15.90, Z:-5.40 [[ 8.81326000e-01 -4.70849108e-01 3.95676434e-02 6.67531910e+01] [ 4.70443376e-01 8.82212727e-01 1.95891573e-02 1.59000708e+01] [-4.41306158e-02 1.34990209e-03 9.99024858e-01 -5.40163985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.103201008 meters 0.06502546200142258 Centerline is valid? [True, True] Translation: X:66.78, Y:15.91, Z:-5.41 [[ 8.81263694e-01 -4.71006650e-01 3.90773381e-02 6.67782378e+01] [ 4.70610361e-01 8.82128662e-01 1.93626448e-02 1.59112962e+01] [-4.35911744e-02 1.32660433e-03 9.99048572e-01 -5.40642331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13320100799999 meters 0.06493977137355443 Centerline is valid? [True, True] Translation: X:66.80, Y:15.92, Z:-5.41 [[ 8.81670444e-01 -4.70226583e-01 3.92961686e-02 6.68041663e+01] [ 4.69825123e-01 8.82544775e-01 1.94698157e-02 1.59244107e+01] [-4.38358532e-02 1.29636619e-03 9.99037906e-01 -5.40786630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16320100799999 meters 0.0649937449169341 Centerline is valid? [True, True] Translation: X:66.83, Y:15.94, Z:-5.41 [[ 8.82370750e-01 -4.68929138e-01 3.90809781e-02 6.68294343e+01] [ 4.68530333e-01 8.83234955e-01 1.93737414e-02 1.59372051e+01] [-4.36025978e-02 1.21580098e-03 9.99048215e-01 -5.40970604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19320100799999 meters 0.06303773519275817 Centerline is valid? [True, True] Translation: X:66.85, Y:15.96, Z:-5.41 [[ 8.84255455e-01 -4.65331634e-01 3.94811471e-02 6.68516994e+01] [ 4.64920544e-01 8.85135803e-01 1.95830966e-02 1.59593641e+01] [-4.40588112e-02 1.03913640e-03 9.99028399e-01 -5.40852698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22320100799999 meters 0.06260465517867053 Centerline is valid? [True, True] Translation: X:66.88, Y:15.98, Z:-5.41 [[ 8.85481207e-01 -4.62979907e-01 3.96564849e-02 6.68751769e+01] [ 4.62562334e-01 8.86368301e-01 1.96805199e-02 1.59781858e+01] [-4.42619364e-02 9.16865705e-04 9.99019540e-01 -5.41122577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25320100799999 meters 0.06260465517867053 Centerline is valid? [True, True] Translation: X:66.90, Y:15.99, Z:-5.41 [[ 8.85356501e-01 -4.63218644e-01 3.96529230e-02 6.68998443e+01] [ 4.62800988e-01 8.86243556e-01 1.96876929e-02 1.59906033e+01] [-4.42618539e-02 9.20785080e-04 9.99019540e-01 -5.41335737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28320100799999 meters 0.06243618581862242 Centerline is valid? [True, True] Translation: X:66.92, Y:16.01, Z:-5.42 [[ 8.86920793e-01 -4.60293050e-01 3.87532706e-02 6.69220490e+01] [ 4.59890496e-01 8.87766727e-01 1.92606040e-02 1.60072287e+01] [-4.32693864e-02 7.39630686e-04 9.99063168e-01 -5.41884640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.313201008 meters 0.06238750757230714 Centerline is valid? [True, True] Translation: X:66.94, Y:16.03, Z:-5.42 [[ 8.90266505e-01 -4.53908694e-01 3.73155214e-02 6.69435255e+01] [ 4.53529916e-01 8.91048105e-01 1.85442579e-02 1.60292697e+01] [-4.16673245e-02 4.14373668e-04 9.99131454e-01 -5.42447951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.343201008 meters 0.06240895203461815 Centerline is valid? [True, True] Translation: X:66.97, Y:16.04, Z:-5.43 [[ 8.91661949e-01 -4.51151659e-01 3.74319264e-02 6.69670946e+01] [ 4.50767426e-01 8.92447257e-01 1.86177602e-02 1.60437401e+01] [-4.18054534e-02 2.72344776e-04 9.99125733e-01 -5.42725619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.373201008 meters 0.06257584270947032 Centerline is valid? [True, True] Translation: X:66.99, Y:16.06, Z:-5.43 [[ 8.93052797e-01 -4.48395004e-01 3.73981612e-02 6.69909841e+01] [ 4.48008880e-01 8.93835500e-01 1.86049034e-02 1.60572922e+01] [-4.17701498e-02 1.39547257e-04 9.99127237e-01 -5.43100642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.403201008 meters 0.06237122730779013 Centerline is valid? [True, True] Translation: X:67.02, Y:16.07, Z:-5.43 [[ 8.94089932e-01 -4.46340892e-01 3.71887304e-02 6.70160046e+01] [ 4.45957446e-01 8.94863010e-01 1.84973007e-02 1.60714586e+01] [-4.15349209e-02 4.63409381e-05 9.99137052e-01 -5.43042230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.433201008 meters 0.0625322443857322 Centerline is valid? [True, True] Translation: X:67.04, Y:16.09, Z:-5.43 [[ 8.95766288e-01 -4.42863562e-01 3.84008257e-02 6.70400470e+01] [ 4.42450846e-01 8.96589007e-01 1.91154491e-02 1.60870469e+01] [-4.28952940e-02 -1.32497020e-04 9.99079564e-01 -5.43318800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.463201008 meters 0.06262166222414048 Centerline is valid? [True, True] Translation: X:67.06, Y:16.10, Z:-5.44 [[ 8.96084409e-01 -4.42126577e-01 3.94565922e-02 6.70638017e+01] [ 4.41689435e-01 8.96952649e-01 1.96567558e-02 1.61007702e+01] [-4.40814690e-02 -1.86552488e-04 9.99027922e-01 -5.43614918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.493201008 meters 0.06269709406007869 Centerline is valid? [True, True] Translation: X:67.09, Y:16.11, Z:-5.44 [[ 8.96308431e-01 -4.41511492e-01 4.12164897e-02 6.70882745e+01] [ 4.41033603e-01 8.97255565e-01 2.05380544e-02 1.61131796e+01] [-4.60495118e-02 -2.30574314e-04 9.98939132e-01 -5.43850634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52320100799999 meters 0.06270177098802548 Centerline is valid? [True, True] Translation: X:67.11, Y:16.13, Z:-5.44 [[ 8.96217236e-01 -4.41635539e-01 4.18654626e-02 6.71148711e+01] [ 4.41142639e-01 8.97194516e-01 2.08608074e-02 1.61251957e+01] [-4.67743374e-02 -2.27174521e-04 9.98905456e-01 -5.44044502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55320100799999 meters 0.06248261500622105 Centerline is valid? [True, True] Translation: X:67.14, Y:16.13, Z:-5.44 [[ 8.95316196e-01 -4.43387533e-01 4.26193070e-02 6.71442343e+01] [ 4.42878092e-01 8.96330002e-01 2.12490533e-02 1.61325564e+01] [-4.76225289e-02 -1.49464181e-04 9.98865393e-01 -5.44091750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58320100799999 meters 0.06258452832144594 Centerline is valid? [True, True] Translation: X:67.17, Y:16.14, Z:-5.44 [[ 8.95013794e-01 -4.43945054e-01 4.31636118e-02 6.71704981e+01] [ 4.43422615e-01 8.96054000e-01 2.15316705e-02 1.61432709e+01] [-4.82358057e-02 -1.31420486e-04 9.98835967e-01 -5.44421625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61320100799999 meters 0.062364724924626844 Centerline is valid? [True, True] Translation: X:67.20, Y:16.15, Z:-5.44 [[ 8.94646775e-01 -4.44654632e-01 4.34672951e-02 6.71976134e+01] [ 4.44125043e-01 8.95702097e-01 2.16955994e-02 1.61543514e+01] [-4.85807962e-02 -1.04983756e-04 9.98819251e-01 -5.44464119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64320100799999 meters 0.06264360425915862 Centerline is valid? [True, True] Translation: X:67.22, Y:16.17, Z:-5.45 [[ 8.94926186e-01 -4.44080119e-01 4.35886438e-02 6.72223946e+01] [ 4.43546141e-01 8.95987067e-01 2.17714435e-02 1.61650152e+01] [-4.87231263e-02 -1.50260159e-04 9.98812312e-01 -5.44790774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67320100799999 meters 0.06268825529603468 Centerline is valid? [True, True] Translation: X:67.25, Y:16.18, Z:-5.45 [[ 8.95149982e-01 -4.43698249e-01 4.28762599e-02 6.72485105e+01] [ 4.43180702e-01 8.96176229e-01 2.14250412e-02 1.61760877e+01] [-4.79309381e-02 -1.76694271e-04 9.98850636e-01 -5.45016562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.703201008 meters 0.06282574095893344 Centerline is valid? [True, True] Translation: X:67.27, Y:16.19, Z:-5.45 [[ 8.95135707e-01 -4.43738499e-01 4.27575705e-02 6.72731643e+01] [ 4.43223761e-01 8.96156299e-01 2.13678296e-02 1.61864163e+01] [-4.77991948e-02 -1.75936046e-04 9.98856950e-01 -5.45302747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.733201008 meters 0.06289778801637765 Centerline is valid? [True, True] Translation: X:67.30, Y:16.20, Z:-5.45 [[ 8.95355710e-01 -4.43335492e-01 4.23295941e-02 6.72997418e+01] [ 4.42830323e-01 8.96355734e-01 2.11589930e-02 1.61983908e+01] [-4.73229070e-02 -1.99997393e-04 9.98879624e-01 -5.45454438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.763201008 meters 0.06292389766585921 Centerline is valid? [True, True] Translation: X:67.33, Y:16.21, Z:-5.46 [[ 8.95332133e-01 -4.43363412e-01 4.25353584e-02 6.73256086e+01] [ 4.42852821e-01 8.96341922e-01 2.12729303e-02 1.62103015e+01] [-4.75578638e-02 -2.09434632e-04 9.98868463e-01 -5.45616236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.793201008 meters 0.06316983570168858 Centerline is valid? [True, True] Translation: X:67.35, Y:16.22, Z:-5.46 [[ 8.94827159e-01 -4.44217679e-01 4.42154745e-02 6.73510272e+01] [ 4.43665919e-01 8.95918868e-01 2.21344666e-02 1.62219144e+01] [-4.94459992e-02 -1.89622720e-04 9.98776780e-01 -5.46131675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.823201008 meters 0.06330816526093798 Centerline is valid? [True, True] Translation: X:67.37, Y:16.23, Z:-5.47 [[ 8.94619330e-01 -4.44616970e-01 4.44072595e-02 6.73748713e+01] [ 4.44060820e-01 8.95720783e-01 2.22321195e-02 1.62334667e+01] [-4.96612828e-02 -1.69759783e-04 9.98766103e-01 -5.46529965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.853201008 meters 0.06301027164526915 Centerline is valid? [True, True] Translation: X:67.40, Y:16.24, Z:-5.46 [[ 8.93310228e-01 -4.47179842e-01 4.50225021e-02 6.74030021e+01] [ 4.46610993e-01 8.94444066e-01 2.25484673e-02 1.62427174e+01] [-5.03533299e-02 -3.52320592e-05 9.98731466e-01 -5.46396945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88320100799999 meters 0.06290202208701512 Centerline is valid? [True, True] Translation: X:67.43, Y:16.25, Z:-5.47 [[ 8.92443262e-01 -4.48881212e-01 4.52844624e-02 6.74302211e+01] [ 4.48307271e-01 8.93591436e-01 2.26921917e-02 1.62515266e+01] [-5.06519063e-02 4.98602097e-05 9.98716367e-01 -5.46570549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91320100799999 meters 0.06287564828170286 Centerline is valid? [True, True] Translation: X:67.46, Y:16.26, Z:-5.47 [[ 8.91587027e-01 -4.50579641e-01 4.52831079e-02 6.74576483e+01] [ 4.50007151e-01 8.92736226e-01 2.27067099e-02 1.62597446e+01] [-5.06570520e-02 1.32714434e-04 9.98716099e-01 -5.46573003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94320100799999 meters 0.06306723189562138 Centerline is valid? [True, True] Translation: X:67.49, Y:16.26, Z:-5.47 [[ 8.90138755e-01 -4.53329523e-01 4.63178154e-02 6.74861620e+01] [ 4.52733237e-01 8.91342957e-01 2.32454134e-02 1.62645964e+01] [-5.18228907e-02 2.77971139e-04 9.98656253e-01 -5.46828956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97320100799999 meters 0.06295495405339013 Centerline is valid? [True, True] Translation: X:67.51, Y:16.28, Z:-5.47 [[ 8.89523584e-01 -4.54535310e-01 4.63189530e-02 6.75127039e+01] [ 4.53940396e-01 8.90728653e-01 2.32504473e-02 1.62754055e+01] [-5.18257679e-02 3.44222664e-04 9.98656083e-01 -5.46913430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00320100799999 meters 0.06311221796965094 Centerline is valid? [True, True] Translation: X:67.54, Y:16.29, Z:-5.47 [[ 8.88797970e-01 -4.55883685e-01 4.69918586e-02 6.75392680e+01] [ 4.55272369e-01 8.90039266e-01 2.36045649e-02 1.62871779e+01] [-5.25855354e-02 4.14405438e-04 9.98616338e-01 -5.47131595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03320100799999 meters 0.06326370863707131 Centerline is valid? [True, True] Translation: X:67.56, Y:16.30, Z:-5.47 [[ 8.88689597e-01 -4.56161856e-01 4.63374626e-02 6.75637929e+01] [ 4.55566936e-01 8.89896732e-01 2.32932052e-02 1.62992805e+01] [-5.18610282e-02 4.09386739e-04 9.98654228e-01 -5.47475198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.063201008 meters 0.06345377667332301 Centerline is valid? [True, True] Translation: X:67.59, Y:16.32, Z:-5.48 [[ 8.89115129e-01 -4.55396450e-01 4.56985780e-02 6.75874877e+01] [ 4.54816636e-01 8.90288687e-01 2.29756771e-02 1.63161400e+01] [-5.11479689e-02 3.56451382e-04 9.98691022e-01 -5.47947166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.093201008 meters 0.06366936484837173 Centerline is valid? [True, True] Translation: X:67.61, Y:16.33, Z:-5.48 [[ 8.89125360e-01 -4.55461882e-01 4.48393475e-02 6.76118779e+01] [ 4.54902963e-01 8.90255221e-01 2.25596018e-02 1.63288937e+01] [-5.01935020e-02 3.39237971e-04 9.98739454e-01 -5.48361333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.123201008 meters 0.06348715583832397 Centerline is valid? [True, True] Translation: X:67.64, Y:16.34, Z:-5.48 [[ 8.88492114e-01 -4.56673143e-01 4.50710929e-02 6.76369354e+01] [ 4.56109860e-01 8.89634461e-01 2.26786530e-02 1.63414051e+01] [-5.04535292e-02 4.07565486e-04 9.98726327e-01 -5.48215910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.153201008 meters 0.0638701013903034 Centerline is valid? [True, True] Translation: X:67.66, Y:16.35, Z:-5.49 [[ 8.88337306e-01 -4.57081181e-01 4.39730066e-02 6.76614239e+01] [ 4.56544528e-01 8.89424888e-01 2.21463771e-02 1.63539948e+01] [-4.92333787e-02 4.02182551e-04 9.98787221e-01 -5.48792081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.183201008 meters 0.06376112534246446 Centerline is valid? [True, True] Translation: X:67.69, Y:16.37, Z:-5.49 [[ 8.88639169e-01 -4.56558467e-01 4.32988935e-02 6.76863324e+01] [ 4.56037554e-01 8.89693335e-01 2.18063956e-02 1.63692217e+01] [-4.84786315e-02 3.67904215e-04 9.98824152e-01 -5.48932125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.213201008 meters 0.06384523882792946 Centerline is valid? [True, True] Translation: X:67.71, Y:16.38, Z:-5.49 [[ 8.89369354e-01 -4.55192336e-01 4.26859411e-02 6.77100984e+01] [ 4.54683728e-01 8.90393094e-01 2.15138507e-02 1.63832392e+01] [-4.78002071e-02 2.74843363e-04 9.98856879e-01 -5.49301453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.243201008 meters 0.06353451705744911 Centerline is valid? [True, True] Translation: X:67.74, Y:16.40, Z:-5.49 [[ 8.89766288e-01 -4.54248199e-01 4.44356478e-02 6.77362790e+01] [ 4.53695622e-01 8.90875143e-01 2.24000411e-02 1.63966434e+01] [-4.97617925e-02 2.29457462e-04 9.98761088e-01 -5.49320141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27320100799999 meters 0.06339652510134886 Centerline is valid? [True, True] Translation: X:67.76, Y:16.41, Z:-5.49 [[ 8.89855763e-01 -4.53982347e-01 4.53514035e-02 6.77619134e+01] [ 4.53405790e-01 8.91010654e-01 2.28736797e-02 1.64101022e+01] [-5.07928305e-02 2.08313262e-04 9.98709189e-01 -5.49399353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30320100799999 meters 0.0634565117157654 Centerline is valid? [True, True] Translation: X:67.79, Y:16.42, Z:-5.50 [[ 8.89631691e-01 -4.54393486e-01 4.56290867e-02 6.77864411e+01] [ 4.53809551e-01 8.90801051e-01 2.30299641e-02 1.64222710e+01] [-5.11111041e-02 2.18729484e-04 9.98692949e-01 -5.49581877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33320100799999 meters 0.06354873371350069 Centerline is valid? [True, True] Translation: X:67.81, Y:16.44, Z:-5.50 [[ 8.89330467e-01 -4.54909452e-01 4.63541849e-02 6.78118177e+01] [ 4.54307218e-01 8.90537663e-01 2.34013458e-02 1.64354235e+01] [-5.19256409e-02 2.47510962e-04 9.98650923e-01 -5.49866253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36320100799999 meters 0.06365000544553896 Centerline is valid? [True, True] Translation: X:67.84, Y:16.45, Z:-5.50 [[ 8.89277467e-01 -4.55003666e-01 4.64462116e-02 6.78354538e+01] [ 4.54398528e-01 8.90489531e-01 2.34600276e-02 1.64497665e+01] [-5.20342637e-02 2.42616232e-04 9.98645271e-01 -5.50305097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39320100799999 meters 0.06369969988271068 Centerline is valid? [True, True] Translation: X:67.86, Y:16.46, Z:-5.51 [[ 8.89215717e-01 -4.55082888e-01 4.68505420e-02 6.78606079e+01] [ 4.54466396e-01 8.90449050e-01 2.36808857e-02 1.64640535e+01] [-5.24947865e-02 2.34581235e-04 9.98621171e-01 -5.50510152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42320100799999 meters 0.06383277276443403 Centerline is valid? [True, True] Translation: X:67.89, Y:16.48, Z:-5.51 [[ 8.89363013e-01 -4.54782824e-01 4.69682157e-02 6.78857116e+01] [ 4.54162141e-01 8.90602347e-01 2.37530918e-02 1.64771994e+01] [-5.26325013e-02 2.06064159e-04 9.98613928e-01 -5.50798661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.453201008 meters 0.06366128440195866 Centerline is valid? [True, True] Translation: X:67.91, Y:16.49, Z:-5.51 [[ 8.89833643e-01 -4.53800477e-01 4.75522357e-02 6.79112650e+01] [ 4.53161962e-01 8.91103310e-01 2.40650601e-02 1.64903237e+01] [-5.32946904e-02 1.34964351e-04 9.98578819e-01 -5.50840837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.483201008 meters 0.06369657027909373 Centerline is valid? [True, True] Translation: X:67.94, Y:16.50, Z:-5.51 [[ 8.91012697e-01 -4.51612785e-01 4.62846164e-02 6.79358783e+01] [ 4.51004042e-01 8.92214039e-01 2.34406144e-02 1.65041397e+01] [-5.18818658e-02 -1.13359634e-05 9.98653229e-01 -5.51006297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.513201008 meters 0.06369908165741202 Centerline is valid? [True, True] Translation: X:67.96, Y:16.52, Z:-5.51 [[ 8.90984200e-01 -4.51650589e-01 4.64639689e-02 6.79602666e+01] [ 4.51037177e-01 8.92194903e-01 2.35312347e-02 1.65175559e+01] [-5.20828122e-02 -8.98094259e-06 9.98642769e-01 -5.51355579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.543201008 meters 0.06385079204791877 Centerline is valid? [True, True] Translation: X:67.98, Y:16.53, Z:-5.52 [[ 8.91192108e-01 -4.51343565e-01 4.54490057e-02 6.79846043e+01] [ 4.50755289e-01 8.92350259e-01 2.30366116e-02 1.65318433e+01] [-5.09538584e-02 -4.36667480e-05 9.98701008e-01 -5.51712597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.573201008 meters 0.06407633868089399 Centerline is valid? [True, True] Translation: X:68.01, Y:16.55, Z:-5.52 [[ 8.91126706e-01 -4.51545985e-01 4.47148402e-02 6.80092533e+01] [ 4.50976829e-01 8.92247848e-01 2.26644442e-02 1.65460810e+01] [-5.01307587e-02 -3.15346628e-05 9.98742663e-01 -5.52143099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.603201008 meters 0.06439373772825313 Centerline is valid? [True, True] Translation: X:68.03, Y:16.56, Z:-5.53 [[ 8.90879690e-01 -4.51986249e-01 4.51863681e-02 6.80337065e+01] [ 4.51404693e-01 8.92024904e-01 2.29210158e-02 1.65594294e+01] [-5.06673497e-02 -2.25288022e-05 9.98715585e-01 -5.52627165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63320100799999 meters 0.06450862123504665 Centerline is valid? [True, True] Translation: X:68.06, Y:16.57, Z:-5.53 [[ 8.90528763e-01 -4.52656313e-01 4.53958649e-02 6.80583008e+01] [ 4.52070058e-01 8.91685069e-01 2.30304264e-02 1.65704755e+01] [-5.09036828e-02 1.28541567e-05 9.98703567e-01 -5.52885663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66320100799999 meters 0.06445346697308692 Centerline is valid? [True, True] Translation: X:68.09, Y:16.58, Z:-5.53 [[ 8.90171987e-01 -4.53285659e-01 4.61079661e-02 6.80851123e+01] [ 4.52681435e-01 8.91365306e-01 2.33967815e-02 1.65819570e+01] [-5.17044669e-02 4.50607355e-05 9.98662428e-01 -5.52948648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69320100799999 meters 0.06419795162348119 Centerline is valid? [True, True] Translation: X:68.11, Y:16.59, Z:-5.53 [[ 8.89721640e-01 -4.54018471e-01 4.75671333e-02 6.81117378e+01] [ 4.53375670e-01 8.90992268e-01 2.41511823e-02 1.65924523e+01] [-5.33470309e-02 7.79514313e-05 9.98576030e-01 -5.53032195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72320100799999 meters 0.06427637006700022 Centerline is valid? [True, True] Translation: X:68.14, Y:16.60, Z:-5.53 [[ 8.89336122e-01 -4.54862300e-01 4.67070640e-02 6.81376813e+01] [ 4.54242842e-01 8.90561775e-01 2.37311001e-02 1.66019756e+01] [-5.23899086e-02 1.11424986e-04 9.98626700e-01 -5.53268629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75320100799999 meters 0.06434165467421402 Centerline is valid? [True, True] Translation: X:68.16, Y:16.62, Z:-5.54 [[ 8.89287371e-01 -4.54970798e-01 4.65783734e-02 6.81615978e+01] [ 4.54354919e-01 8.90506350e-01 2.36653445e-02 1.66157999e+01] [-5.22453779e-02 1.17821108e-04 9.98634271e-01 -5.53610401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78320100799999 meters 0.06452482451793097 Centerline is valid? [True, True] Translation: X:68.19, Y:16.63, Z:-5.54 [[ 8.89513247e-01 -4.54652653e-01 4.53557940e-02 6.81859994e+01] [ 4.54067386e-01 8.90668826e-01 2.30618832e-02 1.66300212e+01] [-5.08821382e-02 8.07362133e-05 9.98704662e-01 -5.53949598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.813201008 meters 0.06466771022627021 Centerline is valid? [True, True] Translation: X:68.21, Y:16.64, Z:-5.54 [[ 8.89377910e-01 -4.54905031e-01 4.54790719e-02 6.82100331e+01] [ 4.54316758e-01 8.90539951e-01 2.31274525e-02 1.66435980e+01] [-5.10217249e-02 9.28591270e-05 9.98697539e-01 -5.54327893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.843201008 meters 0.06464033341028609 Centerline is valid? [True, True] Translation: X:68.23, Y:16.65, Z:-5.55 [[ 8.89398433e-01 -4.54889118e-01 4.52362453e-02 6.82348273e+01] [ 4.54306180e-01 8.90548081e-01 2.30219400e-02 1.66542024e+01] [-5.07574815e-02 7.54284138e-05 9.98711005e-01 -5.54531905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.873201008 meters 0.06439315741010357 Centerline is valid? [True, True] Translation: X:68.26, Y:16.67, Z:-5.55 [[ 8.89106971e-01 -4.55423019e-01 4.55924053e-02 6.82611732e+01] [ 4.54831282e-01 8.90275162e-01 2.32086552e-02 1.66656822e+01] [-5.11595418e-02 1.01874992e-04 9.98690488e-01 -5.54508940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.903201008 meters 0.06434026131037048 Centerline is valid? [True, True] Translation: X:68.29, Y:16.68, Z:-5.55 [[ 8.88548062e-01 -4.56395875e-01 4.67455553e-02 6.82878250e+01] [ 4.55774267e-01 8.89776817e-01 2.38124573e-02 1.66774745e+01] [-5.24610186e-02 1.46908429e-04 9.98622962e-01 -5.54602051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.933201008 meters 0.06436011413837764 Centerline is valid? [True, True] Translation: X:68.31, Y:16.69, Z:-5.55 [[ 8.87986640e-01 -4.57472216e-01 4.68924148e-02 6.83125938e+01] [ 4.56847348e-01 8.89223893e-01 2.39032967e-02 1.66879736e+01] [-5.26329498e-02 1.96867238e-04 9.98613906e-01 -5.54983658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.963201008 meters 0.06435507343797937 Centerline is valid? [True, True] Translation: X:68.34, Y:16.70, Z:-5.55 [[ 8.87444325e-01 -4.58458188e-01 4.75253595e-02 6.83385069e+01] [ 4.57817379e-01 8.88715942e-01 2.42326535e-02 1.67003008e+01] [-5.33462030e-02 2.52804670e-04 9.98576046e-01 -5.55226417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.993201008 meters 0.06449639024455862 Centerline is valid? [True, True] Translation: X:68.36, Y:16.71, Z:-5.55 [[ 8.86650694e-01 -4.60029248e-01 4.71554731e-02 6.83646139e+01] [ 4.59399926e-01 8.87903700e-01 2.40567604e-02 1.67119016e+01] [-5.29363324e-02 3.33277596e-04 9.98597834e-01 -5.55401123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02320100799999 meters 0.0644521862892645 Centerline is valid? [True, True] Translation: X:68.39, Y:16.72, Z:-5.55 [[ 8.86196310e-01 -4.60848408e-01 4.76953391e-02 6.83904907e+01] [ 4.60205069e-01 8.87478791e-01 2.43452301e-02 1.67246043e+01] [-5.35480624e-02 3.74983725e-04 9.98565203e-01 -5.55465969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05320100799999 meters 0.06455978568505853 Centerline is valid? [True, True] Translation: X:68.42, Y:16.74, Z:-5.56 [[ 8.85769363e-01 -4.61693204e-01 4.74554765e-02 6.84155716e+01] [ 4.61056586e-01 8.87039582e-01 2.42405646e-02 1.67354511e+01] [-5.32865899e-02 4.08110560e-04 9.98579177e-01 -5.55821163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08320100799999 meters 0.06436249813393938 Centerline is valid? [True, True] Translation: X:68.44, Y:16.75, Z:-5.56 [[ 8.85012399e-01 -4.63000139e-01 4.88254457e-02 6.84427117e+01] [ 4.62327930e-01 8.86358068e-01 2.49451518e-02 1.67474623e+01] [-5.48264365e-02 4.96598613e-04 9.98495776e-01 -5.55686047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11320100799999 meters 0.06419985556679147 Centerline is valid? [True, True] Translation: X:68.47, Y:16.76, Z:-5.56 [[ 8.83661810e-01 -4.65459582e-01 4.98917071e-02 6.84694987e+01] [ 4.64760871e-01 8.85068897e-01 2.55025578e-02 1.67566550e+01] [-5.60280081e-02 6.52076855e-04 9.98428985e-01 -5.55512289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14320100799999 meters 0.06419985556679147 Centerline is valid? [True, True] Translation: X:68.49, Y:16.77, Z:-5.56 [[ 8.83538505e-01 -4.65694330e-01 4.98848890e-02 6.84939997e+01] [ 4.64995240e-01 8.84945403e-01 2.55158860e-02 1.67693814e+01] [-5.60280066e-02 6.51968140e-04 9.98428985e-01 -5.55725059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17320100799999 meters 0.06424045916962305 Centerline is valid? [True, True] Translation: X:68.52, Y:16.78, Z:-5.56 [[ 8.82840708e-01 -4.66931947e-01 5.06640023e-02 6.85198558e+01] [ 4.66211879e-01 8.84292954e-01 2.59317438e-02 1.67813638e+01] [-5.69101799e-02 7.26560624e-04 9.98379038e-01 -5.55884920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.203201008 meters 0.064537288466021 Centerline is valid? [True, True] Translation: X:68.54, Y:16.79, Z:-5.56 [[ 8.82485500e-01 -4.67549163e-01 5.11578119e-02 6.85444549e+01] [ 4.66814861e-01 8.83966746e-01 2.62045228e-02 1.67912126e+01] [-5.74737073e-02 7.56115508e-04 9.98346734e-01 -5.56430057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.233201008 meters 0.06441605025053766 Centerline is valid? [True, True] Translation: X:68.57, Y:16.80, Z:-5.56 [[ 8.81780668e-01 -4.68804440e-01 5.18193975e-02 6.85691410e+01] [ 4.68052767e-01 8.83301583e-01 2.65503265e-02 1.68046632e+01] [-5.82190668e-02 8.42647747e-04 9.98303476e-01 -5.56446639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.263201008 meters 0.06450478174297429 Centerline is valid? [True, True] Translation: X:68.59, Y:16.82, Z:-5.57 [[ 8.81304300e-01 -4.69803447e-01 5.08670093e-02 6.85938108e+01] [ 4.69079737e-01 8.82770613e-01 2.60815009e-02 1.68185867e+01] [-5.71570800e-02 8.74944398e-04 9.98364814e-01 -5.56731932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.293201008 meters 0.06435434951749422 Centerline is valid? [True, True] Translation: X:68.62, Y:16.83, Z:-5.57 [[ 8.81048651e-01 -4.70260805e-01 5.10690676e-02 6.86181168e+01] [ 4.69531833e-01 8.82527030e-01 2.61896937e-02 1.68335046e+01] [-5.73858190e-02 9.04158563e-04 9.98351667e-01 -5.56896262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.323201008 meters 0.06461682553884536 Centerline is valid? [True, True] Translation: X:68.64, Y:16.85, Z:-5.57 [[ 8.81181367e-01 -4.70045028e-01 5.07648578e-02 6.86416478e+01] [ 4.69323243e-01 8.82642011e-01 2.60532958e-02 1.68457751e+01] [-5.70534183e-02 8.67448891e-04 9.98370750e-01 -5.57313669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.353201008 meters 0.06438337039595907 Centerline is valid? [True, True] Translation: X:68.67, Y:16.86, Z:-5.58 [[ 8.81165570e-01 -4.70084176e-01 5.06764711e-02 6.86654865e+01] [ 4.69364580e-01 8.82621166e-01 2.60147545e-02 1.68603107e+01] [-5.69572505e-02 8.62434537e-04 9.98376246e-01 -5.57566398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38320100799999 meters 0.06405927388821876 Centerline is valid? [True, True] Translation: X:68.69, Y:16.87, Z:-5.58 [[ 8.81202835e-01 -4.70015679e-01 5.06638371e-02 6.86898107e+01] [ 4.69295374e-01 8.82657663e-01 2.60250065e-02 1.68743373e+01] [-5.69509852e-02 8.42994881e-04 9.98376620e-01 -5.57600782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41320100799999 meters 0.06403391920356868 Centerline is valid? [True, True] Translation: X:68.72, Y:16.89, Z:-5.58 [[ 8.81293645e-01 -4.69765115e-01 5.14028058e-02 6.87154035e+01] [ 4.69022145e-01 8.82791062e-01 2.64228617e-02 1.68869879e+01] [-5.77904762e-02 8.22754146e-04 9.98328395e-01 -5.57675489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44320100799999 meters 0.06378068724623516 Centerline is valid? [True, True] Translation: X:68.74, Y:16.90, Z:-5.58 [[ 8.81499950e-01 -4.69423066e-01 5.09884585e-02 6.87385326e+01] [ 4.68690562e-01 8.82973033e-01 2.62255633e-02 1.69001020e+01] [-5.73323182e-02 7.79976459e-04 9.98354845e-01 -5.57916338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47320100799999 meters 0.06365779841826483 Centerline is valid? [True, True] Translation: X:68.76, Y:16.92, Z:-5.58 [[ 8.82032606e-01 -4.68524145e-01 5.00360662e-02 6.87619393e+01] [ 4.67816822e-01 8.83450415e-01 2.57446168e-02 1.69161724e+01] [-5.62663580e-02 7.00122054e-04 9.98415548e-01 -5.58198359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50320100799999 meters 0.06389592135236065 Centerline is valid? [True, True] Translation: X:68.78, Y:16.93, Z:-5.59 [[ 8.82879060e-01 -4.66916133e-01 5.01387113e-02 6.87835693e+01] [ 4.66202120e-01 8.84301413e-01 2.58184999e-02 1.69344158e+01] [-5.63928074e-02 5.80160625e-04 9.98408491e-01 -5.58898116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53320100799999 meters 0.06385180730432302 Centerline is valid? [True, True] Translation: X:68.81, Y:16.95, Z:-5.59 [[ 8.83524538e-01 -4.65733098e-01 4.97701860e-02 6.88066811e+01] [ 4.65027628e-01 8.84925099e-01 2.56295606e-02 1.69499726e+01] [-5.59794214e-02 5.00165866e-04 9.98431797e-01 -5.59037340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.563201008 meters 0.06338640333921683 Centerline is valid? [True, True] Translation: X:68.83, Y:16.97, Z:-5.59 [[ 8.84631415e-01 -4.63504702e-01 5.08984315e-02 6.88299414e+01] [ 4.62761945e-01 8.86094391e-01 2.62318876e-02 1.69652923e+01] [-5.72594179e-02 3.48305352e-04 9.98359273e-01 -5.59073900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.593201008 meters 0.06309810062969465 Centerline is valid? [True, True] Translation: X:68.86, Y:16.98, Z:-5.59 [[ 8.85101523e-01 -4.62577572e-01 5.11593903e-02 6.88552875e+01] [ 4.61825512e-01 8.86578765e-01 2.63683459e-02 1.69800680e+01] [-5.75542345e-02 2.88048462e-04 9.98342340e-01 -5.59194405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.623201008 meters 0.06307317595881877 Centerline is valid? [True, True] Translation: X:68.88, Y:16.99, Z:-5.59 [[ 8.85680565e-01 -4.61410232e-01 5.16772217e-02 6.88799565e+01] [ 4.60639806e-01 8.87186879e-01 2.66535228e-02 1.69937388e+01] [-5.81455612e-02 1.98078226e-04 9.98308096e-01 -5.59337383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.653201008 meters 0.06263902396511704 Centerline is valid? [True, True] Translation: X:68.91, Y:17.01, Z:-5.59 [[ 8.86030101e-01 -4.60680199e-01 5.21959239e-02 6.89051413e+01] [ 4.59892816e-01 8.87566184e-01 2.69233396e-02 1.70080943e+01] [-5.87303864e-02 1.49641078e-04 9.98273870e-01 -5.59200169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.683201008 meters 0.062450337448545445 Centerline is valid? [True, True] Translation: X:68.93, Y:17.02, Z:-5.59 [[ 8.86689519e-01 -4.59262286e-01 5.34775577e-02 6.89287963e+01] [ 4.58432180e-01 8.88300709e-01 2.76004632e-02 1.70248382e+01] [-6.01800043e-02 4.27919527e-05 9.98187540e-01 -5.59408776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.713201008 meters 0.062482006802631544 Centerline is valid? [True, True] Translation: X:68.95, Y:17.04, Z:-5.60 [[ 8.87280200e-01 -4.58074617e-01 5.38654913e-02 6.89516311e+01] [ 4.57229119e-01 8.88913743e-01 2.78188929e-02 1.70395268e+01] [-6.06249042e-02 -5.42817042e-05 9.98160617e-01 -5.59662002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.743201008 meters 0.062429749935845325 Centerline is valid? [True, True] Translation: X:68.98, Y:17.05, Z:-5.60 [[ 8.87754830e-01 -4.57163203e-01 5.37881739e-02 6.89753941e+01] [ 4.56318034e-01 8.89382815e-01 2.77859877e-02 1.70538053e+01] [-6.05410086e-02 -1.22631018e-04 9.98165703e-01 -5.59907495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77320100799999 meters 0.06251440148017481 Centerline is valid? [True, True] Translation: X:69.00, Y:17.07, Z:-5.60 [[ 8.88210963e-01 -4.56230315e-01 5.41773429e-02 6.89984190e+01] [ 4.55369848e-01 8.89861707e-01 2.80079385e-02 1.70670954e+01] [-6.09884134e-02 -2.06229654e-04 9.98138453e-01 -5.60185107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80320100799999 meters 0.06254207639364795 Centerline is valid? [True, True] Translation: X:69.02, Y:17.08, Z:-5.60 [[ 8.89358849e-01 -4.54012774e-01 5.39744300e-02 6.90228423e+01] [ 4.53153993e-01 8.90995099e-01 2.79140223e-02 1.70797421e+01] [-6.07642753e-02 -3.66854284e-04 9.98152077e-01 -5.60259181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83320100799999 meters 0.06248791776789332 Centerline is valid? [True, True] Translation: X:69.05, Y:17.09, Z:-5.60 [[ 8.89609934e-01 -4.53537662e-01 5.38308035e-02 6.90473441e+01] [ 4.52682319e-01 8.91237021e-01 2.78440377e-02 1.70922211e+01] [-6.06043247e-02 -4.02079568e-04 9.98161788e-01 -5.60383755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86320100799999 meters 0.06263893987895967 Centerline is valid? [True, True] Translation: X:69.07, Y:17.11, Z:-5.61 [[ 8.90141473e-01 -4.52575529e-01 5.31370701e-02 6.90725181e+01] [ 4.51739887e-01 8.91725950e-01 2.74937019e-02 1.71056041e+01] [-5.98266810e-02 -4.69150325e-04 9.98208670e-01 -5.60725668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89320100799999 meters 0.06286372976937535 Centerline is valid? [True, True] Translation: X:69.10, Y:17.12, Z:-5.61 [[ 8.90733367e-01 -4.51605205e-01 5.14471370e-02 6.90979281e+01] [ 4.50819459e-01 8.92217719e-01 2.66337682e-02 1.71197263e+01] [-5.79299956e-02 -5.30215559e-04 9.98320507e-01 -5.61112551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92320100799999 meters 0.06311277300014011 Centerline is valid? [True, True] Translation: X:69.12, Y:17.13, Z:-5.62 [[ 8.90980217e-01 -4.51290129e-01 4.99146534e-02 6.91213752e+01] [ 4.50549040e-01 8.92377116e-01 2.58581802e-02 1.71335573e+01] [-5.62122359e-02 -5.50127795e-04 9.98418691e-01 -5.61708535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.953201008 meters 0.06373016947623335 Centerline is valid? [True, True] Translation: X:69.14, Y:17.15, Z:-5.62 [[ 8.91955951e-01 -4.49601399e-01 4.76776986e-02 6.91448211e+01] [ 4.48922658e-01 8.93229077e-01 2.47034967e-02 1.71488080e+01] [-5.36938334e-02 -6.30831637e-04 9.98557246e-01 -5.62407318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.983201008 meters 0.06396288027352515 Centerline is valid? [True, True] Translation: X:69.17, Y:17.16, Z:-5.63 [[ 8.92176799e-01 -4.49106800e-01 4.82041712e-02 6.91688188e+01] [ 4.48411966e-01 8.93477829e-01 2.49815611e-02 1.71617381e+01] [-5.42887472e-02 -6.72641991e-04 9.98525052e-01 -5.62700026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.013201008 meters 0.06394936058102443 Centerline is valid? [True, True] Translation: X:69.19, Y:17.17, Z:-5.63 [[ 8.92239645e-01 -4.48965427e-01 4.83576475e-02 6.91948242e+01] [ 4.48265651e-01 8.93548864e-01 2.50666023e-02 1.71734110e+01] [-5.44639587e-02 -6.88343970e-04 9.98515500e-01 -5.62800105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.043201008 meters 0.06227997354280566 Centerline is valid? [True, True] Translation: X:69.23, Y:17.18, Z:-5.62 [[ 8.89270439e-01 -4.54528021e-01 5.10133776e-02 6.92267778e+01] [ 4.53757254e-01 8.90732356e-01 2.64617322e-02 1.71761481e+01] [-5.74668648e-02 -3.83946036e-04 9.98347340e-01 -5.61927784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.073201008 meters 0.06171833143649517 Centerline is valid? [True, True] Translation: X:69.25, Y:17.19, Z:-5.62 [[ 8.87453490e-01 -4.57898605e-01 5.24897240e-02 6.92532977e+01] [ 4.57087356e-01 8.89004405e-01 2.72454890e-02 1.71852829e+01] [-5.91392673e-02 -1.86715155e-04 9.98249724e-01 -5.62188210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.103201008 meters 0.06153497856298277 Centerline is valid? [True, True] Translation: X:69.28, Y:17.20, Z:-5.62 [[ 8.86057504e-01 -4.60655107e-01 5.19516253e-02 6.92794866e+01] [ 4.59864854e-01 8.87579220e-01 2.69711725e-02 1.71951116e+01] [-5.85355914e-02 -7.28319933e-06 9.98285322e-01 -5.62295709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13320100799999 meters 0.06162877708701288 Centerline is valid? [True, True] Translation: X:69.31, Y:17.21, Z:-5.63 [[ 8.84902268e-01 -4.63057029e-01 5.02609664e-02 6.93056587e+01] [ 4.62320318e-01 8.86328478e-01 2.61103947e-02 1.72060981e+01] [-5.66383276e-02 1.31518475e-04 9.98394753e-01 -5.62830150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16320100799999 meters 0.06203844010257138 Centerline is valid? [True, True] Translation: X:69.33, Y:17.22, Z:-5.63 [[ 8.83621922e-01 -4.65684549e-01 4.84788673e-02 6.93308446e+01] [ 4.65002194e-01 8.84950748e-01 2.52018657e-02 1.72171083e+01] [-5.46375293e-02 2.73858701e-04 9.98506217e-01 -5.63436399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19320100799999 meters 0.06303869142397106 Centerline is valid? [True, True] Translation: X:69.36, Y:17.22, Z:-5.64 [[ 8.81913072e-01 -4.69220413e-01 4.54041532e-02 6.93573402e+01] [ 4.68626390e-01 8.83080967e-01 2.36074719e-02 1.72248740e+01] [-5.11726512e-02 4.57846289e-04 9.98689717e-01 -5.64380199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22320100799999 meters 0.06281176039605096 Centerline is valid? [True, True] Translation: X:69.38, Y:17.24, Z:-5.64 [[ 8.80758812e-01 -4.71377590e-01 4.54651867e-02 6.93849330e+01] [ 4.70784773e-01 8.81931305e-01 2.36404275e-02 1.72356759e+01] [-5.12407392e-02 5.82802756e-04 9.98686160e-01 -5.64318734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25320100799999 meters 0.06276197991584055 Centerline is valid? [True, True] Translation: X:69.41, Y:17.25, Z:-5.64 [[ 8.79870531e-01 -4.73020498e-01 4.56010662e-02 6.94121172e+01] [ 4.72425668e-01 8.81051168e-01 2.37239810e-02 1.72460878e+01] [-5.13988019e-02 6.69082374e-04 9.98677984e-01 -5.64321268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28320100799999 meters 0.06335399766061002 Centerline is valid? [True, True] Translation: X:69.44, Y:17.25, Z:-5.65 [[ 8.78159708e-01 -4.76215714e-01 4.53224104e-02 6.94403011e+01] [ 4.75631571e-01 8.79328092e-01 2.35948069e-02 1.72510826e+01] [-5.10894864e-02 8.36760520e-04 9.98693729e-01 -5.64604891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.313201008 meters 0.062845739137535 Centerline is valid? [True, True] Translation: X:69.47, Y:17.26, Z:-5.64 [[ 8.77782022e-01 -4.76928523e-01 4.51431573e-02 6.94661618e+01] [ 4.76349652e-01 8.78941652e-01 2.35070628e-02 1.72646806e+01] [-5.08893900e-02 8.69850125e-04 9.98703917e-01 -5.64446538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.343201008 meters 0.06315525320966477 Centerline is valid? [True, True] Translation: X:69.49, Y:17.28, Z:-5.65 [[ 8.77844615e-01 -4.76773246e-01 4.55642765e-02 6.94914753e+01] [ 4.76182375e-01 8.79025906e-01 2.37445145e-02 1.72755661e+01] [-5.13729287e-02 8.52911212e-04 9.98679175e-01 -5.64850385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.373201008 meters 0.0624657890853294 Centerline is valid? [True, True] Translation: X:69.52, Y:17.29, Z:-5.65 [[ 8.78672683e-01 -4.75286225e-01 4.51366914e-02 6.95153469e+01] [ 4.74704424e-01 8.79830909e-01 2.35219260e-02 1.72927777e+01] [-5.08923037e-02 7.58513301e-04 9.98703859e-01 -5.64828583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.403201008 meters 0.06272515588949862 Centerline is valid? [True, True] Translation: X:69.54, Y:17.31, Z:-5.65 [[ 8.79229895e-01 -4.74214549e-01 4.55560438e-02 6.95395722e+01] [ 4.73619597e-01 8.80409046e-01 2.37568832e-02 1.73065872e+01] [-5.13738127e-02 6.88473206e-04 9.98679257e-01 -5.65447917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.433201008 meters 0.0625740053281411 Centerline is valid? [True, True] Translation: X:69.56, Y:17.33, Z:-5.66 [[ 8.80234126e-01 -4.72378930e-01 4.52330594e-02 6.95625457e+01] [ 4.71789690e-01 8.81395382e-01 2.35938439e-02 1.73253347e+01] [-5.10134443e-02 5.72384513e-04 9.98697803e-01 -5.65857372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.463201008 meters 0.06214182974333882 Centerline is valid? [True, True] Translation: X:69.59, Y:17.34, Z:-5.66 [[ 8.80812063e-01 -4.71312834e-01 4.51034679e-02 6.95865135e+01] [ 4.70724968e-01 8.81965965e-01 2.35380716e-02 1.73425978e+01] [-5.08735188e-02 4.98711039e-04 9.98704980e-01 -5.65904425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.493201008 meters 0.061735422621821766 Centerline is valid? [True, True] Translation: X:69.61, Y:17.36, Z:-5.66 [[ 8.81860743e-01 -4.69387551e-01 4.46873294e-02 6.96098964e+01] [ 4.68807425e-01 8.82992179e-01 2.33326177e-02 1.73594805e+01] [-5.04106026e-02 3.73632279e-04 9.98728507e-01 -5.65797567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52320100799999 meters 0.06184354803740491 Centerline is valid? [True, True] Translation: X:69.63, Y:17.37, Z:-5.66 [[ 8.82379233e-01 -4.68323446e-01 4.56074538e-02 6.96345344e+01] [ 4.67716851e-01 8.83557048e-01 2.38304341e-02 1.73730666e+01] [-5.14571383e-02 3.03894521e-04 9.98675158e-01 -5.66286240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55320100799999 meters 0.061642034996151826 Centerline is valid? [True, True] Translation: X:69.66, Y:17.39, Z:-5.67 [[ 8.83306636e-01 -4.66558816e-01 4.57412154e-02 6.96585711e+01] [ 4.65945546e-01 8.84490156e-01 2.39146956e-02 1.73894258e+01] [-5.16152668e-02 1.88906262e-04 9.98667026e-01 -5.66532451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58320100799999 meters 0.061292949163430206 Centerline is valid? [True, True] Translation: X:69.68, Y:17.41, Z:-5.66 [[ 8.84315977e-01 -4.64565675e-01 4.65186728e-02 6.96825380e+01] [ 4.63927917e-01 8.85538666e-01 2.43343039e-02 1.74059342e+01] [-5.24989658e-02 6.20972913e-05 9.98620977e-01 -5.66397743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61320100799999 meters 0.06099096536940994 Centerline is valid? [True, True] Translation: X:69.71, Y:17.42, Z:-5.66 [[ 8.86582102e-01 -4.60006902e-01 4.86397556e-02 6.97061569e+01] [ 4.59301889e-01 8.87915309e-01 2.54593347e-02 1.74233018e+01] [-5.48994534e-02 -2.31458865e-04 9.98491861e-01 -5.66380711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64320100799999 meters 0.060923389122974826 Centerline is valid? [True, True] Translation: X:69.73, Y:17.44, Z:-5.67 [[ 8.86491470e-01 -4.60171391e-01 4.87356668e-02 6.97299295e+01] [ 4.59462911e-01 8.87830071e-01 2.55264221e-02 1.74353990e+01] [-5.50155197e-02 -2.36724084e-04 9.98485471e-01 -5.66564677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67320100799999 meters 0.0607144352051303 Centerline is valid? [True, True] Translation: X:69.76, Y:17.45, Z:-5.67 [[ 8.86466416e-01 -4.60088319e-01 4.99602973e-02 6.97555544e+01] [ 4.59343197e-01 8.87873118e-01 2.61754368e-02 1.74490328e+01] [-5.64014177e-02 -2.54722962e-04 9.98408141e-01 -5.66624638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.703201008 meters 0.06047732915621529 Centerline is valid? [True, True] Translation: X:69.78, Y:17.46, Z:-5.67 [[ 8.85735097e-01 -4.61419527e-01 5.06493670e-02 6.97801723e+01] [ 4.60654794e-01 8.87182047e-01 2.65551692e-02 1.74611209e+01] [-5.71882827e-02 -1.88971678e-04 9.98363393e-01 -5.66866892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.733201008 meters 0.060385030497276476 Centerline is valid? [True, True] Translation: X:69.81, Y:17.47, Z:-5.67 [[ 8.84952813e-01 -4.62979120e-01 5.00884594e-02 6.98069789e+01] [ 4.62233646e-01 8.86369182e-01 2.62627109e-02 1.74725111e+01] [-5.65559536e-02 -8.86886211e-05 9.98399427e-01 -5.67268139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.763201008 meters 0.06056485418839142 Centerline is valid? [True, True] Translation: X:69.83, Y:17.48, Z:-5.68 [[ 8.84814268e-01 -4.63357367e-01 4.90271533e-02 6.98314617e+01] [ 4.62642765e-01 8.86171510e-01 2.57240661e-02 1.74848446e+01] [-5.53659020e-02 -7.89629434e-05 9.98466129e-01 -5.67701174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.793201008 meters 0.06062399085345763 Centerline is valid? [True, True] Translation: X:69.86, Y:17.50, Z:-5.68 [[ 8.84757033e-01 -4.63555450e-01 4.81802627e-02 6.98577003e+01] [ 4.62865584e-01 8.86067910e-01 2.52806421e-02 1.74977745e+01] [-5.44099641e-02 -6.62404907e-05 9.98518679e-01 -5.67872206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.823201008 meters 0.06076704185684824 Centerline is valid? [True, True] Translation: X:69.88, Y:17.51, Z:-5.68 [[ 8.84454481e-01 -4.64340816e-01 4.61289283e-02 6.98838207e+01] [ 4.63708644e-01 8.85656596e-01 2.42216455e-02 1.75076076e+01] [-5.21014882e-02 -3.25601497e-05 9.98641795e-01 -5.68423695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.853201008 meters 0.060545580394601575 Centerline is valid? [True, True] Translation: X:69.91, Y:17.52, Z:-5.68 [[ 8.84092578e-01 -4.65046226e-01 4.59600021e-02 6.99097586e+01] [ 4.64419650e-01 8.85286399e-01 2.41325735e-02 1.75184925e+01] [-5.19105270e-02 9.29900159e-06 9.98651740e-01 -5.68283172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88320100799999 meters 0.060574502255355545 Centerline is valid? [True, True] Translation: X:69.94, Y:17.53, Z:-5.69 [[ 8.83465820e-01 -4.66293476e-01 4.53711364e-02 6.99360657e+01] [ 4.65683680e-01 8.84630086e-01 2.38394719e-02 1.75301113e+01] [-5.12528625e-02 6.72391980e-05 9.98685706e-01 -5.68526052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91320100799999 meters 0.060887956070283446 Centerline is valid? [True, True] Translation: X:69.96, Y:17.54, Z:-5.69 [[ 8.82943985e-01 -4.67324973e-01 4.49142383e-02 6.99610456e+01] [ 4.66727894e-01 8.84085605e-01 2.36160179e-02 1.75421141e+01] [-5.07443865e-02 1.11106860e-04 9.98711668e-01 -5.69161740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94320100799999 meters 0.06110904703199694 Centerline is valid? [True, True] Translation: X:69.99, Y:17.56, Z:-5.69 [[ 8.82043192e-01 -4.69150890e-01 4.35574377e-02 6.99858075e+01] [ 4.68591452e-01 8.83117999e-01 2.29052636e-02 1.75564045e+01] [-4.92123820e-02 2.07211178e-04 9.98788315e-01 -5.69472836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97320100799999 meters 0.06116395003688615 Centerline is valid? [True, True] Translation: X:70.01, Y:17.57, Z:-5.70 [[ 8.82138119e-01 -4.68998252e-01 4.32779225e-02 7.00107320e+01] [ 4.68445232e-01 8.83199074e-01 2.27697070e-02 1.75703298e+01] [-4.89019738e-02 1.87309969e-04 9.98803565e-01 -5.69658460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00320100799999 meters 0.06125954702694417 Centerline is valid? [True, True] Translation: X:70.04, Y:17.58, Z:-5.70 [[ 8.82142748e-01 -4.68993154e-01 4.32388048e-02 7.00352699e+01] [ 4.68440227e-01 8.83201785e-01 2.27675407e-02 1.75823928e+01] [-4.88664103e-02 1.70574660e-04 9.98805309e-01 -5.69870114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03320100799999 meters 0.06116178121670073 Centerline is valid? [True, True] Translation: X:70.06, Y:17.60, Z:-5.70 [[ 8.82042841e-01 -4.69189541e-01 4.31462816e-02 7.00604943e+01] [ 4.68639005e-01 8.83097471e-01 2.27231160e-02 1.75953062e+01] [-4.87638205e-02 1.77268724e-04 9.98810322e-01 -5.69790635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.063201008 meters 0.06116178121670073 Centerline is valid? [True, True] Translation: X:70.08, Y:17.61, Z:-5.70 [[ 8.81919500e-01 -4.69421889e-01 4.31403128e-02 7.00848330e+01] [ 4.68871076e-01 8.82973985e-01 2.27344402e-02 1.76083425e+01] [-4.87638178e-02 1.77298766e-04 9.98810322e-01 -5.70003440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.093201008 meters 0.0610679149933334 Centerline is valid? [True, True] Translation: X:70.11, Y:17.62, Z:-5.70 [[ 8.81780564e-01 -4.69633373e-01 4.36752999e-02 7.01095379e+01] [ 4.69068041e-01 8.82861521e-01 2.30370951e-02 1.76212603e+01] [-4.93782304e-02 1.73024664e-04 9.98780136e-01 -5.70292455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.123201008 meters 0.061045654885118456 Centerline is valid? [True, True] Translation: X:70.13, Y:17.63, Z:-5.70 [[ 8.80759924e-01 -4.71528024e-01 4.38552005e-02 7.01347895e+01] [ 4.70960421e-01 8.81851032e-01 2.31309030e-02 1.76342459e+01] [-4.95806228e-02 2.81291336e-04 9.98770085e-01 -5.70401061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.153201008 meters 0.0609912467876233 Centerline is valid? [True, True] Translation: X:70.16, Y:17.65, Z:-5.71 [[ 8.80203201e-01 -4.72595439e-01 4.35416681e-02 7.01604927e+01] [ 4.72036472e-01 8.81279437e-01 2.29809479e-02 1.76471933e+01] [-4.92330679e-02 3.25351526e-04 9.98787264e-01 -5.70519498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.183201008 meters 0.061281695169290225 Centerline is valid? [True, True] Translation: X:70.18, Y:17.66, Z:-5.71 [[ 8.79274810e-01 -4.74300688e-01 4.37568928e-02 7.01849963e+01] [ 4.73737516e-01 8.80362817e-01 2.31100869e-02 1.76581100e+01] [-4.94830715e-02 4.09164372e-04 9.98774879e-01 -5.71006553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.213201008 meters 0.06145953626152287 Centerline is valid? [True, True] Translation: X:70.21, Y:17.67, Z:-5.71 [[ 8.78540968e-01 -4.75747451e-01 4.27800243e-02 7.02107935e+01] [ 4.75210598e-01 8.79581797e-01 2.25997930e-02 1.76710301e+01] [-4.83803246e-02 4.74676880e-04 9.98828874e-01 -5.71168094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.243201008 meters 0.06180173682535336 Centerline is valid? [True, True] Translation: X:70.24, Y:17.68, Z:-5.71 [[ 8.77199336e-01 -4.78345110e-01 4.13192448e-02 7.02370056e+01] [ 4.77846462e-01 8.78171746e-01 2.18436005e-02 1.76815589e+01] [-4.67341728e-02 5.83063088e-04 9.98907191e-01 -5.71367984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27320100799999 meters 0.062034191163311075 Centerline is valid? [True, True] Translation: X:70.26, Y:17.69, Z:-5.72 [[ 8.75959765e-01 -4.80602278e-01 4.14239162e-02 7.02631405e+01] [ 4.80103544e-01 8.76938399e-01 2.19005069e-02 1.76938958e+01] [-4.68516563e-02 7.03806049e-04 9.98901610e-01 -5.71593106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30320100799999 meters 0.06271544570650134 Centerline is valid? [True, True] Translation: X:70.29, Y:17.71, Z:-5.72 [[ 8.75537141e-01 -4.81462101e-01 4.03603792e-02 7.02877827e+01] [ 4.80988859e-01 8.76466617e-01 2.13538296e-02 1.77051471e+01] [-4.56555847e-02 7.16821864e-04 9.98956983e-01 -5.72110383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33320100799999 meters 0.061416071297978235 Centerline is valid? [True, True] Translation: X:70.31, Y:17.72, Z:-5.71 [[ 8.75272071e-01 -4.82003506e-01 3.96411547e-02 7.03119324e+01] [ 4.81547570e-01 8.76168981e-01 2.09727020e-02 1.77236811e+01] [-4.48412660e-02 7.32281408e-04 9.98993856e-01 -5.71474062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36320100799999 meters 0.06150194979020881 Centerline is valid? [True, True] Translation: X:70.34, Y:17.74, Z:-5.72 [[ 8.75163512e-01 -4.82115542e-01 4.06624171e-02 7.03359701e+01] [ 4.81635164e-01 8.76107329e-01 2.15294305e-02 1.77367767e+01] [-4.60043147e-02 7.42677958e-04 9.98940965e-01 -5.71749006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39320100799999 meters 0.061452658587535756 Centerline is valid? [True, True] Translation: X:70.36, Y:17.75, Z:-5.72 [[ 8.75229643e-01 -4.81981839e-01 4.08237599e-02 7.03610663e+01] [ 4.81497309e-01 8.76180898e-01 2.16188506e-02 1.77512546e+01] [-4.61888920e-02 7.35071651e-04 9.98932453e-01 -5.71852096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42320100799999 meters 0.060935103720366736 Centerline is valid? [True, True] Translation: X:70.39, Y:17.77, Z:-5.72 [[ 8.75532753e-01 -4.81405555e-01 4.11228707e-02 7.03855474e+01] [ 4.80912697e-01 8.76497691e-01 2.17893441e-02 1.77674246e+01] [-4.65336125e-02 6.99226186e-04 9.98916480e-01 -5.71713463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.453201008 meters 0.061087790452037015 Centerline is valid? [True, True] Translation: X:70.41, Y:17.78, Z:-5.72 [[ 8.77466012e-01 -4.77940191e-01 4.03307751e-02 7.04083772e+01] [ 4.77461674e-01 8.78392244e-01 2.13872734e-02 1.77838677e+01] [-4.56480776e-02 4.89793886e-04 9.98957463e-01 -5.72272107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.483201008 meters 0.06101850523241898 Centerline is valid? [True, True] Translation: X:70.43, Y:17.80, Z:-5.73 [[ 8.78566650e-01 -4.75910304e-01 4.03735589e-02 7.04310431e+01] [ 4.75428506e-01 8.79493739e-01 2.14125964e-02 1.77995426e+01] [-4.56987675e-02 3.82347684e-04 9.98955192e-01 -5.72651401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.513201008 meters 0.06085907631080038 Centerline is valid? [True, True] Translation: X:70.45, Y:17.82, Z:-5.73 [[ 8.79699144e-01 -4.73828194e-01 4.02027156e-02 7.04549583e+01] [ 4.73348127e-01 8.80617266e-01 2.13256042e-02 1.78162634e+01] [-4.55078781e-02 2.69764384e-04 9.98963943e-01 -5.72917982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.543201008 meters 0.06036330419567692 Centerline is valid? [True, True] Translation: X:70.48, Y:17.83, Z:-5.73 [[ 8.81413825e-01 -4.70586055e-01 4.07238791e-02 7.04784709e+01] [ 4.70089457e-01 8.82354099e-01 2.16135642e-02 1.78343010e+01] [-4.61039235e-02 9.33719426e-05 9.98936644e-01 -5.72794283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.573201008 meters 0.06092467563257648 Centerline is valid? [True, True] Translation: X:70.50, Y:17.85, Z:-5.73 [[ 8.81831097e-01 -4.69878818e-01 3.98473742e-02 7.05021129e+01] [ 4.69401990e-01 8.82730930e-01 2.11631041e-02 1.78472961e+01] [-4.51186040e-02 4.21534850e-05 9.98981636e-01 -5.73492359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.603201008 meters 0.06052357727816425 Centerline is valid? [True, True] Translation: X:70.53, Y:17.86, Z:-5.73 [[ 8.81731965e-01 -4.70017119e-01 4.04060588e-02 7.05278798e+01] [ 4.69526752e-01 8.82657298e-01 2.14644520e-02 1.78608006e+01] [-4.57533626e-02 4.58321749e-05 9.98952766e-01 -5.73262753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63320100799999 meters 0.06035993360778542 Centerline is valid? [True, True] Translation: X:70.55, Y:17.87, Z:-5.73 [[ 8.81663959e-01 -4.70177452e-01 4.00228390e-02 7.05541303e+01] [ 4.69695989e-01 8.82571902e-01 2.12724306e-02 1.78736189e+01] [-4.53248504e-02 4.34315696e-05 9.98972300e-01 -5.73260016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66320100799999 meters 0.06044733061866191 Centerline is valid? [True, True] Translation: X:70.58, Y:17.89, Z:-5.74 [[ 8.81546699e-01 -4.70388978e-01 4.01201504e-02 7.05778620e+01] [ 4.69904683e-01 8.82459182e-01 2.13396612e-02 1.78855546e+01] [-4.54423365e-02 4.07387031e-05 9.98966963e-01 -5.73600256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69320100799999 meters 0.06042800704283576 Centerline is valid? [True, True] Translation: X:70.60, Y:17.90, Z:-5.74 [[ 8.80921527e-01 -4.71569240e-01 3.99964481e-02 7.06036782e+01] [ 4.71089014e-01 8.81829032e-01 2.12767121e-02 1.78976157e+01] [-4.53034721e-02 9.87735667e-05 9.98973266e-01 -5.73861429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72320100799999 meters 0.06055412267398524 Centerline is valid? [True, True] Translation: X:70.63, Y:17.91, Z:-5.74 [[ 8.80770032e-01 -4.71882628e-01 3.96350330e-02 7.06287679e+01] [ 4.71410509e-01 8.81661372e-01 2.11034764e-02 1.79099893e+01] [-4.49030415e-02 9.70615051e-05 9.98991345e-01 -5.74222373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75320100799999 meters 0.060642171835033204 Centerline is valid? [True, True] Translation: X:70.65, Y:17.92, Z:-5.75 [[ 8.80776336e-01 -4.71883380e-01 3.94857133e-02 7.06524291e+01] [ 4.71414605e-01 8.81660971e-01 2.10286245e-02 1.79220184e+01] [-4.47360708e-02 9.26271086e-05 9.98998837e-01 -5.74501114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78320100799999 meters 0.060502160049542855 Centerline is valid? [True, True] Translation: X:70.68, Y:17.94, Z:-5.75 [[ 8.80871478e-01 -4.71666765e-01 3.99487474e-02 7.06778912e+01] [ 4.71186469e-01 8.81776875e-01 2.12803782e-02 1.79354675e+01] [-4.52631287e-02 7.80310051e-05 9.98975096e-01 -5.74647486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.813201008 meters 0.06054624336640199 Centerline is valid? [True, True] Translation: X:70.70, Y:17.95, Z:-5.75 [[ 8.81189387e-01 -4.71116279e-01 3.94298816e-02 7.07034520e+01] [ 4.70647326e-01 8.82071114e-01 2.10153423e-02 1.79484942e+01] [-4.46806295e-02 3.90717129e-05 9.99001321e-01 -5.74736523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.843201008 meters 0.06034051626140241 Centerline is valid? [True, True] Translation: X:70.73, Y:17.96, Z:-5.75 [[ 8.81230804e-01 -4.71105917e-01 3.86197519e-02 7.07288396e+01] [ 4.70655562e-01 8.82076649e-01 2.05943668e-02 1.79617526e+01] [-4.37677093e-02 2.82106205e-05 9.99041734e-01 -5.74849848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.873201008 meters 0.06047246499632204 Centerline is valid? [True, True] Translation: X:70.75, Y:17.97, Z:-5.75 [[ 8.80984373e-01 -4.71568238e-01 3.85996215e-02 7.07536314e+01] [ 4.71118345e-01 8.81829572e-01 2.05939463e-02 1.79742202e+01] [-4.37497387e-02 4.20448880e-05 9.99042521e-01 -5.75147745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.903201008 meters 0.06070545157879455 Centerline is valid? [True, True] Translation: X:70.78, Y:17.99, Z:-5.76 [[ 8.80304251e-01 -4.72848631e-01 3.84525305e-02 7.07791318e+01] [ 4.72402586e-01 8.81143668e-01 2.05336854e-02 1.79861832e+01] [-4.35915288e-02 8.91843128e-05 9.99049434e-01 -5.75595054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.933201008 meters 0.06086862830594345 Centerline is valid? [True, True] Translation: X:70.80, Y:18.00, Z:-5.76 [[ 8.79337627e-01 -4.74631908e-01 3.85990914e-02 7.08037388e+01] [ 4.74183868e-01 8.80184368e-01 2.06188587e-02 1.79968750e+01] [-4.37606851e-02 1.72128203e-04 9.99042028e-01 -5.75858937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.963201008 meters 0.06068357867839016 Centerline is valid? [True, True] Translation: X:70.83, Y:18.01, Z:-5.76 [[ 8.77358006e-01 -4.78228716e-01 3.92456933e-02 7.08316441e+01] [ 4.77768982e-01 8.78235259e-01 2.09673574e-02 1.80057372e+01] [-4.44941440e-02 3.54496028e-04 9.99009582e-01 -5.75810269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.993201008 meters 0.060759388154115926 Centerline is valid? [True, True] Translation: X:70.86, Y:18.02, Z:-5.76 [[ 8.76472486e-01 -4.79859324e-01 3.91281193e-02 7.08584498e+01] [ 4.79403313e-01 8.77345342e-01 2.09192246e-02 1.80174266e+01] [-4.43671582e-02 4.23025210e-04 9.99015203e-01 -5.75962605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02320100799999 meters 0.060834575923720234 Centerline is valid? [True, True] Translation: X:70.88, Y:18.03, Z:-5.76 [[ 8.76058546e-01 -4.80649422e-01 3.86982989e-02 7.08843254e+01] [ 4.80203650e-01 8.76912728e-01 2.07007686e-02 1.80305117e+01] [-4.38848433e-02 4.47979088e-04 9.99036496e-01 -5.76186078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05320100799999 meters 0.06099722131168346 Centerline is valid? [True, True] Translation: X:70.91, Y:18.05, Z:-5.77 [[ 8.75956446e-01 -4.80900015e-01 3.78877266e-02 7.09085806e+01] [ 4.80472245e-01 8.76775333e-01 2.02839144e-02 1.80450382e+01] [-4.29735588e-02 4.36175464e-04 9.99076115e-01 -5.76518028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08320100799999 meters 0.060985353314556234 Centerline is valid? [True, True] Translation: X:70.93, Y:18.06, Z:-5.77 [[ 8.76427402e-01 -4.80100302e-01 3.71309621e-02 7.09328854e+01] [ 4.79688577e-01 8.77213515e-01 1.98826095e-02 1.80594526e+01] [-4.21174286e-02 3.85634516e-04 9.99112593e-01 -5.76848466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11320100799999 meters 0.06118003728155465 Centerline is valid? [True, True] Translation: X:70.96, Y:18.07, Z:-5.77 [[ 8.76527111e-01 -4.79934885e-01 3.69151723e-02 7.09569389e+01] [ 4.79527721e-01 8.77304033e-01 1.97686224e-02 1.80725796e+01] [-4.18734811e-02 3.74114952e-04 9.99122851e-01 -5.77159683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14320100799999 meters 0.06128390590484322 Centerline is valid? [True, True] Translation: X:70.98, Y:18.09, Z:-5.77 [[ 8.76455078e-01 -4.80126419e-01 3.61264022e-02 7.09813559e+01] [ 4.79736373e-01 8.77199228e-01 1.93527019e-02 1.80860060e+01] [-4.09817956e-02 3.69375309e-04 9.99159825e-01 -5.77460150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17320100799999 meters 0.06108034946180594 Centerline is valid? [True, True] Translation: X:71.01, Y:18.10, Z:-5.78 [[ 8.76121166e-01 -4.80718509e-01 3.63513053e-02 7.10050598e+01] [ 4.80324059e-01 8.76874881e-01 1.94741315e-02 1.81017168e+01] [-4.12371220e-02 3.98707671e-04 9.99149309e-01 -5.77644876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.203201008 meters 0.0611825342925391 Centerline is valid? [True, True] Translation: X:71.03, Y:18.12, Z:-5.78 [[ 8.75956936e-01 -4.81057642e-01 3.58188798e-02 7.10295925e+01] [ 4.80674419e-01 8.76688877e-01 1.92019673e-02 1.81166016e+01] [-4.06392667e-02 3.97122769e-04 9.99173805e-01 -5.77913109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.233201008 meters 0.06132592613929581 Centerline is valid? [True, True] Translation: X:71.05, Y:18.13, Z:-5.78 [[ 8.75732779e-01 -4.81471492e-01 3.57393502e-02 7.10536826e+01] [ 4.81089939e-01 8.76461657e-01 1.91685852e-02 1.81302290e+01] [-4.05532974e-02 4.07283358e-04 9.99177294e-01 -5.78102153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.263201008 meters 0.06126653326700282 Centerline is valid? [True, True] Translation: X:71.08, Y:18.15, Z:-5.78 [[ 8.76118539e-01 -4.80757822e-01 3.58918115e-02 7.10781852e+01] [ 4.80371844e-01 8.76853343e-01 1.92641207e-02 1.81456476e+01] [-4.07332316e-02 3.63762397e-04 9.99169991e-01 -5.78100540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.293201008 meters 0.06113528988684764 Centerline is valid? [True, True] Translation: X:71.10, Y:18.16, Z:-5.78 [[ 8.76375084e-01 -4.80317218e-01 3.55257855e-02 7.11019988e+01] [ 4.79938108e-01 8.77094786e-01 1.90826919e-02 1.81593438e+01] [-4.03252267e-02 3.26582595e-04 9.99186554e-01 -5.78202233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.323201008 meters 0.061093170372697084 Centerline is valid? [True, True] Translation: X:71.13, Y:18.17, Z:-5.78 [[ 8.76625799e-01 -4.79773749e-01 3.66654791e-02 7.11269600e+01] [ 4.79369384e-01 8.77392189e-01 1.96961989e-02 1.81747187e+01] [-4.16197242e-02 3.10111990e-04 9.99133476e-01 -5.78299585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.353201008 meters 0.06104183212531947 Centerline is valid? [True, True] Translation: X:71.15, Y:18.19, Z:-5.79 [[ 8.77479649e-01 -4.78217564e-01 3.65708377e-02 7.11493136e+01] [ 4.77813322e-01 8.78241374e-01 1.96600509e-02 1.81899898e+01] [-4.15198044e-02 2.22738886e-04 9.99137656e-01 -5.78524725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38320100799999 meters 0.060886307865822796 Centerline is valid? [True, True] Translation: X:71.17, Y:18.21, Z:-5.79 [[ 8.78522936e-01 -4.76231656e-01 3.74280745e-02 7.11718898e+01] [ 4.75806140e-01 8.79319847e-01 2.01276631e-02 1.82060240e+01] [-4.24966791e-02 1.25893946e-04 9.99096600e-01 -5.78648765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41320100799999 meters 0.060550939674115095 Centerline is valid? [True, True] Translation: X:71.19, Y:18.23, Z:-5.79 [[ 8.80153945e-01 -4.73224950e-01 3.72448735e-02 7.11935599e+01] [ 4.72800907e-01 8.80941625e-01 2.00288798e-02 1.82253132e+01] [-4.22887250e-02 -1.90876073e-05 9.99105432e-01 -5.78528772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44320100799999 meters 0.06074999941088354 Centerline is valid? [True, True] Translation: X:71.22, Y:18.24, Z:-5.79 [[ 8.80964801e-01 -4.71754074e-01 3.67302714e-02 7.12164752e+01] [ 4.71339644e-01 8.81730164e-01 1.97701075e-02 1.82410469e+01] [-4.17128170e-02 -1.04335789e-04 9.99129636e-01 -5.78876022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47320100799999 meters 0.06073508594239246 Centerline is valid? [True, True] Translation: X:71.24, Y:18.26, Z:-5.79 [[ 8.81348056e-01 -4.71031387e-01 3.68108224e-02 7.12397096e+01] [ 4.70614500e-01 8.82116440e-01 1.98136258e-02 1.82561670e+01] [-4.18042713e-02 -1.38993794e-04 9.99125810e-01 -5.79083227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50320100799999 meters 0.06089121708616084 Centerline is valid? [True, True] Translation: X:71.27, Y:18.27, Z:-5.79 [[ 8.81168598e-01 -4.71388270e-01 3.65376635e-02 7.12652162e+01] [ 4.70977266e-01 8.81925780e-01 1.96808135e-02 1.82704879e+01] [-4.15008120e-02 -1.33706004e-04 9.99138461e-01 -5.79394612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53320100799999 meters 0.060881750881861534 Centerline is valid? [True, True] Translation: X:71.29, Y:18.28, Z:-5.80 [[ 8.80812223e-01 -4.72125163e-01 3.56041796e-02 7.12904764e+01] [ 4.71734905e-01 8.81531519e-01 1.91927354e-02 1.82823937e+01] [-4.04475799e-02 -1.09461682e-04 9.99181656e-01 -5.79521397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.563201008 meters 0.060705070773077414 Centerline is valid? [True, True] Translation: X:71.32, Y:18.30, Z:-5.80 [[ 8.80210062e-01 -4.73201630e-01 3.62003355e-02 7.13166266e+01] [ 4.72799153e-01 8.80954150e-01 1.95127425e-02 1.82957689e+01] [-4.11242973e-02 -5.98243147e-05 9.99154036e-01 -5.79689459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.593201008 meters 0.060599832787531636 Centerline is valid? [True, True] Translation: X:71.34, Y:18.31, Z:-5.80 [[ 8.79376553e-01 -4.74732842e-01 3.64088769e-02 7.13421470e+01] [ 4.74326663e-01 8.80129950e-01 1.96338489e-02 1.83080912e+01] [-4.13653758e-02 4.15468841e-06 9.99144087e-01 -5.79912287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.623201008 meters 0.06067170588097868 Centerline is valid? [True, True] Translation: X:71.37, Y:18.32, Z:-5.80 [[ 8.78097697e-01 -4.77110276e-01 3.61969395e-02 7.13690617e+01] [ 4.76710344e-01 8.78843429e-01 1.95313844e-02 1.83196064e+01] [-4.11300666e-02 1.04991758e-04 9.99153795e-01 -5.80195010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.653201008 meters 0.06097851142584937 Centerline is valid? [True, True] Translation: X:71.40, Y:18.33, Z:-5.80 [[ 8.75089279e-01 -4.82633538e-01 3.58276593e-02 7.13970106e+01] [ 4.82245679e-01 8.75822327e-01 1.93483158e-02 1.83257509e+01] [-4.07168100e-02 3.46230114e-04 9.99170667e-01 -5.80420783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.683201008 meters 0.06056856061641345 Centerline is valid? [True, True] Translation: X:71.42, Y:18.34, Z:-5.80 [[ 8.73225511e-01 -4.85966200e-01 3.62499587e-02 7.14239020e+01] [ 4.85572111e-01 8.73977456e-01 1.95737535e-02 1.83378797e+01] [-4.11938293e-02 5.09668024e-04 9.99151044e-01 -5.80194163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.713201008 meters 0.06094839487695833 Centerline is valid? [True, True] Translation: X:71.45, Y:18.35, Z:-5.80 [[ 8.72076485e-01 -4.88063699e-01 3.57271693e-02 7.14506918e+01] [ 4.87682226e-01 8.72807812e-01 1.93020445e-02 1.83490344e+01] [-4.06035797e-02 5.90646331e-04 9.99175160e-01 -5.80433260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.743201008 meters 0.0619568443639001 Centerline is valid? [True, True] Translation: X:71.48, Y:18.36, Z:-5.81 [[ 8.71449566e-01 -4.89181110e-01 3.57420671e-02 7.14768535e+01] [ 4.88799563e-01 8.72182003e-01 1.93272036e-02 1.83581244e+01] [-4.06280906e-02 6.28023573e-04 9.99174141e-01 -5.81138952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77320100799999 meters 0.06053981527896983 Centerline is valid? [True, True] Translation: X:71.50, Y:18.37, Z:-5.80 [[ 8.71168398e-01 -4.89711019e-01 3.53375246e-02 7.15022131e+01] [ 4.89338615e-01 8.71884567e-01 1.91055298e-02 1.83728564e+01] [-4.01664309e-02 6.47881567e-04 9.99192793e-01 -5.80431704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80320100799999 meters 0.06045868435342473 Centerline is valid? [True, True] Translation: X:71.53, Y:18.39, Z:-5.81 [[ 8.71660140e-01 -4.88786901e-01 3.59995323e-02 7.15259230e+01] [ 4.88398885e-01 8.72403006e-01 1.94813995e-02 1.83869108e+01] [-4.09283530e-02 6.00972033e-04 9.99161903e-01 -5.80747644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83320100799999 meters 0.06012322518105891 Centerline is valid? [True, True] Translation: X:71.55, Y:18.40, Z:-5.81 [[ 8.72217077e-01 -4.87750017e-01 3.65690043e-02 7.15496585e+01] [ 4.87348802e-01 8.72983164e-01 1.97873989e-02 1.84031742e+01] [-4.15754292e-02 5.62953186e-04 9.99135209e-01 -5.80904323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86320100799999 meters 0.059962689321706654 Centerline is valid? [True, True] Translation: X:71.57, Y:18.42, Z:-5.81 [[ 8.73016604e-01 -4.86228685e-01 3.77316222e-02 7.15742050e+01] [ 4.85799584e-01 8.73831460e-01 2.04289697e-02 1.84190334e+01] [-4.29042296e-02 4.95176619e-04 9.99079067e-01 -5.81257065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89320100799999 meters 0.05991049371879633 Centerline is valid? [True, True] Translation: X:71.60, Y:18.44, Z:-5.82 [[ 8.74895474e-01 -4.82746379e-01 3.89081483e-02 7.15966161e+01] [ 4.82286081e-01 8.75760144e-01 2.10785875e-02 1.84364750e+01] [-4.42498173e-02 3.23297530e-04 9.99020445e-01 -5.81761674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92320100799999 meters 0.05960204220133081 Centerline is valid? [True, True] Translation: X:71.62, Y:18.45, Z:-5.82 [[ 8.75703205e-01 -4.81260133e-01 3.91481957e-02 7.16208058e+01] [ 4.80792098e-01 8.76577793e-01 2.12210214e-02 1.84528123e+01] [-4.45292706e-02 2.38826686e-04 9.99008052e-01 -5.81813467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.953201008 meters 0.05960204220133081 Centerline is valid? [True, True] Translation: X:71.64, Y:18.47, Z:-5.82 [[ 8.75574450e-01 -4.81494698e-01 3.91438122e-02 7.16449906e+01] [ 4.81026535e-01 8.76448970e-01 2.12291026e-02 1.84661399e+01] [-4.45292543e-02 2.41552523e-04 9.99008052e-01 -5.82026500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.983201008 meters 0.059613921467124305 Centerline is valid? [True, True] Translation: X:71.67, Y:18.48, Z:-5.82 [[ 8.77323304e-01 -4.78282371e-01 3.93674149e-02 7.16689990e+01] [ 4.77804927e-01 8.78206109e-01 2.13654477e-02 1.84831433e+01] [-4.47914212e-02 6.55396639e-05 9.98996359e-01 -5.82124655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.013201008 meters 0.05966581193789858 Centerline is valid? [True, True] Translation: X:71.69, Y:18.50, Z:-5.82 [[ 8.77904761e-01 -4.77267141e-01 3.87208902e-02 7.16941170e+01] [ 4.76803766e-01 8.78758258e-01 2.10259807e-02 1.84970598e+01] [-4.40613118e-02 3.45770518e-06 9.99028829e-01 -5.82381906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.043201008 meters 0.05940145468795249 Centerline is valid? [True, True] Translation: X:71.72, Y:18.51, Z:-5.82 [[ 8.78208363e-01 -4.76825744e-01 3.72462296e-02 7.17194124e+01] [ 4.76396002e-01 8.78997844e-01 2.02395658e-02 1.85103309e+01] [-4.23901015e-02 -3.06011336e-05 9.99101135e-01 -5.82280137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.073201008 meters 0.05996063637212604 Centerline is valid? [True, True] Translation: X:71.74, Y:18.52, Z:-5.83 [[ 8.78370422e-01 -4.76540250e-01 3.70781917e-02 7.17430728e+01] [ 4.76113910e-01 8.79152653e-01 2.01533351e-02 1.85229206e+01] [-4.22012659e-02 -4.86506018e-05 9.99109129e-01 -5.83046099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.103201008 meters 0.059897783749007935 Centerline is valid? [True, True] Translation: X:71.77, Y:18.53, Z:-5.83 [[ 8.76535509e-01 -4.79959167e-01 3.63964310e-02 7.17706406e+01] [ 4.79551132e-01 8.77290822e-01 1.97870159e-02 1.85325137e+01] [-4.14272146e-02 1.09927678e-04 9.99141518e-01 -5.83132876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13320100799999 meters 0.06010612608682799 Centerline is valid? [True, True] Translation: X:71.80, Y:18.54, Z:-5.84 [[ 8.75478942e-01 -4.81900396e-01 3.61749826e-02 7.17969038e+01] [ 4.81498515e-01 8.76225982e-01 1.96776209e-02 1.85445641e+01] [-4.11801129e-02 1.90857654e-04 9.99151721e-01 -5.83526521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16320100799999 meters 0.06041408441914658 Centerline is valid? [True, True] Translation: X:71.82, Y:18.56, Z:-5.84 [[ 8.74492311e-01 -4.83719695e-01 3.57554873e-02 7.18234091e+01] [ 4.83328168e-01 8.75222935e-01 1.94601008e-02 1.85561874e+01] [-4.07072566e-02 2.63925628e-04 9.99171081e-01 -5.83921849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19320100799999 meters 0.06078439057755631 Centerline is valid? [True, True] Translation: X:71.85, Y:18.57, Z:-5.84 [[ 8.73377786e-01 -4.85773241e-01 3.51511171e-02 7.18506121e+01] [ 4.85396090e-01 8.74084801e-01 1.91414652e-02 1.85671132e+01] [-4.00234688e-02 3.44484295e-04 9.99198681e-01 -5.84237773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22320100799999 meters 0.061358398704980714 Centerline is valid? [True, True] Translation: X:71.88, Y:18.57, Z:-5.85 [[ 8.72151083e-01 -4.88102564e-01 3.32922661e-02 7.18796554e+01] [ 4.87765642e-01 8.72786177e-01 1.81374894e-02 1.85734631e+01] [-3.79099847e-02 4.20192538e-04 9.99281070e-01 -5.84566856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25320100799999 meters 0.061212198125930664 Centerline is valid? [True, True] Translation: X:71.91, Y:18.59, Z:-5.85 [[ 8.72350052e-01 -4.87731495e-01 3.35168007e-02 7.19053554e+01] [ 4.87389291e-01 8.72993604e-01 1.82714952e-02 1.85870650e+01] [-3.81715363e-02 3.96589885e-04 9.99271123e-01 -5.84653981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28320100799999 meters 0.06142078886355305 Centerline is valid? [True, True] Translation: X:71.93, Y:18.60, Z:-5.85 [[ 8.72999748e-01 -4.86510492e-01 3.43362960e-02 7.19295607e+01] [ 4.86149724e-01 8.73674669e-01 1.87354755e-02 1.86004784e+01] [-3.91137575e-02 3.36515401e-04 9.99234708e-01 -5.85104506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.313201008 meters 0.06137085562793844 Centerline is valid? [True, True] Translation: X:71.95, Y:18.62, Z:-5.85 [[ 8.73207261e-01 -4.86048702e-01 3.55772172e-02 7.19531551e+01] [ 4.85660824e-01 8.73931665e-01 1.94167282e-02 1.86153007e+01] [-4.05295322e-02 3.23632538e-04 9.99178289e-01 -5.85270761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.343201008 meters 0.060887727794381105 Centerline is valid? [True, True] Translation: X:71.98, Y:18.63, Z:-5.85 [[ 8.73291368e-01 -4.85878475e-01 3.58370379e-02 7.19769036e+01] [ 4.85484875e-01 8.74026318e-01 1.95558479e-02 1.86325806e+01] [-4.08242799e-02 3.20386668e-04 9.99166290e-01 -5.85242189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.373201008 meters 0.06070465269425684 Centerline is valid? [True, True] Translation: X:72.00, Y:18.65, Z:-5.85 [[ 8.73333303e-01 -4.85716018e-01 3.69985301e-02 7.20011455e+01] [ 4.85295843e-01 8.74116612e-01 2.02013092e-02 1.86489651e+01] [-4.21531292e-02 3.12756783e-04 9.99111113e-01 -5.85423328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.403201008 meters 0.060786402893824816 Centerline is valid? [True, True] Translation: X:72.03, Y:18.66, Z:-5.86 [[ 8.73346582e-01 -4.85639875e-01 3.76783713e-02 7.20255461e+01] [ 4.85203533e-01 8.74158921e-01 2.05842888e-02 1.86633143e+01] [-4.29334359e-02 3.04460591e-04 9.99077889e-01 -5.85788732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.433201008 meters 0.06036921639143489 Centerline is valid? [True, True] Translation: X:72.05, Y:18.68, Z:-5.86 [[ 8.74464923e-01 -4.83552058e-01 3.85811507e-02 7.20499455e+01] [ 4.83091981e-01 8.75315583e-01 2.10895359e-02 1.86789151e+01] [-4.39685709e-02 1.96185081e-04 9.99032896e-01 -5.85599487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.463201008 meters 0.060185824281606425 Centerline is valid? [True, True] Translation: X:72.07, Y:18.69, Z:-5.86 [[ 8.74693401e-01 -4.83086901e-01 3.92237128e-02 7.20740737e+01] [ 4.82610361e-01 8.75572395e-01 2.14527678e-02 1.86945993e+01] [-4.47067512e-02 1.65175731e-04 9.99000140e-01 -5.85743759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.493201008 meters 0.06023550532627867 Centerline is valid? [True, True] Translation: X:72.10, Y:18.71, Z:-5.86 [[ 8.75225035e-01 -4.82144422e-01 3.89601644e-02 7.20975246e+01] [ 4.81672877e-01 8.76091745e-01 2.13188815e-02 1.87106801e+01] [-4.44114582e-02 1.07235650e-04 9.99013319e-01 -5.86046565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52320100799999 meters 0.060303202212017896 Centerline is valid? [True, True] Translation: X:72.12, Y:18.73, Z:-5.86 [[ 8.75400682e-01 -4.81803884e-01 3.92258061e-02 7.21216965e+01] [ 4.81324871e-01 8.76279072e-01 2.14792101e-02 1.87267512e+01] [-4.47215198e-02 7.74409472e-05 9.98999489e-01 -5.86342100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55320100799999 meters 0.06032214486363515 Centerline is valid? [True, True] Translation: X:72.15, Y:18.74, Z:-5.87 [[ 8.75292151e-01 -4.81898037e-01 4.04713753e-02 7.21459508e+01] [ 4.81387608e-01 8.76227297e-01 2.21741792e-02 1.87417170e+01] [-4.61478172e-02 7.35335659e-05 9.98934619e-01 -5.86662853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58320100799999 meters 0.060239467054962005 Centerline is valid? [True, True] Translation: X:72.17, Y:18.76, Z:-5.87 [[ 8.75228463e-01 -4.81926481e-01 4.14970431e-02 7.21709631e+01] [ 4.81389084e-01 8.76211654e-01 2.27527251e-02 1.87568860e+01] [-4.73253335e-02 6.23909584e-05 9.98879527e-01 -5.86936514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61320100799999 meters 0.06001545788406211 Centerline is valid? [True, True] Translation: X:72.20, Y:18.77, Z:-5.87 [[ 8.74861653e-01 -4.82541845e-01 4.20767840e-02 7.21967793e+01] [ 4.81989728e-01 8.75872913e-01 2.30768944e-02 1.87713810e+01] [-4.79894825e-02 9.14876676e-05 9.98847837e-01 -5.86839042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64320100799999 meters 0.06024768914526678 Centerline is valid? [True, True] Translation: X:72.22, Y:18.78, Z:-5.87 [[ 8.74607013e-01 -4.82972495e-01 4.24280676e-02 7.22208250e+01] [ 4.82411218e-01 8.75635516e-01 2.32778840e-02 1.87834256e+01] [-4.83941006e-02 1.08775163e-04 9.98828313e-01 -5.87356769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67320100799999 meters 0.05995244990020658 Centerline is valid? [True, True] Translation: X:72.25, Y:18.79, Z:-5.87 [[ 8.72845191e-01 -4.85909892e-01 4.50871221e-02 7.22488221e+01] [ 4.85279700e-01 8.74008865e-01 2.47410020e-02 1.87940473e+01] [-5.14284420e-02 2.84800472e-04 9.98676641e-01 -5.87103705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.703201008 meters 0.0595677912142552 Centerline is valid? [True, True] Translation: X:72.28, Y:18.80, Z:-5.87 [[ 8.71057391e-01 -4.88912798e-01 4.71518593e-02 7.22762653e+01] [ 4.88227174e-01 8.72332537e-01 2.58876952e-02 1.88047264e+01] [-5.37889265e-02 4.71150764e-04 9.98552217e-01 -5.86662311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.733201008 meters 0.059988814263486685 Centerline is valid? [True, True] Translation: X:72.30, Y:18.82, Z:-5.87 [[ 8.69393389e-01 -4.91962384e-01 4.61318507e-02 7.23007057e+01] [ 4.91309448e-01 8.70616228e-01 2.53458048e-02 1.88173648e+01] [-5.26323204e-02 6.29538967e-04 9.98613760e-01 -5.87193397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.763201008 meters 0.060620277820809185 Centerline is valid? [True, True] Translation: X:72.32, Y:18.83, Z:-5.88 [[ 8.68721834e-01 -4.93324917e-01 4.41916515e-02 7.23239405e+01] [ 4.92727333e-01 8.69844852e-01 2.42839293e-02 1.88326049e+01] [-5.04197479e-02 6.78455013e-04 9.98727885e-01 -5.87972638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.793201008 meters 0.06144071009134615 Centerline is valid? [True, True] Translation: X:72.35, Y:18.85, Z:-5.89 [[ 8.68639034e-01 -4.93632577e-01 4.23450990e-02 7.23455675e+01] [ 4.93084105e-01 8.69670304e-01 2.32728720e-02 1.88489961e+01] [-4.83145229e-02 6.63970181e-04 9.98831951e-01 -5.89079704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.823201008 meters 0.06152613727761324 Centerline is valid? [True, True] Translation: X:72.37, Y:18.86, Z:-5.89 [[ 8.68553271e-01 -4.93813090e-01 4.19981958e-02 7.23713335e+01] [ 4.93273590e-01 8.69567818e-01 2.30862543e-02 1.88628477e+01] [-4.79205740e-02 6.64959156e-04 9.98850928e-01 -5.89431771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.853201008 meters 0.06108496515150836 Centerline is valid? [True, True] Translation: X:72.40, Y:18.88, Z:-5.89 [[ 8.68413027e-01 -4.94035427e-01 4.22825224e-02 7.23956888e+01] [ 4.93488320e-01 8.69441514e-01 2.32536588e-02 1.88765795e+01] [-4.82503115e-02 6.72150777e-04 9.98835049e-01 -5.89292491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88320100799999 meters 0.06111648453262451 Centerline is valid? [True, True] Translation: X:72.42, Y:18.89, Z:-5.89 [[ 8.68156541e-01 -4.94526866e-01 4.18019109e-02 7.24215547e+01] [ 4.93991686e-01 8.69162083e-01 2.30106151e-02 1.88881913e+01] [-4.77120033e-02 6.72980428e-04 9.98860907e-01 -5.89426875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91320100799999 meters 0.06125443926478356 Centerline is valid? [True, True] Translation: X:72.45, Y:18.90, Z:-5.90 [[ 8.68471523e-01 -4.93835305e-01 4.34039831e-02 7.24474007e+01] [ 4.93257173e-01 8.69555210e-01 2.38976652e-02 1.88982910e+01] [-4.95436704e-02 6.54884347e-04 9.98771744e-01 -5.89613926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94320100799999 meters 0.06049248467129209 Centerline is valid? [True, True] Translation: X:72.47, Y:18.91, Z:-5.89 [[ 8.68694659e-01 -4.93223146e-01 4.58314051e-02 7.24721369e+01] [ 4.92577592e-01 8.69902581e-01 2.52352127e-02 1.89147494e+01] [-5.23154486e-02 6.53828635e-04 9.98630395e-01 -5.89305189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97320100799999 meters 0.06084851755176965 Centerline is valid? [True, True] Translation: X:72.50, Y:18.93, Z:-5.90 [[ 8.69056760e-01 -4.92518260e-01 4.65415098e-02 7.24967601e+01] [ 4.91850738e-01 8.70301898e-01 2.56409320e-02 1.89281454e+01] [-5.31337916e-02 6.08050659e-04 9.98587217e-01 -5.90001844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00320100799999 meters 0.060236202383176216 Centerline is valid? [True, True] Translation: X:72.52, Y:18.95, Z:-5.90 [[ 8.69492499e-01 -4.91610370e-01 4.79795583e-02 7.25207178e+01] [ 4.90898685e-01 8.70815098e-01 2.64489252e-02 1.89462223e+01] [-5.47838897e-02 5.55959981e-04 9.98498080e-01 -5.89774698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03320100799999 meters 0.060083218408733256 Centerline is valid? [True, True] Translation: X:72.55, Y:18.96, Z:-5.90 [[ 8.69888685e-01 -4.90648607e-01 5.05729219e-02 7.25452209e+01] [ 4.89855139e-01 8.71357383e-01 2.78971995e-02 1.89587414e+01] [-5.77548110e-02 5.05947470e-04 9.98330670e-01 -5.89929694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.063201008 meters 0.060063074560238655 Centerline is valid? [True, True] Translation: X:72.57, Y:18.97, Z:-5.90 [[ 8.69833701e-01 -4.90623801e-01 5.17457222e-02 7.25701032e+01] [ 4.89792682e-01 8.71371348e-01 2.85500204e-02 1.89706522e+01] [-5.90970592e-02 5.10906161e-04 9.98252111e-01 -5.90263160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.093201008 meters 0.059851002079130015 Centerline is valid? [True, True] Translation: X:72.59, Y:18.99, Z:-5.90 [[ 8.69693945e-01 -4.90793262e-01 5.24825419e-02 7.25947517e+01] [ 4.89938428e-01 8.71275901e-01 2.89592874e-02 1.89854264e+01] [-5.99397971e-02 5.27497259e-04 9.98201855e-01 -5.90336689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.123201008 meters 0.05992793791660414 Centerline is valid? [True, True] Translation: X:72.62, Y:19.00, Z:-5.91 [[ 8.69369879e-01 -4.91341134e-01 5.27247816e-02 7.26186966e+01] [ 4.90478486e-01 8.70967038e-01 2.91079425e-02 1.90007354e+01] [-6.02234763e-02 5.54802570e-04 9.98184765e-01 -5.90625182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.153201008 meters 0.059952087964172895 Centerline is valid? [True, True] Translation: X:72.64, Y:19.01, Z:-5.91 [[ 8.69211435e-01 -4.91576209e-01 5.31442582e-02 7.26427363e+01] [ 4.90698917e-01 8.70834382e-01 2.93607288e-02 1.90132101e+01] [-6.07128830e-02 5.57148783e-04 9.98155116e-01 -5.90959705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.183201008 meters 0.05972269544387693 Centerline is valid? [True, True] Translation: X:72.67, Y:19.03, Z:-5.91 [[ 8.69449271e-01 -4.91028112e-01 5.43079924e-02 7.26677863e+01] [ 4.90110356e-01 8.71143570e-01 3.00119878e-02 1.90274645e+01] [-6.20467881e-02 5.23008605e-04 9.98073105e-01 -5.91054965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.213201008 meters 0.05969360509085812 Centerline is valid? [True, True] Translation: X:72.69, Y:19.04, Z:-5.91 [[ 8.69462862e-01 -4.90986486e-01 5.44665218e-02 7.26914179e+01] [ 4.90062299e-01 8.71167041e-01 3.01152834e-02 1.90417876e+01] [-6.22356358e-02 5.07868395e-04 9.98061355e-01 -5.91300359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.243201008 meters 0.05968276922431214 Centerline is valid? [True, True] Translation: X:72.71, Y:19.06, Z:-5.92 [[ 8.69534003e-01 -4.90835995e-01 5.46867869e-02 7.27145008e+01] [ 4.89902710e-01 8.71251855e-01 3.02578913e-02 1.90561552e+01] [-6.24976267e-02 4.80939735e-04 9.98044997e-01 -5.91590926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27320100799999 meters 0.0597188888597193 Centerline is valid? [True, True] Translation: X:72.74, Y:19.07, Z:-5.92 [[ 8.69746273e-01 -4.90395156e-01 5.52631086e-02 7.27385813e+01] [ 4.89440664e-01 8.71500081e-01 3.05850381e-02 1.90716703e+01] [-6.31605581e-02 4.46789630e-04 9.98003279e-01 -5.91938145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30320100799999 meters 0.05975906311038503 Centerline is valid? [True, True] Translation: X:72.76, Y:19.09, Z:-5.92 [[ 8.70003050e-01 -4.89866089e-01 5.59098199e-02 7.27625912e+01] [ 4.88886943e-01 8.71797601e-01 3.09596667e-02 1.90871678e+01] [-6.39081377e-02 3.98576452e-04 9.97955706e-01 -5.92220098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33320100799999 meters 0.059668262059260915 Centerline is valid? [True, True] Translation: X:72.79, Y:19.10, Z:-5.93 [[ 8.70647198e-01 -4.88742268e-01 5.57176047e-02 7.27858072e+01] [ 4.87766417e-01 8.72428167e-01 3.08709611e-02 1.91011817e+01] [-6.36975512e-02 2.99460645e-04 9.97969204e-01 -5.92550647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36320100799999 meters 0.059585278236375244 Centerline is valid? [True, True] Translation: X:72.81, Y:19.12, Z:-5.93 [[ 8.70859989e-01 -4.88469107e-01 5.47796581e-02 7.28109277e+01] [ 4.87524823e-01 8.72581148e-01 3.03592967e-02 1.91163023e+01] [-6.26292755e-02 2.67746331e-04 9.98036824e-01 -5.92793396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39320100799999 meters 0.05973663906186588 Centerline is valid? [True, True] Translation: X:72.83, Y:19.13, Z:-5.93 [[ 8.71233620e-01 -4.87992639e-01 5.30581127e-02 7.28342549e+01] [ 4.87104842e-01 8.72847719e-01 2.94233349e-02 1.91303371e+01] [-6.06700234e-02 2.10265022e-04 9.98157855e-01 -5.93393857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42320100799999 meters 0.059704750408118804 Centerline is valid? [True, True] Translation: X:72.86, Y:19.15, Z:-5.94 [[ 8.70979850e-01 -4.88369728e-01 5.37504294e-02 7.28590779e+01] [ 4.87459118e-01 8.72636782e-01 2.98103376e-02 1.91456622e+01] [-6.14630682e-02 2.36933494e-04 9.98109330e-01 -5.93559967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.453201008 meters 0.059661866737663806 Centerline is valid? [True, True] Translation: X:72.88, Y:19.16, Z:-5.94 [[ 8.70286708e-01 -4.89497463e-01 5.47108729e-02 7.28839579e+01] [ 4.88555007e-01 8.72004668e-01 3.03622184e-02 1.91581845e+01] [-6.25703654e-02 3.05435844e-04 9.98040508e-01 -5.93898568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.483201008 meters 0.059691885067324445 Centerline is valid? [True, True] Translation: X:72.91, Y:19.17, Z:-5.94 [[ 8.69716250e-01 -4.90405570e-01 5.56418929e-02 7.29086118e+01] [ 4.89432237e-01 8.71494256e-01 3.08844262e-02 1.91695637e+01] [-6.36374847e-02 3.72248767e-04 9.97973012e-01 -5.94016548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.513201008 meters 0.05972881454270639 Centerline is valid? [True, True] Translation: X:72.93, Y:19.18, Z:-5.94 [[ 8.68977216e-01 -4.91600380e-01 5.66362459e-02 7.29340145e+01] [ 4.90594050e-01 8.70820792e-01 3.14424239e-02 1.91810785e+01] [-6.47771280e-02 4.62655237e-04 9.97899649e-01 -5.94070521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.543201008 meters 0.05975848816639733 Centerline is valid? [True, True] Translation: X:72.96, Y:19.19, Z:-5.94 [[ 8.66690305e-01 -4.95417201e-01 5.83927412e-02 7.29619010e+01] [ 4.94354677e-01 8.68654839e-01 3.24380000e-02 1.91906239e+01] [-6.67934804e-02 7.53024572e-04 9.97766538e-01 -5.94179012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.573201008 meters 0.0600828201356098 Centerline is valid? [True, True] Translation: X:72.99, Y:19.20, Z:-5.94 [[ 8.65427886e-01 -4.97571663e-01 5.87963769e-02 7.29882369e+01] [ 4.96498059e-01 8.67422396e-01 3.26812390e-02 1.91995450e+01] [-6.72625525e-02 9.09031429e-04 9.97734896e-01 -5.94457039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.603201008 meters 0.060200064784823974 Centerline is valid? [True, True] Translation: X:73.01, Y:19.21, Z:-5.95 [[ 8.64197972e-01 -4.99603881e-01 5.96475244e-02 7.30145833e+01] [ 4.98503177e-01 8.66253315e-01 3.31628849e-02 1.92125605e+01] [-6.82381717e-02 1.07518247e-03 9.97668480e-01 -5.94638930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63320100799999 meters 0.06048749155665783 Centerline is valid? [True, True] Translation: X:73.04, Y:19.22, Z:-5.95 [[ 8.63696719e-01 -5.00558942e-01 5.88958610e-02 7.30399501e+01] [ 4.99486797e-01 8.65701733e-01 3.27635239e-02 1.92237606e+01] [-6.73863238e-02 1.11995681e-03 9.97726330e-01 -5.94967864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66320100799999 meters 0.060206056918229695 Centerline is valid? [True, True] Translation: X:73.06, Y:19.24, Z:-5.95 [[ 8.63697055e-01 -5.00558753e-01 5.88925435e-02 7.30633943e+01] [ 4.99486208e-01 8.65701851e-01 3.27693782e-02 1.92389407e+01] [-6.73863831e-02 1.11319781e-03 9.97726333e-01 -5.95144210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69320100799999 meters 0.05999706729417298 Centerline is valid? [True, True] Translation: X:73.09, Y:19.26, Z:-5.95 [[ 8.63840515e-01 -5.00387915e-01 5.82365793e-02 7.30865004e+01] [ 4.99337455e-01 8.65800664e-01 3.24240235e-02 1.92550159e+01] [-6.66458585e-02 1.07052014e-03 9.97776119e-01 -5.95401152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72320100799999 meters 0.06024969741027366 Centerline is valid? [True, True] Translation: X:73.11, Y:19.27, Z:-5.96 [[ 8.64275705e-01 -4.99755317e-01 5.72025226e-02 7.31090653e+01] [ 4.98739090e-01 8.66166065e-01 3.18695382e-02 1.92695063e+01] [-6.54738551e-02 9.85066471e-04 9.97853799e-01 -5.95917373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75320100799999 meters 0.060212989046640526 Centerline is valid? [True, True] Translation: X:73.13, Y:19.29, Z:-5.96 [[ 8.64593434e-01 -4.99355804e-01 5.58746329e-02 7.31314626e+01] [ 4.98384637e-01 8.66396521e-01 3.11419706e-02 1.92876118e+01] [-6.39605113e-02 9.21915313e-04 9.97952004e-01 -5.96335095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78320100799999 meters 0.06025921121484999 Centerline is valid? [True, True] Translation: X:73.16, Y:19.30, Z:-5.97 [[ 8.64690414e-01 -4.99286184e-01 5.49890391e-02 7.31566255e+01] [ 4.98344366e-01 8.66436679e-01 3.06655073e-02 1.93024588e+01] [-6.29553846e-02 8.87307636e-04 9.98015948e-01 -5.96685535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.813201008 meters 0.060405658922487115 Centerline is valid? [True, True] Translation: X:73.18, Y:19.31, Z:-5.97 [[ 8.64586930e-01 -4.99423625e-01 5.53668064e-02 7.31810517e+01] [ 4.98467876e-01 8.66357464e-01 3.08953221e-02 1.93149580e+01] [-6.33972998e-02 8.86882692e-04 9.97987974e-01 -5.96940975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.843201008 meters 0.060339152845643854 Centerline is valid? [True, True] Translation: X:73.21, Y:19.33, Z:-5.97 [[ 8.64091822e-01 -5.00059089e-01 5.73256598e-02 7.32056593e+01] [ 4.99035171e-01 8.65990757e-01 3.19985656e-02 1.93292352e+01] [-6.56446651e-02 9.57821555e-04 9.97842603e-01 -5.97110014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.873201008 meters 0.060339152845643854 Centerline is valid? [True, True] Translation: X:73.23, Y:19.34, Z:-5.97 [[ 8.63961154e-01 -5.00285644e-01 5.73184070e-02 7.32296716e+01] [ 4.99261362e-01 8.65859892e-01 3.20115517e-02 1.93428433e+01] [-6.56446294e-02 9.60128777e-04 9.97842603e-01 -5.97322935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.903201008 meters 0.060437420221116776 Centerline is valid? [True, True] Translation: X:73.25, Y:19.36, Z:-5.98 [[ 8.63878504e-01 -5.00413893e-01 5.74444558e-02 7.32536721e+01] [ 4.99384078e-01 8.65785784e-01 3.21016953e-02 1.93577090e+01] [-6.57987275e-02 9.54882119e-04 9.97832459e-01 -5.97589886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.933201008 meters 0.06034894334564579 Centerline is valid? [True, True] Translation: X:73.28, Y:19.37, Z:-5.98 [[ 8.64374773e-01 -4.99588794e-01 5.71601977e-02 7.32775455e+01] [ 4.98565943e-01 8.66262248e-01 3.19643327e-02 1.93725309e+01] [-6.54847437e-02 8.68965045e-04 9.97853192e-01 -5.97795539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.963201008 meters 0.06031363345451997 Centerline is valid? [True, True] Translation: X:73.30, Y:19.39, Z:-5.98 [[ 8.65027801e-01 -4.98449057e-01 5.72314643e-02 7.33006848e+01] [ 4.97420424e-01 8.66918646e-01 3.20153536e-02 1.93872729e+01] [-6.55730463e-02 7.73928291e-04 9.97847472e-01 -5.98019319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.993201008 meters 0.06003496934118626 Centerline is valid? [True, True] Translation: X:73.32, Y:19.40, Z:-5.98 [[ 8.66114582e-01 -4.96625112e-01 5.66482978e-02 7.33241282e+01] [ 4.95613204e-01 8.67964922e-01 3.16929999e-02 1.94046309e+01] [-6.49082750e-02 6.25875002e-04 9.97891038e-01 -5.98216408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02320100799999 meters 0.0598457428496746 Centerline is valid? [True, True] Translation: X:73.35, Y:19.42, Z:-5.98 [[ 8.69485862e-01 -4.90809317e-01 5.56825827e-02 7.33453856e+01] [ 4.89818500e-01 8.71267000e-01 3.11713421e-02 1.94236934e+01] [-6.38135819e-02 1.71317860e-04 9.97961822e-01 -5.98450853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05320100799999 meters 0.059941042247819314 Centerline is valid? [True, True] Translation: X:73.37, Y:19.44, Z:-5.99 [[ 8.71026811e-01 -4.88157710e-01 5.49030432e-02 7.33689616e+01] [ 4.87188988e-01 8.72755435e-01 3.07382576e-02 1.94409582e+01] [-6.29220468e-02 -2.56884153e-05 9.98018444e-01 -5.98764326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08320100799999 meters 0.06039877902093205 Centerline is valid? [True, True] Translation: X:73.39, Y:19.46, Z:-5.99 [[ 8.72984291e-01 -4.84727303e-01 5.42021090e-02 7.33918178e+01] [ 4.83775562e-01 8.74665285e-01 3.03619036e-02 1.94589069e+01] [-6.21259467e-02 -2.83809198e-04 9.98068277e-01 -5.99126034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11320100799999 meters 0.06082613869485034 Centerline is valid? [True, True] Translation: X:73.41, Y:19.48, Z:-6.00 [[ 8.74380365e-01 -4.82236965e-01 5.39118359e-02 7.34136293e+01] [ 4.81289492e-01 8.76040686e-01 3.02182257e-02 1.94756978e+01] [-6.18013072e-02 -4.75023130e-04 9.98088359e-01 -5.99551332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14320100799999 meters 0.06048155254615534 Centerline is valid? [True, True] Translation: X:73.44, Y:19.48, Z:-6.00 [[ 8.72094415e-01 -4.86172884e-01 5.55630962e-02 7.34409301e+01] [ 4.85174021e-01 8.73862623e-01 3.11494135e-02 1.94841609e+01] [-6.36985132e-02 -2.07458721e-04 9.97969166e-01 -5.99616038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17320100799999 meters 0.06036084775369248 Centerline is valid? [True, True] Translation: X:73.47, Y:19.50, Z:-6.00 [[ 8.70902460e-01 -4.88330886e-01 5.53339985e-02 7.34667527e+01] [ 4.87344187e-01 8.72658549e-01 3.10274217e-02 1.94951176e+01] [-6.34393351e-02 -5.51553828e-05 9.97985695e-01 -5.99807426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.203201008 meters 0.060509273627916124 Centerline is valid? [True, True] Translation: X:73.49, Y:19.50, Z:-6.00 [[ 8.69195455e-01 -4.91505219e-01 5.40544279e-02 7.34931765e+01] [ 4.90568520e-01 8.70874615e-01 3.03303698e-02 1.95042320e+01] [-6.19821641e-02 1.54381142e-04 9.98077245e-01 -6.00251395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.233201008 meters 0.06062335573851345 Centerline is valid? [True, True] Translation: X:73.52, Y:19.52, Z:-6.01 [[ 8.68760585e-01 -4.92345185e-01 5.33972407e-02 7.35186432e+01] [ 4.91432336e-01 8.70400010e-01 2.99680172e-02 1.95171601e+01] [-6.12315677e-02 2.06098628e-04 9.98123566e-01 -6.00614754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.263201008 meters 0.06085013861512806 Centerline is valid? [True, True] Translation: X:73.54, Y:19.53, Z:-6.01 [[ 8.68725760e-01 -4.92487727e-01 5.26440258e-02 7.35433716e+01] [ 4.91599684e-01 8.70319367e-01 2.95626611e-02 1.95301052e+01] [-6.03763629e-02 1.97941253e-04 9.98175664e-01 -6.00930767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.293201008 meters 0.060903718722300014 Centerline is valid? [True, True] Translation: X:73.57, Y:19.54, Z:-6.01 [[ 8.68290251e-01 -4.93258182e-01 5.26156451e-02 7.35688340e+01] [ 4.92372201e-01 8.69882926e-01 2.95518243e-02 1.95426296e+01] [-6.03461304e-02 2.46920029e-04 9.98177481e-01 -6.01271197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.323201008 meters 0.06096383359247838 Centerline is valid? [True, True] Translation: X:73.60, Y:19.55, Z:-6.01 [[ 8.67213755e-01 -4.95186559e-01 5.22548989e-02 7.35958902e+01] [ 4.94315131e-01 8.68786591e-01 2.93668428e-02 1.95541574e+01] [-5.99404213e-02 3.63057129e-04 9.98201890e-01 -6.01391442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.353201008 meters 0.06100256500456711 Centerline is valid? [True, True] Translation: X:73.62, Y:19.57, Z:-6.02 [[ 8.66751200e-01 -4.95982314e-01 5.23822634e-02 7.36205582e+01] [ 4.95107174e-01 8.68332528e-01 2.94534744e-02 1.95671574e+01] [-6.00936256e-02 4.06000092e-04 9.98192662e-01 -6.01557787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38320100799999 meters 0.06095735471112571 Centerline is valid? [True, True] Translation: X:73.65, Y:19.58, Z:-6.02 [[ 8.66572179e-01 -4.96274332e-01 5.25780083e-02 7.36450259e+01] [ 4.95392057e-01 8.68165663e-01 2.95819489e-02 1.95806078e+01] [-6.03271833e-02 4.11833804e-04 9.98178572e-01 -6.01703519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41320100799999 meters 0.060757931048774236 Centerline is valid? [True, True] Translation: X:73.67, Y:19.60, Z:-6.02 [[ 8.66956207e-01 -4.95591919e-01 5.26838249e-02 7.36692822e+01] [ 4.94703725e-01 8.68555426e-01 2.96596760e-02 1.95959722e+01] [-6.04579177e-02 3.49244153e-04 9.98170686e-01 -6.01641083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44320100799999 meters 0.060741847186362996 Centerline is valid? [True, True] Translation: X:73.69, Y:19.61, Z:-6.02 [[ 8.67028307e-01 -4.95412387e-01 5.31834689e-02 7.36928064e+01] [ 4.94505548e-01 8.68657852e-01 2.99632892e-02 1.96108476e+01] [-6.10424225e-02 3.20500513e-04 9.98135121e-01 -6.01884335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47320100799999 meters 0.06071919638745727 Centerline is valid? [True, True] Translation: X:73.72, Y:19.63, Z:-6.02 [[ 8.67083366e-01 -4.95301697e-01 5.33166524e-02 7.37167029e+01] [ 4.94389859e-01 8.68720975e-01 3.00422174e-02 1.96263151e+01] [-6.11972556e-02 3.10105279e-04 9.98125643e-01 -6.02045143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50320100799999 meters 0.06075305402486056 Centerline is valid? [True, True] Translation: X:73.74, Y:19.64, Z:-6.02 [[ 8.67037898e-01 -4.95466678e-01 5.25171815e-02 7.37410882e+01] [ 4.94581176e-01 8.68626894e-01 2.96104608e-02 1.96417523e+01] [-6.02888329e-02 3.00617710e-04 9.98180929e-01 -6.02436447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53320100799999 meters 0.061019224208580296 Centerline is valid? [True, True] Translation: X:73.76, Y:19.66, Z:-6.03 [[ 8.66886051e-01 -4.95952519e-01 5.03951837e-02 7.37647096e+01] [ 4.95136976e-01 8.68349587e-01 2.84318384e-02 1.96568630e+01] [-5.78614789e-02 3.05354743e-04 9.98324574e-01 -6.02923949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.563201008 meters 0.06110218958152864 Centerline is valid? [True, True] Translation: X:73.79, Y:19.67, Z:-6.03 [[ 8.66477692e-01 -4.96715391e-01 4.99022023e-02 7.37897043e+01] [ 4.95916894e-01 8.67913416e-01 2.81555869e-02 1.96706516e+01] [-5.72961043e-02 3.51157216e-04 9.98357167e-01 -6.03119600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.593201008 meters 0.06115012674193217 Centerline is valid? [True, True] Translation: X:73.82, Y:19.68, Z:-6.03 [[ 8.65910652e-01 -4.97739077e-01 4.95434606e-02 7.38153372e+01] [ 4.96952862e-01 8.67326726e-01 2.79679146e-02 1.96841285e+01] [-5.68910915e-02 4.03049358e-04 9.98380309e-01 -6.03163276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.623201008 meters 0.061139756116476554 Centerline is valid? [True, True] Translation: X:73.84, Y:19.70, Z:-6.03 [[ 8.65153184e-01 -4.98997196e-01 5.01175230e-02 7.38407210e+01] [ 4.98193763e-01 8.66603468e-01 2.83090711e-02 1.96952832e+01] [-5.75581663e-02 4.76554329e-04 9.98342041e-01 -6.03279948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.653201008 meters 0.061134834434732194 Centerline is valid? [True, True] Translation: X:73.87, Y:19.71, Z:-6.03 [[ 8.62689741e-01 -5.03148353e-01 5.10700030e-02 7.38688060e+01] [ 5.02320637e-01 8.64199723e-01 2.88585657e-02 1.97057243e+01] [-5.86548222e-02 7.57527891e-04 9.98278036e-01 -6.03100606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.683201008 meters 0.06130395446088746 Centerline is valid? [True, True] Translation: X:73.89, Y:19.72, Z:-6.03 [[ 8.61165639e-01 -5.05577889e-01 5.27706353e-02 7.38946829e+01] [ 5.04697626e-01 8.62780456e-01 2.98360714e-02 1.97178764e+01] [-6.06139308e-02 9.39414867e-04 9.98160843e-01 -6.03143275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.713201008 meters 0.061511457761115766 Centerline is valid? [True, True] Translation: X:73.92, Y:19.73, Z:-6.03 [[ 8.59758290e-01 -5.07952727e-01 5.29122855e-02 7.39203912e+01] [ 5.07070835e-01 8.61384257e-01 2.99387654e-02 1.97289758e+01] [-6.07852873e-02 1.09017501e-03 9.98150269e-01 -6.03291882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.743201008 meters 0.061856841122173316 Centerline is valid? [True, True] Translation: X:73.95, Y:19.74, Z:-6.04 [[ 8.58410326e-01 -5.10232286e-01 5.28651697e-02 7.39462461e+01] [ 5.09356011e-01 8.60035732e-01 2.99164447e-02 1.97410244e+01] [-6.07302708e-02 1.24660689e-03 9.98153435e-01 -6.03512112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77320100799999 meters 0.06219959593320284 Centerline is valid? [True, True] Translation: X:73.97, Y:19.76, Z:-6.04 [[ 8.57232275e-01 -5.12284609e-01 5.21277854e-02 7.39716125e+01] [ 5.11435848e-01 8.58814659e-01 2.95085599e-02 1.97552525e+01] [-5.98848873e-02 1.36432818e-03 9.98204357e-01 -6.03976673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80320100799999 meters 0.06262558202668053 Centerline is valid? [True, True] Translation: X:74.00, Y:19.77, Z:-6.04 [[ 8.57146828e-01 -5.12483229e-01 5.15776607e-02 7.39965953e+01] [ 5.11651583e-01 8.58696176e-01 2.92153136e-02 1.97676267e+01] [-5.92618983e-02 1.34797833e-03 9.98241559e-01 -6.04446973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83320100799999 meters 0.06237739837172987 Centerline is valid? [True, True] Translation: X:74.02, Y:19.78, Z:-6.05 [[ 8.57631121e-01 -5.11833111e-01 4.99572461e-02 7.40208239e+01] [ 5.11051467e-01 8.59083982e-01 2.83038851e-02 1.97813597e+01] [-5.74043355e-02 1.25643123e-03 9.98350221e-01 -6.04666816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86320100799999 meters 0.062111148776679836 Centerline is valid? [True, True] Translation: X:74.04, Y:19.80, Z:-6.05 [[ 8.59413483e-01 -5.09037621e-01 4.78452240e-02 7.40442778e+01] [ 5.08315900e-01 8.60743671e-01 2.71160176e-02 1.97959684e+01] [-5.49855469e-02 1.01661694e-03 9.98486633e-01 -6.04936846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89320100799999 meters 0.06174281227959316 Centerline is valid? [True, True] Translation: X:74.07, Y:19.81, Z:-6.05 [[ 8.60444265e-01 -5.07369248e-01 4.70331089e-02 7.40676645e+01] [ 5.06668750e-01 8.61728300e-01 2.66667410e-02 1.98129500e+01] [-5.40596453e-02 8.84962195e-04 9.98537316e-01 -6.05068810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92320100799999 meters 0.06136040115686173 Centerline is valid? [True, True] Translation: X:74.09, Y:19.83, Z:-6.05 [[ 8.61296411e-01 -5.06016650e-01 4.59961069e-02 7.40901693e+01] [ 5.05344030e-01 8.62523366e-01 2.60931679e-02 1.98312941e+01] [-5.28762943e-02 7.69906168e-04 9.98600773e-01 -6.05191547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.953201008 meters 0.06140081583945161 Centerline is valid? [True, True] Translation: X:74.11, Y:19.85, Z:-6.06 [[ 8.62449518e-01 -5.04126263e-01 4.51391169e-02 7.41120679e+01] [ 5.03474952e-01 8.63629735e-01 2.56252602e-02 1.98477262e+01] [-5.19018503e-02 6.25921423e-04 9.98651995e-01 -6.05779124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.983201008 meters 0.061681119552870506 Centerline is valid? [True, True] Translation: X:74.13, Y:19.87, Z:-6.06 [[ 8.63516740e-01 -5.02393791e-01 4.40377004e-02 7.41328348e+01] [ 5.01770986e-01 8.64638786e-01 2.50129235e-02 1.98658381e+01] [-5.06430413e-02 4.97762162e-04 9.98716694e-01 -6.06395344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.013201008 meters 0.06156160382819426 Centerline is valid? [True, True] Translation: X:74.16, Y:19.88, Z:-6.07 [[ 8.63388568e-01 -5.02574038e-01 4.44917722e-02 7.41573567e+01] [ 5.01938456e-01 8.64534022e-01 2.52727540e-02 1.98804596e+01] [-5.11660808e-02 5.11924541e-04 9.98690027e-01 -6.06566418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.043201008 meters 0.06156178271188028 Centerline is valid? [True, True] Translation: X:74.18, Y:19.89, Z:-6.06 [[ 8.62039321e-01 -5.04800446e-01 4.54391858e-02 7.41837910e+01] [ 5.04139876e-01 8.63235827e-01 2.58242759e-02 1.98911426e+01] [-5.22608391e-02 6.46164246e-04 9.98633260e-01 -6.06482742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.073201008 meters 0.06159499038144999 Centerline is valid? [True, True] Translation: X:74.21, Y:19.90, Z:-6.07 [[ 8.61061878e-01 -5.06362536e-01 4.65770726e-02 7.42085722e+01] [ 5.05669610e-01 8.62320377e-01 2.64917645e-02 1.99025969e+01] [-5.35787958e-02 7.41561632e-04 9.98563349e-01 -6.06506130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.103201008 meters 0.06138676593624733 Centerline is valid? [True, True] Translation: X:74.23, Y:19.92, Z:-6.06 [[ 8.60044309e-01 -5.07984333e-01 4.77043340e-02 7.42343106e+01] [ 5.07259748e-01 8.61365879e-01 2.71361596e-02 1.99156818e+01] [-5.48756295e-02 8.60188731e-04 9.98492827e-01 -6.06235938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13320100799999 meters 0.061913209512234994 Centerline is valid? [True, True] Translation: X:74.26, Y:19.93, Z:-6.07 [[ 8.59806403e-01 -5.08395400e-01 4.76137130e-02 7.42583822e+01] [ 5.07673129e-01 8.61123315e-01 2.71040646e-02 1.99273331e+01] [-5.47808602e-02 8.67954427e-04 9.98498024e-01 -6.06911563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16320100799999 meters 0.0612468153084542 Centerline is valid? [True, True] Translation: X:74.28, Y:19.95, Z:-6.07 [[ 8.60045693e-01 -5.08031025e-01 4.71792697e-02 7.42800614e+01] [ 5.07320996e-01 8.61338369e-01 2.68629966e-02 1.99460282e+01] [-5.42845509e-02 8.31629529e-04 9.98525160e-01 -6.06729244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19320100799999 meters 0.06120798090521549 Centerline is valid? [True, True] Translation: X:74.30, Y:19.96, Z:-6.07 [[ 8.60388878e-01 -5.07508039e-01 4.65464279e-02 7.43025803e+01] [ 5.06815306e-01 8.61646675e-01 2.65189398e-02 1.99632821e+01] [-5.35651499e-02 7.73841234e-04 9.98564057e-01 -6.07070323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22320100799999 meters 0.06159491227988121 Centerline is valid? [True, True] Translation: X:74.32, Y:19.98, Z:-6.08 [[ 8.61264396e-01 -5.06054317e-01 4.61808184e-02 7.43239101e+01] [ 5.05369195e-01 8.62501359e-01 2.63321658e-02 1.99803753e+01] [-5.31565248e-02 6.59406114e-04 9.98585975e-01 -6.07854225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25320100799999 meters 0.06136486649594808 Centerline is valid? [True, True] Translation: X:74.35, Y:20.00, Z:-6.08 [[ 8.61637425e-01 -5.05476903e-01 4.55417288e-02 7.43470844e+01] [ 5.04809837e-01 8.62839917e-01 2.59674249e-02 1.99958362e+01] [-5.24211550e-02 6.15407576e-04 9.98624876e-01 -6.07936087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28320100799999 meters 0.061431978523840636 Centerline is valid? [True, True] Translation: X:74.37, Y:20.01, Z:-6.08 [[ 8.61938341e-01 -5.05038900e-01 4.46990526e-02 7.43717709e+01] [ 5.04394722e-01 8.63096399e-01 2.55062770e-02 2.00091865e+01] [-5.14612534e-02 5.61128058e-04 9.98674834e-01 -6.08236368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.313201008 meters 0.06186080266327601 Centerline is valid? [True, True] Translation: X:74.40, Y:20.02, Z:-6.09 [[ 8.61966616e-01 -5.05028651e-01 4.42675295e-02 7.43969387e+01] [ 5.04396407e-01 8.63102405e-01 2.52686130e-02 2.00211753e+01] [-5.09687847e-02 5.47682020e-04 9.98700097e-01 -6.08987015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.343201008 meters 0.06164303495206147 Centerline is valid? [True, True] Translation: X:74.42, Y:20.04, Z:-6.09 [[ 8.61496188e-01 -5.05996279e-01 4.23330140e-02 7.44220407e+01] [ 5.05419163e-01 8.62535468e-01 2.41668305e-02 2.00365505e+01] [-4.87420524e-02 5.76284111e-04 9.98811234e-01 -6.08968001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.373201008 meters 0.06177244199154256 Centerline is valid? [True, True] Translation: X:74.45, Y:20.05, Z:-6.09 [[ 8.61509179e-01 -5.05998269e-01 4.20438642e-02 7.44461784e+01] [ 5.05428234e-01 8.62534313e-01 2.40179171e-02 2.00497359e+01] [-4.84173000e-02 5.58499949e-04 9.98827039e-01 -6.09384593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.403201008 meters 0.06172109883938748 Centerline is valid? [True, True] Translation: X:74.47, Y:20.06, Z:-6.10 [[ 8.61205994e-01 -5.06560202e-01 4.14849143e-02 7.44716865e+01] [ 5.06005757e-01 8.62204399e-01 2.37012217e-02 2.00639713e+01] [-4.77745712e-02 5.79971312e-04 9.98857975e-01 -6.09533953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.433201008 meters 0.061736438664378585 Centerline is valid? [True, True] Translation: X:74.50, Y:20.08, Z:-6.10 [[ 8.60811461e-01 -5.07344294e-01 4.00673869e-02 7.44966261e+01] [ 5.06827369e-01 8.61743244e-01 2.29041527e-02 2.00776930e+01] [-4.61480911e-02 5.91091095e-04 9.98934434e-01 -6.09804375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.463201008 meters 0.06214294760173733 Centerline is valid? [True, True] Translation: X:74.52, Y:20.09, Z:-6.10 [[ 8.60220676e-01 -5.08365930e-01 3.98053871e-02 7.45209553e+01] [ 5.07856295e-01 8.61140919e-01 2.27662324e-02 2.00900473e+01] [-4.58516245e-02 6.31432628e-04 9.98948062e-01 -6.10317384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49320100799999 meters 0.06212571651759817 Centerline is valid? [True, True] Translation: X:74.55, Y:20.10, Z:-6.10 [[ 8.59916266e-01 -5.08863293e-01 4.00270416e-02 7.45450641e+01] [ 5.08348432e-01 8.60847090e-01 2.28944995e-02 2.01036614e+01] [-4.61073327e-02 6.60331353e-04 9.98936273e-01 -6.10474323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52320100799999 meters 0.062013175063533106 Centerline is valid? [True, True] Translation: X:74.57, Y:20.12, Z:-6.11 [[ 8.59635428e-01 -5.09247710e-01 4.11545925e-02 7.45706123e+01] [ 5.08703103e-01 8.60619718e-01 2.35553376e-02 2.01181902e+01] [-4.74139556e-02 6.86466200e-04 9.98875090e-01 -6.10536501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55320100799999 meters 0.06184211134811839 Centerline is valid? [True, True] Translation: X:74.60, Y:20.13, Z:-6.11 [[ 8.59646169e-01 -5.09164804e-01 4.19483807e-02 7.45952257e+01] [ 5.08598084e-01 8.60668774e-01 2.40260334e-02 2.01320770e+01] [-4.83368720e-02 6.80978508e-04 9.98830858e-01 -6.10684195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58320100799999 meters 0.06178534877541435 Centerline is valid? [True, True] Translation: X:74.62, Y:20.14, Z:-6.11 [[ 8.59430808e-01 -5.09461933e-01 4.27460618e-02 7.46194216e+01] [ 5.08873519e-01 8.60492905e-01 2.44887904e-02 2.01443538e+01] [-4.92587894e-02 7.05917974e-04 9.98785800e-01 -6.10865320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61320100799999 meters 0.061576862597571 Centerline is valid? [True, True] Translation: X:74.65, Y:20.16, Z:-6.11 [[ 8.59556135e-01 -5.09407313e-01 4.08342971e-02 7.46457339e+01] [ 5.08869910e-01 8.60525275e-01 2.34022597e-02 2.01573381e+01] [-4.70602269e-02 6.63789188e-04 9.98891833e-01 -6.10840674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64320100799999 meters 0.06136537280539753 Centerline is valid? [True, True] Translation: X:74.67, Y:20.17, Z:-6.11 [[ 8.59246249e-01 -5.09952441e-01 4.05510979e-02 7.46710762e+01] [ 5.09422519e-01 8.60202329e-01 2.32518869e-02 2.01719925e+01] [-4.67395054e-02 6.78545836e-04 9.98906882e-01 -6.10999582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67320100799999 meters 0.061621096036307034 Centerline is valid? [True, True] Translation: X:74.70, Y:20.18, Z:-6.11 [[ 8.58982381e-01 -5.10416266e-01 4.03051452e-02 7.46956479e+01] [ 5.09892507e-01 8.59927186e-01 2.31271578e-02 2.01849750e+01] [-4.64639677e-02 6.85470436e-04 9.98919731e-01 -6.11361443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.703201008 meters 0.061520614752437225 Centerline is valid? [True, True] Translation: X:74.72, Y:20.20, Z:-6.11 [[ 8.57460548e-01 -5.12887420e-01 4.13267780e-02 7.47212351e+01] [ 5.12339543e-01 8.58455468e-01 2.37150027e-02 2.01979381e+01] [-4.76403251e-02 8.38663302e-04 9.98864203e-01 -6.11341541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.733201008 meters 0.061715210204322066 Centerline is valid? [True, True] Translation: X:74.75, Y:20.21, Z:-6.11 [[ 8.55123441e-01 -5.16686141e-01 4.24185364e-02 7.47475226e+01] [ 5.16112655e-01 8.56174226e-01 2.43602664e-02 2.02094235e+01] [-4.89042696e-02 1.06170860e-03 9.98802906e-01 -6.11311992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.763201008 meters 0.061715210204322066 Centerline is valid? [True, True] Translation: X:74.77, Y:20.22, Z:-6.12 [[ 8.54985462e-01 -5.16914614e-01 4.24162880e-02 7.47713869e+01] [ 5.16341215e-01 8.56036294e-01 2.43641812e-02 2.02233240e+01] [-4.89040833e-02 1.07025695e-03 9.98802906e-01 -6.11525478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.793201008 meters 0.06256876319820705 Centerline is valid? [True, True] Translation: X:74.80, Y:20.23, Z:-6.12 [[ 8.53944324e-01 -5.18578600e-01 4.30735206e-02 7.47971596e+01] [ 5.17988380e-01 8.55029167e-01 2.47621070e-02 2.02338333e+01] [-4.96702152e-02 1.16612243e-03 9.98764992e-01 -6.11996751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.823201008 meters 0.06305041752860212 Centerline is valid? [True, True] Translation: X:74.82, Y:20.25, Z:-6.12 [[ 8.53654521e-01 -5.19100708e-01 4.25254480e-02 7.48223773e+01] [ 5.18525751e-01 8.54712275e-01 2.44534842e-02 2.02457155e+01] [-4.90408434e-02 1.17571258e-03 9.98796082e-01 -6.12390822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.853201008 meters 0.06188734608770529 Centerline is valid? [True, True] Translation: X:74.84, Y:20.26, Z:-6.12 [[ 8.53426644e-01 -5.19455194e-01 4.27699035e-02 7.48446927e+01] [ 5.18873912e-01 8.54496846e-01 2.45968313e-02 2.02636691e+01] [-4.93236994e-02 1.20059595e-03 9.98782124e-01 -6.12133074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88320100799999 meters 0.061949188949261325 Centerline is valid? [True, True] Translation: X:74.87, Y:20.28, Z:-6.12 [[ 8.52815491e-01 -5.20240969e-01 4.53329158e-02 7.48690239e+01] [ 5.19587801e-01 8.54018525e-01 2.60936063e-02 2.02766868e+01] [-5.22901129e-02 1.30139837e-03 9.98631088e-01 -6.12144922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91320100799999 meters 0.06093066246651271 Centerline is valid? [True, True] Translation: X:74.89, Y:20.29, Z:-6.12 [[ 8.52750659e-01 -5.20350421e-01 4.52962791e-02 7.48924146e+01] [ 5.19698492e-01 8.53951831e-01 2.60719719e-02 2.02922265e+01] [-5.22474020e-02 1.30751670e-03 9.98633316e-01 -6.11893300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94320100799999 meters 0.06157281496919925 Centerline is valid? [True, True] Translation: X:74.92, Y:20.30, Z:-6.12 [[ 8.52860169e-01 -5.20349775e-01 4.31931053e-02 7.49169756e+01] [ 5.19756021e-01 8.53952340e-01 2.48813032e-02 2.03040550e+01] [-4.98318338e-02 1.22960409e-03 9.98756866e-01 -6.12254161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97320100799999 meters 0.0610721730329232 Centerline is valid? [True, True] Translation: X:74.94, Y:20.32, Z:-6.12 [[ 8.52726823e-01 -5.20608880e-01 4.27008178e-02 7.49404005e+01] [ 5.20028853e-01 8.53794403e-01 2.45989851e-02 2.03219107e+01] [-4.92641694e-02 1.22944289e-03 9.98785027e-01 -6.12427635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00320100799999 meters 0.06132567514857515 Centerline is valid? [True, True] Translation: X:74.96, Y:20.34, Z:-6.13 [[ 8.52915227e-01 -5.20295514e-01 4.27573818e-02 7.49636716e+01] [ 5.19712645e-01 8.53985448e-01 2.46499812e-02 2.03367259e+01] [-4.93394565e-02 1.19720766e-03 9.98781350e-01 -6.12944241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03320100799999 meters 0.06232278583350647 Centerline is valid? [True, True] Translation: X:74.99, Y:20.35, Z:-6.14 [[ 8.53109361e-01 -5.20089447e-01 4.13688918e-02 7.49879375e+01] [ 5.19543471e-01 8.54111033e-01 2.38521322e-02 2.03498585e+01] [-4.77388692e-02 1.14446037e-03 9.98859195e-01 -6.13704565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.063201008 meters 0.06163036839728572 Centerline is valid? [True, True] Translation: X:75.01, Y:20.37, Z:-6.14 [[ 8.52897888e-01 -5.20429064e-01 4.14581923e-02 7.50096624e+01] [ 5.19880976e-01 8.53904114e-01 2.39067748e-02 2.03689289e+01] [-4.78431015e-02 1.16328772e-03 9.98854186e-01 -6.13630346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.093201008 meters 0.06167182629856 Centerline is valid? [True, True] Translation: X:75.03, Y:20.38, Z:-6.14 [[ 8.53113464e-01 -5.20111459e-01 4.10059488e-02 7.50330432e+01] [ 5.19574203e-01 8.54097662e-01 2.36607659e-02 2.03834073e+01] [-4.73293205e-02 1.12031527e-03 9.98878712e-01 -6.13860588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.123201008 meters 0.06136479859865514 Centerline is valid? [True, True] Translation: X:75.06, Y:20.40, Z:-6.14 [[ 8.53492602e-01 -5.19606363e-01 3.94918448e-02 7.50567506e+01] [ 5.19106831e-01 8.54405143e-01 2.28023928e-02 2.03992698e+01] [-4.55903036e-02 1.03881285e-03 9.98959681e-01 -6.13921301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.153201008 meters 0.06118576092995667 Centerline is valid? [True, True] Translation: X:75.08, Y:20.42, Z:-6.14 [[ 8.54605567e-01 -5.17783224e-01 3.93682420e-02 7.50790206e+01] [ 5.17284563e-01 8.55511346e-01 2.27380282e-02 2.04167913e+01] [-4.54533472e-02 9.32538315e-04 9.98966027e-01 -6.14114973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.183201008 meters 0.06027804089987574 Centerline is valid? [True, True] Translation: X:75.10, Y:20.44, Z:-6.14 [[ 8.55325691e-01 -5.16549624e-01 3.99305528e-02 7.51022755e+01] [ 5.16035068e-01 8.56256807e-01 2.30670685e-02 2.04358084e+01] [-4.61060932e-02 8.75709230e-04 9.98936165e-01 -6.14017128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.213201008 meters 0.05995561949688984 Centerline is valid? [True, True] Translation: X:75.13, Y:20.45, Z:-6.14 [[ 8.56115615e-01 -5.15230433e-01 4.00456718e-02 7.51256451e+01] [ 5.14710963e-01 8.57051320e-01 2.31443170e-02 2.04529907e+01] [-4.62458523e-02 7.97735078e-04 9.98929770e-01 -6.14094478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24320100799999 meters 0.06013067730298925 Centerline is valid? [True, True] Translation: X:75.15, Y:20.47, Z:-6.15 [[ 8.56845168e-01 -5.14044687e-01 3.96789263e-02 7.51496473e+01] [ 5.13532855e-01 8.57763106e-01 2.29447200e-02 2.04678539e+01] [-4.58297305e-02 7.16359798e-04 9.98949009e-01 -6.14534337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27320100799999 meters 0.05946424489027965 Centerline is valid? [True, True] Translation: X:75.17, Y:20.49, Z:-6.15 [[ 8.59467950e-01 -5.09667858e-01 3.94146803e-02 7.51701775e+01] [ 5.09157630e-01 8.60371115e-01 2.28046613e-02 2.04889537e+01] [-4.55340553e-02 4.68409743e-04 9.98962677e-01 -6.14685765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30320100799999 meters 0.05937359190062803 Centerline is valid? [True, True] Translation: X:75.19, Y:20.51, Z:-6.15 [[ 8.60534172e-01 -5.07798513e-01 4.02692116e-02 7.51927064e+01] [ 5.07263268e-01 8.61475789e-01 2.33118341e-02 2.05080663e+01] [-4.65286655e-02 3.66462037e-04 9.98916888e-01 -6.15009293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33320100799999 meters 0.05901444863236893 Centerline is valid? [True, True] Translation: X:75.22, Y:20.53, Z:-6.15 [[ 8.61760225e-01 -5.05696664e-01 4.04993760e-02 7.52158449e+01] [ 5.05152403e-01 8.62711322e-01 2.34568740e-02 2.05265842e+01] [-4.68013331e-02 2.44156125e-04 9.98904187e-01 -6.15042195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36320100799999 meters 0.05890501653272957 Centerline is valid? [True, True] Translation: X:75.24, Y:20.54, Z:-6.15 [[ 8.63242580e-01 -5.03223913e-01 3.97233169e-02 7.52398596e+01] [ 5.02697160e-01 8.64156053e-01 2.30191484e-02 2.05433332e+01] [-4.59109307e-02 9.76896144e-05 9.98945533e-01 -6.15020926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39320100799999 meters 0.05879447746525365 Centerline is valid? [True, True] Translation: X:75.26, Y:20.56, Z:-6.15 [[ 8.63572829e-01 -5.02642687e-01 3.99036018e-02 7.52641716e+01] [ 5.02110000e-01 8.64494260e-01 2.31348732e-02 2.05582884e+01] [-4.61250095e-02 5.73495348e-05 9.98935674e-01 -6.15121625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42320100799999 meters 0.05860690705216982 Centerline is valid? [True, True] Translation: X:75.29, Y:20.57, Z:-6.15 [[ 8.64187519e-01 -5.01509693e-01 4.08406723e-02 7.52881538e+01] [ 5.00949650e-01 8.65152026e-01 2.36943155e-02 2.05742346e+01] [-4.72163193e-02 -1.72112742e-05 9.98884687e-01 -6.15343568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.453201008 meters 0.05863345707648612 Centerline is valid? [True, True] Translation: X:75.31, Y:20.59, Z:-6.16 [[ 8.64405648e-01 -5.01081790e-01 4.14718595e-02 7.53123981e+01] [ 5.00503167e-01 8.65399929e-01 2.40736949e-02 2.05894544e+01] [-4.79526344e-02 -5.26407739e-05 9.98849609e-01 -6.15534414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.483201008 meters 0.058730807501292503 Centerline is valid? [True, True] Translation: X:75.34, Y:20.60, Z:-6.16 [[ 8.64401172e-01 -5.01275563e-01 3.91589659e-02 7.53369159e+01] [ 5.00759197e-01 8.65287702e-01 2.27468366e-02 2.06020751e+01] [-4.52862049e-02 -5.31798578e-05 9.98974052e-01 -6.15944364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.513201008 meters 0.058888545116079855 Centerline is valid? [True, True] Translation: X:75.36, Y:20.61, Z:-6.16 [[ 8.64227898e-01 -5.01582444e-01 3.90537045e-02 7.53607453e+01] [ 5.01069029e-01 8.65109849e-01 2.26887194e-02 2.06147311e+01] [-4.51660077e-02 -3.96224942e-05 9.98979494e-01 -6.16243954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.543201008 meters 0.05868743686358531 Centerline is valid? [True, True] Translation: X:75.39, Y:20.63, Z:-6.16 [[ 8.63886017e-01 -5.02289310e-01 3.75019880e-02 7.53863308e+01] [ 5.01816300e-01 8.64699629e-01 2.17933917e-02 2.06286921e+01] [-4.33745428e-02 -7.89746562e-06 9.99058882e-01 -6.16267227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.573201008 meters 0.05883897756536098 Centerline is valid? [True, True] Translation: X:75.41, Y:20.64, Z:-6.16 [[ 8.63884945e-01 -5.02326947e-01 3.70194459e-02 7.54111529e+01] [ 5.01865591e-01 8.64677765e-01 2.15241956e-02 2.06428773e+01] [-4.28220752e-02 -1.56424645e-05 9.99082714e-01 -6.16494546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.603201008 meters 0.059109324572179975 Centerline is valid? [True, True] Translation: X:75.44, Y:20.65, Z:-6.17 [[ 8.64477082e-01 -5.01533060e-01 3.38225361e-02 7.54361218e+01] [ 5.01146857e-01 8.65138478e-01 1.96784627e-02 2.06549734e+01] [-3.91305770e-02 -6.15223394e-05 9.99234104e-01 -6.16766955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63320100799999 meters 0.05926612683732642 Centerline is valid? [True, True] Translation: X:75.46, Y:20.67, Z:-6.17 [[ 8.64846351e-01 -5.00920551e-01 3.34573051e-02 7.54615121e+01] [ 5.00542101e-01 8.65493266e-01 1.94682291e-02 2.06683075e+01] [-3.87091083e-02 -9.02370788e-05 9.99250518e-01 -6.16866688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66320100799999 meters 0.05986023403929408 Centerline is valid? [True, True] Translation: X:75.48, Y:20.69, Z:-6.17 [[ 8.66668663e-01 -4.97879204e-01 3.16500616e-02 7.54835891e+01] [ 4.97538107e-01 8.67246360e-01 1.84277934e-02 2.06857172e+01] [-3.66232158e-02 -2.23679341e-04 9.99329120e-01 -6.17102884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69320100799999 meters 0.06031439644028024 Centerline is valid? [True, True] Translation: X:75.51, Y:20.70, Z:-6.18 [[ 8.67892438e-01 -4.95777144e-01 3.11085136e-02 7.55057276e+01] [ 4.95446087e-01 8.68449726e-01 1.81176274e-02 2.07049317e+01] [-3.59984856e-02 -3.11560473e-04 9.99351796e-01 -6.17534921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72320100799999 meters 0.060852643506088766 Centerline is valid? [True, True] Translation: X:75.53, Y:20.72, Z:-6.18 [[ 8.69019617e-01 -4.93813274e-01 3.08764581e-02 7.55278048e+01] [ 4.93485565e-01 8.69567876e-01 1.79918186e-02 2.07245610e+01] [-3.57337750e-02 -3.98156878e-04 9.99361265e-01 -6.18036103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75320100799999 meters 0.06162063965931613 Centerline is valid? [True, True] Translation: X:75.55, Y:20.74, Z:-6.19 [[ 8.70290277e-01 -4.91601722e-01 3.03740125e-02 7.55480887e+01] [ 4.91282707e-01 8.70820017e-01 1.77143979e-02 2.07438329e+01] [-3.51587266e-02 -4.94441151e-04 9.99381619e-01 -6.18523890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78320100799999 meters 0.06181424431522002 Centerline is valid? [True, True] Translation: X:75.57, Y:20.76, Z:-6.19 [[ 8.70381605e-01 -4.91461314e-01 3.00272999e-02 7.55729257e+01] [ 4.91149549e-01 8.70899268e-01 1.75096125e-02 2.07588598e+01] [-3.47560507e-02 -4.92149856e-04 9.99395705e-01 -6.18816007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.813201008 meters 0.06182081611347893 Centerline is valid? [True, True] Translation: X:75.60, Y:20.77, Z:-6.19 [[ 8.70186986e-01 -4.91841516e-01 2.94369189e-02 7.55986259e+01] [ 4.91541820e-01 8.70684614e-01 1.71738748e-02 2.07729530e+01] [-3.40770970e-02 -4.75005644e-04 9.99419094e-01 -6.18982462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.843201008 meters 0.06141056566585614 Centerline is valid? [True, True] Translation: X:75.63, Y:20.78, Z:-6.19 [[ 8.69288635e-01 -4.93442996e-01 2.91766848e-02 7.56256638e+01] [ 4.93149240e-01 8.69778039e-01 1.70290635e-02 2.07825581e+01] [-3.37801118e-02 -4.14711422e-04 9.99429203e-01 -6.18815962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.873201008 meters 0.06074922411514662 Centerline is valid? [True, True] Translation: X:75.65, Y:20.79, Z:-6.19 [[ 8.68306309e-01 -4.95189763e-01 2.88314415e-02 7.56522210e+01] [ 4.94903562e-01 8.68784769e-01 1.68371263e-02 2.07933714e+01] [-3.33858898e-02 -3.50999873e-04 9.99442474e-01 -6.18692375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.903201008 meters 0.061189530352947635 Centerline is valid? [True, True] Translation: X:75.68, Y:20.81, Z:-6.19 [[ 8.67508691e-01 -4.96550690e-01 2.94292875e-02 7.56770022e+01] [ 4.96252580e-01 8.68007666e-01 1.72066444e-02 2.08056880e+01] [-3.40888183e-02 -3.22553690e-04 9.99418755e-01 -6.19220535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.933201008 meters 0.060478753249864084 Centerline is valid? [True, True] Translation: X:75.70, Y:20.82, Z:-6.19 [[ 8.64929004e-01 -5.00999981e-01 2.99472566e-02 7.57046111e+01] [ 5.00694068e-01 8.65447282e-01 1.75057850e-02 2.08155435e+01] [-3.46881698e-02 -1.46847437e-04 9.99398174e-01 -6.19365381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.963201008 meters 0.06008000009024141 Centerline is valid? [True, True] Translation: X:75.73, Y:20.83, Z:-6.19 [[ 8.64771521e-01 -5.01271269e-01 2.99554884e-02 7.57289392e+01] [ 5.00965107e-01 8.65290180e-01 1.75176142e-02 2.08300606e+01] [-3.47012666e-02 -1.42079436e-04 9.99397720e-01 -6.19398577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99320100799999 meters 0.06016357329248088 Centerline is valid? [True, True] Translation: X:75.75, Y:20.84, Z:-6.20 [[ 8.64539324e-01 -5.01681884e-01 2.97832865e-02 7.57536056e+01] [ 5.01379103e-01 8.65052177e-01 1.74277442e-02 2.08444034e+01] [-3.45072803e-02 -1.34252736e-04 9.99404437e-01 -6.19611247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02320100799999 meters 0.06118940972016283 Centerline is valid? [True, True] Translation: X:75.78, Y:20.86, Z:-6.21 [[ 8.64089527e-01 -5.02386315e-01 3.09399340e-02 7.57773994e+01] [ 5.02059502e-01 8.64643265e-01 1.81185404e-02 2.08572760e+01] [-3.58545123e-02 -1.22353184e-04 9.99357013e-01 -6.20508944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05320100799999 meters 0.05978903986252766 Centerline is valid? [True, True] Translation: X:75.81, Y:20.87, Z:-6.20 [[ 8.62871751e-01 -5.04433195e-01 3.16147505e-02 7.58052019e+01] [ 5.04092954e-01 8.63450722e-01 1.85241434e-02 2.08692218e+01] [-3.66419720e-02 -4.71870801e-05 9.99328456e-01 -6.19766380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08320100799999 meters 0.05978389530822196 Centerline is valid? [True, True] Translation: X:75.83, Y:20.88, Z:-6.20 [[ 8.60001946e-01 -5.09318997e-01 3.14771499e-02 7.58339805e+01] [ 5.08984616e-01 8.60577792e-01 1.84533179e-02 2.08771514e+01] [-3.64871615e-02 1.51495674e-04 9.99334110e-01 -6.19834851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11320100799999 meters 0.06008990857537365 Centerline is valid? [True, True] Translation: X:75.86, Y:20.89, Z:-6.20 [[ 8.58739937e-01 -5.11445968e-01 3.14442720e-02 7.58596227e+01] [ 5.11113185e-01 8.59315407e-01 1.84483678e-02 2.08882032e+01] [-3.64558907e-02 2.29231837e-04 9.99335237e-01 -6.20246666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14320100799999 meters 0.06031717052965291 Centerline is valid? [True, True] Translation: X:75.89, Y:20.90, Z:-6.20 [[ 8.57311887e-01 -5.13881812e-01 3.06889695e-02 7.58860305e+01] [ 5.13566353e-01 8.57860932e-01 1.80061829e-02 2.08999036e+01] [-3.55799179e-02 3.23907509e-04 9.99366782e-01 -6.20428686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17320100799999 meters 0.06097499480849778 Centerline is valid? [True, True] Translation: X:75.91, Y:20.91, Z:-6.21 [[ 8.54300896e-01 -5.18883919e-01 3.04870212e-02 7.59142208e+01] [ 5.18575445e-01 8.54844552e-01 1.78969161e-02 2.09087851e+01] [-3.53480860e-02 5.20469130e-04 9.99374926e-01 -6.20787648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.203201008 meters 0.06135796464449858 Centerline is valid? [True, True] Translation: X:75.94, Y:20.92, Z:-6.21 [[ 8.52601959e-01 -5.21656734e-01 3.07270588e-02 7.59402771e+01] [ 5.21344682e-01 8.53155236e-01 1.80517377e-02 2.09203637e+01] [-3.56317616e-02 6.28441781e-04 9.99364790e-01 -6.21012892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.233201008 meters 0.06169348669042506 Centerline is valid? [True, True] Translation: X:75.97, Y:20.93, Z:-6.21 [[ 8.51037918e-01 -5.24239386e-01 3.01252105e-02 7.59667308e+01] [ 5.23941016e-01 8.51570635e-01 1.76992986e-02 2.09321849e+01] [-3.49324141e-02 7.21059180e-04 9.99389417e-01 -6.21184840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.263201008 meters 0.062535315731981 Centerline is valid? [True, True] Translation: X:75.99, Y:20.94, Z:-6.21 [[ 8.48881889e-01 -5.27629265e-01 3.17316338e-02 7.59941447e+01] [ 5.27300209e-01 8.49474280e-01 1.86530729e-02 2.09419869e+01] [-3.67971140e-02 8.97841387e-04 9.99322354e-01 -6.21339237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.293201008 meters 0.06286245190038128 Centerline is valid? [True, True] Translation: X:76.02, Y:20.95, Z:-6.22 [[ 8.48319537e-01 -5.28487941e-01 3.24724454e-02 7.60182345e+01] [ 5.28143496e-01 8.48940281e-01 1.91009843e-02 2.09541088e+01] [-3.76618068e-02 9.46372702e-04 9.99290094e-01 -6.21521318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.323201008 meters 0.06130689280645661 Centerline is valid? [True, True] Translation: X:76.04, Y:20.97, Z:-6.21 [[ 8.47800010e-01 -5.29260123e-01 3.34494385e-02 7.60415515e+01] [ 5.28894931e-01 8.48459023e-01 1.96834417e-02 2.09714786e+01] [-3.87981387e-02 1.00361641e-03 9.99246565e-01 -6.21020580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.353201008 meters 0.06153944066728323 Centerline is valid? [True, True] Translation: X:76.07, Y:20.99, Z:-6.21 [[ 8.47952145e-01 -5.29013170e-01 3.34996287e-02 7.60654881e+01] [ 5.28646224e-01 8.48613044e-01 1.97249183e-02 2.09857160e+01] [-3.88629634e-02 9.83665468e-04 9.99244066e-01 -6.21258532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38320100799999 meters 0.06111454548646441 Centerline is valid? [True, True] Translation: X:76.09, Y:21.00, Z:-6.21 [[ 8.48299349e-01 -5.28429301e-01 3.39217921e-02 7.60901141e+01] [ 5.28052065e-01 8.48976770e-01 1.99865032e-02 2.10016601e+01] [-3.93602674e-02 9.57934785e-04 9.99224625e-01 -6.21292489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41320100799999 meters 0.06093677104287547 Centerline is valid? [True, True] Translation: X:76.11, Y:21.02, Z:-6.21 [[ 8.49663060e-01 -5.26169589e-01 3.49034061e-02 7.61124019e+01] [ 5.25767600e-01 8.50379220e-01 2.05818574e-02 2.10176861e+01] [-4.05106788e-02 8.63436118e-04 9.99178732e-01 -6.21469745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44320100799999 meters 0.06060960802880398 Centerline is valid? [True, True] Translation: X:76.14, Y:21.03, Z:-6.22 [[ 8.50160832e-01 -5.25324434e-01 3.55077278e-02 7.61357308e+01] [ 5.24907669e-01 8.50901603e-01 2.09380480e-02 2.10345573e+01] [-4.12128507e-02 8.37570303e-04 9.99150038e-01 -6.21630901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47320100799999 meters 0.06064103206151798 Centerline is valid? [True, True] Translation: X:76.16, Y:21.05, Z:-6.22 [[ 8.51553117e-01 -5.23157592e-01 3.41089714e-02 7.61581797e+01] [ 5.22770923e-01 8.52235677e-01 2.01224313e-02 2.10524761e+01] [-3.95960850e-02 6.95859395e-04 9.99215525e-01 -6.22123187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50320100799999 meters 0.06099187451532667 Centerline is valid? [True, True] Translation: X:76.18, Y:21.07, Z:-6.22 [[ 8.51693547e-01 -5.22974374e-01 3.34051725e-02 7.61811205e+01] [ 5.22602827e-01 8.52348149e-01 1.97210168e-02 2.10671887e+01] [-3.87864234e-02 6.61374819e-04 9.99247305e-01 -6.22459426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53320100799999 meters 0.06081818849910145 Centerline is valid? [True, True] Translation: X:76.21, Y:21.08, Z:-6.23 [[ 8.52192040e-01 -5.22225599e-01 3.23905913e-02 7.62058180e+01] [ 5.21875594e-01 8.52807163e-01 1.91260685e-02 2.10827393e+01] [-3.76110509e-02 6.04775738e-04 9.99292271e-01 -6.22680974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.563201008 meters 0.060986444672042305 Centerline is valid? [True, True] Translation: X:76.23, Y:21.10, Z:-6.23 [[ 8.52137050e-01 -5.22358447e-01 3.16875663e-02 7.62303123e+01] [ 5.22023283e-01 8.52725808e-01 1.87186576e-02 2.10980220e+01] [-3.67986545e-02 5.90785711e-04 9.99322526e-01 -6.22985553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.593201008 meters 0.060972858451320555 Centerline is valid? [True, True] Translation: X:76.25, Y:21.12, Z:-6.23 [[ 8.52899381e-01 -5.21163406e-01 3.08439806e-02 7.62539920e+01] [ 5.20844760e-01 8.53456758e-01 1.82290717e-02 2.11155796e+01] [-3.58243288e-02 5.17361677e-04 9.99357969e-01 -6.23262181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.623201008 meters 0.060969212596889 Centerline is valid? [True, True] Translation: X:76.28, Y:21.13, Z:-6.23 [[ 8.53278759e-01 -5.20551651e-01 3.06812322e-02 7.62771807e+01] [ 5.20235683e-01 8.53830045e-01 1.81407936e-02 2.11309948e+01] [-3.56397779e-02 4.82317963e-04 9.99364585e-01 -6.23438845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.653201008 meters 0.06055035684496055 Centerline is valid? [True, True] Translation: X:76.30, Y:21.15, Z:-6.23 [[ 8.54047709e-01 -5.19306744e-01 3.03811900e-02 7.63006364e+01] [ 5.18995778e-01 8.54587814e-01 1.79736158e-02 2.11473406e+01] [-3.52972147e-02 4.17383952e-04 9.99376772e-01 -6.23481540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.683201008 meters 0.06055035684496055 Centerline is valid? [True, True] Translation: X:76.32, Y:21.16, Z:-6.24 [[ 8.53907462e-01 -5.19537603e-01 3.03763801e-02 7.63243224e+01] [ 5.19226495e-01 8.54447485e-01 1.79817382e-02 2.11615534e+01] [-3.52972108e-02 4.17480885e-04 9.99376772e-01 -6.23694461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.713201008 meters 0.06091000981654064 Centerline is valid? [True, True] Translation: X:76.35, Y:21.18, Z:-6.24 [[ 8.54566346e-01 -5.18452287e-01 3.03905519e-02 7.63479011e+01] [ 5.18139487e-01 8.55106484e-01 1.80103422e-02 2.11763079e+01] [-3.53246611e-02 3.55512610e-04 9.99375826e-01 -6.24201185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74320100799999 meters 0.06094884516201538 Centerline is valid? [True, True] Translation: X:76.37, Y:21.19, Z:-6.25 [[ 8.55680430e-01 -5.16618663e-01 3.02681166e-02 7.63710799e+01] [ 5.16307406e-01 8.56215555e-01 1.79327875e-02 2.11922622e+01] [-3.51804450e-02 2.82917414e-04 9.99380937e-01 -6.24536679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77320100799999 meters 0.060966127810411344 Centerline is valid? [True, True] Translation: X:76.39, Y:21.21, Z:-6.25 [[ 8.56169547e-01 -5.15787319e-01 3.06128677e-02 7.63945857e+01] [ 5.15468010e-01 8.56716629e-01 1.81479496e-02 2.12082219e+01] [-3.55870351e-02 2.42232187e-04 9.99366552e-01 -6.24772627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80320100799999 meters 0.0610268867479985 Centerline is valid? [True, True] Translation: X:76.42, Y:21.22, Z:-6.25 [[ 8.56673704e-01 -5.14897936e-01 3.14687150e-02 7.64172060e+01] [ 5.14559294e-01 8.57251467e-01 1.86723294e-02 2.12236487e+01] [-3.65909459e-02 1.96426163e-04 9.99330308e-01 -6.25124659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83320100799999 meters 0.06020955986848354 Centerline is valid? [True, True] Translation: X:76.44, Y:21.24, Z:-6.25 [[ 8.58207321e-01 -5.12137973e-01 3.45671989e-02 7.64405955e+01] [ 5.11726989e-01 8.58903190e-01 2.05133824e-02 2.12412871e+01] [-4.01955595e-02 8.42337096e-05 9.99191828e-01 -6.24833329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86320100799999 meters 0.06010133679273367 Centerline is valid? [True, True] Translation: X:76.47, Y:21.26, Z:-6.25 [[ 8.58996558e-01 -5.10755986e-01 3.54010651e-02 7.64652835e+01] [ 5.10323039e-01 8.59725725e-01 2.10255366e-02 2.12572650e+01] [-4.11741250e-02 5.11550577e-06 9.99151986e-01 -6.24976488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89320100799999 meters 0.059958393481048686 Centerline is valid? [True, True] Translation: X:76.49, Y:21.27, Z:-6.25 [[ 8.59584199e-01 -5.09708079e-01 3.62309081e-02 7.64895416e+01] [ 5.09253552e-01 8.60347413e-01 2.15208729e-02 2.12731132e+01] [-4.21405308e-02 -4.82836325e-05 9.99111692e-01 -6.25018859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92320100799999 meters 0.05978609170503766 Centerline is valid? [True, True] Translation: X:76.51, Y:21.29, Z:-6.25 [[ 8.60247596e-01 -5.08462378e-01 3.79484274e-02 7.65148929e+01] [ 5.07961936e-01 8.61084197e-01 2.25538719e-02 2.12878407e+01] [-4.41445865e-02 -1.25557386e-04 9.99025145e-01 -6.25004088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.953201008 meters 0.05992025832207026 Centerline is valid? [True, True] Translation: X:76.54, Y:21.30, Z:-6.25 [[ 8.60284867e-01 -5.08331186e-01 3.88503851e-02 7.65393581e+01] [ 5.07805951e-01 8.61161648e-01 2.31026500e-02 2.13022689e+01] [-4.52002591e-02 -1.46403403e-04 9.98977935e-01 -6.25230357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.983201008 meters 0.06003804234923463 Centerline is valid? [True, True] Translation: X:76.56, Y:21.32, Z:-6.25 [[ 8.59934630e-01 -5.08939285e-01 3.86424167e-02 7.65642934e+01] [ 5.08419789e-01 8.60802410e-01 2.29897519e-02 2.13155987e+01] [-4.49638733e-02 -1.23114489e-04 9.98988606e-01 -6.25458449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.013201008 meters 0.05993387439751851 Centerline is valid? [True, True] Translation: X:76.59, Y:21.33, Z:-6.26 [[ 8.59439803e-01 -5.09874291e-01 3.73018947e-02 7.65896346e+01] [ 5.09390262e-01 8.60248917e-01 2.22117586e-02 2.13285274e+01] [-4.34141192e-02 -8.84474918e-05 9.99057159e-01 -6.25662900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.043201008 meters 0.06020009134744096 Centerline is valid? [True, True] Translation: X:76.62, Y:21.34, Z:-6.26 [[ 8.58493893e-01 -5.11532206e-01 3.63735973e-02 7.66155862e+01] [ 5.11073555e-01 8.59264105e-01 2.16568533e-02 2.13418743e+01] [-4.23327045e-02 -2.69263537e-06 9.99103569e-01 -6.26142690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.073201008 meters 0.06064638421852111 Centerline is valid? [True, True] Translation: X:76.64, Y:21.36, Z:-6.27 [[ 8.57262989e-01 -5.13623901e-01 3.59257055e-02 7.66409471e+01] [ 5.13177847e-01 8.58015431e-01 2.14013395e-02 2.13553769e+01] [-4.18170492e-02 8.96999575e-05 9.99125281e-01 -6.26710562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.103201008 meters 0.06146565067562496 Centerline is valid? [True, True] Translation: X:76.67, Y:21.36, Z:-6.27 [[ 8.54538760e-01 -5.18272225e-01 3.40207100e-02 7.66671006e+01] [ 5.17875405e-01 8.55215656e-01 2.02792309e-02 2.13641552e+01] [-3.96052059e-02 2.89100138e-04 9.99215364e-01 -6.27343369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13320100799999 meters 0.061904450168820124 Centerline is valid? [True, True] Translation: X:76.69, Y:21.37, Z:-6.28 [[ 8.52885826e-01 -5.21067192e-01 3.27833787e-02 7.66937285e+01] [ 5.20700629e-01 8.53515566e-01 1.95456893e-02 2.13739726e+01] [-3.81657415e-02 4.00084505e-04 9.99271343e-01 -6.27577341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16320100799999 meters 0.0621536276035394 Centerline is valid? [True, True] Translation: X:76.72, Y:21.38, Z:-6.28 [[ 8.51047323e-01 -5.24000762e-01 3.37884012e-02 7.67205484e+01] [ 5.23613325e-01 8.51717623e-01 2.01538146e-02 2.13838097e+01] [-3.93387909e-02 5.40207134e-04 9.99225784e-01 -6.27597833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19320100799999 meters 0.06257741368307665 Centerline is valid? [True, True] Translation: X:76.75, Y:21.39, Z:-6.28 [[ 8.49110526e-01 -5.27084486e-01 3.45435901e-02 7.67473953e+01] [ 5.26681345e-01 8.49812614e-01 2.06223834e-02 2.13943701e+01] [-4.02253170e-02 6.82781706e-04 9.99190401e-01 -6.27695099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22320100799999 meters 0.0629253016016625 Centerline is valid? [True, True] Translation: X:76.78, Y:21.40, Z:-6.28 [[ 8.45772255e-01 -5.32200346e-01 3.78428827e-02 7.67751950e+01] [ 5.31721427e-01 8.46617841e-01 2.25954685e-02 2.14035565e+01] [-4.40637759e-02 1.01125122e-03 9.99028208e-01 -6.27574598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25320100799999 meters 0.06312562952686758 Centerline is valid? [True, True] Translation: X:76.80, Y:21.42, Z:-6.28 [[ 8.45167988e-01 -5.33006282e-01 3.99421491e-02 7.67998223e+01] [ 5.32472657e-01 8.46110576e-01 2.38697254e-02 2.14160420e+01] [-4.65181884e-02 1.09417450e-03 9.98916844e-01 -6.27710128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28320100799999 meters 0.06238529415472274 Centerline is valid? [True, True] Translation: X:76.82, Y:21.43, Z:-6.28 [[ 8.45156828e-01 -5.32984908e-01 4.04601553e-02 7.68231579e+01] [ 5.32437380e-01 8.46124021e-01 2.41780218e-02 2.14335512e+01] [-4.71208301e-02 1.10827889e-03 9.98888582e-01 -6.27585951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.313201008 meters 0.0633641078240948 Centerline is valid? [True, True] Translation: X:76.85, Y:21.45, Z:-6.28 [[ 8.46088557e-01 -5.31456710e-01 4.10842892e-02 7.68473305e+01] [ 5.30889430e-01 8.47084836e-01 2.45701668e-02 2.14468604e+01] [-4.78598584e-02 1.02267791e-03 9.98853537e-01 -6.28307154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.343201008 meters 0.06168924487541822 Centerline is valid? [True, True] Translation: X:76.87, Y:21.47, Z:-6.28 [[ 8.49334523e-01 -5.26183482e-01 4.19739453e-02 7.68663113e+01] [ 5.25584961e-01 8.50370739e-01 2.51009031e-02 2.14702703e+01] [-4.89010954e-02 7.41810826e-04 9.98803350e-01 -6.28198860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.373201008 meters 0.062152550095647824 Centerline is valid? [True, True] Translation: X:76.89, Y:21.49, Z:-6.29 [[ 8.51119664e-01 -5.23212118e-01 4.29464329e-02 7.68887058e+01] [ 5.22580654e-01 8.52202299e-01 2.57041086e-02 2.14853353e+01] [-5.00477500e-02 5.65702714e-04 9.98746666e-01 -6.28865889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.403201008 meters 0.061858485451371716 Centerline is valid? [True, True] Translation: X:76.91, Y:21.51, Z:-6.29 [[ 8.54608483e-01 -5.17464863e-01 4.32949991e-02 7.69088570e+01] [ 5.16815597e-01 8.55704425e-01 2.59147607e-02 2.15071502e+01] [-5.04577004e-02 2.28556501e-04 9.98726173e-01 -6.29244936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.433201008 meters 0.061749154274540155 Centerline is valid? [True, True] Translation: X:76.93, Y:21.52, Z:-6.29 [[ 8.56104910e-01 -5.15009396e-01 4.30082116e-02 7.69307042e+01] [ 5.14365043e-01 8.57184529e-01 2.57543300e-02 2.15249487e+01] [-5.01296955e-02 7.35122478e-05 9.98742714e-01 -6.29449589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.463201008 meters 0.06186845274807163 Centerline is valid? [True, True] Translation: X:76.95, Y:21.54, Z:-6.30 [[ 8.57304924e-01 -5.12971954e-01 4.34516029e-02 7.69532436e+01] [ 5.12310842e-01 8.58405365e-01 2.60351774e-02 2.15417080e+01] [-5.06544049e-02 -5.93585651e-05 9.98716240e-01 -6.29615608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49320100799999 meters 0.0615697564927399 Centerline is valid? [True, True] Translation: X:76.98, Y:21.56, Z:-6.29 [[ 8.58265609e-01 -5.11204158e-01 4.52819223e-02 7.69772154e+01] [ 5.10482791e-01 8.59459292e-01 2.71485785e-02 2.15581138e+01] [-5.27964350e-02 -1.85049174e-04 9.98605278e-01 -6.29375558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52320100799999 meters 0.061591929814657456 Centerline is valid? [True, True] Translation: X:77.00, Y:21.57, Z:-6.30 [[ 8.58172300e-01 -5.11231642e-01 4.67173589e-02 7.70004123e+01] [ 5.10462767e-01 8.59442940e-01 2.80285089e-02 2.15727856e+01] [-5.44799649e-02 -2.05817639e-04 9.98514843e-01 -6.29540822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55320100799999 meters 0.061540478393770665 Centerline is valid? [True, True] Translation: X:77.02, Y:21.59, Z:-6.30 [[ 8.58407564e-01 -5.10700583e-01 4.81805863e-02 7.70246789e+01] [ 5.09881810e-01 8.59758601e-01 2.89082591e-02 2.15888924e+01] [-5.61871383e-02 -2.48663687e-04 9.98420224e-01 -6.29596856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58320100799999 meters 0.06138398454515262 Centerline is valid? [True, True] Translation: X:77.05, Y:21.60, Z:-6.30 [[ 8.58076059e-01 -5.11113966e-01 4.96788824e-02 7.70484108e+01] [ 5.10242983e-01 8.59512917e-01 2.98269015e-02 2.16039682e+01] [-5.79445871e-02 -2.45448944e-04 9.98319771e-01 -6.29747677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61320100799999 meters 0.06136305469572969 Centerline is valid? [True, True] Translation: X:77.07, Y:21.62, Z:-6.30 [[ 8.57977575e-01 -5.11148150e-01 5.10102835e-02 7.70727520e+01] [ 5.10229714e-01 8.59492586e-01 3.06289679e-02 2.16196055e+01] [-5.94989007e-02 -2.52005290e-04 9.98228339e-01 -6.29815282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64320100799999 meters 0.06131227549344656 Centerline is valid? [True, True] Translation: X:77.10, Y:21.64, Z:-6.30 [[ 8.57623929e-01 -5.11483495e-01 5.35334591e-02 7.70975620e+01] [ 5.10471370e-01 8.59293064e-01 3.21622562e-02 2.16352291e+01] [-6.24513933e-02 -2.55822302e-04 9.98047974e-01 -6.29905284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67320100799999 meters 0.06138368088455943 Centerline is valid? [True, True] Translation: X:77.12, Y:21.65, Z:-6.30 [[ 8.57342006e-01 -5.11957279e-01 5.35203667e-02 7.71212765e+01] [ 5.10945541e-01 8.59010878e-01 3.21708813e-02 2.16496043e+01] [-6.24446941e-02 -2.35455165e-04 9.98048398e-01 -6.30095269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.703201008 meters 0.06148887802773184 Centerline is valid? [True, True] Translation: X:77.14, Y:21.66, Z:-6.30 [[ 8.56976005e-01 -5.12541644e-01 5.37883855e-02 7.71446163e+01] [ 5.11519484e-01 8.58662342e-01 3.23542817e-02 2.16633823e+01] [-6.27689778e-02 -2.13035863e-04 9.98028061e-01 -6.30465226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.733201008 meters 0.061466027404936154 Centerline is valid? [True, True] Translation: X:77.17, Y:21.68, Z:-6.31 [[ 8.56015531e-01 -5.14197338e-01 5.32776486e-02 7.71695549e+01] [ 5.13197237e-01 8.57671900e-01 3.20547580e-02 2.16760092e+01] [-6.21772133e-02 -9.74286552e-05 9.98065120e-01 -6.30716607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.763201008 meters 0.061656588861544924 Centerline is valid? [True, True] Translation: X:77.20, Y:21.69, Z:-6.31 [[ 8.54936957e-01 -5.16054822e-01 5.26328829e-02 7.71955033e+01] [ 5.15081000e-01 8.56555556e-01 3.16882255e-02 2.16865386e+01] [-6.14358498e-02 1.87628315e-05 9.98111034e-01 -6.31043500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.793201008 meters 0.061799341746323316 Centerline is valid? [True, True] Translation: X:77.22, Y:21.70, Z:-6.31 [[ 8.54755048e-01 -5.16378769e-01 5.24096858e-02 7.72193027e+01] [ 5.15413343e-01 8.56360301e-01 3.15613684e-02 2.17004950e+01] [-6.11791949e-02 3.54124439e-05 9.98126798e-01 -6.31318452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.823201008 meters 0.06207240438415756 Centerline is valid? [True, True] Translation: X:77.24, Y:21.72, Z:-6.32 [[ 8.54921055e-01 -5.16270202e-01 5.07451280e-02 7.72420464e+01] [ 5.15363739e-01 8.56425758e-01 3.05800337e-02 2.17150207e+01] [-5.92469949e-02 8.68425345e-06 9.98243354e-01 -6.31916113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.853201008 meters 0.06232660142986383 Centerline is valid? [True, True] Translation: X:77.27, Y:21.73, Z:-6.32 [[ 8.54859965e-01 -5.16549669e-01 4.88966189e-02 7.72667925e+01] [ 5.15708382e-01 8.56257227e-01 2.94690693e-02 2.17303501e+01] [-5.70903213e-02 2.44686573e-05 9.98369017e-01 -6.32420845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88320100799999 meters 0.062312456427718405 Centerline is valid? [True, True] Translation: X:77.29, Y:21.75, Z:-6.33 [[ 8.54546398e-01 -5.16978519e-01 4.98363709e-02 7.72922642e+01] [ 5.16104313e-01 8.55998370e-01 3.00520959e-02 2.17451454e+01] [-5.81961403e-02 3.98556895e-05 9.98305168e-01 -6.32604536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91320100799999 meters 0.06229286475644632 Centerline is valid? [True, True] Translation: X:77.32, Y:21.76, Z:-6.33 [[ 8.53871887e-01 -5.17948877e-01 5.13007006e-02 7.73174527e+01] [ 5.17023323e-01 8.55411569e-01 3.09504705e-02 2.17597334e+01] [-5.99139742e-02 9.59220110e-05 9.98203540e-01 -6.32816563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94320100799999 meters 0.06253396249078505 Centerline is valid? [True, True] Translation: X:77.34, Y:21.77, Z:-6.33 [[ 8.53597468e-01 -5.18495907e-01 5.03324697e-02 7.73418124e+01] [ 5.17604888e-01 8.55080102e-01 3.03841953e-02 2.17735473e+01] [-5.87923742e-02 1.16460206e-04 9.98270226e-01 -6.33143938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97320100799999 meters 0.06250760247038142 Centerline is valid? [True, True] Translation: X:77.37, Y:21.79, Z:-6.33 [[ 8.53943422e-01 -5.17852690e-01 5.10805500e-02 7.73655441e+01] [ 5.16933441e-01 8.55469805e-01 3.08420248e-02 2.17898971e+01] [-5.96694937e-02 6.79003501e-05 9.98218186e-01 -6.33222762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00320100799999 meters 0.0624628269191048 Centerline is valid? [True, True] Translation: X:77.39, Y:21.81, Z:-6.33 [[ 8.54175013e-01 -5.17335340e-01 5.24327428e-02 7.73895930e+01] [ 5.16364704e-01 8.55782768e-01 3.16756505e-02 2.18061690e+01] [-6.12579711e-02 1.78684924e-05 9.98121967e-01 -6.33304104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03320100799999 meters 0.06249381371244793 Centerline is valid? [True, True] Translation: X:77.41, Y:21.82, Z:-6.33 [[ 8.54739923e-01 -5.16316697e-01 5.32609865e-02 7.74123948e+01] [ 5.15312108e-01 8.56397725e-01 3.21926670e-02 2.18224498e+01] [-6.22341991e-02 -7.03265063e-05 9.98061571e-01 -6.33396157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.063201008 meters 0.06257976965050614 Centerline is valid? [True, True] Translation: X:77.44, Y:21.84, Z:-6.33 [[ 8.55287646e-01 -5.15348956e-01 5.38376844e-02 7.74355147e+01] [ 5.14319343e-01 8.56980413e-01 3.25604816e-02 2.18387941e+01] [-6.29178512e-02 -1.58815208e-04 9.98018697e-01 -6.33415837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.093201008 meters 0.06292331043790168 Centerline is valid? [True, True] Translation: X:77.46, Y:21.86, Z:-6.34 [[ 8.57389047e-01 -5.11794209e-01 5.43204256e-02 7.74558724e+01] [ 5.10737603e-01 8.59107963e-01 3.28726103e-02 2.18582972e+01] [-6.34911218e-02 -4.41132094e-04 9.97982306e-01 -6.33527641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.123201008 meters 0.06311654369780166 Centerline is valid? [True, True] Translation: X:77.48, Y:21.88, Z:-6.34 [[ 8.58522044e-01 -5.09888765e-01 5.43447030e-02 7.74783070e+01] [ 5.08826290e-01 8.60240135e-01 3.29046561e-02 2.18762953e+01] [-6.35272091e-02 -5.97359055e-04 9.97979928e-01 -6.33669770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.153201008 meters 0.06352970756300902 Centerline is valid? [True, True] Translation: X:77.50, Y:21.90, Z:-6.34 [[ 8.59801697e-01 -5.07713298e-01 5.44816389e-02 7.75008097e+01] [ 5.06639991e-01 8.61525743e-01 3.30047351e-02 2.18955741e+01] [-6.36942773e-02 -7.74950197e-04 9.97969157e-01 -6.33988380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.183201008 meters 0.0636667261671288 Centerline is valid? [True, True] Translation: X:77.52, Y:21.92, Z:-6.34 [[ 8.60241381e-01 -5.06894838e-01 5.51578650e-02 7.75207851e+01] [ 5.05791901e-01 8.62007472e-01 3.34315819e-02 2.19160161e+01] [-6.44927881e-02 -8.60828725e-04 9.97917802e-01 -6.34334136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.213201008 meters 0.06401614777930979 Centerline is valid? [True, True] Translation: X:77.54, Y:21.93, Z:-6.35 [[ 8.60542573e-01 -5.06470673e-01 5.43501355e-02 7.75435669e+01] [ 5.05397706e-01 8.62256721e-01 3.29621941e-02 2.19333489e+01] [-6.35581543e-02 -8.96937464e-04 9.97977733e-01 -6.34752448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24320100799999 meters 0.06431914922662353 Centerline is valid? [True, True] Translation: X:77.57, Y:21.95, Z:-6.35 [[ 8.61216571e-01 -5.05454368e-01 5.31215606e-02 7.75661411e+01] [ 5.04426271e-01 8.62852796e-01 3.22364639e-02 2.19499823e+01] [-6.21301486e-02 -9.66666141e-04 9.98067588e-01 -6.35128330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27320100799999 meters 0.06496037521836091 Centerline is valid? [True, True] Translation: X:77.59, Y:21.97, Z:-6.36 [[ 8.62566954e-01 -5.03390560e-01 5.07562209e-02 7.75883489e+01] [ 5.02448217e-01 8.64058331e-01 3.08056694e-02 2.19671719e+01] [-5.93636187e-02 -1.06957964e-03 9.98235852e-01 -6.35511619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30320100799999 meters 0.0653804013248446 Centerline is valid? [True, True] Translation: X:77.61, Y:21.98, Z:-6.36 [[ 8.63456857e-01 -5.01837533e-01 5.10033999e-02 7.76119567e+01] [ 5.00882881e-01 8.64961086e-01 3.09622315e-02 2.19845660e+01] [-5.96539661e-02 -1.18782117e-03 9.98218410e-01 -6.35780535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33320100799999 meters 0.06557851079986458 Centerline is valid? [True, True] Translation: X:77.64, Y:22.00, Z:-6.36 [[ 8.64027639e-01 -5.00780034e-01 5.17261666e-02 7.76354069e+01] [ 4.99795077e-01 8.65573614e-01 3.14197385e-02 2.20005916e+01] [-6.05071827e-02 -1.29503901e-03 9.98166922e-01 -6.35947522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36320100799999 meters 0.06587396121251397 Centerline is valid? [True, True] Translation: X:77.66, Y:22.02, Z:-6.36 [[ 8.64625304e-01 -4.99560075e-01 5.35052816e-02 7.76585644e+01] [ 4.98503390e-01 8.66278060e-01 3.25068283e-02 2.20170426e+01] [-6.25895651e-02 -1.43366205e-03 9.98038321e-01 -6.36057051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39320100799999 meters 0.06616493028756472 Centerline is valid? [True, True] Translation: X:77.68, Y:22.03, Z:-6.36 [[ 8.65248656e-01 -4.98439781e-01 5.38753012e-02 7.76823609e+01] [ 4.97364989e-01 8.66922952e-01 3.27515251e-02 2.20329987e+01] [-6.30303981e-02 -1.54252447e-03 9.98010416e-01 -6.36182020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42320100799999 meters 0.06633383145504282 Centerline is valid? [True, True] Translation: X:77.71, Y:22.05, Z:-6.36 [[ 8.65529133e-01 -4.97609474e-01 5.69572765e-02 7.77067403e+01] [ 4.96404966e-01 8.67399493e-01 3.46443211e-02 2.20477495e+01] [-6.66440552e-02 -1.71179430e-03 9.97775345e-01 -6.36302252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.453201008 meters 0.06699060632932212 Centerline is valid? [True, True] Translation: X:77.73, Y:22.06, Z:-6.37 [[ 8.65811415e-01 -4.97123544e-01 5.69102377e-02 7.77305958e+01] [ 4.95918677e-01 8.67677975e-01 3.46352188e-02 2.20627133e+01] [-6.65977425e-02 -1.76471803e-03 9.97778345e-01 -6.36567475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.483201008 meters 0.06650395565215335 Centerline is valid? [True, True] Translation: X:77.76, Y:22.07, Z:-6.37 [[ 8.65725575e-01 -4.97210072e-01 5.74575762e-02 7.77567194e+01] [ 4.95981531e-01 8.67628358e-01 3.49764671e-02 2.20748435e+01] [-6.72424743e-02 -1.78212546e-03 9.97735072e-01 -6.36600104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.513201008 meters 0.06687756899173004 Centerline is valid? [True, True] Translation: X:77.78, Y:22.09, Z:-6.37 [[ 8.65865349e-01 -4.96904994e-01 5.79881399e-02 7.77808682e+01] [ 4.95651386e-01 8.67802992e-01 3.53223819e-02 2.20889762e+01] [-6.78741492e-02 -1.84252462e-03 9.97692189e-01 -6.36698935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.543201008 meters 0.06666642425877899 Centerline is valid? [True, True] Translation: X:77.81, Y:22.10, Z:-6.37 [[ 8.65474832e-01 -4.97608364e-01 5.77860758e-02 7.78077604e+01] [ 4.96364379e-01 8.67399973e-01 3.52092371e-02 2.21000765e+01] [-6.76440514e-02 -1.78975894e-03 9.97707913e-01 -6.37003353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.573201008 meters 0.06666642425877899 Centerline is valid? [True, True] Translation: X:77.83, Y:22.11, Z:-6.37 [[ 8.65343290e-01 -4.97838005e-01 5.77781186e-02 7.78312256e+01] [ 4.96593660e-01 8.67268198e-01 3.52222895e-02 2.21145999e+01] [-6.76441191e-02 -1.78712448e-03 9.97707913e-01 -6.37216336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.603201008 meters 0.06643054543908194 Centerline is valid? [True, True] Translation: X:77.86, Y:22.13, Z:-6.38 [[ 8.64877953e-01 -4.98741265e-01 5.69497746e-02 7.78573034e+01] [ 4.97532952e-01 8.66749229e-01 3.47380895e-02 2.21275512e+01] [-6.66864920e-02 -1.70981825e-03 9.97772513e-01 -6.37520501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63320100799999 meters 0.0663578357959392 Centerline is valid? [True, True] Translation: X:77.88, Y:22.14, Z:-6.38 [[ 8.64418778e-01 -4.99688285e-01 5.56039019e-02 7.78820931e+01] [ 4.98537333e-01 8.66203797e-01 3.39339059e-02 2.21403634e+01] [-6.51206861e-02 -1.61248448e-03 9.97876093e-01 -6.37985365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66320100799999 meters 0.06582648785476918 Centerline is valid? [True, True] Translation: X:77.91, Y:22.15, Z:-6.38 [[ 8.62791035e-01 -5.02563492e-01 5.49687797e-02 7.79088539e+01] [ 5.01443220e-01 8.64539175e-01 3.35665295e-02 2.21521466e+01] [-6.43919757e-02 -1.39717884e-03 9.97923705e-01 -6.38425816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69320100799999 meters 0.06522585757062606 Centerline is valid? [True, True] Translation: X:77.94, Y:22.16, Z:-6.39 [[ 8.61174999e-01 -5.05602069e-01 5.23848179e-02 7.79370551e+01] [ 5.04589374e-01 8.62766060e-01 3.20045174e-02 2.21617632e+01] [-6.13773931e-02 -1.12866773e-03 9.98113992e-01 -6.39045052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72320100799999 meters 0.0652406044915687 Centerline is valid? [True, True] Translation: X:77.96, Y:22.18, Z:-6.39 [[ 8.61147029e-01 -5.05713557e-01 5.17647918e-02 7.79616667e+01] [ 5.04724031e-01 8.62700727e-01 3.16402979e-02 2.21766435e+01] [-6.06584510e-02 -1.12001414e-03 9.98157952e-01 -6.39293526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75320100799999 meters 0.06555669427592455 Centerline is valid? [True, True] Translation: X:77.99, Y:22.19, Z:-6.40 [[ 8.61507842e-01 -5.05080533e-01 5.19412511e-02 7.79850496e+01] [ 5.04081950e-01 8.63071406e-01 3.17668932e-02 2.21923233e+01] [-6.08738480e-02 -1.18478043e-03 9.98144765e-01 -6.39582127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78320100799999 meters 0.0639215374167692 Centerline is valid? [True, True] Translation: X:78.01, Y:22.20, Z:-6.39 [[ 8.58122095e-01 -5.10605757e-01 5.39280096e-02 7.80140444e+01] [ 5.09539673e-01 8.59814557e-01 3.29886255e-02 2.21995327e+01] [-6.32122698e-02 -8.29808069e-04 9.97999760e-01 -6.39440836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.813201008 meters 0.06348850880990649 Centerline is valid? [True, True] Translation: X:78.04, Y:22.21, Z:-6.39 [[ 8.56438272e-01 -5.13308718e-01 5.50240568e-02 7.80407531e+01] [ 5.12203064e-01 8.58203777e-01 3.36793467e-02 2.22115524e+01] [-6.45097556e-02 -6.60791002e-04 9.97916858e-01 -6.39426341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.843201008 meters 0.06313476225209923 Centerline is valid? [True, True] Translation: X:78.07, Y:22.23, Z:-6.40 [[ 8.55364897e-01 -5.14975858e-01 5.61316230e-02 7.80668945e+01] [ 5.13827518e-01 8.57204497e-01 3.43763411e-02 2.22252647e+01] [-6.58192654e-02 -5.62342899e-04 9.97831403e-01 -6.39626214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.873201008 meters 0.06304193818437255 Centerline is valid? [True, True] Translation: X:78.09, Y:22.24, Z:-6.40 [[ 8.53918840e-01 -5.17294163e-01 5.68274876e-02 7.80916656e+01] [ 5.16121034e-01 8.55807563e-01 3.48208728e-02 2.22388300e+01] [-6.66460280e-02 -4.04337628e-04 9.97776600e-01 -6.39719020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.903201008 meters 0.0630797553237923 Centerline is valid? [True, True] Translation: X:78.12, Y:22.25, Z:-6.40 [[ 8.53939379e-01 -5.17187937e-01 5.74819574e-02 7.81158468e+01] [ 5.15986709e-01 8.55871752e-01 3.52315067e-02 2.22533703e+01] [-6.74184939e-02 -4.25644870e-04 9.97724694e-01 -6.39911592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.933201008 meters 0.06322333615732402 Centerline is valid? [True, True] Translation: X:78.14, Y:22.27, Z:-6.40 [[ 8.55117840e-01 -5.15248935e-01 5.73760758e-02 7.81383139e+01] [ 5.14046258e-01 8.57040360e-01 3.51890050e-02 2.22709058e+01] [-6.73047100e-02 -5.96788864e-04 9.97732289e-01 -6.40114704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.963201008 meters 0.06358755795667398 Centerline is valid? [True, True] Translation: X:78.16, Y:22.29, Z:-6.41 [[ 8.56107571e-01 -5.13718040e-01 5.63347347e-02 7.81604221e+01] [ 5.12554672e-01 8.57958779e-01 3.45606850e-02 2.22886190e+01] [-6.60873276e-02 -7.13032635e-04 9.97813588e-01 -6.40532514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99320100799999 meters 0.06389836753379018 Centerline is valid? [True, True] Translation: X:78.18, Y:22.31, Z:-6.41 [[ 8.56818451e-01 -5.12622571e-01 5.54999237e-02 7.81834159e+01] [ 5.11490605e-01 8.58613691e-01 3.40571625e-02 2.23054316e+01] [-6.51114646e-02 -7.93115621e-04 9.97877682e-01 -6.41100192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02320100799999 meters 0.06436546205866732 Centerline is valid? [True, True] Translation: X:78.21, Y:22.32, Z:-6.42 [[ 8.57596227e-01 -5.11617605e-01 5.26890652e-02 7.82071684e+01] [ 5.10594654e-01 8.59212851e-01 3.23477319e-02 2.23213279e+01] [-6.18207910e-02 -8.38537814e-04 9.98086913e-01 -6.41650399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05320100799999 meters 0.06436546205866732 Centerline is valid? [True, True] Translation: X:78.23, Y:22.34, Z:-6.42 [[ 8.57460506e-01 -5.11845782e-01 5.26818481e-02 7.82305882e+01] [ 5.10822539e-01 8.59076945e-01 3.23594807e-02 2.23359263e+01] [-6.18208248e-02 -8.35901234e-04 9.98086913e-01 -6.41863346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08320100799999 meters 0.06459386947405157 Centerline is valid? [True, True] Translation: X:78.25, Y:22.35, Z:-6.42 [[ 8.57318109e-01 -5.12340426e-01 5.01293169e-02 7.82538672e+01] [ 5.11413714e-01 8.58782093e-01 3.08112133e-02 2.23504495e+01] [-5.88359898e-02 -7.78191002e-04 9.98267359e-01 -6.42499730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11320100799999 meters 0.06445863389513727 Centerline is valid? [True, True] Translation: X:78.28, Y:22.36, Z:-6.43 [[ 8.57182459e-01 -5.12593447e-01 4.98617157e-02 7.82783092e+01] [ 5.11676564e-01 8.58631105e-01 3.06548326e-02 2.23636588e+01] [-5.85262864e-02 -7.63713402e-04 9.98285576e-01 -6.42667547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14320100799999 meters 0.06429223756632095 Centerline is valid? [True, True] Translation: X:78.30, Y:22.38, Z:-6.43 [[ 8.56771199e-01 -5.13190993e-01 5.07751678e-02 7.83021151e+01] [ 5.12240002e-01 8.58274103e-01 3.12368937e-02 2.23776388e+01] [-5.96095041e-02 -7.53798771e-04 9.98221488e-01 -6.42699915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17320100799999 meters 0.06393092206593702 Centerline is valid? [True, True] Translation: X:78.33, Y:22.39, Z:-6.43 [[ 8.56211517e-01 -5.13965405e-01 5.23583783e-02 7.83275786e+01] [ 5.12954703e-01 8.57810599e-01 3.22249827e-02 2.23916035e+01] [-6.14760981e-02 -7.33924979e-04 9.98108286e-01 -6.42579222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.203201008 meters 0.06384873250230001 Centerline is valid? [True, True] Translation: X:78.35, Y:22.41, Z:-6.43 [[ 8.55773598e-01 -5.14570824e-01 5.35575925e-02 7.83503939e+01] [ 5.13513283e-01 8.57447576e-01 3.29812335e-02 2.24063150e+01] [-6.28940083e-02 -7.21933735e-04 9.98019951e-01 -6.42782884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.233201008 meters 0.0636502158436815 Centerline is valid? [True, True] Translation: X:78.37, Y:22.42, Z:-6.43 [[ 8.55244330e-01 -5.15376136e-01 5.42639339e-02 7.83746449e+01] [ 5.14291237e-01 8.56963810e-01 3.34298108e-02 2.24206301e+01] [-6.37311543e-02 -6.83190455e-04 9.97966870e-01 -6.42943171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.263201008 meters 0.06367798431848468 Centerline is valid? [True, True] Translation: X:78.40, Y:22.44, Z:-6.43 [[ 8.55035827e-01 -5.15718554e-01 5.42964824e-02 7.83971639e+01] [ 5.14631744e-01 8.56757794e-01 3.34701549e-02 2.24362638e+01] [-6.37801144e-02 -6.75488162e-04 9.97963747e-01 -6.43272476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.293201008 meters 0.06349284413035522 Centerline is valid? [True, True] Translation: X:78.42, Y:22.45, Z:-6.43 [[ 8.54903077e-01 -5.15901931e-01 5.46436277e-02 7.84215856e+01] [ 5.14800766e-01 8.56647384e-01 3.36961557e-02 2.24504353e+01] [-6.41942325e-02 -6.76365779e-04 9.97937194e-01 -6.43340629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.323201008 meters 0.06341414758273337 Centerline is valid? [True, True] Translation: X:78.44, Y:22.47, Z:-6.44 [[ 8.54610397e-01 -5.16250398e-01 5.59159675e-02 7.84445247e+01] [ 5.15096469e-01 8.56437421e-01 3.45046707e-02 2.24655949e+01] [-6.57015769e-02 -6.85932902e-04 9.97839081e-01 -6.43509320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.353201008 meters 0.06326656495214304 Centerline is valid? [True, True] Translation: X:78.47, Y:22.48, Z:-6.44 [[ 8.54474396e-01 -5.16452177e-01 5.61306946e-02 7.84694297e+01] [ 5.15289524e-01 8.56315766e-01 3.46412388e-02 2.24797923e+01] [-6.59561419e-02 -6.76492715e-04 9.97822294e-01 -6.43554367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38320100799999 meters 0.0631728817040522 Centerline is valid? [True, True] Translation: X:78.49, Y:22.49, Z:-6.44 [[ 8.53969581e-01 -5.17155201e-01 5.73275940e-02 7.84924764e+01] [ 5.15942462e-01 8.55891389e-01 3.54020632e-02 2.24936597e+01] [-6.73745551e-02 -6.54545077e-04 9.97727538e-01 -6.43744166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41320100799999 meters 0.06303654322998598 Centerline is valid? [True, True] Translation: X:78.52, Y:22.51, Z:-6.44 [[ 8.53711191e-01 -5.17584659e-01 5.73002888e-02 7.85174077e+01] [ 5.16373003e-01 8.55631766e-01 3.54005911e-02 2.25076905e+01] [-6.73507502e-02 -6.33558544e-04 9.97729159e-01 -6.43805861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44320100799999 meters 0.06303777170523786 Centerline is valid? [True, True] Translation: X:78.54, Y:22.52, Z:-6.44 [[ 8.53515252e-01 -5.17953776e-01 5.68823371e-02 7.85409619e+01] [ 5.16759198e-01 8.55408384e-01 3.51628667e-02 2.25221819e+01] [-6.68703676e-02 -6.17572110e-04 9.97761481e-01 -6.44043573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47320100799999 meters 0.06302414890683182 Centerline is valid? [True, True] Translation: X:78.56, Y:22.54, Z:-6.44 [[ 8.53506533e-01 -5.18024307e-01 5.63685663e-02 7.85637074e+01] [ 5.16850016e-01 8.55365669e-01 3.48659293e-02 2.25364133e+01] [-6.62771353e-02 -6.24204012e-04 9.97801058e-01 -6.44270391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50320100799999 meters 0.06308254095970814 Centerline is valid? [True, True] Translation: X:78.59, Y:22.55, Z:-6.45 [[ 8.53222716e-01 -5.18667630e-01 5.47255505e-02 7.85871373e+01] [ 5.17560935e-01 8.54975766e-01 3.38691352e-02 2.25517367e+01] [-6.43558436e-02 -5.74108448e-04 9.97926849e-01 -6.44878195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53320100799999 meters 0.06311806265767804 Centerline is valid? [True, True] Translation: X:78.61, Y:22.57, Z:-6.45 [[ 8.53288296e-01 -5.18632144e-01 5.40350110e-02 7.86107127e+01] [ 5.17552755e-01 8.54997292e-01 3.34481245e-02 2.25668298e+01] [-6.35470606e-02 -5.74924361e-04 9.97978677e-01 -6.45198644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.563201008 meters 0.0630675946869714 Centerline is valid? [True, True] Translation: X:78.63, Y:22.58, Z:-6.46 [[ 8.52927328e-01 -5.19262435e-01 5.36795755e-02 7.86347632e+01] [ 5.18197325e-01 8.54614669e-01 3.32460489e-02 2.25810830e+01] [-6.31387770e-02 -5.39851247e-04 9.98004611e-01 -6.45522648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.593201008 meters 0.06294274038537764 Centerline is valid? [True, True] Translation: X:78.66, Y:22.59, Z:-6.46 [[ 8.52728221e-01 -5.19724280e-01 5.23569769e-02 7.86588516e+01] [ 5.18710661e-01 8.54333900e-01 3.24474731e-02 2.25949550e+01] [-6.15940798e-02 -5.10753903e-04 9.98101151e-01 -6.45822111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.623201008 meters 0.06283222291884481 Centerline is valid? [True, True] Translation: X:78.68, Y:22.61, Z:-6.46 [[ 8.52329952e-01 -5.20354042e-01 5.25863519e-02 7.86814684e+01] [ 5.19332302e-01 8.53950495e-01 3.25962061e-02 2.26087595e+01] [-6.18677088e-02 -4.72931600e-04 9.98084246e-01 -6.46150000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.653201008 meters 0.06284661909106433 Centerline is valid? [True, True] Translation: X:78.71, Y:22.62, Z:-6.46 [[ 8.52024222e-01 -5.20961686e-01 5.15135509e-02 7.87064241e+01] [ 5.19981442e-01 8.53579952e-01 3.19462995e-02 2.26231067e+01] [-6.06137324e-02 -4.32930530e-04 9.98161203e-01 -6.46488651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.683201008 meters 0.06268498312612204 Centerline is valid? [True, True] Translation: X:78.73, Y:22.64, Z:-6.47 [[ 8.51752638e-01 -5.21477267e-01 5.07829037e-02 7.87321958e+01] [ 5.20524732e-01 8.53265081e-01 3.15072353e-02 2.26363344e+01] [-5.97615853e-02 -4.02613467e-04 9.98212598e-01 -6.46553267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.713201008 meters 0.06259975486467889 Centerline is valid? [True, True] Translation: X:78.76, Y:22.65, Z:-6.47 [[ 8.51234374e-01 -5.22305327e-01 5.09625947e-02 7.87555845e+01] [ 5.21346315e-01 8.52758473e-01 3.16386845e-02 2.26495980e+01] [-5.99838379e-02 -3.62774845e-04 9.98199283e-01 -6.46746050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74320100799999 meters 0.06252082166836621 Centerline is valid? [True, True] Translation: X:78.78, Y:22.66, Z:-6.47 [[ 8.51174585e-01 -5.22389981e-01 5.10933731e-02 7.87793725e+01] [ 5.21425529e-01 8.52706616e-01 3.17308208e-02 2.26644061e+01] [-6.01435202e-02 -3.67079138e-04 9.98189672e-01 -6.46871753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77320100799999 meters 0.062428076691765554 Centerline is valid? [True, True] Translation: X:78.80, Y:22.68, Z:-6.47 [[ 8.51116158e-01 -5.22440108e-01 5.15521053e-02 7.88033761e+01] [ 5.21457192e-01 8.52675898e-01 3.20345129e-02 2.26794372e+01] [-6.06933521e-02 -3.82875459e-04 9.98156386e-01 -6.46922023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80320100799999 meters 0.06257087163761454 Centerline is valid? [True, True] Translation: X:78.82, Y:22.70, Z:-6.47 [[ 8.51439011e-01 -5.21765902e-01 5.30278671e-02 7.88249404e+01] [ 5.20723203e-01 8.53088583e-01 3.29729531e-02 2.26966016e+01] [-6.24416307e-02 -4.61617767e-04 9.98048511e-01 -6.47147678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83320100799999 meters 0.06274097278285652 Centerline is valid? [True, True] Translation: X:78.85, Y:22.71, Z:-6.47 [[ 8.52363336e-01 -5.20358625e-01 5.19965789e-02 7.88484152e+01] [ 5.19352642e-01 8.53947645e-01 3.23458178e-02 2.27141497e+01] [-6.12337814e-02 -5.65828482e-04 9.98123291e-01 -6.47423504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86320100799999 meters 0.06307052710430498 Centerline is valid? [True, True] Translation: X:78.87, Y:22.73, Z:-6.48 [[ 8.53134058e-01 -5.19053270e-01 5.24021246e-02 7.88696766e+01] [ 5.18028008e-01 8.54741623e-01 3.26150460e-02 2.27308209e+01] [-6.17192233e-02 -6.79238354e-04 9.98093320e-01 -6.47661707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89320100799999 meters 0.06313645365585001 Centerline is valid? [True, True] Translation: X:78.89, Y:22.75, Z:-6.48 [[ 8.53134274e-01 -5.19080845e-01 5.21247221e-02 7.88934957e+01] [ 5.18065439e-01 8.54724870e-01 3.24591609e-02 2.27457202e+01] [-6.14012250e-02 -6.88005595e-04 9.98112928e-01 -6.47853201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92320100799999 meters 0.06310247837859956 Centerline is valid? [True, True] Translation: X:78.92, Y:22.76, Z:-6.48 [[ 8.52693310e-01 -5.19857308e-01 5.15994130e-02 7.89174829e+01] [ 5.18862553e-01 8.54252871e-01 3.21509569e-02 2.27588459e+01] [-6.07928566e-02 -6.41902703e-04 9.98150197e-01 -6.48076054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.953201008 meters 0.06306717937502772 Centerline is valid? [True, True] Translation: X:78.94, Y:22.77, Z:-6.48 [[ 8.52410116e-01 -5.20367239e-01 5.11363857e-02 7.89413899e+01] [ 5.19390223e-01 8.53942363e-01 3.18784670e-02 2.27740909e+01] [-6.02560359e-02 -6.13788953e-04 9.98182766e-01 -6.48327436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.983201008 meters 0.06309321221906447 Centerline is valid? [True, True] Translation: X:78.96, Y:22.79, Z:-6.49 [[ 8.52180514e-01 -5.20815051e-01 5.03989469e-02 7.89643833e+01] [ 5.19865744e-01 8.53669336e-01 3.14367926e-02 2.27895707e+01] [-5.93967903e-02 -5.89136063e-04 9.98234278e-01 -6.48699566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.013201008 meters 0.06367982295844359 Centerline is valid? [True, True] Translation: X:78.99, Y:22.81, Z:-6.50 [[ 8.52405793e-01 -5.20690754e-01 4.78069344e-02 7.89864355e+01] [ 5.19835469e-01 8.53745161e-01 2.98376465e-02 2.28064043e+01] [-5.63511256e-02 -5.82042531e-04 9.98410843e-01 -6.49645918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.043201008 meters 0.06400100780444495 Centerline is valid? [True, True] Translation: X:79.01, Y:22.82, Z:-6.50 [[ 8.52112729e-01 -5.21187575e-01 4.76173109e-02 7.90092139e+01] [ 5.20339177e-01 8.53441973e-01 2.97311318e-02 2.28211307e+01] [-5.61341082e-02 -5.57123533e-04 9.98423082e-01 -6.50189127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.073201008 meters 0.06368389419321961 Centerline is valid? [True, True] Translation: X:79.03, Y:22.83, Z:-6.50 [[ 8.51326918e-01 -5.22503211e-01 4.72532818e-02 7.90346311e+01] [ 5.21668929e-01 8.52637182e-01 2.95188783e-02 2.28332385e+01] [-5.57136138e-02 -4.79646799e-04 9.98446675e-01 -6.50236371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.103201008 meters 0.06357139686154792 Centerline is valid? [True, True] Translation: X:79.06, Y:22.85, Z:-6.50 [[ 8.50765922e-01 -5.23417704e-01 4.72361397e-02 7.90601091e+01] [ 5.22584484e-01 8.52076123e-01 2.95252188e-02 2.28464798e+01] [-5.57028090e-02 -4.34176364e-04 9.98447299e-01 -6.50378542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13320100799999 meters 0.0632900160823063 Centerline is valid? [True, True] Translation: X:79.09, Y:22.86, Z:-6.50 [[ 8.49397029e-01 -5.25581573e-01 4.78403351e-02 7.90872572e+01] [ 5.24729254e-01 8.50743153e-01 2.99215173e-02 2.28577298e+01] [-5.64260357e-02 -3.12024536e-04 9.98406733e-01 -6.50396441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16320100799999 meters 0.06324269232333557 Centerline is valid? [True, True] Translation: X:79.11, Y:22.87, Z:-6.50 [[ 8.48549198e-01 -5.26974603e-01 4.75607555e-02 7.91126273e+01] [ 5.26133632e-01 8.49881000e-01 2.97604887e-02 2.28696507e+01] [-5.61040042e-02 -2.29925833e-04 9.98424903e-01 -6.50400908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19320100799999 meters 0.06325676042571866 Centerline is valid? [True, True] Translation: X:79.14, Y:22.88, Z:-6.51 [[ 8.47396985e-01 -5.28783953e-01 4.80195961e-02 7.91362764e+01] [ 5.27928440e-01 8.48756452e-01 3.00673778e-02 2.28825170e+01] [-5.66560889e-02 -1.28094831e-04 9.98393746e-01 -6.50843633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22320100799999 meters 0.06350794126590005 Centerline is valid? [True, True] Translation: X:79.16, Y:22.90, Z:-6.51 [[ 8.46917759e-01 -5.29488153e-01 4.87094042e-02 7.91583457e+01] [ 5.28608162e-01 8.48317327e-01 3.05143253e-02 2.28977226e+01] [-5.74780053e-02 -9.49354008e-05 9.98346768e-01 -6.51187142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25320100799999 meters 0.06365214587426071 Centerline is valid? [True, True] Translation: X:79.18, Y:22.91, Z:-6.52 [[ 8.46835520e-01 -5.29562290e-01 4.93293377e-02 7.91813077e+01] [ 5.28659065e-01 8.48271048e-01 3.09163777e-02 2.29134288e+01] [-5.82167968e-02 -1.02685253e-04 9.98303959e-01 -6.51501847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28320100799999 meters 0.06370527260599232 Centerline is valid? [True, True] Translation: X:79.20, Y:22.93, Z:-6.52 [[ 8.46373377e-01 -5.30301404e-01 4.93206680e-02 7.92048045e+01] [ 5.29398671e-01 8.47809186e-01 3.09294490e-02 2.29274163e+01] [-5.82164457e-02 -6.75661097e-05 9.98303982e-01 -6.51740312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.313201008 meters 0.06378683022047497 Centerline is valid? [True, True] Translation: X:79.23, Y:22.94, Z:-6.52 [[ 8.45687499e-01 -5.31515303e-01 4.80014253e-02 7.92307809e+01] [ 5.30661182e-01 8.47048690e-01 3.01202180e-02 2.29384046e+01] [-5.66689012e-02 2.01254104e-07 9.98393027e-01 -6.51926742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.343201008 meters 0.06377340247407134 Centerline is valid? [True, True] Translation: X:79.26, Y:22.95, Z:-6.52 [[ 8.44860326e-01 -5.32886699e-01 4.73581580e-02 7.92559238e+01] [ 5.32057188e-01 8.46186598e-01 2.97218846e-02 2.29511425e+01] [-5.59122356e-02 8.64072163e-05 9.98435684e-01 -6.52170752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.373201008 meters 0.0639184234757237 Centerline is valid? [True, True] Translation: X:79.28, Y:22.96, Z:-6.52 [[ 8.44242141e-01 -5.33915446e-01 4.67921463e-02 7.92803308e+01] [ 5.33106346e-01 8.45537863e-01 2.93827582e-02 2.29647996e+01] [-5.52524398e-02 1.39027397e-04 9.98472408e-01 -6.52401381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.403201008 meters 0.06398073697020583 Centerline is valid? [True, True] Translation: X:79.31, Y:22.98, Z:-6.53 [[ 8.43028601e-01 -5.35765914e-01 4.75148821e-02 7.93051943e+01] [ 5.34933595e-01 8.44366522e-01 2.98534058e-02 2.29790287e+01] [-5.61144130e-02 2.50031752e-04 9.98424314e-01 -6.52620015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.433201008 meters 0.06443054087540914 Centerline is valid? [True, True] Translation: X:79.33, Y:22.99, Z:-6.53 [[ 8.40295528e-01 -5.39809741e-01 5.00886109e-02 7.93309151e+01] [ 5.38890660e-01 8.41786886e-01 3.14911885e-02 2.29893108e+01] [-5.91631861e-02 5.30379700e-04 9.98248184e-01 -6.52746793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.463201008 meters 0.06464217329144482 Centerline is valid? [True, True] Translation: X:79.36, Y:23.00, Z:-6.53 [[ 8.38887109e-01 -5.41944834e-01 5.06380881e-02 7.93563140e+01] [ 5.41008614e-01 8.40413789e-01 3.18487369e-02 2.30020505e+01] [-5.98172059e-02 6.78147093e-04 9.98209117e-01 -6.52953074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49320100799999 meters 0.06464217329144482 Centerline is valid? [True, True] Translation: X:79.38, Y:23.02, Z:-6.53 [[ 8.38751527e-01 -5.42155367e-01 5.06303718e-02 7.93795671e+01] [ 5.41218790e-01 8.40277988e-01 3.18609979e-02 2.30169098e+01] [-5.98171980e-02 6.78647925e-04 9.98209118e-01 -6.53165870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52320100799999 meters 0.06525352883686071 Centerline is valid? [True, True] Translation: X:79.41, Y:23.03, Z:-6.53 [[ 8.36927728e-01 -5.44990065e-01 5.03766425e-02 7.94052925e+01] [ 5.44066897e-01 8.38442059e-01 3.17194670e-02 2.30302493e+01] [-5.95246902e-02 8.61362112e-04 9.98226462e-01 -6.53457027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55320100799999 meters 0.06595043647342931 Centerline is valid? [True, True] Translation: X:79.43, Y:23.04, Z:-6.54 [[ 8.35268343e-01 -5.47487710e-01 5.08330878e-02 7.94297375e+01] [ 5.46551271e-01 8.36813084e-01 3.20245286e-02 2.30434075e+01] [-6.00708288e-02 1.03381380e-03 9.98193582e-01 -6.53769550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58320100799999 meters 0.06691353102816709 Centerline is valid? [True, True] Translation: X:79.45, Y:23.06, Z:-6.54 [[ 8.33832065e-01 -5.49912682e-01 4.81677257e-02 7.94540899e+01] [ 5.49075443e-01 8.35221377e-01 3.03547157e-02 2.30553812e+01] [-5.69231573e-02 1.13698003e-03 9.98377915e-01 -6.54227057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61320100799999 meters 0.06724040651981489 Centerline is valid? [True, True] Translation: X:79.48, Y:23.07, Z:-6.54 [[ 8.32780086e-01 -5.51528685e-01 4.78898463e-02 7.94793944e+01] [ 5.50703592e-01 8.34155008e-01 3.01823795e-02 2.30690673e+01] [-5.65940032e-02 1.23782573e-03 9.98396508e-01 -6.54380171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64320100799999 meters 0.06702675948520204 Centerline is valid? [True, True] Translation: X:79.50, Y:23.08, Z:-6.54 [[ 8.31811382e-01 -5.52964911e-01 4.81625541e-02 7.95041115e+01] [ 5.52131891e-01 8.33203479e-01 3.03699964e-02 2.30846682e+01] [-5.69227501e-02 1.32997340e-03 9.98377700e-01 -6.54386089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67320100799999 meters 0.06870332784931235 Centerline is valid? [True, True] Translation: X:79.53, Y:23.10, Z:-6.55 [[ 8.29926217e-01 -5.55802380e-01 4.80227982e-02 7.95296132e+01] [ 5.54978077e-01 8.31313083e-01 3.02967455e-02 2.30958538e+01] [-5.67609837e-02 1.50753680e-03 9.98386658e-01 -6.54820947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.703201008 meters 0.06873991323500757 Centerline is valid? [True, True] Translation: X:79.55, Y:23.11, Z:-6.55 [[ 8.28431719e-01 -5.57949783e-01 4.89175575e-02 7.95522669e+01] [ 5.57097337e-01 8.29873027e-01 3.08758306e-02 2.31127982e+01] [-5.78225244e-02 1.67332357e-03 9.98325476e-01 -6.55025985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.733201008 meters 0.06941111129389861 Centerline is valid? [True, True] Translation: X:79.58, Y:23.13, Z:-6.55 [[ 8.27109294e-01 -5.59923339e-01 4.87449465e-02 7.95759685e+01] [ 5.59079396e-01 8.28542482e-01 3.07828596e-02 2.31293289e+01] [-5.76233005e-02 1.79150598e-03 9.98336790e-01 -6.55361322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.763201008 meters 0.07021055275845298 Centerline is valid? [True, True] Translation: X:79.60, Y:23.14, Z:-6.56 [[ 8.26156716e-01 -5.61313456e-01 4.89109915e-02 7.95985018e+01] [ 5.60465334e-01 8.27601147e-01 3.09022747e-02 2.31446469e+01] [-5.78246553e-02 1.88279336e-03 9.98324979e-01 -6.55783801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.793201008 meters 0.06868018243576149 Centerline is valid? [True, True] Translation: X:79.62, Y:23.17, Z:-6.56 [[ 8.25968392e-01 -5.61716414e-01 4.74435080e-02 7.96178660e+01] [ 5.60918284e-01 8.27327795e-01 2.99899635e-02 2.31678746e+01] [-5.60971876e-02 1.84116921e-03 9.98423615e-01 -6.55671518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.823201008 meters 0.06897330547725776 Centerline is valid? [True, True] Translation: X:79.64, Y:23.18, Z:-6.56 [[ 8.26595240e-01 -5.60893918e-01 4.62419876e-02 7.96405409e+01] [ 5.60133729e-01 8.27885875e-01 2.92435021e-02 2.31829072e+01] [-5.46855908e-02 1.72915733e-03 9.98502126e-01 -6.56052349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.853201008 meters 0.07016303332868379 Centerline is valid? [True, True] Translation: X:79.67, Y:23.20, Z:-6.57 [[ 8.28106497e-01 -5.58753607e-01 4.51002946e-02 7.96652267e+01] [ 5.58026347e-01 8.29332296e-01 2.85401337e-02 2.31953901e+01] [-5.33500335e-02 1.53288251e-03 9.98574696e-01 -6.56666604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88320100799999 meters 0.06792531213413648 Centerline is valid? [True, True] Translation: X:79.68, Y:23.22, Z:-6.56 [[ 8.29511062e-01 -5.56653494e-01 4.52579873e-02 7.96849180e+01] [ 5.55917959e-01 8.30743596e-01 2.86408931e-02 2.32190322e+01] [-5.35408363e-02 1.40179027e-03 9.98564677e-01 -6.56391307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91320100799999 meters 0.06714044078153107 Centerline is valid? [True, True] Translation: X:79.70, Y:23.24, Z:-6.56 [[ 8.32247445e-01 -5.52550636e-01 4.52988494e-02 7.97037273e+01] [ 5.51806933e-01 8.33478569e-01 2.86807143e-02 2.32421175e+01] [-5.36031671e-02 1.12676797e-03 9.98561681e-01 -6.56496361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94320100799999 meters 0.06739969309990591 Centerline is valid? [True, True] Translation: X:79.72, Y:23.26, Z:-6.57 [[ 8.33289823e-01 -5.50938540e-01 4.57689520e-02 7.97248032e+01] [ 5.50175742e-01 8.34545201e-01 2.89993020e-02 2.32595244e+01] [-5.41730923e-02 1.01614391e-03 9.98531043e-01 -6.57071323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97320100799999 meters 0.06732846235259611 Centerline is valid? [True, True] Translation: X:79.75, Y:23.28, Z:-6.57 [[ 8.34078299e-01 -5.49730572e-01 4.59313554e-02 7.97453781e+01] [ 5.48960433e-01 8.35341496e-01 2.91037402e-02 2.32799057e+01] [-5.43675829e-02 9.39698598e-04 9.98520547e-01 -6.57450752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00320100799999 meters 0.0670608714192623 Centerline is valid? [True, True] Translation: X:79.76, Y:23.30, Z:-6.58 [[ 8.36435404e-01 -5.46283263e-01 4.41634634e-02 7.97632398e+01] [ 5.45565876e-01 8.37600225e-01 2.79953125e-02 2.33044181e+01] [-5.22846975e-02 6.77808039e-04 9.98631990e-01 -6.57831485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03320100799999 meters 0.0670526697057379 Centerline is valid? [True, True] Translation: X:79.79, Y:23.32, Z:-6.58 [[ 8.36902662e-01 -5.45518586e-01 4.47594353e-02 7.97866248e+01] [ 5.44779704e-01 8.38098492e-01 2.83899986e-02 2.33221085e+01] [-5.30000871e-02 6.24366489e-04 9.98594312e-01 -6.58001655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.063201008 meters 0.0668477775926101 Centerline is valid? [True, True] Translation: X:79.81, Y:23.34, Z:-6.58 [[ 8.37594409e-01 -5.44369169e-01 4.58018913e-02 7.98086721e+01] [ 5.43592781e-01 8.38845579e-01 2.90686036e-02 2.33392872e+01] [-5.42447656e-02 5.49877560e-04 9.98527517e-01 -6.58117009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.093201008 meters 0.0663015072395015 Centerline is valid? [True, True] Translation: X:79.83, Y:23.36, Z:-6.58 [[ 8.39400797e-01 -5.41457845e-01 4.72197491e-02 7.98280468e+01] [ 5.40627415e-01 8.40727822e-01 2.99787872e-02 2.33606985e+01] [-5.59312062e-02 3.64073037e-04 9.98434559e-01 -6.58139922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.123201008 meters 0.06629378447207958 Centerline is valid? [True, True] Translation: X:79.85, Y:23.38, Z:-6.58 [[ 8.39742440e-01 -5.40884171e-01 4.77173686e-02 7.98501599e+01] [ 5.40035146e-01 8.41097025e-01 3.02958100e-02 2.33793920e+01] [-5.65214608e-02 3.28378642e-04 9.98401330e-01 -6.58250015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.153201008 meters 0.06612527616152013 Centerline is valid? [True, True] Translation: X:79.87, Y:23.40, Z:-6.58 [[ 8.39624309e-01 -5.40998930e-01 4.84889443e-02 7.98729765e+01] [ 5.40121359e-01 8.41023217e-01 3.08036730e-02 2.33966915e+01] [-5.74450821e-02 3.26401802e-04 9.98348614e-01 -6.58405211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.183201008 meters 0.06636705766103539 Centerline is valid? [True, True] Translation: X:79.90, Y:23.41, Z:-6.59 [[ 8.39146333e-01 -5.41692216e-01 4.90201385e-02 7.98956628e+01] [ 5.40795534e-01 8.40576832e-01 3.11573520e-02 2.34109472e+01] [-5.80828878e-02 3.64294247e-04 9.98311698e-01 -6.58731078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.213201008 meters 0.06637957714652956 Centerline is valid? [True, True] Translation: X:79.92, Y:23.43, Z:-6.59 [[ 8.38991076e-01 -5.41937344e-01 4.89682545e-02 7.99187462e+01] [ 5.41042072e-01 8.40418812e-01 3.11399417e-02 2.34267217e+01] [-5.80297396e-02 3.67752703e-04 9.98314787e-01 -6.58929788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24320100799999 meters 0.06638427013129673 Centerline is valid? [True, True] Translation: X:79.94, Y:23.44, Z:-6.59 [[ 8.38431921e-01 -5.42839632e-01 4.85494346e-02 7.99413466e+01] [ 5.41960203e-01 8.39836272e-01 3.08897225e-02 2.34437884e+01] [-5.75417418e-02 4.12932045e-04 9.98343016e-01 -6.59059664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27320100799999 meters 0.06637488121106291 Centerline is valid? [True, True] Translation: X:79.96, Y:23.46, Z:-6.59 [[ 8.38278231e-01 -5.43110072e-01 4.81773528e-02 7.99644755e+01] [ 5.42243571e-01 8.39661407e-01 3.06697164e-02 2.34587587e+01] [-5.71096957e-02 4.14104175e-04 9.98367824e-01 -6.59348215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30320100799999 meters 0.06657490593290709 Centerline is valid? [True, True] Translation: X:79.99, Y:23.47, Z:-6.60 [[ 8.38192387e-01 -5.43319425e-01 4.73024790e-02 7.99884968e+01] [ 5.42483614e-01 8.39525959e-01 3.01279382e-02 2.34740027e+01] [-5.60807531e-02 4.07811291e-04 9.98426153e-01 -6.59735118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33320100799999 meters 0.06656774273347496 Centerline is valid? [True, True] Translation: X:80.01, Y:23.49, Z:-6.60 [[ 8.38293702e-01 -5.43233155e-01 4.64909469e-02 8.00109269e+01] [ 5.42424702e-01 8.39581797e-01 2.96284953e-02 2.34892983e+01] [-5.51281337e-02 3.80457026e-04 9.98479216e-01 -6.60217625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36320100799999 meters 0.06667297466220817 Centerline is valid? [True, True] Translation: X:80.03, Y:23.51, Z:-6.60 [[ 8.37795159e-01 -5.44018312e-01 4.62962995e-02 8.00341025e+01] [ 5.43217691e-01 8.39073234e-01 2.95067443e-02 2.35060614e+01] [-5.48981950e-02 4.28361340e-04 9.98491865e-01 -6.60368398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39320100799999 meters 0.06726930364915687 Centerline is valid? [True, True] Translation: X:80.06, Y:23.52, Z:-6.61 [[ 8.37232222e-01 -5.44972101e-01 4.52505885e-02 8.00581033e+01] [ 5.44207646e-01 8.38454050e-01 2.88590415e-02 2.35187536e+01] [-5.36679117e-02 4.63996848e-04 9.98558731e-01 -6.60883346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42320100799999 meters 0.06726930364915687 Centerline is valid? [True, True] Translation: X:80.08, Y:23.53, Z:-6.61 [[ 8.37091031e-01 -5.45188961e-01 4.52504342e-02 8.00812749e+01] [ 5.44424809e-01 8.38313049e-01 2.88592848e-02 2.35337292e+01] [-5.36677930e-02 4.77610550e-04 9.98558731e-01 -6.61097072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.453201008 meters 0.0672937312074113 Centerline is valid? [True, True] Translation: X:80.11, Y:23.55, Z:-6.61 [[ 8.36773321e-01 -5.45680742e-01 4.51988615e-02 8.01050678e+01] [ 5.44918037e-01 8.37993010e-01 2.88452338e-02 2.35469469e+01] [-5.36166185e-02 4.92752805e-04 9.98561473e-01 -6.61372649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.483201008 meters 0.06708627335842812 Centerline is valid? [True, True] Translation: X:80.13, Y:23.56, Z:-6.61 [[ 8.36346994e-01 -5.46292010e-01 4.57027977e-02 8.01288481e+01] [ 5.45512605e-01 8.37594626e-01 2.91760017e-02 2.35616042e+01] [-5.42190344e-02 5.30190903e-04 9.98528926e-01 -6.61205060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.513201008 meters 0.06702094288612213 Centerline is valid? [True, True] Translation: X:80.15, Y:23.58, Z:-6.61 [[ 8.36229718e-01 -5.46454764e-01 4.59026028e-02 8.01518271e+01] [ 5.45667793e-01 8.37488455e-01 2.93214700e-02 2.35753434e+01] [-5.44657568e-02 5.28087312e-04 9.98515499e-01 -6.61375877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.543201008 meters 0.06660567409351528 Centerline is valid? [True, True] Translation: X:80.18, Y:23.59, Z:-6.61 [[ 8.36369525e-01 -5.46182619e-01 4.65893227e-02 8.01750447e+01] [ 5.45370656e-01 8.37665978e-01 2.97750911e-02 2.35916550e+01] [-5.52889278e-02 5.05470761e-04 9.98470269e-01 -6.61287470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.573201008 meters 0.06666598578318751 Centerline is valid? [True, True] Translation: X:80.20, Y:23.61, Z:-6.62 [[ 8.36224035e-01 -5.46355945e-01 4.71650837e-02 8.01986938e+01] [ 5.45523082e-01 8.37552937e-01 3.01603098e-02 2.36058526e+01] [-5.59815189e-02 5.08865897e-04 9.98431675e-01 -6.61524918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.603201008 meters 0.06650198529023857 Centerline is valid? [True, True] Translation: X:80.22, Y:23.62, Z:-6.62 [[ 8.35897562e-01 -5.46776429e-01 4.80708075e-02 8.02225273e+01] [ 5.45910920e-01 8.37278480e-01 3.07573419e-02 2.36207155e+01] [-5.70660422e-02 5.32391652e-04 9.98370264e-01 -6.61686139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63320100799999 meters 0.06637929949048142 Centerline is valid? [True, True] Translation: X:80.25, Y:23.64, Z:-6.62 [[ 8.35464873e-01 -5.47362466e-01 4.89160192e-02 8.02460613e+01] [ 5.46466203e-01 8.36895458e-01 3.13158135e-02 2.36358845e+01] [-5.80786952e-02 5.67689123e-04 9.98311847e-01 -6.62041014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66320100799999 meters 0.06649543563452924 Centerline is valid? [True, True] Translation: X:80.27, Y:23.65, Z:-6.62 [[ 8.34945276e-01 -5.48149889e-01 4.89702460e-02 8.02691207e+01] [ 5.47251989e-01 8.36379895e-01 3.13676840e-02 2.36512224e+01] [-5.81519217e-02 6.08765001e-04 9.98307560e-01 -6.62353157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69320100799999 meters 0.06692574570157561 Centerline is valid? [True, True] Translation: X:80.29, Y:23.67, Z:-6.63 [[ 8.34879826e-01 -5.48326332e-01 4.81031167e-02 8.02920871e+01] [ 5.47459097e-01 8.36264242e-01 3.08326939e-02 2.36656413e+01] [-5.71332944e-02 5.92894692e-04 9.98366383e-01 -6.63020080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72320100799999 meters 0.06706377606105554 Centerline is valid? [True, True] Translation: X:80.32, Y:23.68, Z:-6.63 [[ 8.34825377e-01 -5.48480038e-01 4.72888799e-02 8.03160740e+01] [ 5.47641816e-01 8.36163442e-01 3.03172952e-02 2.36814685e+01] [-5.61696638e-02 5.87720750e-04 9.98421065e-01 -6.63276539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75320100799999 meters 0.06696735290165781 Centerline is valid? [True, True] Translation: X:80.34, Y:23.70, Z:-6.63 [[ 8.35435805e-01 -5.47627517e-01 4.63801504e-02 8.03405020e+01] [ 5.46819146e-01 8.36722083e-01 2.97485661e-02 2.36959720e+01] [-5.50984294e-02 5.08536937e-04 9.98480798e-01 -6.63498454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78320100799999 meters 0.06663414326318683 Centerline is valid? [True, True] Translation: X:80.36, Y:23.71, Z:-6.63 [[ 8.35399545e-01 -5.47697872e-01 4.62021820e-02 8.03642117e+01] [ 5.46895032e-01 8.36676038e-01 2.96484833e-02 2.37106836e+01] [-5.48946698e-02 4.99414325e-04 9.98492026e-01 -6.63351550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.813201008 meters 0.06650216866010979 Centerline is valid? [True, True] Translation: X:80.39, Y:23.72, Z:-6.64 [[ 8.35211724e-01 -5.47965584e-01 4.64229972e-02 8.03883824e+01] [ 5.47154437e-01 8.36500726e-01 2.98086943e-02 2.37235966e+01] [-5.51670095e-02 5.03977906e-04 9.98477014e-01 -6.63534702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.843201008 meters 0.06619952832204137 Centerline is valid? [True, True] Translation: X:80.41, Y:23.73, Z:-6.64 [[ 8.33420817e-01 -5.50574230e-01 4.77258769e-02 8.04129280e+01] [ 5.49720197e-01 8.34785932e-01 3.06619046e-02 2.37349091e+01] [-5.67225452e-02 6.81608931e-04 9.98389748e-01 -6.63611933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.873201008 meters 0.06611133747548731 Centerline is valid? [True, True] Translation: X:80.44, Y:23.75, Z:-6.64 [[ 8.32586113e-01 -5.51792295e-01 4.82247592e-02 8.04363490e+01] [ 5.50921478e-01 8.33981226e-01 3.09974225e-02 2.37502814e+01] [-5.73226827e-02 7.60032093e-04 9.98355414e-01 -6.63747235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.903201008 meters 0.06614325855869463 Centerline is valid? [True, True] Translation: X:80.46, Y:23.77, Z:-6.64 [[ 8.31415862e-01 -5.53474928e-01 4.91240151e-02 8.04585880e+01] [ 5.52573129e-01 8.32865377e-01 3.15943286e-02 2.37650685e+01] [-5.84003601e-02 8.76584768e-04 9.98292858e-01 -6.64024514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.933201008 meters 0.06620312510220837 Centerline is valid? [True, True] Translation: X:80.48, Y:23.78, Z:-6.64 [[ 8.30790439e-01 -5.54366986e-01 4.96436520e-02 8.04822208e+01] [ 5.53446621e-01 8.32271812e-01 3.19447685e-02 2.37804059e+01] [-5.90261372e-02 9.35703249e-04 9.98255999e-01 -6.64260951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.963201008 meters 0.06631600811579162 Centerline is valid? [True, True] Translation: X:80.51, Y:23.79, Z:-6.64 [[ 8.30033607e-01 -5.55502903e-01 4.96058059e-02 8.05070606e+01] [ 5.54584747e-01 8.31513998e-01 3.19410384e-02 2.37939235e+01] [-5.89912615e-02 9.98488021e-04 9.98258000e-01 -6.64482317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99320100799999 meters 0.06625228455560843 Centerline is valid? [True, True] Translation: X:80.53, Y:23.81, Z:-6.64 [[ 8.28654678e-01 -5.57604797e-01 4.90745828e-02 8.05330623e+01] [ 5.56709491e-01 8.30105785e-01 3.16058338e-02 2.38071152e+01] [-5.83606596e-02 1.12996396e-03 9.98294925e-01 -6.64412325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02320100799999 meters 0.06620816587486582 Centerline is valid? [True, True] Translation: X:80.56, Y:23.82, Z:-6.65 [[ 8.27925939e-01 -5.58658052e-01 4.93945407e-02 8.05573444e+01] [ 5.57751996e-01 8.29397217e-01 3.18271520e-02 2.38226280e+01] [-5.87481893e-02 1.19937898e-03 9.98272113e-01 -6.64559265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05320100799999 meters 0.06589491036831704 Centerline is valid? [True, True] Translation: X:80.58, Y:23.84, Z:-6.65 [[ 8.28239771e-01 -5.58298807e-01 4.81801194e-02 8.05804248e+01] [ 5.57435044e-01 8.29639180e-01 3.10644938e-02 2.38381767e+01] [-5.73153846e-02 1.12843778e-03 9.98355484e-01 -6.64795005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08320100799999 meters 0.06592856243376108 Centerline is valid? [True, True] Translation: X:80.60, Y:23.85, Z:-6.65 [[ 8.28332373e-01 -5.58180032e-01 4.79638532e-02 8.06025590e+01] [ 5.57323521e-01 8.29719120e-01 3.09301580e-02 2.38536767e+01] [-5.70611226e-02 1.11093233e-03 9.98370069e-01 -6.65108516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11320100799999 meters 0.06531171202170184 Centerline is valid? [True, True] Translation: X:80.62, Y:23.87, Z:-6.65 [[ 8.28467451e-01 -5.57994721e-01 4.77867623e-02 8.06234169e+01] [ 5.57143407e-01 8.29843793e-01 3.08302403e-02 2.38728190e+01] [-5.68586594e-02 1.08222899e-03 9.98381651e-01 -6.65153416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14320100799999 meters 0.06557458900313973 Centerline is valid? [True, True] Translation: X:80.65, Y:23.89, Z:-6.66 [[ 8.28738766e-01 -5.57564205e-01 4.81062957e-02 8.06457359e+01] [ 5.56699525e-01 8.30133165e-01 3.10574964e-02 2.38884915e+01] [-5.72511798e-02 1.04220071e-03 9.98359262e-01 -6.65649983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17320100799999 meters 0.06532047857173208 Centerline is valid? [True, True] Translation: X:80.67, Y:23.91, Z:-6.66 [[ 8.28835907e-01 -5.57379179e-01 4.85745779e-02 8.06678865e+01] [ 5.56496857e-01 8.30257419e-01 3.13666438e-02 2.39058451e+01] [-5.78125179e-02 1.03379930e-03 9.98326922e-01 -6.65759438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.203201008 meters 0.06528171900385467 Centerline is valid? [True, True] Translation: X:80.69, Y:23.92, Z:-6.66 [[ 8.28467909e-01 -5.57854356e-01 4.93906882e-02 8.06914960e+01] [ 5.56941869e-01 8.29938174e-01 3.19120935e-02 2.39197925e+01] [-5.87935179e-02 1.06959685e-03 9.98269592e-01 -6.65910676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.233201008 meters 0.06497532790803318 Centerline is valid? [True, True] Translation: X:80.72, Y:23.94, Z:-6.66 [[ 8.28640056e-01 -5.57558031e-01 4.98467556e-02 8.07156219e+01] [ 5.56627209e-01 8.30137306e-01 3.22211657e-02 2.39350456e+01] [-5.93448212e-02 1.04631186e-03 9.98236995e-01 -6.65859665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.263201008 meters 0.06479301384680407 Centerline is valid? [True, True] Translation: X:80.74, Y:23.95, Z:-6.66 [[ 8.28735989e-01 -5.57367515e-01 5.03797027e-02 8.07390753e+01] [ 5.56415141e-01 8.30265257e-01 3.25851652e-02 2.39486346e+01] [-5.99904294e-02 1.02753028e-03 9.98198423e-01 -6.65974802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.293201008 meters 0.06415593865447014 Centerline is valid? [True, True] Translation: X:80.76, Y:23.97, Z:-6.66 [[ 8.29032446e-01 -5.56926557e-01 5.03787108e-02 8.07614631e+01] [ 5.55972689e-01 8.30561159e-01 3.25964784e-02 2.39653343e+01] [-5.99964449e-02 9.85649085e-04 9.98198104e-01 -6.65996797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.323201008 meters 0.06380133519991188 Centerline is valid? [True, True] Translation: X:80.78, Y:23.98, Z:-6.66 [[ 8.29857734e-01 -5.55595056e-01 5.14808203e-02 8.07833130e+01] [ 5.54595656e-01 8.31452540e-01 3.33216392e-02 2.39822273e+01] [-6.13171968e-02 8.98819261e-04 9.98117926e-01 -6.66157793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.353201008 meters 0.06347022341300376 Centerline is valid? [True, True] Translation: X:80.81, Y:24.00, Z:-6.66 [[ 8.30798444e-01 -5.54182312e-01 5.15355203e-02 8.08055732e+01] [ 5.53177561e-01 8.32394944e-01 3.33652895e-02 2.40010368e+01] [-6.13883598e-02 7.88462795e-04 9.98113645e-01 -6.66323916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38320100799999 meters 0.06347022341300376 Centerline is valid? [True, True] Translation: X:80.83, Y:24.02, Z:-6.67 [[ 8.30651086e-01 -5.54403784e-01 5.15288059e-02 8.08286512e+01] [ 5.53398816e-01 8.32247449e-01 3.33756554e-02 2.40161606e+01] [-6.13883069e-02 7.92455792e-04 9.98113645e-01 -6.66536949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41320100799999 meters 0.0633743946441376 Centerline is valid? [True, True] Translation: X:80.85, Y:24.03, Z:-6.67 [[ 8.32950126e-01 -5.51059181e-01 5.02778952e-02 8.08492327e+01] [ 5.50095175e-01 8.34466004e-01 3.25850533e-02 2.40331030e+01] [-5.99114871e-02 5.15903364e-04 9.98203560e-01 -6.67110659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44320100799999 meters 0.06320492510680392 Centerline is valid? [True, True] Translation: X:80.87, Y:24.05, Z:-6.67 [[ 8.34408879e-01 -5.49030144e-01 4.82464831e-02 8.08721205e+01] [ 5.48138378e-01 8.35802478e-01 3.12815519e-02 2.40513500e+01] [-5.74990451e-02 3.44144340e-04 9.98345502e-01 -6.67294712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47320100799999 meters 0.06324693306431664 Centerline is valid? [True, True] Translation: X:80.89, Y:24.07, Z:-6.68 [[ 8.35662648e-01 -5.47204943e-01 4.72724976e-02 8.08934581e+01] [ 5.46345088e-01 8.36998632e-01 3.06648888e-02 2.40678132e+01] [-5.63469945e-02 2.01594634e-04 9.98411226e-01 -6.67720953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50320100799999 meters 0.06330622368787073 Centerline is valid? [True, True] Translation: X:80.92, Y:24.09, Z:-6.68 [[ 8.37033632e-01 -5.45212199e-01 4.60256088e-02 8.09158193e+01] [ 5.44393277e-01 8.38298070e-01 2.98714738e-02 2.40855997e+01] [-5.48694710e-02 5.26037939e-05 9.98493534e-01 -6.68078343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53320100799999 meters 0.06356296436905631 Centerline is valid? [True, True] Translation: X:80.94, Y:24.10, Z:-6.68 [[ 8.38409107e-01 -5.43152467e-01 4.53383572e-02 8.09384894e+01] [ 5.42354143e-01 8.39634081e-01 2.94379698e-02 2.41033959e+01] [-5.40569358e-02 -9.16160675e-05 9.98537851e-01 -6.68239579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.563201008 meters 0.06390865509299531 Centerline is valid? [True, True] Translation: X:80.96, Y:24.12, Z:-6.69 [[ 8.40303826e-01 -5.40361396e-01 4.35779956e-02 8.09604924e+01] [ 5.39619400e-01 8.41432997e-01 2.83092753e-02 2.41204988e+01] [-5.19652029e-02 -2.72860510e-04 9.98648859e-01 -6.68798379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.593201008 meters 0.06416639578963937 Centerline is valid? [True, True] Translation: X:80.98, Y:24.14, Z:-6.69 [[ 8.41100044e-01 -5.39177158e-01 4.28801541e-02 8.09833727e+01] [ 5.38456489e-01 8.42192299e-01 2.78700808e-02 2.41361381e+01] [-5.11402465e-02 -3.52428958e-04 9.98691419e-01 -6.69134754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.623201008 meters 0.0642383151613153 Centerline is valid? [True, True] Translation: X:81.01, Y:24.15, Z:-6.69 [[ 8.41568621e-01 -5.38548783e-01 4.15627734e-02 8.10070971e+01] [ 5.37870769e-01 8.42594246e-01 2.70180078e-02 2.41522520e+01] [-4.95710689e-02 -3.82106638e-04 9.98770526e-01 -6.69467744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.653201008 meters 0.06412514668101073 Centerline is valid? [True, True] Translation: X:81.03, Y:24.17, Z:-6.70 [[ 8.41575379e-01 -5.38459605e-01 4.25691811e-02 8.10304149e+01] [ 5.37747559e-01 8.42651225e-01 2.76852908e-02 2.41678631e+01] [-5.07783833e-02 -4.07785844e-04 9.98709863e-01 -6.69568099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.683201008 meters 0.06408196924839778 Centerline is valid? [True, True] Translation: X:81.05, Y:24.18, Z:-6.70 [[ 8.41418257e-01 -5.38574241e-01 4.41939380e-02 8.10548176e+01] [ 5.37806020e-01 8.42577950e-01 2.87590594e-02 2.41839646e+01] [-5.27257263e-02 -4.30631684e-04 9.98608939e-01 -6.69701807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.713201008 meters 0.0632978447798592 Centerline is valid? [True, True] Translation: X:81.08, Y:24.20, Z:-6.70 [[ 8.40471795e-01 -5.39771518e-01 4.74749503e-02 8.10803855e+01] [ 5.38885879e-01 8.41811471e-01 3.09104696e-02 2.41963838e+01] [-5.66495488e-02 -3.95797537e-04 9.98394046e-01 -6.69611944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74320100799999 meters 0.062814611641812 Centerline is valid? [True, True] Translation: X:81.11, Y:24.21, Z:-6.69 [[ 8.39825857e-01 -5.40667116e-01 4.86990626e-02 8.11066239e+01] [ 5.39735647e-01 8.41236554e-01 3.17252438e-02 2.42100223e+01] [-5.81202277e-02 -3.59059968e-04 9.98309526e-01 -6.69320925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77320100799999 meters 0.062401634108711586 Centerline is valid? [True, True] Translation: X:81.13, Y:24.22, Z:-6.69 [[ 8.39381429e-01 -5.41255842e-01 4.98089396e-02 8.11327343e+01] [ 5.40281421e-01 8.40857894e-01 3.24651748e-02 2.42241923e+01] [-5.94542055e-02 -3.39820169e-04 9.98230976e-01 -6.69238102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80320100799999 meters 0.06224238901687856 Centerline is valid? [True, True] Translation: X:81.16, Y:24.24, Z:-6.69 [[ 8.39023075e-01 -5.41750921e-01 5.04600714e-02 8.11575650e+01] [ 5.40750767e-01 8.40539015e-01 3.29054998e-02 2.42387272e+01] [-6.02402435e-02 -3.22151349e-04 9.98183855e-01 -6.69497960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83320100799999 meters 0.06234688039805445 Centerline is valid? [True, True] Translation: X:81.18, Y:24.25, Z:-6.70 [[ 8.39423372e-01 -5.41098677e-01 5.07998491e-02 8.11811852e+01] [ 5.40082628e-01 8.40959019e-01 3.31463872e-02 2.42521882e+01] [-6.06560575e-02 -3.87736071e-04 9.98158651e-01 -6.69688877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86320100799999 meters 0.062425370345691296 Centerline is valid? [True, True] Translation: X:81.21, Y:24.27, Z:-6.70 [[ 8.39558847e-01 -5.40966946e-01 4.99570347e-02 8.12050672e+01] [ 5.39983609e-01 8.41043759e-01 3.26051800e-02 2.42672941e+01] [-5.96543769e-02 -3.97987447e-04 9.98219013e-01 -6.70056354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89320100799999 meters 0.06263574262225696 Centerline is valid? [True, True] Translation: X:81.23, Y:24.28, Z:-6.70 [[ 8.39763870e-01 -5.40671854e-01 4.97050165e-02 8.12273659e+01] [ 5.39696936e-01 8.41233476e-01 3.24569814e-02 2.42820077e+01] [-5.93621001e-02 -4.30555173e-04 9.98236423e-01 -6.70396030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92320100799999 meters 0.06271030713268988 Centerline is valid? [True, True] Translation: X:81.25, Y:24.30, Z:-6.71 [[ 8.40155221e-01 -5.40229168e-01 4.78711919e-02 8.12519976e+01] [ 5.39323285e-01 8.41517817e-01 3.12755200e-02 2.42972703e+01] [-5.71804090e-02 -4.58242927e-04 9.98363757e-01 -6.70717446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.953201008 meters 0.0633646747855728 Centerline is valid? [True, True] Translation: X:81.28, Y:24.31, Z:-6.71 [[ 8.40548450e-01 -5.39829578e-01 4.54128786e-02 8.12753227e+01] [ 5.39012874e-01 8.41774198e-01 2.96870475e-02 2.43109280e+01] [-5.42533358e-02 -4.75275491e-04 9.98527090e-01 -6.71421773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.983201008 meters 0.06354101288564122 Centerline is valid? [True, True] Translation: X:81.30, Y:24.33, Z:-6.72 [[ 8.40410115e-01 -5.40153063e-01 4.41078990e-02 8.12994441e+01] [ 5.39382989e-01 8.41566677e-01 2.88360819e-02 2.43262754e+01] [-5.26956360e-02 -4.43084523e-04 9.98610521e-01 -6.71890628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.013201008 meters 0.0637587406316944 Centerline is valid? [True, True] Translation: X:81.32, Y:24.34, Z:-6.72 [[ 8.40689941e-01 -5.39848513e-01 4.24735888e-02 8.13235948e+01] [ 5.39133432e-01 8.41762066e-01 2.77806913e-02 2.43414888e+01] [-5.07500207e-02 -4.56016049e-04 9.98711283e-01 -6.72379077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.043201008 meters 0.063922862975282 Centerline is valid? [True, True] Translation: X:81.35, Y:24.36, Z:-6.73 [[ 8.40600676e-01 -5.40047729e-01 4.17007510e-02 8.13482556e+01] [ 5.39358041e-01 8.41634273e-01 2.72883416e-02 2.43563630e+01] [-4.98337881e-02 -4.46963029e-04 9.98757425e-01 -6.72689270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.073201008 meters 0.06410574989078653 Centerline is valid? [True, True] Translation: X:81.37, Y:24.37, Z:-6.73 [[ 8.40420892e-01 -5.40393609e-01 4.08346864e-02 8.13721608e+01] [ 5.39731896e-01 8.41412242e-01 2.67379673e-02 2.43699205e+01] [-4.88078317e-02 -4.31363601e-04 9.98808094e-01 -6.73045205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.103201008 meters 0.06398478213139554 Centerline is valid? [True, True] Translation: X:81.40, Y:24.38, Z:-6.73 [[ 8.39987523e-01 -5.41059584e-01 4.09327243e-02 8.13986047e+01] [ 5.40395345e-01 8.40984168e-01 2.68048610e-02 2.43811172e+01] [-4.89268000e-02 -3.95895108e-04 9.98802289e-01 -6.73322385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13320100799999 meters 0.06375043085579177 Centerline is valid? [True, True] Translation: X:81.42, Y:24.39, Z:-6.73 [[ 8.39402698e-01 -5.41953746e-01 4.11004739e-02 8.14243167e+01] [ 5.41284337e-01 8.40408239e-01 2.69305973e-02 2.43942481e+01] [-4.91363150e-02 -3.58573223e-04 9.98792017e-01 -6.73468443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16320100799999 meters 0.06355640925675651 Centerline is valid? [True, True] Translation: X:81.45, Y:24.41, Z:-6.74 [[ 8.38936674e-01 -5.42646876e-01 4.14683733e-02 8.14490856e+01] [ 5.41965590e-01 8.39960867e-01 2.71853218e-02 2.44072978e+01] [-4.95838407e-02 -3.32332100e-04 9.98769910e-01 -6.73639172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19320100799999 meters 0.06303377108343916 Centerline is valid? [True, True] Translation: X:81.47, Y:24.42, Z:-6.73 [[ 8.38605511e-01 -5.43012027e-01 4.33443825e-02 8.14747292e+01] [ 5.42267276e-01 8.39724850e-01 2.84319935e-02 2.44208209e+01] [-5.18362695e-02 -3.38986253e-04 9.98655539e-01 -6.73456595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22320100799999 meters 0.062994628309976 Centerline is valid? [True, True] Translation: X:81.50, Y:24.44, Z:-6.74 [[ 8.38521791e-01 -5.43056968e-01 4.43884523e-02 8.14974053e+01] [ 5.42275074e-01 8.39695779e-01 2.91331918e-02 2.44359847e+01] [-5.30937788e-02 -3.58064894e-04 9.98589466e-01 -6.73587792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25320100799999 meters 0.06337011740992061 Centerline is valid? [True, True] Translation: X:81.52, Y:24.45, Z:-6.74 [[ 8.38120826e-01 -5.43649118e-01 4.47114874e-02 8.15199599e+01] [ 5.42856019e-01 8.39312532e-01 2.93567217e-02 2.44505989e+01] [-5.34866676e-02 -3.32579795e-04 9.98568508e-01 -6.74118856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28320100799999 meters 0.06326744343654804 Centerline is valid? [True, True] Translation: X:81.54, Y:24.46, Z:-6.74 [[ 8.37828696e-01 -5.44077321e-01 4.49771650e-02 8.15436815e+01] [ 5.43274609e-01 8.39035022e-01 2.95454251e-02 2.44645057e+01] [-5.38124123e-02 -3.19053230e-04 9.98551011e-01 -6.74286257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.313201008 meters 0.063096030473779 Centerline is valid? [True, True] Translation: X:81.57, Y:24.48, Z:-6.74 [[ 8.36920510e-01 -5.45475569e-01 4.49495577e-02 8.15679568e+01] [ 5.44675118e-01 8.38126688e-01 2.95409968e-02 2.44764394e+01] [-5.37873160e-02 -2.40560459e-04 9.98552386e-01 -6.74449042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.343201008 meters 0.06296469832989833 Centerline is valid? [True, True] Translation: X:81.59, Y:24.49, Z:-6.75 [[ 8.36199050e-01 -5.46611323e-01 4.45781439e-02 8.15918783e+01] [ 5.45824998e-01 8.37386428e-01 2.93094137e-02 2.44910563e+01] [-5.33499901e-02 -1.76638603e-04 9.98575860e-01 -6.74533158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.373201008 meters 0.0627683400027741 Centerline is valid? [True, True] Translation: X:81.62, Y:24.51, Z:-6.75 [[ 8.35566795e-01 -5.47607508e-01 4.42057512e-02 8.16162494e+01] [ 5.46834842e-01 8.36735323e-01 2.90801464e-02 2.45059243e+01] [-5.29130200e-02 -1.25159805e-04 9.98599117e-01 -6.74590720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.403201008 meters 0.06296163504438225 Centerline is valid? [True, True] Translation: X:81.64, Y:24.52, Z:-6.75 [[ 8.34570724e-01 -5.49117214e-01 4.42943738e-02 8.16396332e+01] [ 5.48342608e-01 8.35745346e-01 2.91564874e-02 2.45191877e+01] [-5.30291459e-02 -4.46583832e-05 9.98592964e-01 -6.75104968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.433201008 meters 0.06250388023651121 Centerline is valid? [True, True] Translation: X:81.67, Y:24.53, Z:-6.75 [[ 8.33382973e-01 -5.50955542e-01 4.38270685e-02 8.16661702e+01] [ 5.50199006e-01 8.34534593e-01 2.88628824e-02 2.45316342e+01] [-5.24773698e-02 5.97747767e-05 9.98622112e-01 -6.74774284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.463201008 meters 0.06261664763350548 Centerline is valid? [True, True] Translation: X:81.69, Y:24.55, Z:-6.75 [[ 8.32578886e-01 -5.52202382e-01 4.34157457e-02 8.16893002e+01] [ 5.51460794e-01 8.33710090e-01 2.86090713e-02 2.45452565e+01] [-5.19941426e-02 1.22772828e-04 9.98647382e-01 -6.75163190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49320100799999 meters 0.06279567846270655 Centerline is valid? [True, True] Translation: X:81.71, Y:24.56, Z:-6.75 [[ 8.31604607e-01 -5.53597673e-01 4.43102046e-02 8.17131473e+01] [ 5.52826259e-01 8.32784232e-01 2.92155949e-02 2.45592020e+01] [-5.30745250e-02 2.00021313e-04 9.98590534e-01 -6.75457731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52320100799999 meters 0.06288602738698595 Centerline is valid? [True, True] Translation: X:81.74, Y:24.57, Z:-6.76 [[ 8.30791925e-01 -5.54863513e-01 4.37179534e-02 8.17381666e+01] [ 5.54113722e-01 8.31941351e-01 2.88369890e-02 2.45741432e+01] [-5.23713662e-02 2.67180327e-04 9.98627643e-01 -6.75628509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55320100799999 meters 0.06312419233423494 Centerline is valid? [True, True] Translation: X:81.76, Y:24.59, Z:-6.76 [[ 8.29740323e-01 -5.56486547e-01 4.30548387e-02 8.17629753e+01] [ 5.55760638e-01 8.30856547e-01 2.84167528e-02 2.45874834e+01] [-5.15859352e-02 3.49658975e-04 9.98668498e-01 -6.75940412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58320100799999 meters 0.06293523627622509 Centerline is valid? [True, True] Translation: X:81.79, Y:24.60, Z:-6.76 [[ 8.29567316e-01 -5.56722417e-01 4.33384237e-02 8.17856150e+01] [ 5.55987029e-01 8.30698512e-01 2.86077885e-02 2.46039700e+01] [-5.19277612e-02 3.63515137e-04 9.98650778e-01 -6.75913636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61320100799999 meters 0.06318152913899075 Centerline is valid? [True, True] Translation: X:81.81, Y:24.62, Z:-6.76 [[ 8.30039418e-01 -5.56064950e-01 4.27356430e-02 8.18078664e+01] [ 5.55348130e-01 8.31138784e-01 2.82272112e-02 2.46200643e+01] [-5.12154132e-02 3.03461428e-04 9.98687583e-01 -6.76359525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64320100799999 meters 0.06325253000229314 Centerline is valid? [True, True] Translation: X:81.83, Y:24.64, Z:-6.77 [[ 8.30911250e-01 -5.54826122e-01 4.18863926e-02 8.18312805e+01] [ 5.54135216e-01 8.31966304e-01 2.76808983e-02 2.46374475e+01] [-5.02061527e-02 2.10355391e-04 9.98738854e-01 -6.76590267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67320100799999 meters 0.06332965852514405 Centerline is valid? [True, True] Translation: X:81.85, Y:24.66, Z:-6.77 [[ 8.33186882e-01 -5.51539864e-01 4.00424618e-02 8.18537822e+01] [ 5.50904000e-01 8.34148535e-01 2.64764718e-02 2.46550424e+01] [-4.80041905e-02 -2.96579682e-07 9.98847134e-01 -6.76827679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.703201008 meters 0.06359016342933324 Centerline is valid? [True, True] Translation: X:81.88, Y:24.67, Z:-6.77 [[ 8.34309780e-01 -5.49926935e-01 3.88272677e-02 8.18750616e+01] [ 5.49326884e-01 8.35212761e-01 2.56830293e-02 2.46726429e+01] [-4.65528190e-02 -9.87405688e-05 9.98915825e-01 -6.77357190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.733201008 meters 0.063689190269439 Centerline is valid? [True, True] Translation: X:81.90, Y:24.69, Z:-6.78 [[ 8.35120314e-01 -5.48689417e-01 3.89099476e-02 8.18961628e+01] [ 5.48085227e-01 8.36026252e-01 2.57427645e-02 2.46915050e+01] [-4.66545200e-02 -1.72338092e-04 9.98911070e-01 -6.77681166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.763201008 meters 0.06416448165005435 Centerline is valid? [True, True] Translation: X:81.92, Y:24.71, Z:-6.78 [[ 8.36021647e-01 -5.47287878e-01 3.92910211e-02 8.19157957e+01] [ 5.46669478e-01 8.36944388e-01 2.60110424e-02 2.47102599e+01] [-4.71199278e-02 -2.66592522e-04 9.98889204e-01 -6.78196147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.793201008 meters 0.06418085288940321 Centerline is valid? [True, True] Translation: X:81.94, Y:24.73, Z:-6.78 [[ 8.36611516e-01 -5.46263061e-01 4.09614374e-02 8.19393649e+01] [ 5.45588980e-01 8.37613601e-01 2.71315199e-02 2.47275527e+01] [-4.91308042e-02 -3.50433096e-04 9.98792291e-01 -6.78091446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.823201008 meters 0.06410092042206957 Centerline is valid? [True, True] Translation: X:81.96, Y:24.74, Z:-6.78 [[ 8.36495640e-01 -5.46425601e-01 4.11595234e-02 8.19631401e+01] [ 5.45744542e-01 8.37507575e-01 2.72755804e-02 2.47425196e+01] [-4.93754881e-02 -3.53318797e-04 9.98780224e-01 -6.78136999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.853201008 meters 0.0640366877460841 Centerline is valid? [True, True] Translation: X:81.99, Y:24.76, Z:-6.78 [[ 8.36413374e-01 -5.46520367e-01 4.15710980e-02 8.19878038e+01] [ 5.45824880e-01 8.37445732e-01 2.75652939e-02 2.47575697e+01] [-4.98785332e-02 -3.65440878e-04 9.98755224e-01 -6.78125110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88320100799999 meters 0.06366855039590445 Centerline is valid? [True, True] Translation: X:82.01, Y:24.77, Z:-6.78 [[ 8.35978741e-01 -5.47092109e-01 4.27757882e-02 8.20131341e+01] [ 5.46355608e-01 8.37072338e-01 2.83804697e-02 2.47725663e+01] [-5.13331600e-02 -3.54677550e-04 9.98681521e-01 -6.78044424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91320100799999 meters 0.06362072868946116 Centerline is valid? [True, True] Translation: X:82.04, Y:24.79, Z:-6.78 [[ 8.35346885e-01 -5.48013827e-01 4.33177541e-02 8.20367376e+01] [ 5.47259025e-01 8.36469215e-01 2.87543577e-02 2.47873991e+01] [-5.19917534e-02 -3.13831250e-04 9.98647465e-01 -6.78121829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94320100799999 meters 0.06343988401596912 Centerline is valid? [True, True] Translation: X:82.06, Y:24.80, Z:-6.78 [[ 8.34076740e-01 -5.49871561e-01 4.42409191e-02 8.20605717e+01] [ 5.49085642e-01 8.35249195e-01 2.93894609e-02 2.48014517e+01] [-5.31126208e-02 -2.21012336e-04 9.98588504e-01 -6.78339480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97320100799999 meters 0.0632810453433241 Centerline is valid? [True, True] Translation: X:82.08, Y:24.82, Z:-6.78 [[ 8.33251699e-01 -5.51101589e-01 4.44819534e-02 8.20849751e+01] [ 5.50308817e-01 8.34438145e-01 2.95497490e-02 2.48164457e+01] [-5.34023523e-02 -1.43567441e-04 9.98573066e-01 -6.78461440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00320100799999 meters 0.06316977273451006 Centerline is valid? [True, True] Translation: X:82.11, Y:24.83, Z:-6.79 [[ 8.32082061e-01 -5.52841879e-01 4.47805719e-02 8.21095112e+01] [ 5.52040020e-01 8.33286178e-01 2.97651138e-02 2.48302362e+01] [-5.37704331e-02 -4.63494759e-05 9.98553323e-01 -6.78518281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03320100799999 meters 0.0631608753064723 Centerline is valid? [True, True] Translation: X:82.14, Y:24.84, Z:-6.79 [[ 8.29230101e-01 -5.57122066e-01 4.46367927e-02 8.21358489e+01] [ 5.56330568e-01 8.30430586e-01 2.96873908e-02 2.48396363e+01] [-5.36072584e-02 2.15134178e-04 9.98562074e-01 -6.78712643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.063201008 meters 0.06341378541599425 Centerline is valid? [True, True] Translation: X:82.16, Y:24.85, Z:-6.79 [[ 8.27128856e-01 -5.60254305e-01 4.44181125e-02 8.21610206e+01] [ 5.59474212e-01 8.28320561e-01 2.95576535e-02 2.48532534e+01] [-5.33522385e-02 4.02800309e-04 9.98575674e-01 -6.79100733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.093201008 meters 0.06378514823462109 Centerline is valid? [True, True] Translation: X:82.19, Y:24.87, Z:-6.80 [[ 8.25673003e-01 -5.62461339e-01 4.36042850e-02 8.21860316e+01] [ 5.61711906e-01 8.26823420e-01 2.90304528e-02 2.48679201e+01] [-5.23815514e-02 5.23384836e-04 9.98627007e-01 -6.79536645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.123201008 meters 0.06456875682766816 Centerline is valid? [True, True] Translation: X:82.21, Y:24.88, Z:-6.80 [[ 8.23653500e-01 -5.65528333e-01 4.21024525e-02 8.22101141e+01] [ 5.64832764e-01 8.24728588e-01 2.80482574e-02 2.48807643e+01] [-5.05851805e-02 6.78799267e-04 9.98719520e-01 -6.80038982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.153201008 meters 0.06488937900079035 Centerline is valid? [True, True] Translation: X:82.23, Y:24.90, Z:-6.80 [[ 8.23266697e-01 -5.66189087e-01 4.07659451e-02 8.22341429e+01] [ 5.65537756e-01 8.24275096e-01 2.71590371e-02 2.48961719e+01] [-4.89795037e-02 6.95550340e-04 9.98799542e-01 -6.80366089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.183201008 meters 0.06504573481164141 Centerline is valid? [True, True] Translation: X:82.26, Y:24.91, Z:-6.81 [[ 8.23377748e-01 -5.66101953e-01 3.97198220e-02 8.22580669e+01] [ 5.65482939e-01 8.24334969e-01 2.64746121e-02 2.49121298e+01] [-4.77297678e-02 6.62275214e-04 9.98860066e-01 -6.80546498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.213201008 meters 0.06480734751173167 Centerline is valid? [True, True] Translation: X:82.28, Y:24.93, Z:-6.81 [[ 8.23374129e-01 -5.66146748e-01 3.91523164e-02 8.22809636e+01] [ 5.65544817e-01 8.24304217e-01 2.61078032e-02 2.49290288e+01] [-4.70542674e-02 6.45899872e-04 9.98892126e-01 -6.80509257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24320100799999 meters 0.06498163109643834 Centerline is valid? [True, True] Translation: X:82.30, Y:24.94, Z:-6.81 [[ 8.23062454e-01 -5.66595220e-01 3.92180233e-02 8.23034456e+01] [ 5.65991066e-01 8.23996008e-01 2.61666127e-02 2.49448162e+01] [-4.71413723e-02 6.60294349e-04 9.98888009e-01 -6.80752675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27320100799999 meters 0.06492923039196703 Centerline is valid? [True, True] Translation: X:82.33, Y:24.96, Z:-6.81 [[ 8.21951982e-01 -5.68108424e-01 4.05925805e-02 8.23263049e+01] [ 5.67462297e-01 8.22953364e-01 2.70980191e-02 2.49621213e+01] [-4.88004136e-02 7.61488460e-04 9.98808260e-01 -6.80890482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30320100799999 meters 0.06492923039196703 Centerline is valid? [True, True] Translation: X:82.35, Y:24.98, Z:-6.81 [[ 8.21803697e-01 -5.68323387e-01 4.05858479e-02 8.23491659e+01] [ 5.67677024e-01 8.22804926e-01 2.71080974e-02 2.49776010e+01] [-4.88004014e-02 7.62118677e-04 9.98808260e-01 -6.81103354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33320100799999 meters 0.06509769540906703 Centerline is valid? [True, True] Translation: X:82.37, Y:24.99, Z:-6.81 [[ 8.21089060e-01 -5.69346759e-01 4.07065649e-02 8.23710717e+01] [ 5.68696994e-01 8.22097080e-01 2.72051424e-02 2.49932982e+01] [-4.89539078e-02 8.11856329e-04 9.98800709e-01 -6.81343456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36320100799999 meters 0.06497353117263509 Centerline is valid? [True, True] Translation: X:82.39, Y:25.01, Z:-6.81 [[ 8.20640286e-01 -5.69875602e-01 4.23239780e-02 8.23943413e+01] [ 5.69173037e-01 8.21730522e-01 2.83019846e-02 2.50114964e+01] [-5.09075151e-02 8.63918364e-04 9.98702998e-01 -6.81423977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39320100799999 meters 0.0642390622318454 Centerline is valid? [True, True] Translation: X:82.42, Y:25.03, Z:-6.81 [[ 8.19935449e-01 -5.70761126e-01 4.40181449e-02 8.24158063e+01] [ 5.70001717e-01 8.21115610e-01 2.94482200e-02 2.50322238e+01] [-5.29518851e-02 9.44778724e-04 9.98596618e-01 -6.81132416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42320100799999 meters 0.06460121157012604 Centerline is valid? [True, True] Translation: X:82.44, Y:25.05, Z:-6.81 [[ 8.19753021e-01 -5.70972764e-01 4.46663928e-02 8.24389241e+01] [ 5.70190240e-01 8.20968442e-01 2.98982930e-02 2.50462953e+01] [-5.37408099e-02 9.59125210e-04 9.98554458e-01 -6.81460008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.453201008 meters 0.06397696391229926 Centerline is valid? [True, True] Translation: X:82.46, Y:25.06, Z:-6.81 [[ 8.19970606e-01 -5.70612579e-01 4.52712916e-02 8.24611752e+01] [ 5.69807432e-01 8.21218854e-01 3.03164215e-02 2.50649114e+01] [-5.44765697e-02 9.37343899e-04 9.98514609e-01 -6.81226732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.483201008 meters 0.06386615244675298 Centerline is valid? [True, True] Translation: X:82.48, Y:25.08, Z:-6.81 [[ 8.20281197e-01 -5.70127181e-01 4.57575669e-02 8.24836805e+01] [ 5.69302886e-01 8.21555955e-01 3.06600152e-02 2.50818476e+01] [-5.50725096e-02 9.00080913e-04 9.98481952e-01 -6.81260472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.513201008 meters 0.06338045970628227 Centerline is valid? [True, True] Translation: X:82.50, Y:25.10, Z:-6.81 [[ 8.21160654e-01 -5.68794576e-01 4.65608382e-02 8.25046467e+01] [ 5.67937968e-01 8.22479223e-01 3.12152440e-02 2.51020808e+01] [-5.60503836e-02 8.10937682e-04 9.98427612e-01 -6.81281901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.543201008 meters 0.0633933081016452 Centerline is valid? [True, True] Translation: X:82.53, Y:25.12, Z:-6.82 [[ 8.21543720e-01 -5.68239513e-01 4.65808170e-02 8.25257720e+01] [ 5.67380357e-01 8.22862855e-01 3.12450264e-02 2.51188185e+01] [-5.60842826e-02 7.59885394e-04 9.98425749e-01 -6.81547930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.573201008 meters 0.06329882698658548 Centerline is valid? [True, True] Translation: X:82.55, Y:25.14, Z:-6.82 [[ 8.21958972e-01 -5.67653759e-01 4.63967505e-02 8.25472120e+01] [ 5.66799675e-01 8.23267097e-01 3.11354460e-02 2.51372378e+01] [-5.58710710e-02 7.05603954e-04 9.98437742e-01 -6.81955990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.603201008 meters 0.0633464142297927 Centerline is valid? [True, True] Translation: X:82.57, Y:25.16, Z:-6.82 [[ 8.22589602e-01 -5.66816515e-01 4.54465046e-02 8.25691629e+01] [ 5.65994850e-01 8.23843828e-01 3.05152038e-02 2.51551971e+01] [-5.47373438e-02 6.20998203e-04 9.98500595e-01 -6.82377225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63320100799999 meters 0.06351310835276612 Centerline is valid? [True, True] Translation: X:82.59, Y:25.17, Z:-6.83 [[ 8.23633011e-01 -5.65393154e-01 4.42633454e-02 8.25901158e+01] [ 5.64610813e-01 8.24821394e-01 2.97371442e-02 2.51739301e+01] [-5.33225320e-02 4.99069761e-04 9.98577217e-01 -6.82836144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66320100799999 meters 0.06360512309252099 Centerline is valid? [True, True] Translation: X:82.61, Y:25.19, Z:-6.83 [[ 8.24222430e-01 -5.64577376e-01 4.37009488e-02 8.26113948e+01] [ 5.63812791e-01 8.25380036e-01 2.93757247e-02 2.51898630e+01] [-5.26547603e-02 4.27022735e-04 9.98612685e-01 -6.83104280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69320100799999 meters 0.06357185550150161 Centerline is valid? [True, True] Translation: X:82.63, Y:25.21, Z:-6.83 [[ 8.25279649e-01 -5.63115037e-01 4.26022911e-02 8.26342562e+01] [ 5.62385725e-01 8.26378459e-01 2.86520389e-02 2.52079747e+01] [-5.13400096e-02 3.12975740e-04 9.98681183e-01 -6.83357066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72320100799999 meters 0.063542381414552 Centerline is valid? [True, True] Translation: X:82.66, Y:25.23, Z:-6.84 [[ 8.26540808e-01 -5.61256432e-01 4.26791562e-02 8.26554289e+01] [ 5.60521321e-01 8.27641941e-01 2.87170128e-02 2.52266241e+01] [-5.14406678e-02 1.86794069e-04 9.98676035e-01 -6.83596435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75320100799999 meters 0.06358363837379728 Centerline is valid? [True, True] Translation: X:82.68, Y:25.25, Z:-6.84 [[ 8.29411540e-01 -5.57092742e-01 4.15231860e-02 8.26752479e+01] [ 5.56390753e-01 8.30450281e-01 2.79581987e-02 2.52474488e+01] [-5.00582510e-02 -8.57359325e-05 9.98746296e-01 -6.83852877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78320100799999 meters 0.06375438859895079 Centerline is valid? [True, True] Translation: X:82.70, Y:25.27, Z:-6.84 [[ 8.30633890e-01 -5.55273945e-01 4.14510245e-02 8.26969149e+01] [ 5.54571926e-01 8.31667486e-01 2.79136589e-02 2.52659799e+01] [-4.99731968e-02 -1.98456534e-04 9.98750540e-01 -6.84083981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.813201008 meters 0.06389324520629029 Centerline is valid? [True, True] Translation: X:82.72, Y:25.28, Z:-6.84 [[ 8.31651207e-01 -5.53796465e-01 4.08135467e-02 8.27192865e+01] [ 5.53113328e-01 8.32652021e-01 2.75001571e-02 2.52848342e+01] [-4.92129719e-02 -2.96022223e-04 9.98788264e-01 -6.84318885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.843201008 meters 0.06399905692852828 Centerline is valid? [True, True] Translation: X:82.74, Y:25.30, Z:-6.85 [[ 8.32314606e-01 -5.52764568e-01 4.12762456e-02 8.27406497e+01] [ 5.52063937e-01 8.33337383e-01 2.78247260e-02 2.53026443e+01] [-4.97775612e-02 -3.71799182e-04 9.98760260e-01 -6.84593663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.873201008 meters 0.0640899026565974 Centerline is valid? [True, True] Translation: X:82.76, Y:25.32, Z:-6.85 [[ 8.32652259e-01 -5.52241253e-01 4.14706404e-02 8.27624486e+01] [ 5.51532563e-01 8.33684247e-01 2.79715716e-02 2.53203217e+01] [-5.00204754e-02 -4.18183721e-04 9.98748105e-01 -6.84862817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.903201008 meters 0.06390354739938267 Centerline is valid? [True, True] Translation: X:82.79, Y:25.34, Z:-6.85 [[ 8.33080548e-01 -5.51498371e-01 4.27357779e-02 8.27854618e+01] [ 5.50743866e-01 8.34175824e-01 2.88424925e-02 2.53375840e+01] [-5.15557404e-02 -4.91651916e-04 9.98669998e-01 -6.84949614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.933201008 meters 0.06386312956296836 Centerline is valid? [True, True] Translation: X:82.81, Y:25.35, Z:-6.85 [[ 8.32994057e-01 -5.51594323e-01 4.31810495e-02 8.28090109e+01] [ 5.50823415e-01 8.34112373e-01 2.91567294e-02 2.53538218e+01] [-5.21005341e-02 -5.02249184e-04 9.98641719e-01 -6.85107612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.963201008 meters 0.06383750080865362 Centerline is valid? [True, True] Translation: X:82.83, Y:25.37, Z:-6.85 [[ 8.32799715e-01 -5.51841476e-01 4.37677948e-02 8.28316922e+01] [ 5.51048765e-01 8.33948875e-01 2.95725067e-02 2.53686736e+01] [-5.28194389e-02 -5.09785885e-04 9.98603949e-01 -6.85368187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99320100799999 meters 0.0639774331659502 Centerline is valid? [True, True] Translation: X:82.85, Y:25.38, Z:-6.86 [[ 8.32721088e-01 -5.51982363e-01 4.34863182e-02 8.28543192e+01] [ 5.51199552e-01 8.33855633e-01 2.93911272e-02 2.53844018e+01] [-5.24846952e-02 -5.04972351e-04 9.98621601e-01 -6.85650282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02320100799999 meters 0.06328261940694363 Centerline is valid? [True, True] Translation: X:82.88, Y:25.40, Z:-6.85 [[ 8.31883396e-01 -5.53148362e-01 4.46867542e-02 8.28797393e+01] [ 5.52322530e-01 8.33082638e-01 3.02182385e-02 2.53986552e+01] [-5.39429282e-02 -4.56549688e-04 9.98543916e-01 -6.85421287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05320100799999 meters 0.0632407880055581 Centerline is valid? [True, True] Translation: X:82.90, Y:25.41, Z:-6.86 [[ 8.31092018e-01 -5.54320029e-01 4.48928104e-02 8.29041325e+01] [ 5.53487476e-01 8.32303521e-01 3.03720762e-02 2.54134965e+01] [-5.42002943e-02 -3.94381716e-04 9.98530006e-01 -6.85612101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08320100799999 meters 0.06319582517349503 Centerline is valid? [True, True] Translation: X:82.93, Y:25.43, Z:-6.86 [[ 8.29922221e-01 -5.56067809e-01 4.49187994e-02 8.29288725e+01] [ 5.55235924e-01 8.31136875e-01 3.04066499e-02 2.54276766e+01] [-5.42418298e-02 -2.94623367e-04 9.98527785e-01 -6.85900740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11320100799999 meters 0.06329233759321608 Centerline is valid? [True, True] Translation: X:82.95, Y:25.44, Z:-6.86 [[ 8.28753764e-01 -5.57867100e-01 4.41757552e-02 8.29522057e+01] [ 5.57064061e-01 8.29930276e-01 2.99227223e-02 2.54410463e+01] [-5.33556990e-02 -1.89843133e-04 9.98575552e-01 -6.86466005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14320100799999 meters 0.06290864799146598 Centerline is valid? [True, True] Translation: X:82.98, Y:25.45, Z:-6.86 [[ 8.25756396e-01 -5.62290468e-01 4.42244776e-02 8.29793435e+01] [ 5.61491531e-01 8.26939793e-01 2.99639502e-02 2.54507983e+01] [-5.34194240e-02 8.87461160e-05 9.98572159e-01 -6.86351034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17320100799999 meters 0.06298121886032412 Centerline is valid? [True, True] Translation: X:83.01, Y:25.46, Z:-6.87 [[ 8.24422859e-01 -5.64299374e-01 4.35105159e-02 8.30051894e+01] [ 5.63527926e-01 8.25570212e-01 2.94974806e-02 2.54641281e+01] [-5.25663957e-02 2.00993446e-04 9.98617411e-01 -6.86651686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.203201008 meters 0.06298900139730525 Centerline is valid? [True, True] Translation: X:83.03, Y:25.48, Z:-6.87 [[ 8.23016496e-01 -5.66410784e-01 4.26927395e-02 8.30308634e+01] [ 5.65670211e-01 8.24123002e-01 2.89566944e-02 2.54781471e+01] [-5.15854527e-02 3.18173809e-04 9.98668534e-01 -6.86733775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.233201008 meters 0.06334643847023977 Centerline is valid? [True, True] Translation: X:83.06, Y:25.49, Z:-6.87 [[ 8.20962427e-01 -5.69393639e-01 4.25626285e-02 8.30575346e+01] [ 5.68660657e-01 8.22064866e-01 2.88861952e-02 2.54880775e+01] [-5.14368573e-02 4.89211394e-04 9.98676129e-01 -6.87347498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.263201008 meters 0.06312733192420726 Centerline is valid? [True, True] Translation: X:83.08, Y:25.50, Z:-6.87 [[ 8.20344871e-01 -5.70318885e-01 4.20792260e-02 8.30818816e+01] [ 5.69603443e-01 8.21423204e-01 2.85628583e-02 2.55038113e+01] [-5.08547902e-02 5.37077716e-04 9.98705914e-01 -6.87271018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.293201008 meters 0.06358576277923761 Centerline is valid? [True, True] Translation: X:83.11, Y:25.52, Z:-6.88 [[ 8.20294770e-01 -5.70438565e-01 4.14286704e-02 8.31063405e+01] [ 5.69744371e-01 8.21340107e-01 2.81386010e-02 2.55169843e+01] [-5.00783718e-02 5.21804545e-04 9.98745155e-01 -6.87894637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.323201008 meters 0.06306988357649192 Centerline is valid? [True, True] Translation: X:83.13, Y:25.53, Z:-6.88 [[ 8.20481983e-01 -5.70201671e-01 4.09801239e-02 8.31289544e+01] [ 5.69522022e-01 8.21504598e-01 2.78363443e-02 2.55335793e+01] [-4.95376903e-02 4.99864058e-04 9.98772130e-01 -6.87765929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.353201008 meters 0.0631199456969999 Centerline is valid? [True, True] Translation: X:83.15, Y:25.55, Z:-6.88 [[ 8.21668310e-01 -5.68508634e-01 4.07323068e-02 8.31494558e+01] [ 5.67834297e-01 8.22677207e-01 2.76843590e-02 2.55507543e+01] [-4.92483375e-02 3.81840327e-04 9.98786491e-01 -6.88209925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38320100799999 meters 0.0632113162322846 Centerline is valid? [True, True] Translation: X:83.17, Y:25.57, Z:-6.89 [[ 8.22639810e-01 -5.67146744e-01 4.01037773e-02 8.31713660e+01] [ 5.66490890e-01 8.23616712e-01 2.72687189e-02 2.55687373e+01] [-4.84955064e-02 2.86090786e-04 9.98823360e-01 -6.88613956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41320100799999 meters 0.06324064194501758 Centerline is valid? [True, True] Translation: X:83.19, Y:25.59, Z:-6.89 [[ 8.23369329e-01 -5.66059805e-01 4.04875909e-02 8.31928220e+01] [ 5.65389178e-01 8.24364151e-01 2.75467560e-02 2.55852928e+01] [-4.89696298e-02 2.10091741e-04 9.98800246e-01 -6.88926982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44320100799999 meters 0.06297502588784047 Centerline is valid? [True, True] Translation: X:83.22, Y:25.60, Z:-6.89 [[ 8.24005782e-01 -5.65086725e-01 4.11274074e-02 8.32153319e+01] [ 5.64392996e-01 8.25031497e-01 2.79923987e-02 2.56029092e+01] [-4.97495394e-02 1.46122334e-04 9.98761714e-01 -6.88908791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47320100799999 meters 0.06263763978477178 Centerline is valid? [True, True] Translation: X:83.24, Y:25.62, Z:-6.89 [[ 8.25166352e-01 -5.63304659e-01 4.22889200e-02 8.32389835e+01] [ 5.62567933e-01 8.26249273e-01 2.88003537e-02 2.56204067e+01] [-5.11645628e-02 2.53075048e-05 9.98690236e-01 -6.88691403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50320100799999 meters 0.06252790352097191 Centerline is valid? [True, True] Translation: X:83.26, Y:25.64, Z:-6.89 [[ 8.25690773e-01 -5.62466646e-01 4.31974502e-02 8.32618549e+01] [ 5.61695881e-01 8.26819975e-01 2.94358027e-02 2.56358818e+01] [-5.22731719e-02 -4.10408190e-05 9.98632822e-01 -6.88850796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53320100799999 meters 0.0624065142109098 Centerline is valid? [True, True] Translation: X:83.29, Y:25.65, Z:-6.89 [[ 8.25601157e-01 -5.62479245e-01 4.47194475e-02 8.32867220e+01] [ 5.61652465e-01 8.26811403e-01 3.04862791e-02 2.56519585e+01] [-5.41224484e-02 -5.27194059e-05 9.98534305e-01 -6.88861965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.563201008 meters 0.062278838632623804 Centerline is valid? [True, True] Translation: X:83.31, Y:25.67, Z:-6.89 [[ 8.25875811e-01 -5.62066873e-01 4.48327498e-02 8.33094278e+01] [ 5.61234594e-01 8.27091786e-01 3.05762718e-02 2.56678510e+01] [-5.42667086e-02 -9.05131620e-05 9.98526472e-01 -6.88969724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.593201008 meters 0.06242112658964337 Centerline is valid? [True, True] Translation: X:83.33, Y:25.68, Z:-6.89 [[ 8.25435814e-01 -5.62723782e-01 4.46952256e-02 8.33320326e+01] [ 5.61896630e-01 8.26644991e-01 3.04997550e-02 2.56840380e+01] [-5.41100219e-02 -6.14934256e-05 9.98534978e-01 -6.89443545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.623201008 meters 0.06253746087511985 Centerline is valid? [True, True] Translation: X:83.35, Y:25.70, Z:-6.90 [[ 8.24923654e-01 -5.63492352e-01 4.44672240e-02 8.33543287e+01] [ 5.62673789e-01 8.26121279e-01 3.03618105e-02 2.56990784e+01] [-5.38439680e-02 -2.56342960e-05 9.98549361e-01 -6.89820801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.653201008 meters 0.06278412732139736 Centerline is valid? [True, True] Translation: X:83.38, Y:25.71, Z:-6.90 [[ 8.24854117e-01 -5.63673486e-01 4.34498280e-02 8.33775235e+01] [ 5.62891278e-01 8.25997700e-01 2.96851493e-02 2.57149036e+01] [-5.26221896e-02 -2.83883275e-05 9.98614492e-01 -6.90190942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.683201008 meters 0.0628518426908055 Centerline is valid? [True, True] Translation: X:83.40, Y:25.73, Z:-6.91 [[ 8.24885021e-01 -5.63644586e-01 4.32375148e-02 8.34000132e+01] [ 5.62869750e-01 8.26017421e-01 2.95443042e-02 2.57316451e+01] [-5.23674276e-02 -3.35648172e-05 9.98627884e-01 -6.90563323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.713201008 meters 0.06296248182593606 Centerline is valid? [True, True] Translation: X:83.42, Y:25.75, Z:-6.91 [[ 8.24846379e-01 -5.63716432e-01 4.30375951e-02 8.34227714e+01] [ 5.62948013e-01 8.25968391e-01 2.94236688e-02 2.57485222e+01] [-5.21342987e-02 -4.20780029e-05 9.98640082e-01 -6.90847667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74320100799999 meters 0.06302539726877728 Centerline is valid? [True, True] Translation: X:83.45, Y:25.77, Z:-6.91 [[ 8.25326915e-01 -5.63067457e-01 4.23145659e-02 8.34463815e+01] [ 5.62322951e-01 8.26410933e-01 2.89459699e-02 2.57651065e+01] [-5.12677535e-02 -9.54364740e-05 9.98684939e-01 -6.91042870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77320100799999 meters 0.06296958647523263 Centerline is valid? [True, True] Translation: X:83.47, Y:25.78, Z:-6.91 [[ 8.25235631e-01 -5.63254128e-01 4.16045707e-02 8.34709230e+01] [ 5.62533963e-01 8.26283715e-01 2.84738852e-02 2.57812259e+01] [-5.04152126e-02 -9.36805212e-05 9.98728340e-01 -6.91248427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80320100799999 meters 0.06304432003679422 Centerline is valid? [True, True] Translation: X:83.49, Y:25.80, Z:-6.92 [[ 8.24756701e-01 -5.63962670e-01 4.15029047e-02 8.34942908e+01] [ 5.63246272e-01 8.25800280e-01 2.84171601e-02 2.57968616e+01] [-5.02993278e-02 -6.08868442e-05 9.98734186e-01 -6.91550040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83320100799999 meters 0.06336095548383325 Centerline is valid? [True, True] Translation: X:83.52, Y:25.81, Z:-6.92 [[ 8.23917930e-01 -5.65270723e-01 4.03516327e-02 8.35172303e+01] [ 5.64594175e-01 8.24905455e-01 2.76479432e-02 2.58116827e+01] [-4.89148548e-02 2.66062623e-06 9.98802952e-01 -6.92069601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86320100799999 meters 0.06350976113087005 Centerline is valid? [True, True] Translation: X:83.54, Y:25.83, Z:-6.92 [[ 8.23670577e-01 -5.65718457e-01 3.91076388e-02 8.35410706e+01] [ 5.65083321e-01 8.24598464e-01 2.67995151e-02 2.58272265e+01] [-4.74090792e-02 2.51023232e-05 9.98875557e-01 -6.92348901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89320100799999 meters 0.06346046186352114 Centerline is valid? [True, True] Translation: X:83.57, Y:25.84, Z:-6.92 [[ 8.23096796e-01 -5.66488212e-01 4.00346140e-02 8.35658942e+01] [ 5.65822841e-01 8.24069840e-01 2.74483324e-02 2.58427086e+01] [-4.85404748e-02 5.98645847e-05 9.98821215e-01 -6.92323008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92320100799999 meters 0.06345852111630293 Centerline is valid? [True, True] Translation: X:83.59, Y:25.86, Z:-6.93 [[ 8.23163990e-01 -5.66353441e-01 4.05564514e-02 8.35883085e+01] [ 5.65669721e-01 8.24162470e-01 2.78206562e-02 2.58575465e+01] [-4.91814296e-02 4.05941839e-05 9.98789860e-01 -6.92597617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.953201008 meters 0.06338867228506326 Centerline is valid? [True, True] Translation: X:83.61, Y:25.87, Z:-6.93 [[ 8.23831387e-01 -5.65351627e-01 4.09802806e-02 8.36106154e+01] [ 5.64651766e-01 8.24850009e-01 2.81219896e-02 2.58745562e+01] [-4.97013974e-02 -2.81898618e-05 9.98764121e-01 -6.92533182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.983201008 meters 0.06349460069812177 Centerline is valid? [True, True] Translation: X:83.63, Y:25.89, Z:-6.93 [[ 8.24361588e-01 -5.64555027e-01 4.12988383e-02 8.36324236e+01] [ 5.63842308e-01 8.25395428e-01 2.83591130e-02 2.58909528e+01] [-5.00981522e-02 -9.21311377e-05 9.98744295e-01 -6.92807515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.013201008 meters 0.0638319239055384 Centerline is valid? [True, True] Translation: X:83.65, Y:25.91, Z:-6.93 [[ 8.24916542e-01 -5.63754474e-01 4.11532650e-02 8.36536111e+01] [ 5.63045348e-01 8.25942414e-01 2.82677351e-02 2.59071929e+01] [-4.99262891e-02 -1.47367864e-04 9.98752894e-01 -6.93266276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.043201008 meters 0.06361635728500573 Centerline is valid? [True, True] Translation: X:83.68, Y:25.92, Z:-6.93 [[ 8.25260603e-01 -5.63244109e-01 4.12433227e-02 8.36767552e+01] [ 5.62530562e-01 8.26290529e-01 2.83430647e-02 2.59239333e+01] [-5.00430312e-02 -1.89785128e-04 9.98747045e-01 -6.93257705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.073201008 meters 0.06371022614732942 Centerline is valid? [True, True] Translation: X:83.70, Y:25.94, Z:-6.93 [[ 8.25819886e-01 -5.62426613e-01 4.12046105e-02 8.36993632e+01] [ 5.61712609e-01 8.26847169e-01 2.83320349e-02 2.59411802e+01] [-5.00046060e-02 -2.52008554e-04 9.98748955e-01 -6.93465774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.103201008 meters 0.06385690058010782 Centerline is valid? [True, True] Translation: X:83.72, Y:25.96, Z:-6.94 [[ 8.26395939e-01 -5.61523430e-01 4.19665330e-02 8.37203449e+01] [ 5.60780667e-01 8.27460773e-01 2.88740854e-02 2.59586145e+01] [-5.09391353e-02 -3.27406559e-04 9.98701706e-01 -6.93779019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13320100799999 meters 0.06392448401389601 Centerline is valid? [True, True] Translation: X:83.74, Y:25.97, Z:-6.94 [[ 8.26224265e-01 -5.61790285e-01 4.17748606e-02 8.37439343e+01] [ 5.61054080e-01 8.27279622e-01 2.87531786e-02 2.59739709e+01] [-5.07127473e-02 -3.18617903e-04 9.98713230e-01 -6.93824183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16320100799999 meters 0.06402076793396491 Centerline is valid? [True, True] Translation: X:83.77, Y:25.99, Z:-6.94 [[ 8.25832738e-01 -5.62395087e-01 4.13769880e-02 8.37672860e+01] [ 5.61672813e-01 8.26868600e-01 2.84950808e-02 2.59889837e+01] [-5.02388255e-02 -2.91841400e-04 9.98737190e-01 -6.94139826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19320100799999 meters 0.06402076793396491 Centerline is valid? [True, True] Translation: X:83.79, Y:26.00, Z:-6.94 [[ 8.25688186e-01 -5.62607814e-01 4.13698927e-02 8.37899039e+01] [ 5.61885291e-01 8.26723874e-01 2.85053767e-02 2.60047905e+01] [-5.02388256e-02 -2.91418524e-04 9.98737190e-01 -6.94352650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22320100799999 meters 0.06463724714334382 Centerline is valid? [True, True] Translation: X:83.81, Y:26.02, Z:-6.95 [[ 8.25335970e-01 -5.63307211e-01 3.88010598e-02 8.38119433e+01] [ 5.62671764e-01 8.26247497e-01 2.67499569e-02 2.60212296e+01] [-4.71277221e-02 -2.45440834e-04 9.98888841e-01 -6.94940106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25320100799999 meters 0.06490468443650417 Centerline is valid? [True, True] Translation: X:83.83, Y:26.04, Z:-6.95 [[ 8.25228956e-01 -5.63512183e-01 3.80944790e-02 8.38349646e+01] [ 5.62899343e-01 8.26107718e-01 2.62748299e-02 2.60379278e+01] [-4.62763298e-02 -2.39393229e-04 9.98928648e-01 -6.95359609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28320100799999 meters 0.06497724350946082 Centerline is valid? [True, True] Translation: X:83.86, Y:26.05, Z:-6.96 [[ 8.24881636e-01 -5.63995527e-01 3.84620792e-02 8.38582827e+01] [ 5.63370774e-01 8.25777812e-01 2.65400725e-02 2.60541055e+01] [-4.67296138e-02 -2.24007083e-04 9.98907550e-01 -6.95604883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.313201008 meters 0.06496954645460937 Centerline is valid? [True, True] Translation: X:83.88, Y:26.07, Z:-6.96 [[ 8.24282160e-01 -5.64862974e-01 3.85842181e-02 8.38817951e+01] [ 5.64234552e-01 8.25184698e-01 2.66380302e-02 2.60688198e+01] [-4.68859433e-02 -1.86704088e-04 9.98900232e-01 -6.95704674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.343201008 meters 0.06494375915929196 Centerline is valid? [True, True] Translation: X:83.91, Y:26.08, Z:-6.96 [[ 8.23289386e-01 -5.66268707e-01 3.91706216e-02 8.39054156e+01] [ 5.65621765e-01 8.24220684e-01 2.70607207e-02 2.60819466e+01] [-4.76088758e-02 -1.23048011e-04 9.98866047e-01 -6.95926229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.373201008 meters 0.06464849087678007 Centerline is valid? [True, True] Translation: X:83.93, Y:26.10, Z:-6.96 [[ 8.22307172e-01 -5.67684523e-01 3.93089972e-02 8.39291690e+01] [ 5.67034226e-01 8.23246184e-01 2.71644414e-02 2.60971709e+01] [-4.77818149e-02 -4.79681602e-05 9.98857796e-01 -6.95763898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.403201008 meters 0.06479084706180416 Centerline is valid? [True, True] Translation: X:83.95, Y:26.11, Z:-6.96 [[ 8.21374633e-01 -5.69007283e-01 3.96790167e-02 8.39521142e+01] [ 5.68345358e-01 8.22332483e-01 2.74379771e-02 2.61117507e+01] [-4.82417531e-02 1.45265566e-05 9.98835689e-01 -6.96206843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.433201008 meters 0.06480344810172481 Centerline is valid? [True, True] Translation: X:83.98, Y:26.12, Z:-6.96 [[ 8.19922736e-01 -5.71080658e-01 3.99197896e-02 8.39760499e+01] [ 5.70412482e-01 8.20893943e-01 2.76176361e-02 2.61246783e+01] [-4.85418113e-02 1.26418562e-04 9.98821143e-01 -6.96378345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.463201008 meters 0.06481549380007408 Centerline is valid? [True, True] Translation: X:84.00, Y:26.14, Z:-6.96 [[ 8.18115451e-01 -5.73662539e-01 3.99799972e-02 8.40024215e+01] [ 5.72994814e-01 8.19091703e-01 2.76717410e-02 2.61356659e+01] [-4.86215252e-02 2.69652184e-04 9.98817238e-01 -6.96374660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49320100799999 meters 0.06512817183219506 Centerline is valid? [True, True] Translation: X:84.03, Y:26.15, Z:-6.97 [[ 8.17753767e-01 -5.74228390e-01 3.92496114e-02 8.40266441e+01] [ 5.73584751e-01 8.18695105e-01 2.71819512e-02 2.61507750e+01] [-4.77421128e-02 2.84835619e-04 9.98859655e-01 -6.96650593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52320100799999 meters 0.0654383661740837 Centerline is valid? [True, True] Translation: X:84.05, Y:26.17, Z:-6.97 [[ 8.16997740e-01 -5.75317783e-01 3.90402522e-02 8.40496838e+01] [ 5.74681498e-01 8.17929909e-01 2.70525253e-02 2.61650486e+01] [-4.74959889e-02 3.33858573e-04 9.98871373e-01 -6.97081709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55320100799999 meters 0.06561288657385882 Centerline is valid? [True, True] Translation: X:84.07, Y:26.18, Z:-6.97 [[ 8.16941549e-01 -5.75416506e-01 3.87601606e-02 8.40722113e+01] [ 5.74789143e-01 8.17860462e-01 2.68646055e-02 2.61810543e+01] [-4.71587403e-02 3.32107030e-04 9.98887352e-01 -6.97415952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58320100799999 meters 0.0663503171735568 Centerline is valid? [True, True] Translation: X:84.10, Y:26.20, Z:-6.98 [[ 8.16934840e-01 -5.75524834e-01 3.72643671e-02 8.40953044e+01] [ 5.74944437e-01 8.17784242e-01 2.58423517e-02 2.61960677e+01] [-4.53471274e-02 3.13423111e-04 9.98971241e-01 -6.98093471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61320100799999 meters 0.06656607807364111 Centerline is valid? [True, True] Translation: X:84.12, Y:26.21, Z:-6.98 [[ 8.16603183e-01 -5.75976144e-01 3.75596038e-02 8.41192477e+01] [ 5.75386460e-01 8.17466435e-01 2.60585920e-02 2.62109797e+01] [-4.57128428e-02 3.31758295e-04 9.98954567e-01 -6.98297446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64320100799999 meters 0.06664925465636348 Centerline is valid? [True, True] Translation: X:84.14, Y:26.23, Z:-6.98 [[ 8.16793620e-01 -5.75714109e-01 3.74359013e-02 8.41429181e+01] [ 5.75127383e-01 8.17651009e-01 2.59869408e-02 2.62254142e+01] [-4.55705509e-02 3.04444564e-04 9.98961076e-01 -6.98441680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67320100799999 meters 0.06650561484817925 Centerline is valid? [True, True] Translation: X:84.17, Y:26.24, Z:-6.99 [[ 8.16579289e-01 -5.75917826e-01 3.89476913e-02 8.41681175e+01] [ 5.75282181e-01 8.17507528e-01 2.70528071e-02 2.62383229e+01] [-4.74202246e-02 3.15150797e-04 9.98874979e-01 -6.98503467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.703201008 meters 0.06689766142678162 Centerline is valid? [True, True] Translation: X:84.19, Y:26.25, Z:-6.99 [[ 8.16347274e-01 -5.76196531e-01 3.96823201e-02 8.41910741e+01] [ 5.75536173e-01 8.17311111e-01 2.75800833e-02 2.62524421e+01] [-4.83243495e-02 3.23684762e-04 9.98831644e-01 -6.98862785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.733201008 meters 0.06659425534461112 Centerline is valid? [True, True] Translation: X:84.21, Y:26.27, Z:-6.99 [[ 8.15946341e-01 -5.76717487e-01 4.03547863e-02 8.42143598e+01] [ 5.76034710e-01 8.16943582e-01 2.80570311e-02 2.62685920e+01] [-4.91485642e-02 3.52725782e-04 9.98791417e-01 -6.98797629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.763201008 meters 0.06661207493498436 Centerline is valid? [True, True] Translation: X:84.24, Y:26.28, Z:-6.99 [[ 8.14964399e-01 -5.78035122e-01 4.13331016e-02 8.42380734e+01] [ 5.77319715e-01 8.16011772e-01 2.87529814e-02 2.62837905e+01] [-5.03485306e-02 4.29758242e-04 9.98731616e-01 -6.98821120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.793201008 meters 0.06680742455224654 Centerline is valid? [True, True] Translation: X:84.26, Y:26.30, Z:-6.99 [[ 8.14022598e-01 -5.79316847e-01 4.19428333e-02 8.42612591e+01] [ 5.78581047e-01 8.15102287e-01 2.91930519e-02 2.62991610e+01] [-5.10997261e-02 5.03524480e-04 9.98693429e-01 -6.99005836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.823201008 meters 0.06733731120582706 Centerline is valid? [True, True] Translation: X:84.28, Y:26.32, Z:-6.99 [[ 8.14026438e-01 -5.79302417e-01 4.20674118e-02 8.42843970e+01] [ 5.78561367e-01 8.15112550e-01 2.92963445e-02 2.63158518e+01] [-5.12611185e-02 4.90580351e-04 9.98685164e-01 -6.99285808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.853201008 meters 0.0676275769125074 Centerline is valid? [True, True] Translation: X:84.31, Y:26.33, Z:-7.00 [[ 8.13865165e-01 -5.79549621e-01 4.17819403e-02 8.43071405e+01] [ 5.78818093e-01 8.14936806e-01 2.91138795e-02 2.63322336e+01] [-5.09225788e-02 4.89370616e-04 9.98702484e-01 -6.99546261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88320100799999 meters 0.06791233572931615 Centerline is valid? [True, True] Translation: X:84.33, Y:26.35, Z:-7.00 [[ 8.13562085e-01 -5.79976658e-01 4.17589471e-02 8.43296935e+01] [ 5.79245681e-01 8.14632938e-01 2.91138690e-02 2.63480554e+01] [-5.09035782e-02 5.02749801e-04 9.98703446e-01 -6.99841675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91320100799999 meters 0.06814159202854539 Centerline is valid? [True, True] Translation: X:84.35, Y:26.36, Z:-7.00 [[ 8.13104578e-01 -5.80586308e-01 4.21957843e-02 8.43515520e+01] [ 5.79839846e-01 8.14198536e-01 2.94363249e-02 2.63641927e+01] [-5.14460730e-02 5.31986573e-04 9.98675632e-01 -7.00092909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94320100799999 meters 0.068398472633017 Centerline is valid? [True, True] Translation: X:84.37, Y:26.38, Z:-7.00 [[ 8.13127224e-01 -5.80507982e-01 4.28322291e-02 8.43736447e+01] [ 5.79737977e-01 8.14254388e-01 2.98943106e-02 2.63819289e+01] [-5.22302164e-02 5.23592049e-04 9.98634933e-01 -7.00382610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97320100799999 meters 0.06864117742686789 Centerline is valid? [True, True] Translation: X:84.40, Y:26.40, Z:-7.01 [[ 8.13404661e-01 -5.80129511e-01 4.26919974e-02 8.43959094e+01] [ 5.79363165e-01 8.14524104e-01 2.98128739e-02 2.63981731e+01] [-5.20689889e-02 4.84240131e-04 9.98643373e-01 -7.00595917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00320100799999 meters 0.06854552712453568 Centerline is valid? [True, True] Translation: X:84.42, Y:26.42, Z:-7.01 [[ 8.13501527e-01 -5.80000595e-01 4.25978359e-02 8.44183084e+01] [ 5.79236747e-01 8.14615918e-01 2.97606504e-02 2.64152452e+01] [-5.19620701e-02 4.63897363e-04 9.98648951e-01 -7.00600097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03320100799999 meters 0.06871844643813205 Centerline is valid? [True, True] Translation: X:84.44, Y:26.43, Z:-7.01 [[ 8.13424121e-01 -5.80067361e-01 4.31631282e-02 8.44398494e+01] [ 5.79282194e-01 8.14568380e-01 3.01743962e-02 2.64312324e+01] [-5.26625018e-02 4.59049915e-04 9.98612262e-01 -7.00904844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.063201008 meters 0.06895902553884144 Centerline is valid? [True, True] Translation: X:84.46, Y:26.45, Z:-7.01 [[ 8.12992446e-01 -5.80614366e-01 4.39344960e-02 8.44606670e+01] [ 5.79800984e-01 8.14178552e-01 3.07262725e-02 2.64504082e+01] [-5.36106396e-02 4.93036519e-04 9.98561794e-01 -7.01041956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.093201008 meters 0.06927081375097109 Centerline is valid? [True, True] Translation: X:84.48, Y:26.47, Z:-7.01 [[ 8.12095088e-01 -5.81872424e-01 4.38867869e-02 8.44836210e+01] [ 5.81061773e-01 8.13279882e-01 3.07091251e-02 2.64678831e+01] [-5.35610339e-02 5.62204559e-04 9.98564419e-01 -7.01150150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.123201008 meters 0.06974061904993972 Centerline is valid? [True, True] Translation: X:84.51, Y:26.48, Z:-7.02 [[ 8.11528960e-01 -5.82668738e-01 4.37937153e-02 8.45059522e+01] [ 5.81861761e-01 8.12709532e-01 3.06611831e-02 2.64825234e+01] [-5.34568827e-02 5.99450287e-04 9.98569979e-01 -7.01530241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.153201008 meters 0.06971544477253516 Centerline is valid? [True, True] Translation: X:84.53, Y:26.50, Z:-7.01 [[ 8.10635630e-01 -5.83909434e-01 4.38137816e-02 8.45289271e+01] [ 5.83102727e-01 8.11818529e-01 3.06901509e-02 2.64995257e+01] [-5.34891084e-02 6.69405685e-04 9.98568209e-01 -7.01495756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.183201008 meters 0.07036638499235061 Centerline is valid? [True, True] Translation: X:84.55, Y:26.51, Z:-7.02 [[ 8.09882649e-01 -5.84954367e-01 4.38004848e-02 8.45522470e+01] [ 5.84148742e-01 8.11065881e-01 3.06982632e-02 2.65133907e+01] [-5.34821619e-02 7.24007397e-04 9.98568543e-01 -7.01989175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.213201008 meters 0.07021674124057747 Centerline is valid? [True, True] Translation: X:84.58, Y:26.53, Z:-7.02 [[ 8.09277888e-01 -5.85815472e-01 4.34687578e-02 8.45756302e+01] [ 5.85022425e-01 8.10444108e-01 3.04813111e-02 2.65315557e+01] [-5.30854223e-02 7.62346996e-04 9.98589684e-01 -7.01927039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24320100799999 meters 0.07048732759669302 Centerline is valid? [True, True] Translation: X:84.60, Y:26.55, Z:-7.02 [[ 8.08996762e-01 -5.86281233e-01 4.24093871e-02 8.45984758e+01] [ 5.85526155e-01 8.10107239e-01 2.97553741e-02 2.65468614e+01] [-5.18011689e-02 7.59804127e-04 9.98657129e-01 -7.02302728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27320100799999 meters 0.07043717194585898 Centerline is valid? [True, True] Translation: X:84.62, Y:26.56, Z:-7.02 [[ 8.08177827e-01 -5.87417572e-01 4.22988987e-02 8.46228967e+01] [ 5.86667660e-01 8.09283581e-01 2.96840380e-02 2.65632408e+01] [-5.16687297e-02 8.25414633e-04 9.98663938e-01 -7.02387751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30320100799999 meters 0.07056483860922834 Centerline is valid? [True, True] Translation: X:84.65, Y:26.58, Z:-7.03 [[ 8.07243731e-01 -5.88709754e-01 4.21708946e-02 8.46464403e+01] [ 5.87965228e-01 8.08344006e-01 2.96117986e-02 2.65784709e+01] [-5.15213445e-02 8.91080889e-04 9.98671496e-01 -7.02754203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33320100799999 meters 0.07054882319582319 Centerline is valid? [True, True] Translation: X:84.67, Y:26.59, Z:-7.03 [[ 8.06778270e-01 -5.89337820e-01 4.23055216e-02 8.46695865e+01] [ 5.88589192e-01 8.07886172e-01 2.97101974e-02 2.65947004e+01] [-5.16873888e-02 9.31031133e-04 9.98662880e-01 -7.03012809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36320100799999 meters 0.07083020728237939 Centerline is valid? [True, True] Translation: X:84.69, Y:26.61, Z:-7.03 [[ 8.06129024e-01 -5.90264180e-01 4.17635478e-02 8.46928844e+01] [ 5.89535008e-01 8.07209556e-01 2.93463275e-02 2.66120212e+01] [-5.10340208e-02 9.64147088e-04 9.98696450e-01 -7.03382740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39320100799999 meters 0.07125660532139164 Centerline is valid? [True, True] Translation: X:84.71, Y:26.63, Z:-7.04 [[ 8.05237705e-01 -5.91437078e-01 4.23606112e-02 8.47148677e+01] [ 5.90687767e-01 8.06350481e-01 2.97802631e-02 2.66272621e+01] [-5.17706510e-02 1.04170412e-03 9.98658457e-01 -7.03797895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42320100799999 meters 0.07105266253497691 Centerline is valid? [True, True] Translation: X:84.74, Y:26.64, Z:-7.04 [[ 8.05345043e-01 -5.91292463e-01 4.23389296e-02 8.47377236e+01] [ 5.90542995e-01 8.06456559e-01 2.97790002e-02 2.66443933e+01] [-5.17526059e-02 1.02058809e-03 9.98659415e-01 -7.03867664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.453201008 meters 0.070983396754817 Centerline is valid? [True, True] Translation: X:84.76, Y:26.66, Z:-7.04 [[ 8.05800453e-01 -5.90720070e-01 4.16584917e-02 8.47599750e+01] [ 5.89992946e-01 8.06876005e-01 2.93161523e-02 2.66612728e+01] [-5.09308769e-02 9.55247450e-04 9.98701724e-01 -7.04080757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.483201008 meters 0.07093488670870363 Centerline is valid? [True, True] Translation: X:84.78, Y:26.68, Z:-7.04 [[ 8.06632593e-01 -5.89611793e-01 4.12528081e-02 8.47813623e+01] [ 5.88896449e-01 8.07686319e-01 2.90479384e-02 2.66779462e+01] [-5.04463357e-02 8.62618344e-04 9.98726401e-01 -7.04322048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.513201008 meters 0.07076490017725455 Centerline is valid? [True, True] Translation: X:84.80, Y:26.70, Z:-7.05 [[ 8.08543561e-01 -5.87016694e-01 4.08498604e-02 8.48014448e+01] [ 5.86311257e-01 8.09574540e-01 2.87780290e-02 2.66959585e+01] [-4.99641904e-02 6.82442950e-04 9.98750777e-01 -7.04637768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.543201008 meters 0.07081340385583247 Centerline is valid? [True, True] Translation: X:84.82, Y:26.71, Z:-7.05 [[ 8.09626267e-01 -5.85569441e-01 4.01713555e-02 8.48228544e+01] [ 5.84885120e-01 8.10622043e-01 2.83072375e-02 2.67147993e+01] [-4.91396395e-02 5.77345121e-04 9.98791751e-01 -7.04939653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.573201008 meters 0.07079931075237951 Centerline is valid? [True, True] Translation: X:84.84, Y:26.73, Z:-7.05 [[ 8.10868232e-01 -5.83874626e-01 3.97885913e-02 8.48424859e+01] [ 5.83200444e-01 8.11843712e-01 2.80540466e-02 2.67328580e+01] [-4.86821637e-02 4.56588937e-04 9.98814216e-01 -7.05351042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.603201008 meters 0.07291118688555569 Centerline is valid? [True, True] Translation: X:84.86, Y:26.75, Z:-7.08 [[ 8.15179263e-01 -5.77684175e-01 4.19971791e-02 8.48584928e+01] [ 5.76923815e-01 8.16260368e-01 2.96297841e-02 2.67532604e+01] [-5.13972903e-02 7.55872213e-05 9.98678283e-01 -7.08181001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63320100799999 meters 0.0710137409545178 Centerline is valid? [True, True] Translation: X:84.88, Y:26.77, Z:-7.06 [[ 8.15570438e-01 -5.77361901e-01 3.87052503e-02 8.48817914e+01] [ 5.76715693e-01 8.16488355e-01 2.73089096e-02 2.67735389e+01] [-4.73695101e-02 4.95858462e-05 9.98877433e-01 -7.05836119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66320100799999 meters 0.0710324595347555 Centerline is valid? [True, True] Translation: X:84.90, Y:26.79, Z:-7.06 [[ 8.16794365e-01 -5.75592532e-01 3.92454034e-02 8.49032583e+01] [ 5.74925548e-01 8.17736652e-01 2.77016448e-02 2.67910843e+01] [-4.80372647e-02 -6.33623315e-05 9.98845542e-01 -7.06194371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69320100799999 meters 0.07115991707487837 Centerline is valid? [True, True] Translation: X:84.93, Y:26.81, Z:-7.07 [[ 8.17215413e-01 -5.74913847e-01 4.04108543e-02 8.49255509e+01] [ 5.74204665e-01 8.18213941e-01 2.85473233e-02 2.68080131e+01] [-4.94769758e-02 -1.25211498e-04 9.98775257e-01 -7.06538880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72320100799999 meters 0.07105352943479988 Centerline is valid? [True, True] Translation: X:84.95, Y:26.82, Z:-7.06 [[ 8.17824394e-01 -5.73982531e-01 4.13196770e-02 8.49481952e+01] [ 5.73239908e-01 8.18867523e-01 2.91888250e-02 2.68248916e+01] [-5.05892172e-02 -1.85245235e-04 9.98719529e-01 -7.06432377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75320100799999 meters 0.0712216071266889 Centerline is valid? [True, True] Translation: X:84.97, Y:26.84, Z:-7.07 [[ 8.17716835e-01 -5.74129793e-01 4.14024066e-02 8.49707437e+01] [ 5.73383588e-01 8.18764280e-01 2.92628621e-02 2.68418163e+01] [-5.06994926e-02 -1.89274497e-04 9.98713936e-01 -7.06680555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78320100799999 meters 0.0711921822428034 Centerline is valid? [True, True] Translation: X:84.99, Y:26.86, Z:-7.07 [[ 8.17764096e-01 -5.74023480e-01 4.19395829e-02 8.49925596e+01] [ 5.73256671e-01 8.18838811e-01 2.96612512e-02 2.68576720e+01] [-5.13680129e-02 -2.13760574e-04 9.98679769e-01 -7.06881248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.813201008 meters 0.07142993956234692 Centerline is valid? [True, True] Translation: X:85.01, Y:26.87, Z:-7.07 [[ 8.17982687e-01 -5.73754644e-01 4.13513310e-02 8.50149831e+01] [ 5.73008047e-01 8.19027198e-01 2.92613580e-02 2.68738270e+01] [-5.06567048e-02 -2.40638801e-04 9.98716096e-01 -7.07079610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.843201008 meters 0.07127722677897749 Centerline is valid? [True, True] Translation: X:85.04, Y:26.89, Z:-7.07 [[ 8.17565148e-01 -5.74321839e-01 4.17331306e-02 8.50384282e+01] [ 5.73561962e-01 8.18629575e-01 2.95346386e-02 2.68889746e+01] [-5.11263629e-02 -2.09954904e-04 9.98692170e-01 -7.07319679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.873201008 meters 0.07127358015067259 Centerline is valid? [True, True] Translation: X:85.06, Y:26.90, Z:-7.08 [[ 8.16989272e-01 -5.75168673e-01 4.13464377e-02 8.50612517e+01] [ 5.74423103e-01 8.18034822e-01 2.92767666e-02 2.69047074e+01] [-5.06619048e-02 -1.68455216e-04 9.98715847e-01 -7.07588891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.903201008 meters 0.07136413283216105 Centerline is valid? [True, True] Translation: X:85.08, Y:26.92, Z:-7.08 [[ 8.16148291e-01 -5.76366772e-01 4.12711772e-02 8.50848449e+01] [ 5.75624662e-01 8.17191124e-01 2.92389425e-02 2.69200382e+01] [-5.05787946e-02 -1.06605540e-04 9.98720068e-01 -7.07815483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.933201008 meters 0.07139510883619789 Centerline is valid? [True, True] Translation: X:85.11, Y:26.93, Z:-7.08 [[ 8.14409507e-01 -5.78821725e-01 4.12621592e-02 8.51082338e+01] [ 5.78082219e-01 8.15454112e-01 2.92496057e-02 2.69333435e+01] [-5.05777046e-02 3.17635691e-05 9.98720128e-01 -7.08099919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.963201008 meters 0.0713631201673206 Centerline is valid? [True, True] Translation: X:85.13, Y:26.95, Z:-7.08 [[ 8.13143518e-01 -5.80562982e-01 4.17641404e-02 8.51334890e+01] [ 5.79806926e-01 8.14215332e-01 2.96196097e-02 2.69472845e+01] [-5.12010524e-02 1.30144229e-04 9.98688357e-01 -7.08212548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99320100799999 meters 0.07108035152486944 Centerline is valid? [True, True] Translation: X:85.16, Y:26.96, Z:-7.08 [[ 8.11586984e-01 -5.82663739e-01 4.27730684e-02 8.51586086e+01] [ 5.81872704e-01 8.12713297e-01 3.03521633e-02 2.69611749e+01] [-5.24473464e-02 2.55060274e-04 9.98623658e-01 -7.08277498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02320100799999 meters 0.07117677721623775 Centerline is valid? [True, True] Translation: X:85.18, Y:26.97, Z:-7.08 [[ 8.09654028e-01 -5.85359716e-01 4.25952683e-02 8.51844288e+01] [ 5.84578109e-01 8.10773600e-01 3.02424129e-02 2.69744831e+01] [-5.22378093e-02 4.14370013e-04 9.98634588e-01 -7.08156799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05320100799999 meters 0.0710438252721617 Centerline is valid? [True, True] Translation: X:85.21, Y:26.99, Z:-7.08 [[ 8.08644949e-01 -5.86746442e-01 4.26844162e-02 8.52076194e+01] [ 5.85962775e-01 8.09770565e-01 3.03192692e-02 2.69903264e+01] [-5.23543072e-02 4.93955023e-04 9.98628451e-01 -7.08043271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08320100799999 meters 0.0712174040514086 Centerline is valid? [True, True] Translation: X:85.23, Y:27.00, Z:-7.09 [[ 8.07411130e-01 -5.88428963e-01 4.28791566e-02 8.52305125e+01] [ 5.87639509e-01 8.08548704e-01 3.04762424e-02 2.70047529e+01] [-5.26029903e-02 5.90629194e-04 9.98615330e-01 -7.08504915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11320100799999 meters 0.0712174040514086 Centerline is valid? [True, True] Translation: X:85.25, Y:27.02, Z:-7.09 [[ 8.07252291e-01 -5.88647376e-01 4.28719741e-02 8.52529173e+01] [ 5.87857693e-01 8.08389705e-01 3.04863419e-02 2.70208826e+01] [-5.26029677e-02 5.92450443e-04 9.98615330e-01 -7.08717837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14320100799999 meters 0.07155367312769453 Centerline is valid? [True, True] Translation: X:85.28, Y:27.04, Z:-7.09 [[ 8.06686247e-01 -5.89450256e-01 4.24934796e-02 8.52758265e+01] [ 5.88674446e-01 8.07804438e-01 3.02388329e-02 2.70368608e+01] [-5.21507092e-02 6.21574930e-04 9.98639032e-01 -7.09259407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17320100799999 meters 0.07163450991811368 Centerline is valid? [True, True] Translation: X:85.30, Y:27.05, Z:-7.09 [[ 8.06050192e-01 -5.90293759e-01 4.28528380e-02 8.52982065e+01] [ 5.89505764e-01 8.07188217e-01 3.04981445e-02 2.70542124e+01] [-5.25931702e-02 6.78959735e-04 9.98615791e-01 -7.09452373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.203201008 meters 0.07167150468294262 Centerline is valid? [True, True] Translation: X:85.32, Y:27.07, Z:-7.10 [[ 8.05689711e-01 -5.90806824e-01 4.25603803e-02 8.53212815e+01] [ 5.90029369e-01 8.06812751e-01 3.03072400e-02 2.70714416e+01] [-5.22439818e-02 6.93642882e-04 9.98634110e-01 -7.09662893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.233201008 meters 0.07143988441906293 Centerline is valid? [True, True] Translation: X:85.35, Y:27.08, Z:-7.10 [[ 8.05081385e-01 -5.91525789e-01 4.40591121e-02 8.53463515e+01] [ 5.90692373e-01 8.06285733e-01 3.13980539e-02 2.70843702e+01] [-5.40969921e-02 7.47392773e-04 9.98535406e-01 -7.09659418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.263201008 meters 0.0712239254722438 Centerline is valid? [True, True] Translation: X:85.37, Y:27.10, Z:-7.10 [[ 8.05109062e-01 -5.91383520e-01 4.54415119e-02 8.53691945e+01] [ 5.90496510e-01 8.06390078e-01 3.23869343e-02 2.71000494e+01] [-5.57966835e-02 7.58039888e-04 9.98441864e-01 -7.09664670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.293201008 meters 0.07098181617770352 Centerline is valid? [True, True] Translation: X:85.39, Y:27.12, Z:-7.10 [[ 8.05290819e-01 -5.91117139e-01 4.56861444e-02 8.53917625e+01] [ 5.90219574e-01 8.06585387e-01 3.25709780e-02 2.71170709e+01] [-5.61030398e-02 7.35747073e-04 9.98424713e-01 -7.09809366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.323201008 meters 0.07081073702827667 Centerline is valid? [True, True] Translation: X:85.41, Y:27.13, Z:-7.10 [[ 8.06045446e-01 -5.90086279e-01 4.57047319e-02 8.54125653e+01] [ 5.89185211e-01 8.07339931e-01 3.26040359e-02 2.71340614e+01] [-5.61384493e-02 6.48217481e-04 9.98422783e-01 -7.10015028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.353201008 meters 0.07075804879142744 Centerline is valid? [True, True] Translation: X:85.43, Y:27.16, Z:-7.11 [[ 8.09498248e-01 -5.85441151e-01 4.43987018e-02 8.54294538e+01] [ 5.84583346e-01 8.10714847e-01 3.16819830e-02 2.71563734e+01] [-5.45426234e-02 3.08231930e-04 9.98511396e-01 -7.10529288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38320100799999 meters 0.07078169055578147 Centerline is valid? [True, True] Translation: X:85.45, Y:27.18, Z:-7.11 [[ 8.12230669e-01 -5.81688026e-01 4.38221525e-02 8.54485112e+01] [ 5.80846247e-01 8.13411973e-01 3.12825661e-02 2.71778177e+01] [-5.38421577e-02 4.52732818e-05 9.98549458e-01 -7.10730477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41320100799999 meters 0.07140415505544484 Centerline is valid? [True, True] Translation: X:85.46, Y:27.20, Z:-7.11 [[ 8.17569308e-01 -5.74220430e-01 4.30270126e-02 8.54639125e+01] [ 5.73397373e-01 8.18700609e-01 3.07370289e-02 2.72027449e+01] [-5.28760714e-02 -4.58075418e-04 9.98600977e-01 -7.11251656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44320100799999 meters 0.0717203419095077 Centerline is valid? [True, True] Translation: X:85.49, Y:27.22, Z:-7.11 [[ 8.19886639e-01 -5.70853386e-01 4.37299874e-02 8.54851393e+01] [ 5.69998239e-01 8.21051726e-01 3.12421212e-02 2.72232585e+01] [-5.37392523e-02 -6.88981924e-04 9.98554765e-01 -7.11340802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47320100799999 meters 0.07249899473814642 Centerline is valid? [True, True] Translation: X:85.50, Y:27.24, Z:-7.12 [[ 8.22562888e-01 -5.66992407e-01 4.37024776e-02 8.55043035e+01] [ 5.66131841e-01 8.23722462e-01 3.12417002e-02 2.72436597e+01] [-5.37125192e-02 -9.56899043e-04 9.98555982e-01 -7.11545142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50320100799999 meters 0.07314281230003929 Centerline is valid? [True, True] Translation: X:85.53, Y:27.26, Z:-7.12 [[ 8.24758672e-01 -5.63745251e-01 4.43218326e-02 8.55252318e+01] [ 5.62855235e-01 8.25947868e-01 3.16875977e-02 2.72640479e+01] [-5.44712559e-02 -1.18784546e-03 9.98514633e-01 -7.11655277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53320100799999 meters 0.073699598933387 Centerline is valid? [True, True] Translation: X:85.55, Y:27.28, Z:-7.12 [[ 8.26414323e-01 -5.61246570e-01 4.51846713e-02 8.55472768e+01] [ 5.60316913e-01 8.27647479e-01 3.23203972e-02 2.72835478e+01] [-5.55366913e-02 -1.39230364e-03 9.98455676e-01 -7.11729462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.563201008 meters 0.07514283162387751 Centerline is valid? [True, True] Translation: X:85.57, Y:27.31, Z:-7.12 [[ 8.28869816e-01 -5.57572002e-01 4.56978302e-02 8.55657747e+01] [ 5.56614599e-01 8.30126901e-01 3.27034688e-02 2.73056372e+01] [-5.61695367e-02 -1.67083877e-03 9.98419847e-01 -7.12063117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.593201008 meters 0.07549372208919476 Centerline is valid? [True, True] Translation: X:85.59, Y:27.32, Z:-7.12 [[ 8.29237968e-01 -5.57007838e-01 4.58983739e-02 8.55883634e+01] [ 5.56040138e-01 8.30505431e-01 3.28647808e-02 2.73236207e+01] [-5.64247893e-02 -1.73138587e-03 9.98405351e-01 -7.12288335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.623201008 meters 0.07526319614010035 Centerline is valid? [True, True] Translation: X:85.61, Y:27.34, Z:-7.12 [[ 8.29203850e-01 -5.57080923e-01 4.56269705e-02 8.56120648e+01] [ 5.56123913e-01 8.30456415e-01 3.26854214e-02 2.73389686e+01] [-5.60996351e-02 -1.72862791e-03 9.98423679e-01 -7.12427691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.653201008 meters 0.0754789911191988 Centerline is valid? [True, True] Translation: X:85.64, Y:27.35, Z:-7.13 [[ 8.28575147e-01 -5.57979887e-01 4.60615968e-02 8.56352548e+01] [ 5.57004630e-01 8.29852726e-01 3.30196372e-02 2.73548555e+01] [-5.66486351e-02 -1.70272812e-03 9.98392725e-01 -7.12691416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.683201008 meters 0.07392394278496417 Centerline is valid? [True, True] Translation: X:85.66, Y:27.37, Z:-7.13 [[ 8.26000323e-01 -5.61797936e-01 4.58971112e-02 8.56635039e+01] [ 5.60835261e-01 8.27273236e-01 3.29059855e-02 2.73650039e+01] [-5.64559664e-02 -1.43963637e-03 9.98404052e-01 -7.12843357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.713201008 meters 0.07293394210991867 Centerline is valid? [True, True] Translation: X:85.69, Y:27.38, Z:-7.13 [[ 8.23733931e-01 -5.65071421e-01 4.64402785e-02 8.56899229e+01] [ 5.64090566e-01 8.25041066e-01 3.33027247e-02 2.73772848e+01] [-5.71335549e-02 -1.23606131e-03 9.98365779e-01 -7.13031712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74320100799999 meters 0.07167805640750624 Centerline is valid? [True, True] Translation: X:85.72, Y:27.39, Z:-7.13 [[ 8.19363917e-01 -5.71456335e-01 4.56117087e-02 8.57179666e+01] [ 5.70519060e-01 8.20632092e-01 3.27257077e-02 2.73864290e+01] [-5.61317450e-02 -7.91914887e-04 9.98423057e-01 -7.13396552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77320100799999 meters 0.07138224151461908 Centerline is valid? [True, True] Translation: X:85.74, Y:27.40, Z:-7.14 [[ 8.17384676e-01 -5.74254150e-01 4.59832889e-02 8.57436177e+01] [ 5.73304905e-01 8.18676852e-01 3.30105857e-02 2.74000161e+01] [-5.66019200e-02 -6.19901803e-04 9.98396634e-01 -7.13613175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80320100799999 meters 0.07106772705689893 Centerline is valid? [True, True] Translation: X:85.77, Y:27.41, Z:-7.14 [[ 8.15864689e-01 -5.76461668e-01 4.53514550e-02 8.57683859e+01] [ 5.75540941e-01 8.17124056e-01 3.25715006e-02 2.74129335e+01] [-5.58339864e-02 -4.72318136e-04 9.98439955e-01 -7.13888851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83320100799999 meters 0.0708470719313413 Centerline is valid? [True, True] Translation: X:85.79, Y:27.43, Z:-7.14 [[ 8.14411964e-01 -5.78551976e-01 4.48415413e-02 8.57928833e+01] [ 5.77654047e-01 8.15645447e-01 3.22227597e-02 2.74264509e+01] [-5.52173403e-02 -3.39703170e-04 9.98474301e-01 -7.14140368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86320100799999 meters 0.07097200789553529 Centerline is valid? [True, True] Translation: X:85.82, Y:27.44, Z:-7.15 [[ 8.13360270e-01 -5.80055993e-01 4.44984942e-02 8.58152397e+01] [ 5.79172935e-01 8.14576566e-01 3.19957728e-02 2.74403236e+01] [-5.48067703e-02 -2.51766898e-04 9.98496948e-01 -7.14719901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89320100799999 meters 0.07112127270965438 Centerline is valid? [True, True] Translation: X:85.84, Y:27.46, Z:-7.15 [[ 8.13351668e-01 -5.80226345e-01 4.23845892e-02 8.58389246e+01] [ 5.79425019e-01 8.14455237e-01 3.04846541e-02 2.74570182e+01] [-5.22083501e-02 -2.36052806e-04 9.98636186e-01 -7.14949655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92320100799999 meters 0.0712675702503398 Centerline is valid? [True, True] Translation: X:85.86, Y:27.47, Z:-7.15 [[ 8.13503672e-01 -5.80083907e-01 4.14057615e-02 8.58618072e+01] [ 5.79318308e-01 8.14556688e-01 2.97942956e-02 2.74739903e+01] [-5.10105314e-02 -2.50653190e-04 9.98698084e-01 -7.15254635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.953201008 meters 0.0713760623051526 Centerline is valid? [True, True] Translation: X:85.88, Y:27.49, Z:-7.16 [[ 8.13949184e-01 -5.79540188e-01 4.02479300e-02 8.58835980e+01] [ 5.78815345e-01 8.14943609e-01 2.89777709e-02 2.74907441e+01] [-4.95935761e-02 -2.90313521e-04 9.98769439e-01 -7.15684643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.983201008 meters 0.07151948193053702 Centerline is valid? [True, True] Translation: X:85.91, Y:27.51, Z:-7.16 [[ 8.14556166e-01 -5.78685532e-01 4.02654611e-02 8.59050231e+01] [ 5.77958698e-01 8.15550694e-01 2.89967191e-02 2.75075400e+01] [-4.96185065e-02 -3.47682923e-04 9.98768183e-01 -7.15888924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.013201008 meters 0.07134132542907964 Centerline is valid? [True, True] Translation: X:85.93, Y:27.53, Z:-7.16 [[ 8.16680833e-01 -5.75507378e-01 4.27045151e-02 8.59280065e+01] [ 5.74684491e-01 8.17796376e-01 3.07704957e-02 2.75255142e+01] [-5.26322449e-02 -5.88051505e-04 9.98613790e-01 -7.15742399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.043201008 meters 0.07107193945619272 Centerline is valid? [True, True] Translation: X:85.95, Y:27.54, Z:-7.16 [[ 8.16878237e-01 -5.75178235e-01 4.33583206e-02 8.59504870e+01] [ 5.74328639e-01 8.18027872e-01 3.12572439e-02 2.75410694e+01] [-5.34468012e-02 -6.31437023e-04 9.98570499e-01 -7.15796137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.073201008 meters 0.07086988302523786 Centerline is valid? [True, True] Translation: X:85.97, Y:27.56, Z:-7.16 [[ 8.17065357e-01 -5.74838057e-01 4.43329489e-02 8.59736008e+01] [ 5.73948533e-01 8.18266916e-01 3.19739881e-02 2.75582269e+01] [-5.46560506e-02 -6.80007048e-04 9.98505009e-01 -7.15744702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.103201008 meters 0.07111091228371745 Centerline is valid? [True, True] Translation: X:85.99, Y:27.58, Z:-7.16 [[ 8.17107878e-01 -5.74689910e-01 4.54557142e-02 8.59943955e+01] [ 5.73753394e-01 8.18370933e-01 3.28033521e-02 2.75762802e+01] [-5.60513907e-02 -7.23507140e-04 9.98427623e-01 -7.16211796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13320100799999 meters 0.07062335362328212 Centerline is valid? [True, True] Translation: X:86.02, Y:27.59, Z:-7.16 [[ 8.17205687e-01 -5.74474214e-01 4.64138203e-02 8.60180796e+01] [ 5.73496720e-01 8.18522323e-01 3.35069903e-02 2.75922677e+01] [-5.72396500e-02 -7.63929310e-04 9.98360175e-01 -7.16045306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16320100799999 meters 0.0706689729973888 Centerline is valid? [True, True] Translation: X:86.04, Y:27.61, Z:-7.17 [[ 8.17195245e-01 -5.74496213e-01 4.63252985e-02 8.60387843e+01] [ 5.73521322e-01 8.18506870e-01 3.34633552e-02 2.76099574e+01] [-5.71421459e-02 -7.77548310e-04 9.98365750e-01 -7.16512749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19320100799999 meters 0.07072630838586695 Centerline is valid? [True, True] Translation: X:86.06, Y:27.63, Z:-7.17 [[ 8.17166704e-01 -5.74524209e-01 4.64813061e-02 8.60610896e+01] [ 5.73542162e-01 8.18487210e-01 3.35868203e-02 2.76275257e+01] [-5.73407959e-02 -7.87042459e-04 9.98354353e-01 -7.16866327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22320100799999 meters 0.07072342081833208 Centerline is valid? [True, True] Translation: X:86.08, Y:27.65, Z:-7.17 [[ 8.17444552e-01 -5.74196772e-01 4.56341086e-02 8.60845435e+01] [ 5.73248679e-01 8.18716930e-01 3.29930533e-02 2.76450074e+01] [-5.63059220e-02 -8.10299261e-04 9.98413234e-01 -7.17130217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25320100799999 meters 0.07038599930702627 Centerline is valid? [True, True] Translation: X:86.11, Y:27.66, Z:-7.17 [[ 8.17529783e-01 -5.74064726e-01 4.57683656e-02 8.61074722e+01] [ 5.73109965e-01 8.18809498e-01 3.31055084e-02 2.76611479e+01] [-5.64802770e-02 -8.34432686e-04 9.98403366e-01 -7.17243821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28320100799999 meters 0.0695122058607539 Centerline is valid? [True, True] Translation: X:86.13, Y:27.68, Z:-7.17 [[ 8.15740759e-01 -5.76588046e-01 4.59699878e-02 8.61338678e+01] [ 5.75627669e-01 8.17034738e-01 3.32719643e-02 2.76752012e+01] [-5.67432938e-02 -6.79700540e-04 9.98388570e-01 -7.17252950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.313201008 meters 0.06880754439189325 Centerline is valid? [True, True] Translation: X:86.16, Y:27.69, Z:-7.17 [[ 8.13822343e-01 -5.79182128e-01 4.73419015e-02 8.61575730e+01] [ 5.78166748e-01 8.15198001e-01 3.42845452e-02 2.76896796e+01] [-5.84500194e-02 -5.30015706e-04 9.98290195e-01 -7.17302462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.343201008 meters 0.06781712909258149 Centerline is valid? [True, True] Translation: X:86.18, Y:27.70, Z:-7.17 [[ 8.10332288e-01 -5.83867432e-01 4.96024807e-02 8.61825479e+01] [ 5.82761214e-01 8.11848989e-01 3.59247431e-02 2.77032773e+01] [-6.12450113e-02 -2.04577429e-04 9.98122741e-01 -7.17216570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.373201008 meters 0.06768149395023672 Centerline is valid? [True, True] Translation: X:86.20, Y:27.72, Z:-7.18 [[ 8.09046943e-01 -5.85703707e-01 4.89306769e-02 8.62047172e+01] [ 5.84629449e-01 8.10525238e-01 3.54576610e-02 2.77210569e+01] [-6.04272320e-02 -8.05975272e-05 9.98172602e-01 -7.17632909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.403201008 meters 0.06775542505141322 Centerline is valid? [True, True] Translation: X:86.23, Y:27.74, Z:-7.18 [[ 8.08337736e-01 -5.86739429e-01 4.82384330e-02 8.62255223e+01] [ 5.85696077e-01 8.09775797e-01 3.49751806e-02 2.77396806e+01] [-5.95836330e-02 -1.86973120e-05 9.98223317e-01 -7.18120090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.433201008 meters 0.06786321995659769 Centerline is valid? [True, True] Translation: X:86.25, Y:27.76, Z:-7.18 [[ 8.08519475e-01 -5.86484312e-01 4.82950401e-02 8.62454010e+01] [ 5.85436940e-01 8.09960585e-01 3.50348411e-02 2.77591567e+01] [-5.96644636e-02 -5.26508463e-05 9.98218488e-01 -7.18499118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.463201008 meters 0.06802732511874865 Centerline is valid? [True, True] Translation: X:86.26, Y:27.78, Z:-7.19 [[ 8.08914988e-01 -5.85966054e-01 4.79617165e-02 8.62649302e+01] [ 5.84931010e-01 8.10335593e-01 3.48129474e-02 2.77776920e+01] [-5.92642914e-02 -1.06419625e-04 9.98242322e-01 -7.18724393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49320100799999 meters 0.06766772784151794 Centerline is valid? [True, True] Translation: X:86.29, Y:27.80, Z:-7.19 [[ 8.10406326e-01 -5.83932939e-01 4.75805572e-02 8.62867761e+01] [ 5.82909753e-01 8.11801855e-01 3.45538417e-02 2.77969905e+01] [-5.88031109e-02 -2.67481044e-04 9.98269564e-01 -7.18641212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52320100799999 meters 0.06749292986211296 Centerline is valid? [True, True] Translation: X:86.31, Y:27.82, Z:-7.19 [[ 8.11603381e-01 -5.82313402e-01 4.70218420e-02 8.63089092e+01] [ 5.81310458e-01 8.12964297e-01 3.41643753e-02 2.78154038e+01] [-5.81214523e-02 -3.93634027e-04 9.98309442e-01 -7.18762458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55320100799999 meters 0.06745004421033055 Centerline is valid? [True, True] Translation: X:86.33, Y:27.83, Z:-7.19 [[ 8.12382146e-01 -5.81241475e-01 4.68358521e-02 8.63295533e+01] [ 5.80243643e-01 8.13730984e-01 3.40470295e-02 2.78345380e+01] [-5.79013296e-02 -4.82993441e-04 9.98322194e-01 -7.18857662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58320100799999 meters 0.06749358918599811 Centerline is valid? [True, True] Translation: X:86.35, Y:27.85, Z:-7.19 [[ 8.12909589e-01 -5.80455496e-01 4.74280213e-02 8.63491543e+01] [ 5.79430286e-01 8.14291784e-01 3.44881602e-02 2.78536162e+01] [-5.86390902e-02 -5.54524162e-04 9.98279094e-01 -7.19145896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61320100799999 meters 0.06757795857494202 Centerline is valid? [True, True] Translation: X:86.37, Y:27.87, Z:-7.19 [[ 8.13599826e-01 -5.79445118e-01 4.79445350e-02 8.63692229e+01] [ 5.78394690e-01 8.15011003e-01 3.48804700e-02 2.78734725e+01] [-5.92866416e-02 -6.47879850e-04 9.98240790e-01 -7.19386755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64320100799999 meters 0.0674059242543232 Centerline is valid? [True, True] Translation: X:86.39, Y:27.89, Z:-7.20 [[ 8.13922399e-01 -5.78900410e-01 4.90371772e-02 8.63903661e+01] [ 5.77799317e-01 8.15397939e-01 3.56952545e-02 2.78929212e+01] [-6.06488106e-02 -7.19519632e-04 9.98158907e-01 -7.19689393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67320100799999 meters 0.06713484794485518 Centerline is valid? [True, True] Translation: X:86.41, Y:27.91, Z:-7.20 [[ 8.13501461e-01 -5.79437782e-01 4.96712173e-02 8.64134608e+01] [ 5.78307786e-01 8.15016172e-01 3.61765626e-02 2.79100077e+01] [-6.14449126e-02 -7.04434802e-04 9.98110228e-01 -7.19782936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.703201008 meters 0.06681200024261566 Centerline is valid? [True, True] Translation: X:86.44, Y:27.93, Z:-7.20 [[ 8.12717997e-01 -5.80570719e-01 4.92655762e-02 8.64361477e+01] [ 5.79460033e-01 8.14209582e-01 3.59002263e-02 2.79265227e+01] [-6.09551245e-02 -6.29327634e-04 9.98140309e-01 -7.19921403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.733201008 meters 0.06675842267059795 Centerline is valid? [True, True] Translation: X:86.46, Y:27.94, Z:-7.20 [[ 8.11989621e-01 -5.81539306e-01 4.98486861e-02 8.64584036e+01] [ 5.80402696e-01 8.13518100e-01 3.63457158e-02 2.79430956e+01] [-6.16892707e-02 -5.80032172e-04 9.98095235e-01 -7.20154224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.763201008 meters 0.06612296624157181 Centerline is valid? [True, True] Translation: X:86.48, Y:27.96, Z:-7.20 [[ 8.10590910e-01 -5.83468182e-01 5.00725307e-02 8.64815248e+01] [ 5.82323714e-01 8.12135873e-01 3.65296494e-02 2.79583187e+01] [-6.19795866e-02 -4.52179695e-04 9.98077315e-01 -7.20375344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.793201008 meters 0.06564385020625833 Centerline is valid? [True, True] Translation: X:86.51, Y:27.97, Z:-7.20 [[ 8.10217886e-01 -5.83990603e-01 5.00195292e-02 8.65058334e+01] [ 5.82848699e-01 8.11760307e-01 3.65047601e-02 2.79728462e+01] [-6.19223052e-02 -4.22992009e-04 9.98080883e-01 -7.20186501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.823201008 meters 0.06533719020868714 Centerline is valid? [True, True] Translation: X:86.53, Y:27.99, Z:-7.20 [[ 8.09427304e-01 -5.85086527e-01 5.00119480e-02 8.65279363e+01] [ 5.83945716e-01 8.10970794e-01 3.65208523e-02 2.79878414e+01] [-6.19260878e-02 -3.56712247e-04 9.98080674e-01 -7.20371992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.853201008 meters 0.06504005660486657 Centerline is valid? [True, True] Translation: X:86.55, Y:28.00, Z:-7.21 [[ 8.07579940e-01 -5.87548737e-01 5.10012032e-02 8.65514787e+01] [ 5.86366354e-01 8.09188760e-01 3.72565478e-02 2.80041595e+01] [-6.31596380e-02 -1.82251053e-04 9.98003420e-01 -7.20527961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88320100799999 meters 0.06498058722488587 Centerline is valid? [True, True] Translation: X:86.57, Y:28.02, Z:-7.21 [[ 8.06942166e-01 -5.88420216e-01 5.10488976e-02 8.65739428e+01] [ 5.87236278e-01 8.08555275e-01 3.73084519e-02 2.80216479e+01] [-6.32289028e-02 -1.27998330e-04 9.97999043e-01 -7.20832582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91320100799999 meters 0.06492104745298194 Centerline is valid? [True, True] Translation: X:86.60, Y:28.04, Z:-7.21 [[ 8.06325562e-01 -5.89289911e-01 5.07591291e-02 8.65966391e+01] [ 5.88119835e-01 8.07921652e-01 3.71168968e-02 2.80382453e+01] [-6.28820123e-02 -7.58520085e-05 9.98020965e-01 -7.21113958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94320100799999 meters 0.06483116766631121 Centerline is valid? [True, True] Translation: X:86.62, Y:28.05, Z:-7.21 [[ 8.05855102e-01 -5.89978176e-01 5.02325180e-02 8.66185824e+01] [ 5.88832343e-01 8.07419191e-01 3.67521604e-02 2.80539355e+01] [-6.22416717e-02 -3.83847031e-05 9.98061107e-01 -7.21409003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97320100799999 meters 0.06469178773383043 Centerline is valid? [True, True] Translation: X:86.64, Y:28.07, Z:-7.22 [[ 8.05567963e-01 -5.90538296e-01 4.82159480e-02 8.66411836e+01] [ 5.89482587e-01 8.07009616e-01 3.52953138e-02 2.80700696e+01] [-5.97539682e-02 -1.03122443e-05 9.98213135e-01 -7.21778739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00320100799999 meters 0.06469178773383043 Centerline is valid? [True, True] Translation: X:86.66, Y:28.09, Z:-7.22 [[ 8.05416643e-01 -5.90744978e-01 4.82120486e-02 8.66633330e+01] [ 5.89689320e-01 8.06858334e-01 3.53006396e-02 2.80865090e+01] [-5.97539688e-02 -1.59245131e-06 9.98213135e-01 -7.21992089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03320100799999 meters 0.06456874003946243 Centerline is valid? [True, True] Translation: X:86.69, Y:28.10, Z:-7.22 [[ 8.06001549e-01 -5.90004676e-01 4.74972175e-02 8.66858131e+01] [ 5.88977555e-01 8.07399825e-01 3.47988829e-02 2.81038699e+01] [-5.88807488e-02 -7.31584752e-05 9.98265021e-01 -7.22167306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.063201008 meters 0.0643766293950649 Centerline is valid? [True, True] Translation: X:86.71, Y:28.12, Z:-7.22 [[ 8.06134493e-01 -5.89831077e-01 4.73970422e-02 8.67067721e+01] [ 5.88807659e-01 8.07526651e-01 3.47310973e-02 2.81208574e+01] [-5.87598552e-02 -9.01940598e-05 9.98272143e-01 -7.22336789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.093201008 meters 0.0642329021029112 Centerline is valid? [True, True] Translation: X:86.73, Y:28.14, Z:-7.23 [[ 8.06540583e-01 -5.89301200e-01 4.70784806e-02 8.67289019e+01] [ 5.88289648e-01 8.07913408e-01 3.45139764e-02 2.81383361e+01] [-5.83744635e-02 -1.41139825e-04 9.98294747e-01 -7.22506714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.123201008 meters 0.06433670956073602 Centerline is valid? [True, True] Translation: X:86.75, Y:28.16, Z:-7.23 [[ 8.07704815e-01 -5.87714000e-01 4.69594161e-02 8.67481628e+01] [ 5.86703709e-01 8.09068712e-01 3.44467385e-02 2.81574136e+01] [-5.82382248e-02 -2.71532978e-04 9.98302677e-01 -7.22749598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.153201008 meters 0.06433538586856868 Centerline is valid? [True, True] Translation: X:86.77, Y:28.18, Z:-7.23 [[ 8.08240002e-01 -5.86989311e-01 4.68150300e-02 8.67699337e+01] [ 5.85983470e-01 8.09594614e-01 3.43501609e-02 2.81762116e+01] [-5.80643734e-02 -3.30340430e-04 9.98312786e-01 -7.22805443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.183201008 meters 0.06458462869143299 Centerline is valid? [True, True] Translation: X:86.79, Y:28.20, Z:-7.23 [[ 8.09356263e-01 -5.85533422e-01 4.57498835e-02 8.67893017e+01] [ 5.84569351e-01 8.10648146e-01 3.35895381e-02 2.81964777e+01] [-5.67548554e-02 -4.41923311e-04 9.98388046e-01 -7.23404146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.213201008 meters 0.06441859888403255 Centerline is valid? [True, True] Translation: X:86.81, Y:28.21, Z:-7.23 [[ 8.09416671e-01 -5.85460438e-01 4.56150051e-02 8.68120419e+01] [ 5.84501585e-01 8.10700853e-01 3.34966398e-02 2.82129733e+01] [-5.65910810e-02 -4.50695928e-04 9.98397339e-01 -7.23453827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24320100799999 meters 0.06417137907888194 Centerline is valid? [True, True] Translation: X:86.84, Y:28.23, Z:-7.24 [[ 8.08731650e-01 -5.86419258e-01 4.54485771e-02 8.68356849e+01] [ 5.85467888e-01 8.10007591e-01 3.33924450e-02 2.82288470e+01] [-5.63956653e-02 -3.96844687e-04 9.98408419e-01 -7.23580584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27320100799999 meters 0.06386828001809211 Centerline is valid? [True, True] Translation: X:86.86, Y:28.24, Z:-7.24 [[ 8.07866976e-01 -5.87634476e-01 4.51295034e-02 8.68596115e+01] [ 5.86697312e-01 8.09126453e-01 3.31760046e-02 2.82441606e+01] [-5.60108391e-02 -3.24440201e-04 9.98430108e-01 -7.23656860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30320100799999 meters 0.06346147438280679 Centerline is valid? [True, True] Translation: X:86.88, Y:28.26, Z:-7.24 [[ 8.06318621e-01 -5.89719977e-01 4.56139176e-02 8.68843806e+01] [ 5.88764813e-01 8.07607770e-01 3.35512261e-02 2.82586255e+01] [-5.66239825e-02 -1.97108674e-04 9.98395556e-01 -7.23764934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33320100799999 meters 0.06315821720754533 Centerline is valid? [True, True] Translation: X:86.91, Y:28.27, Z:-7.24 [[ 8.03486652e-01 -5.93632319e-01 4.48315720e-02 8.69097692e+01] [ 5.92714610e-01 8.04736396e-01 3.29958187e-02 2.82701671e+01] [-5.56649821e-02 6.06278486e-05 9.98449501e-01 -7.23952681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36320100799999 meters 0.06318400804450373 Centerline is valid? [True, True] Translation: X:86.93, Y:28.29, Z:-7.24 [[ 8.02497506e-01 -5.95010594e-01 4.42735308e-02 8.69337207e+01] [ 5.94117195e-01 8.03717843e-01 3.25942688e-02 2.82852893e+01] [-5.49773619e-02 1.46846496e-04 9.98487590e-01 -7.24191344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39320100799999 meters 0.06320787439955945 Centerline is valid? [True, True] Translation: X:86.96, Y:28.30, Z:-7.24 [[ 8.01678803e-01 -5.96152981e-01 4.37346572e-02 8.69576168e+01] [ 5.95281804e-01 8.02870837e-01 3.22179023e-02 2.83002221e+01] [-5.43200793e-02 2.06036294e-04 9.98523553e-01 -7.24479558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42320100799999 meters 0.06308783693174896 Centerline is valid? [True, True] Translation: X:86.98, Y:28.32, Z:-7.25 [[ 8.01506788e-01 -5.96446156e-01 4.28818372e-02 8.69810799e+01] [ 5.95608844e-01 8.02653061e-01 3.15938082e-02 2.83170915e+01] [-5.32632433e-02 2.18149735e-04 9.98580482e-01 -7.24700440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.453201008 meters 0.06319094886434364 Centerline is valid? [True, True] Translation: X:87.00, Y:28.33, Z:-7.25 [[ 8.00909301e-01 -5.97259382e-01 4.27261382e-02 8.70034947e+01] [ 5.96428563e-01 8.02048105e-01 3.14929441e-02 2.83335310e+01] [-5.30778745e-02 2.60097435e-04 9.98590342e-01 -7.24789975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.483201008 meters 0.06315782645440711 Centerline is valid? [True, True] Translation: X:87.03, Y:28.35, Z:-7.25 [[ 8.01622587e-01 -5.96315631e-01 4.25311203e-02 8.70252261e+01] [ 5.95489965e-01 8.02750046e-01 3.13698153e-02 2.83502861e+01] [-5.28481700e-02 1.80102865e-04 9.98602543e-01 -7.25087049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.513201008 meters 0.06319688679796802 Centerline is valid? [True, True] Translation: X:87.05, Y:28.37, Z:-7.25 [[ 8.02346647e-01 -5.95400507e-01 4.16904661e-02 8.70479377e+01] [ 5.94605414e-01 8.03429041e-01 3.07599893e-02 2.83678528e+01] [-5.18098444e-02 1.09202586e-04 9.98656962e-01 -7.25348872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.543201008 meters 0.06317849459760859 Centerline is valid? [True, True] Translation: X:87.07, Y:28.39, Z:-7.25 [[ 8.03291737e-01 -5.94205293e-01 4.05272048e-02 8.70707160e+01] [ 5.93451767e-01 8.04313415e-01 2.99154037e-02 2.83857201e+01] [-5.03724657e-02 2.01446736e-05 9.98730501e-01 -7.25498015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.573201008 meters 0.06350249542899777 Centerline is valid? [True, True] Translation: X:87.09, Y:28.40, Z:-7.26 [[ 8.04726195e-01 -5.92343313e-01 3.93084053e-02 8.70914819e+01] [ 5.91631323e-01 8.05685663e-01 2.90342796e-02 2.84032422e+01] [-4.88684799e-02 -1.08561472e-04 9.98805216e-01 -7.26054496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60320100799998 meters 0.06379069730378736 Centerline is valid? [True, True] Translation: X:87.11, Y:28.42, Z:-7.26 [[ 8.07465870e-01 -5.88660726e-01 3.84371944e-02 8.71105456e+01] [ 5.87975763e-01 8.08380136e-01 2.83911529e-02 2.84243471e+01] [-4.77846211e-02 -3.24748310e-04 9.98857610e-01 -7.26355735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63320100799999 meters 0.0639144201016613 Centerline is valid? [True, True] Translation: X:87.13, Y:28.44, Z:-7.26 [[ 8.08595826e-01 -5.87105724e-01 3.84663408e-02 8.71320303e+01] [ 5.86417264e-01 8.09510151e-01 2.84272260e-02 2.84432943e+01] [-4.78286805e-02 -4.28809972e-04 9.98855462e-01 -7.26458158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66320100799999 meters 0.06442846415246552 Centerline is valid? [True, True] Translation: X:87.15, Y:28.46, Z:-7.27 [[ 8.09754872e-01 -5.85510205e-01 3.84037341e-02 8.71520606e+01] [ 5.84821248e-01 8.10664857e-01 2.84006675e-02 2.84622074e+01] [-4.77614382e-02 -5.38259161e-04 9.98858626e-01 -7.26906612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69320100799999 meters 0.06417130102250666 Centerline is valid? [True, True] Translation: X:87.18, Y:28.48, Z:-7.27 [[ 8.11381747e-01 -5.83275427e-01 3.80714618e-02 8.71754843e+01] [ 5.82595752e-01 8.12274173e-01 2.81577263e-02 2.84799192e+01] [-4.73481750e-02 -6.66393241e-04 9.98878224e-01 -7.26783360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72320100799999 meters 0.06436885658337217 Centerline is valid? [True, True] Translation: X:87.20, Y:28.50, Z:-7.27 [[ 8.10988621e-01 -5.83824364e-01 3.80337983e-02 8.71973932e+01] [ 5.83145980e-01 8.11879730e-01 2.81437291e-02 2.84960006e+01] [-4.73098647e-02 -6.44987450e-04 9.98880053e-01 -7.27121681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75320100799999 meters 0.06450041215793281 Centerline is valid? [True, True] Translation: X:87.22, Y:28.51, Z:-7.27 [[ 8.10805142e-01 -5.84107525e-01 3.75954808e-02 8.72192595e+01] [ 5.83444214e-01 8.11676041e-01 2.78361776e-02 2.85123011e+01] [-4.67746719e-02 -6.34850177e-04 9.98905264e-01 -7.27479472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78320100799999 meters 0.0642623264126024 Centerline is valid? [True, True] Translation: X:87.24, Y:28.53, Z:-7.28 [[ 8.10375531e-01 -5.84742987e-01 3.69748401e-02 8.72429580e+01] [ 5.84101791e-01 8.11218397e-01 2.73826655e-02 2.85278797e+01] [-4.60064922e-02 -5.93171780e-04 9.98940965e-01 -7.27556299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.813201008 meters 0.06380748544760617 Centerline is valid? [True, True] Translation: X:87.27, Y:28.54, Z:-7.28 [[ 8.08669181e-01 -5.87129781e-01 3.65072119e-02 8.72688296e+01] [ 5.86506501e-01 8.09492684e-01 2.70502980e-02 2.85404015e+01] [-4.54343565e-02 -4.63025216e-04 9.98967219e-01 -7.27665383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.843201008 meters 0.063573461931649 Centerline is valid? [True, True] Translation: X:87.29, Y:28.55, Z:-7.28 [[ 8.07462326e-01 -5.88804558e-01 3.62461704e-02 8.72933382e+01] [ 5.88191188e-01 8.08275355e-01 2.68714959e-02 2.85538682e+01] [-4.51189455e-02 -3.78042498e-04 9.98981550e-01 -7.27884401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.873201008 meters 0.0634494687764919 Centerline is valid? [True, True] Translation: X:87.32, Y:28.57, Z:-7.28 [[ 8.05760617e-01 -5.91182846e-01 3.53931026e-02 8.73175840e+01] [ 5.90599635e-01 8.06537525e-01 2.62543523e-02 2.85666693e+01] [-4.40669881e-02 -2.51569630e-04 9.99028547e-01 -7.28217577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.903201008 meters 0.0633378459493079 Centerline is valid? [True, True] Translation: X:87.34, Y:28.58, Z:-7.29 [[ 8.03997049e-01 -5.93583547e-01 3.53173930e-02 8.73416128e+01] [ 5.93004539e-01 8.04772363e-01 2.62118417e-02 2.85792857e+01] [-4.39813798e-02 -1.30869028e-04 9.99032342e-01 -7.28535281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.933201008 meters 0.06311261886030253 Centerline is valid? [True, True] Translation: X:87.37, Y:28.59, Z:-7.29 [[ 8.02377805e-01 -5.95752018e-01 3.56285148e-02 8.73667333e+01] [ 5.95164401e-01 8.03168434e-01 2.64537955e-02 2.85932071e+01] [-4.43756005e-02 -2.11147031e-05 9.99014918e-01 -7.28534127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.963201008 meters 0.06286150950938539 Centerline is valid? [True, True] Translation: X:87.39, Y:28.61, Z:-7.29 [[ 8.00845308e-01 -5.97816559e-01 3.55268059e-02 8.73914195e+01] [ 5.97233735e-01 8.01632930e-01 2.63914780e-02 2.86080463e+01] [-4.42567201e-02 8.23157231e-05 9.99020188e-01 -7.28500963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99320100799999 meters 0.06272700471253587 Centerline is valid? [True, True] Translation: X:87.42, Y:28.62, Z:-7.29 [[ 7.99847899e-01 -5.99130309e-01 3.58637918e-02 8.74150252e+01] [ 5.98536918e-01 8.00651518e-01 2.66590462e-02 2.86210511e+01] [-4.46866419e-02 1.42621311e-04 9.99001043e-01 -7.28792998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02320100799999 meters 0.06283744368539218 Centerline is valid? [True, True] Translation: X:87.44, Y:28.64, Z:-7.29 [[ 7.99864956e-01 -5.99106905e-01 3.58743416e-02 8.74369567e+01] [ 5.98512561e-01 8.00669033e-01 2.66798506e-02 2.86359448e+01] [-4.47075571e-02 1.30966526e-04 9.99000109e-01 -7.29208793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05320100799999 meters 0.0625802456318009 Centerline is valid? [True, True] Translation: X:87.46, Y:28.65, Z:-7.29 [[ 8.00077601e-01 -5.98795195e-01 3.63338312e-02 8.74603484e+01] [ 5.98184618e-01 8.00902181e-01 2.70343993e-02 2.86526489e+01] [-4.52879130e-02 1.04721588e-04 9.98973971e-01 -7.28935992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08320100799999 meters 0.06272412247496793 Centerline is valid? [True, True] Translation: X:87.48, Y:28.67, Z:-7.29 [[ 8.01189024e-01 -5.97298270e-01 3.64818430e-02 8.74821949e+01] [ 5.96680417e-01 8.02019187e-01 2.71606992e-02 2.86680760e+01] [-4.54821768e-02 7.14717425e-06 9.98965150e-01 -7.29231519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11320100799999 meters 0.06291214743013093 Centerline is valid? [True, True] Translation: X:87.50, Y:28.69, Z:-7.29 [[ 8.02006914e-01 -5.96207531e-01 3.63522964e-02 8.75046301e+01] [ 5.95592388e-01 8.02830353e-01 2.70764157e-02 2.86855228e+01] [-4.53278899e-02 -6.43216367e-05 9.98972161e-01 -7.29471765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14320100799999 meters 0.0632005630161772 Centerline is valid? [True, True] Translation: X:87.53, Y:28.70, Z:-7.30 [[ 8.03032256e-01 -5.94839208e-01 3.61318729e-02 8.75253628e+01] [ 5.94229396e-01 8.03844694e-01 2.69282773e-02 2.87029455e+01] [-4.50624094e-02 -1.53654227e-04 9.98984162e-01 -7.29800114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17320100799999 meters 0.06322077654543977 Centerline is valid? [True, True] Translation: X:87.55, Y:28.72, Z:-7.30 [[ 8.02805837e-01 -5.95103060e-01 3.68121698e-02 8.75488467e+01] [ 5.94469719e-01 8.03649379e-01 2.74486472e-02 2.87186701e+01] [-4.59188514e-02 -1.52213949e-04 9.98945162e-01 -7.29895039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.203201008 meters 0.06297099983514633 Centerline is valid? [True, True] Translation: X:87.57, Y:28.73, Z:-7.30 [[ 8.02270588e-01 -5.95823520e-01 3.68271185e-02 8.75725603e+01] [ 5.95189768e-01 8.03115383e-01 2.74740199e-02 2.87334818e+01] [-4.59460927e-02 -1.22474005e-04 9.98943913e-01 -7.29991510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.233201008 meters 0.06312766443964035 Centerline is valid? [True, True] Translation: X:87.59, Y:28.75, Z:-7.30 [[ 8.01742587e-01 -5.96583658e-01 3.60105912e-02 8.75942551e+01] [ 5.95977663e-01 8.02550889e-01 2.68829837e-02 2.87498333e+01] [-4.49382808e-02 -9.17249138e-05 9.98989761e-01 -7.30427245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.263201008 meters 0.06314999173863792 Centerline is valid? [True, True] Translation: X:87.62, Y:28.77, Z:-7.31 [[ 8.01195624e-01 -5.97339212e-01 3.56572208e-02 8.76169428e+01] [ 5.96745589e-01 8.01988692e-01 2.66240367e-02 2.87666063e+01] [-4.45002690e-02 -5.27724973e-05 9.99009371e-01 -7.30734350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.293201008 meters 0.0632951625108485 Centerline is valid? [True, True] Translation: X:87.64, Y:28.78, Z:-7.31 [[ 8.00405711e-01 -5.98376545e-01 3.60028799e-02 8.76387245e+01] [ 5.97771741e-01 8.01215021e-01 2.68967628e-02 2.87824531e+01] [-4.49404402e-02 -6.81839745e-06 9.98989668e-01 -7.31065684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.323201008 meters 0.06316285956897078 Centerline is valid? [True, True] Translation: X:87.66, Y:28.80, Z:-7.31 [[ 7.99192047e-01 -5.99953364e-01 3.67155683e-02 8.76615849e+01] [ 5.99325281e-01 8.00034972e-01 2.74454264e-02 2.87975649e+01] [-4.58397145e-02 7.04017316e-05 9.98948805e-01 -7.31248160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35320100799998 meters 0.06271087006625548 Centerline is valid? [True, True] Translation: X:87.69, Y:28.81, Z:-7.31 [[ 7.97883933e-01 -6.01644585e-01 3.74836292e-02 8.76855830e+01] [ 6.00991077e-01 7.98763900e-01 2.80349257e-02 2.88132252e+01] [-4.68076311e-02 1.58709866e-04 9.98903910e-01 -7.30757673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38320100799999 meters 0.06255041142707778 Centerline is valid? [True, True] Translation: X:87.71, Y:28.83, Z:-7.31 [[ 7.97037815e-01 -6.02655374e-01 3.92074241e-02 8.77080881e+01] [ 6.01940554e-01 7.98001539e-01 2.93447472e-02 2.88286714e+01] [-4.89723544e-02 2.11665374e-04 9.98800112e-01 -7.30977132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41320100799999 meters 0.062454863307341284 Centerline is valid? [True, True] Translation: X:87.73, Y:28.85, Z:-7.31 [[ 7.97404409e-01 -6.02167553e-01 3.92485097e-02 8.77288527e+01] [ 6.01450259e-01 7.98369718e-01 2.93833220e-02 2.88486922e+01] [-4.90285048e-02 1.75635747e-04 9.98797364e-01 -7.31128631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44320100799999 meters 0.0627216509421185 Centerline is valid? [True, True] Translation: X:87.75, Y:28.87, Z:-7.32 [[ 7.97877716e-01 -6.01558902e-01 3.89620142e-02 8.77483081e+01] [ 6.00850577e-01 7.98828437e-01 2.91841098e-02 2.88670036e+01] [-4.86799260e-02 1.24997905e-04 9.98814422e-01 -7.31600594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47320100799999 meters 0.06292809813562122 Centerline is valid? [True, True] Translation: X:87.77, Y:28.89, Z:-7.32 [[ 7.98927959e-01 -6.00196992e-01 3.84406960e-02 8.77689271e+01] [ 5.99505274e-01 7.99852217e-01 2.88072498e-02 2.88860850e+01] [-4.80369007e-02 3.04826803e-05 9.98845561e-01 -7.31993846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50320100799999 meters 0.06315361968004464 Centerline is valid? [True, True] Translation: X:87.79, Y:28.91, Z:-7.32 [[ 7.99847304e-01 -5.99045460e-01 3.72669677e-02 8.77904570e+01] [ 5.98393420e-01 8.00715014e-01 2.79424599e-02 2.89052537e+01] [-4.65790243e-02 -4.93929643e-05 9.98914607e-01 -7.32278285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53320100799999 meters 0.06354419885942061 Centerline is valid? [True, True] Translation: X:87.81, Y:28.93, Z:-7.33 [[ 8.02003140e-01 -5.96269001e-01 3.54152864e-02 8.78109710e+01] [ 5.95676912e-01 8.02784675e-01 2.65665568e-02 2.89255455e+01] [-4.42716635e-02 -2.10393525e-04 9.99019507e-01 -7.32530456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.563201008 meters 0.06367169727983191 Centerline is valid? [True, True] Translation: X:87.83, Y:28.94, Z:-7.33 [[ 8.02385219e-01 -5.95764174e-01 3.52563519e-02 8.78317200e+01] [ 5.95176157e-01 8.03159378e-01 2.64642431e-02 2.89431505e+01] [-4.40829176e-02 -2.50777455e-04 9.99027844e-01 -7.32911517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.593201008 meters 0.06367650957683516 Centerline is valid? [True, True] Translation: X:87.85, Y:28.96, Z:-7.33 [[ 8.02838660e-01 -5.95205720e-01 3.43545804e-02 8.78538731e+01] [ 5.94646666e-01 8.03573316e-01 2.57928002e-02 2.89613498e+01] [-4.29584463e-02 -2.78620435e-04 9.99076821e-01 -7.33004659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.623201008 meters 0.06362737049302278 Centerline is valid? [True, True] Translation: X:87.88, Y:28.98, Z:-7.33 [[ 8.02023828e-01 -5.96224510e-01 3.56947132e-02 8.78751624e+01] [ 5.95621146e-01 8.02817708e-01 2.68174803e-02 2.89781149e+01] [-4.46455869e-02 -2.47732241e-04 9.99002858e-01 -7.33364800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.653201008 meters 0.06343371530576838 Centerline is valid? [True, True] Translation: X:87.90, Y:28.99, Z:-7.33 [[ 7.99005517e-01 -6.00219507e-01 3.64242687e-02 8.79003558e+01] [ 5.99595105e-01 7.99835322e-01 2.73709114e-02 2.89919767e+01] [-4.55619716e-02 -2.96959808e-05 9.98961514e-01 -7.33460509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.683201008 meters 0.0632781382800377 Centerline is valid? [True, True] Translation: X:87.92, Y:29.00, Z:-7.34 [[ 7.96345717e-01 -6.03756377e-01 3.62178919e-02 8.79246855e+01] [ 6.03142005e-01 7.97168873e-01 2.72306825e-02 2.90047259e+01] [-4.53124743e-02 1.59494583e-04 9.98972850e-01 -7.33589931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.713201008 meters 0.06326735950037277 Centerline is valid? [True, True] Translation: X:87.95, Y:29.02, Z:-7.34 [[ 7.94268550e-01 -6.06436093e-01 3.70504595e-02 8.79488448e+01] [ 6.05795436e-01 7.95132171e-01 2.78696891e-02 2.90187614e+01] [-4.63611977e-02 3.08981750e-04 9.98924694e-01 -7.33718154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74320100799999 meters 0.06346013154185708 Centerline is valid? [True, True] Translation: X:87.97, Y:29.03, Z:-7.34 [[ 7.92715872e-01 -6.08476297e-01 3.68529711e-02 8.79726737e+01] [ 6.07843956e-01 7.93571940e-01 2.77362774e-02 2.90342213e+01] [-4.61223512e-02 4.13868402e-04 9.98935712e-01 -7.33854349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77320100799999 meters 0.06355981162158303 Centerline is valid? [True, True] Translation: X:88.00, Y:29.05, Z:-7.34 [[ 7.91647383e-01 -6.09875548e-01 3.66911072e-02 8.79961136e+01] [ 6.09249605e-01 7.92497056e-01 2.76285270e-02 2.90504047e+01] [-4.59275575e-02 4.81991500e-04 9.98944657e-01 -7.34073079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80320100799999 meters 0.06345786716551488 Centerline is valid? [True, True] Translation: X:88.02, Y:29.07, Z:-7.34 [[ 7.90241078e-01 -6.11602644e-01 3.82262219e-02 8.80192809e+01] [ 6.10924462e-01 7.91164871e-01 2.88001616e-02 2.90677087e+01] [-4.78574989e-02 5.94263281e-04 9.98853997e-01 -7.34073099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83320100799999 meters 0.06335491597521975 Centerline is valid? [True, True] Translation: X:88.04, Y:29.09, Z:-7.34 [[ 7.89879006e-01 -6.11985998e-01 3.95511522e-02 8.80416962e+01] [ 6.11259629e-01 7.90868350e-01 2.98147543e-02 2.90855444e+01] [-4.95259666e-02 6.25974101e-04 9.98772640e-01 -7.34025339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86320100799999 meters 0.06318074026720046 Centerline is valid? [True, True] Translation: X:88.06, Y:29.10, Z:-7.34 [[ 7.89575568e-01 -6.12295213e-01 4.08043363e-02 8.80644327e+01] [ 6.11521595e-01 7.90628956e-01 3.07764890e-02 2.91031263e+01] [-5.11053867e-02 6.52369017e-04 9.98693053e-01 -7.34087102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89320100799999 meters 0.06325132499379445 Centerline is valid? [True, True] Translation: X:88.09, Y:29.12, Z:-7.34 [[ 7.89824266e-01 -6.11906998e-01 4.18025759e-02 8.80864616e+01] [ 6.11093589e-01 7.90929473e-01 3.15467185e-02 2.91202716e+01] [-5.23665471e-02 6.28922368e-04 9.98627733e-01 -7.34266251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92320100799999 meters 0.06325132499379445 Centerline is valid? [True, True] Translation: X:88.11, Y:29.14, Z:-7.34 [[ 7.89665871e-01 -6.12111923e-01 4.17948142e-02 8.81083815e+01] [ 6.11298257e-01 7.90770888e-01 3.15569971e-02 2.91370414e+01] [-5.23665365e-02 6.29613423e-04 9.98627733e-01 -7.34479091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.953201008 meters 0.06322223779831304 Centerline is valid? [True, True] Translation: X:88.13, Y:29.16, Z:-7.35 [[ 7.89709040e-01 -6.12037842e-01 4.20632070e-02 8.81305447e+01] [ 6.11212669e-01 7.90828238e-01 3.17769025e-02 2.91550627e+01] [-5.27134387e-02 6.15057822e-04 9.98609491e-01 -7.34536892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.983201008 meters 0.06328744588363751 Centerline is valid? [True, True] Translation: X:88.15, Y:29.17, Z:-7.35 [[ 7.89960372e-01 -6.11705333e-01 4.21805126e-02 8.81523096e+01] [ 6.10874158e-01 7.91085487e-01 3.18828297e-02 2.91722426e+01] [-5.28712883e-02 5.80813125e-04 9.98601166e-01 -7.34791174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.013201008 meters 0.06343274110099412 Centerline is valid? [True, True] Translation: X:88.17, Y:29.19, Z:-7.35 [[ 7.90192584e-01 -6.11431871e-01 4.17941135e-02 8.81743769e+01] [ 6.10614604e-01 7.91296892e-01 3.16075083e-02 2.91900590e+01] [-5.23973900e-02 5.44077399e-04 9.98626165e-01 -7.35017091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.043201008 meters 0.06355119364601292 Centerline is valid? [True, True] Translation: X:88.20, Y:29.21, Z:-7.35 [[ 7.91296037e-01 -6.10080279e-01 4.06526083e-02 8.81960987e+01] [ 6.09304439e-01 7.92339491e-01 3.07608876e-02 2.92077543e+01] [-5.09772779e-02 4.28846271e-04 9.98699721e-01 -7.35352928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.073201008 meters 0.06382096110588503 Centerline is valid? [True, True] Translation: X:88.22, Y:29.22, Z:-7.36 [[ 7.92036961e-01 -6.09259544e-01 3.84741595e-02 8.82169910e+01] [ 6.08562790e-01 7.92970801e-01 2.91313997e-02 2.92247958e+01] [-4.82574684e-02 3.40796549e-04 9.98834872e-01 -7.35725102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10320100799998 meters 0.06390687142376919 Centerline is valid? [True, True] Translation: X:88.24, Y:29.24, Z:-7.36 [[ 7.93140505e-01 -6.07903108e-01 3.71745836e-02 8.82381101e+01] [ 6.07251111e-01 7.94011177e-01 2.81485187e-02 2.92443859e+01] [-4.66286069e-02 2.48576887e-04 9.98912264e-01 -7.36061364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13320100799999 meters 0.06428286774046003 Centerline is valid? [True, True] Translation: X:88.26, Y:29.26, Z:-7.37 [[ 7.93890477e-01 -6.06911545e-01 3.73669207e-02 8.82580847e+01] [ 6.06251041e-01 7.94769365e-01 2.83078013e-02 2.92623998e+01] [-4.68784153e-02 1.80440714e-04 9.98900586e-01 -7.36784925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16320100799999 meters 0.06438061309662947 Centerline is valid? [True, True] Translation: X:88.28, Y:29.28, Z:-7.37 [[ 7.95353295e-01 -6.05052576e-01 3.63939092e-02 8.82787567e+01] [ 6.04423369e-01 7.96185517e-01 2.75864686e-02 2.92828515e+01] [-4.56675672e-02 5.63405406e-05 9.98956691e-01 -7.36831908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19320100799999 meters 0.06469302317968567 Centerline is valid? [True, True] Translation: X:88.30, Y:29.30, Z:-7.37 [[ 7.96488912e-01 -6.03644273e-01 3.49142389e-02 8.82991721e+01] [ 6.03063327e-01 7.97253781e-01 2.64770273e-02 2.93007002e+01] [-4.38182149e-02 -3.31615733e-05 9.99039520e-01 -7.37182459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22320100799999 meters 0.06495382898341469 Centerline is valid? [True, True] Translation: X:88.32, Y:29.32, Z:-7.37 [[ 7.98537477e-01 -6.01005201e-01 3.36250895e-02 8.83204612e+01] [ 6.00463538e-01 7.99245091e-01 2.55112509e-02 2.93193905e+01] [-4.22070822e-02 -1.81049674e-04 9.99108868e-01 -7.37097952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25320100799999 meters 0.06533857637273173 Centerline is valid? [True, True] Translation: X:88.34, Y:29.34, Z:-7.38 [[ 7.99290320e-01 -5.99946875e-01 3.46227144e-02 8.83405674e+01] [ 5.99370782e-01 8.00039799e-01 2.62865889e-02 2.93378153e+01] [-4.34701063e-02 -2.58772653e-04 9.99054695e-01 -7.37597047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28320100799999 meters 0.0649715295228285 Centerline is valid? [True, True] Translation: X:88.36, Y:29.36, Z:-7.37 [[ 7.99762135e-01 -5.99267658e-01 3.54796003e-02 8.83623437e+01] [ 5.98661657e-01 8.00548673e-01 2.69451644e-02 2.93563057e+01] [-4.45505125e-02 -3.09445833e-04 9.99007085e-01 -7.37370882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.313201008 meters 0.06512329874348669 Centerline is valid? [True, True] Translation: X:88.38, Y:29.37, Z:-7.38 [[ 7.99923402e-01 -5.98906762e-01 3.78581794e-02 8.83828128e+01] [ 5.98215317e-01 8.00818678e-01 2.87729002e-02 2.93744338e+01] [-4.75498217e-02 -3.68773366e-04 9.98868799e-01 -7.37546558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.343201008 meters 0.06508095788549084 Centerline is valid? [True, True] Translation: X:88.41, Y:29.39, Z:-7.38 [[ 7.99562812e-01 -5.99378730e-01 3.80058946e-02 8.84055515e+01] [ 5.98682211e-01 8.00465502e-01 2.88892967e-02 2.93909275e+01] [-4.77380374e-02 -3.45354303e-04 9.98859830e-01 -7.37708269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.373201008 meters 0.06509146978804643 Centerline is valid? [True, True] Translation: X:88.43, Y:29.41, Z:-7.38 [[ 7.98790143e-01 -6.00384854e-01 3.83710144e-02 8.84293823e+01] [ 5.99675237e-01 7.99711158e-01 2.91834380e-02 2.94070542e+01] [-4.82070225e-02 -3.01295453e-04 9.98837320e-01 -7.37893684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.403201008 meters 0.06514289085195056 Centerline is valid? [True, True] Translation: X:88.45, Y:29.42, Z:-7.38 [[ 7.98316799e-01 -6.01058215e-01 3.76737554e-02 8.84536242e+01] [ 6.00374206e-01 7.99205200e-01 2.86681236e-02 2.94223728e+01] [-4.73402723e-02 -2.67893650e-04 9.98878785e-01 -7.38066396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.433201008 meters 0.06467095738904736 Centerline is valid? [True, True] Translation: X:88.48, Y:29.43, Z:-7.38 [[ 7.96469160e-01 -6.03455050e-01 3.84562202e-02 8.84807688e+01] [ 6.02744351e-01 7.97397005e-01 2.92790622e-02 2.94337337e+01] [-4.83334728e-02 -1.40600540e-04 9.98831245e-01 -7.37966610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.463201008 meters 0.0646673767967071 Centerline is valid? [True, True] Translation: X:88.50, Y:29.45, Z:-7.38 [[ 7.95206405e-01 -6.05144637e-01 3.80360678e-02 8.85045936e+01] [ 6.04450607e-01 7.96115548e-01 2.89740739e-02 2.94486120e+01] [-4.78146103e-02 -4.94448558e-05 9.98856226e-01 -7.38247862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49320100799999 meters 0.06474774470179114 Centerline is valid? [True, True] Translation: X:88.53, Y:29.46, Z:-7.38 [[ 7.93733092e-01 -6.07059566e-01 3.82944094e-02 8.85288095e+01] [ 6.06357554e-01 7.94656328e-01 2.91862438e-02 2.94639507e+01] [-4.81486832e-02 5.40169012e-05 9.98840178e-01 -7.38440883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52320100799999 meters 0.06524484350788715 Centerline is valid? [True, True] Translation: X:88.55, Y:29.48, Z:-7.39 [[ 7.92081710e-01 -6.09266602e-01 3.74268834e-02 8.85514668e+01] [ 6.08597762e-01 7.92965433e-01 2.85409499e-02 2.94785299e+01] [-4.70672724e-02 1.71153114e-04 9.98891707e-01 -7.39000979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55320100799999 meters 0.06545071906194007 Centerline is valid? [True, True] Translation: X:88.57, Y:29.50, Z:-7.39 [[ 7.92028924e-01 -6.09383986e-01 3.66243395e-02 8.85738606e+01] [ 6.08743049e-01 7.92875230e-01 2.79422545e-02 2.94953756e+01] [-4.60660940e-02 1.63738342e-04 9.98938381e-01 -7.39145195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58320100799999 meters 0.065898248720198 Centerline is valid? [True, True] Translation: X:88.60, Y:29.51, Z:-7.40 [[ 7.91912126e-01 -6.09578199e-01 3.59110565e-02 8.85956965e+01] [ 6.08961579e-01 7.92725926e-01 2.74117128e-02 2.95114203e+01] [-4.51772080e-02 1.60785929e-04 9.98978976e-01 -7.39761637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61320100799999 meters 0.06583088507845822 Centerline is valid? [True, True] Translation: X:88.62, Y:29.53, Z:-7.40 [[ 7.92056360e-01 -6.09375273e-01 3.61731878e-02 8.86190105e+01] [ 6.08748804e-01 7.92881931e-01 2.76249326e-02 2.95283460e+01] [-4.55150179e-02 1.39881223e-04 9.98963645e-01 -7.39654929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64320100799999 meters 0.0663280752645877 Centerline is valid? [True, True] Translation: X:88.64, Y:29.54, Z:-7.40 [[ 7.92538628e-01 -6.08825794e-01 3.48378529e-02 8.86416325e+01] [ 6.08243330e-01 7.93303942e-01 2.66253010e-02 2.95424343e+01] [-4.38471761e-02 8.83121905e-05 9.99038246e-01 -7.40289578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67320100799999 meters 0.06633613319394001 Centerline is valid? [True, True] Translation: X:88.66, Y:29.56, Z:-7.41 [[ 7.91987101e-01 -6.09553571e-01 3.46536583e-02 8.86644015e+01] [ 6.08977925e-01 7.92744869e-01 2.64850756e-02 2.95583211e+01] [-4.36155822e-02 1.27474653e-04 9.99048380e-01 -7.40529466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.703201008 meters 0.06613231879528159 Centerline is valid? [True, True] Translation: X:88.69, Y:29.58, Z:-7.40 [[ 7.91666285e-01 -6.09965723e-01 3.47319593e-02 8.86872657e+01] [ 6.09387284e-01 7.92427786e-01 2.65582562e-02 2.95750115e+01] [-4.37221956e-02 1.39938310e-04 9.99043718e-01 -7.40404578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.733201008 meters 0.06639382224364519 Centerline is valid? [True, True] Translation: X:88.71, Y:29.59, Z:-7.41 [[ 7.91247068e-01 -6.10502939e-01 3.48459194e-02 8.87092339e+01] [ 6.09920593e-01 7.92013974e-01 2.66596073e-02 2.95912058e+01] [-4.38742238e-02 1.58907760e-04 9.99037050e-01 -7.40748396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.763201008 meters 0.06649611109895147 Centerline is valid? [True, True] Translation: X:88.73, Y:29.61, Z:-7.41 [[ 7.91260410e-01 -6.10507864e-01 3.44544950e-02 8.87311310e+01] [ 6.09937860e-01 7.92010181e-01 2.63757406e-02 2.96091590e+01] [-4.33909079e-02 1.45021585e-04 9.99058161e-01 -7.40991600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.793201008 meters 0.06659867336236541 Centerline is valid? [True, True] Translation: X:88.75, Y:29.63, Z:-7.41 [[ 7.93292217e-01 -6.07907084e-01 3.37110690e-02 8.87504362e+01] [ 6.07358440e-01 7.94008172e-01 2.58214570e-02 2.96289330e+01] [-4.24639109e-02 -9.25855976e-06 9.99098001e-01 -7.41259235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.823201008 meters 0.0667727609048452 Centerline is valid? [True, True] Translation: X:88.77, Y:29.65, Z:-7.42 [[ 7.93395235e-01 -6.07802413e-01 3.31696793e-02 8.87713931e+01] [ 6.07270520e-01 7.94088298e-01 2.54222416e-02 2.96459141e+01] [-4.17913540e-02 -2.69169777e-05 9.99126359e-01 -7.41664889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85320100799998 meters 0.06679837490882798 Centerline is valid? [True, True] Translation: X:88.79, Y:29.66, Z:-7.42 [[ 7.93391285e-01 -6.07862957e-01 3.21386751e-02 8.87941691e+01] [ 6.07363526e-01 7.94041954e-01 2.46357983e-02 2.96635425e+01] [-4.04946456e-02 -2.59686696e-05 9.99179755e-01 -7.41665762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88320100799999 meters 0.06684904473555799 Centerline is valid? [True, True] Translation: X:88.82, Y:29.68, Z:-7.42 [[ 7.92267271e-01 -6.09277794e-01 3.30626918e-02 8.88168906e+01] [ 6.08749731e-01 7.92956852e-01 2.53613168e-02 2.96792283e+01] [-4.16693751e-02 3.39634916e-05 9.99131454e-01 -7.41959516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91320100799999 meters 0.06677261889162897 Centerline is valid? [True, True] Translation: X:88.84, Y:29.70, Z:-7.42 [[ 7.91410566e-01 -6.10383572e-01 3.31845178e-02 8.88396827e+01] [ 6.09852362e-01 7.92105983e-01 2.54599379e-02 2.96953635e+01] [-4.18259829e-02 8.83926854e-05 9.99124907e-01 -7.42022523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94320100799999 meters 0.06680711840189237 Centerline is valid? [True, True] Translation: X:88.86, Y:29.71, Z:-7.42 [[ 7.89846824e-01 -6.12378806e-01 3.36777725e-02 8.88634315e+01] [ 6.11832879e-01 7.90564459e-01 2.58527381e-02 2.97090458e+01] [-4.24561189e-02 1.85465394e-04 9.99098315e-01 -7.42301310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97320100799999 meters 0.06668873888110895 Centerline is valid? [True, True] Translation: X:88.89, Y:29.72, Z:-7.42 [[ 7.88319251e-01 -6.14348158e-01 3.36020678e-02 8.88876574e+01] [ 6.13805807e-01 7.89035020e-01 2.58102272e-02 2.97235679e+01] [-4.23696738e-02 2.78445327e-04 9.99101963e-01 -7.42387077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00320100799999 meters 0.06670454005665298 Centerline is valid? [True, True] Translation: X:88.91, Y:29.74, Z:-7.42 [[ 7.87303743e-01 -6.15584250e-01 3.47684766e-02 8.89115491e+01] [ 6.15004080e-01 7.88071007e-01 2.67220703e-02 2.97390173e+01] [-4.38497140e-02 3.44369051e-04 9.99038079e-01 -7.42399619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03320100799999 meters 0.06662209558320085 Centerline is valid? [True, True] Translation: X:88.93, Y:29.76, Z:-7.42 [[ 7.86569495e-01 -6.16512330e-01 3.49424845e-02 8.89338523e+01] [ 6.15926655e-01 7.87345158e-01 2.68692832e-02 2.97561739e+01] [-4.40770404e-02 3.87449026e-04 9.99028060e-01 -7.42489805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.063201008 meters 0.06661246064600966 Centerline is valid? [True, True] Translation: X:88.96, Y:29.77, Z:-7.43 [[ 7.86159795e-01 -6.17057840e-01 3.45311328e-02 8.89559089e+01] [ 6.16485775e-01 7.86917697e-01 2.65674265e-02 2.97745927e+01] [-4.35667983e-02 4.01709601e-04 9.99050436e-01 -7.42661168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.093201008 meters 0.06676452032823472 Centerline is valid? [True, True] Translation: X:88.98, Y:29.79, Z:-7.43 [[ 7.86416310e-01 -6.16741733e-01 3.43368906e-02 8.89761450e+01] [ 6.16175250e-01 7.87165482e-01 2.64303849e-02 2.97926530e+01] [-4.33295364e-02 3.72256423e-04 9.99060765e-01 -7.43130326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.123201008 meters 0.06688912613748829 Centerline is valid? [True, True] Translation: X:89.00, Y:29.81, Z:-7.43 [[ 7.86884909e-01 -6.16210883e-01 3.31102266e-02 8.89975182e+01] [ 6.15683070e-01 7.87581136e-01 2.55012041e-02 2.98120306e+01] [-4.17911094e-02 3.18893344e-04 9.99126319e-01 -7.43348585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.153201008 meters 0.06720127932659359 Centerline is valid? [True, True] Translation: X:89.02, Y:29.83, Z:-7.44 [[ 7.86875212e-01 -6.16259532e-01 3.24282237e-02 8.90181471e+01] [ 6.15752759e-01 7.87543076e-01 2.49888762e-02 2.98302340e+01] [-4.09382562e-02 3.04640958e-04 9.99161632e-01 -7.43822748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.183201008 meters 0.06701044648995756 Centerline is valid? [True, True] Translation: X:89.04, Y:29.85, Z:-7.44 [[ 7.86509822e-01 -6.16711799e-01 3.26933789e-02 8.90407499e+01] [ 6.16196616e-01 7.87188957e-01 2.52046877e-02 2.98478811e+01] [-4.12798952e-02 3.21815029e-04 9.99147570e-01 -7.43882846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.213201008 meters 0.06690505957825034 Centerline is valid? [True, True] Translation: X:89.06, Y:29.86, Z:-7.44 [[ 7.86080691e-01 -6.17269526e-01 3.24881557e-02 8.90632628e+01] [ 6.16760721e-01 7.86751688e-01 2.50598235e-02 2.98648048e+01] [-4.10287767e-02 3.38374964e-04 9.99157908e-01 -7.43942457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24320100799999 meters 0.06732969317872103 Centerline is valid? [True, True] Translation: X:89.09, Y:29.88, Z:-7.44 [[ 7.84709479e-01 -6.19081067e-01 3.11394608e-02 8.90861677e+01] [ 6.18614574e-01 7.85326982e-01 2.40320727e-02 2.98796709e+01] [-3.93324600e-02 4.05129073e-04 9.99226097e-01 -7.44440705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27320100799999 meters 0.06800765686844726 Centerline is valid? [True, True] Translation: X:89.11, Y:29.90, Z:-7.45 [[ 7.83963375e-01 -6.20053417e-01 3.05808275e-02 8.91082096e+01] [ 6.19603726e-01 7.84559476e-01 2.36146641e-02 2.98961486e+01] [-3.86348311e-02 4.34962903e-04 9.99253302e-01 -7.45136109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30320100799999 meters 0.06830093951895627 Centerline is valid? [True, True] Translation: X:89.13, Y:29.91, Z:-7.46 [[ 7.83140287e-01 -6.21096153e-01 3.05099920e-02 8.91299756e+01] [ 6.20648930e-01 7.83734228e-01 2.35704378e-02 2.99120060e+01] [-3.85512333e-02 4.77034432e-04 9.99256511e-01 -7.45532945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33320100799999 meters 0.06804399810749956 Centerline is valid? [True, True] Translation: X:89.15, Y:29.93, Z:-7.45 [[ 7.81992831e-01 -6.22547391e-01 3.03637634e-02 8.91537514e+01] [ 6.22105000e-01 7.82581919e-01 2.34714648e-02 2.99279416e+01] [-3.83742315e-02 5.34931821e-04 9.99263295e-01 -7.45414854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36320100799999 meters 0.06789759390979647 Centerline is valid? [True, True] Translation: X:89.18, Y:29.94, Z:-7.46 [[ 7.81731208e-01 -6.22863726e-01 3.06120414e-02 8.91772053e+01] [ 6.22413864e-01 7.82330161e-01 2.36748989e-02 2.99443493e+01] [-3.86949590e-02 5.45951625e-04 9.99250920e-01 -7.45531864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39320100799999 meters 0.06754110555592518 Centerline is valid? [True, True] Translation: X:89.20, Y:29.96, Z:-7.46 [[ 7.81288266e-01 -6.23425188e-01 3.04906676e-02 8.91992737e+01] [ 6.22978846e-01 7.81882804e-01 2.35931683e-02 2.99613537e+01] [-3.85487041e-02 5.61975400e-04 9.99256564e-01 -7.45502202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42320100799999 meters 0.06747629579306436 Centerline is valid? [True, True] Translation: X:89.22, Y:29.98, Z:-7.46 [[ 7.81217327e-01 -6.23492530e-01 3.09281889e-02 8.92216040e+01] [ 6.23032814e-01 7.81829104e-01 2.39450305e-02 2.99787495e+01] [-3.91101058e-02 5.63003868e-04 9.99234749e-01 -7.45569665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.453201008 meters 0.06789868608831036 Centerline is valid? [True, True] Translation: X:89.24, Y:30.00, Z:-7.46 [[ 7.81920439e-01 -6.22575481e-01 3.16258843e-02 8.92427135e+01] [ 6.22093287e-01 7.82559586e-01 2.45038060e-02 2.99953740e+01] [-4.00046078e-02 5.14223566e-04 9.99199363e-01 -7.46149746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.483201008 meters 0.06730730296682613 Centerline is valid? [True, True] Translation: X:89.26, Y:30.02, Z:-7.46 [[ 7.82838246e-01 -6.21408489e-01 3.18711607e-02 8.92633461e+01] [ 6.20917620e-01 7.83486620e-01 2.46986843e-02 3.00153565e+01] [-4.03186000e-02 4.54290535e-04 9.99186771e-01 -7.46058457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.513201008 meters 0.0671802318402552 Centerline is valid? [True, True] Translation: X:89.28, Y:30.04, Z:-7.46 [[ 7.83768161e-01 -6.20186079e-01 3.28130563e-02 8.92842208e+01] [ 6.19664100e-01 7.84454634e-01 2.54426755e-02 3.00350023e+01] [-4.15195473e-02 3.91914018e-04 9.99137615e-01 -7.46236603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.543201008 meters 0.06692522744621071 Centerline is valid? [True, True] Translation: X:89.30, Y:30.06, Z:-7.46 [[ 7.86428475e-01 -6.16752377e-01 3.38638262e-02 8.93025794e+01] [ 6.16192464e-01 7.87157204e-01 2.62751473e-02 3.00558500e+01] [-4.28614143e-02 2.03110417e-04 9.99081007e-01 -7.46341982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.573201008 meters 0.06678208582033182 Centerline is valid? [True, True] Translation: X:89.32, Y:30.07, Z:-7.47 [[ 7.87763560e-01 -6.15025832e-01 3.42315541e-02 8.93217845e+01] [ 6.14451792e-01 7.88506953e-01 2.65665310e-02 3.00746501e+01] [-4.33309213e-02 1.05494754e-04 9.99060769e-01 -7.46500374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60320100799998 meters 0.06686349526227736 Centerline is valid? [True, True] Translation: X:89.34, Y:30.10, Z:-7.47 [[ 7.89219108e-01 -6.13137070e-01 3.45851652e-02 8.93416059e+01] [ 6.12548618e-01 7.89976540e-01 2.68562227e-02 3.00952309e+01] [-4.37880149e-02 -1.03489178e-05 9.99040845e-01 -7.46721150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63320100799999 meters 0.06706820169780509 Centerline is valid? [True, True] Translation: X:89.36, Y:30.12, Z:-7.47 [[ 7.90731808e-01 -6.11204464e-01 3.42390379e-02 8.93603476e+01] [ 6.10625263e-01 7.91472733e-01 2.66026651e-02 3.01154421e+01] [-4.33589326e-02 -1.28351996e-04 9.99059551e-01 -7.47097466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66320100799999 meters 0.06745516190460575 Centerline is valid? [True, True] Translation: X:89.38, Y:30.14, Z:-7.48 [[ 7.92071947e-01 -6.09466230e-01 3.42482924e-02 8.93791551e+01] [ 6.08884611e-01 7.92811996e-01 2.66208686e-02 3.01355299e+01] [-4.33769775e-02 -2.32385029e-04 9.99058749e-01 -7.47556894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69320100799999 meters 0.06787003075972141 Centerline is valid? [True, True] Translation: X:89.40, Y:30.16, Z:-7.48 [[ 7.95088550e-01 -6.05541667e-01 3.39630225e-02 8.93976849e+01] [ 6.04965437e-01 7.95813472e-01 2.64147513e-02 3.01587631e+01] [-4.30234634e-02 -4.55611591e-04 9.99073958e-01 -7.47632962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72320100799999 meters 0.06829376283440758 Centerline is valid? [True, True] Translation: X:89.42, Y:30.18, Z:-7.48 [[ 7.95920796e-01 -6.04381670e-01 3.51124395e-02 8.94172540e+01] [ 6.03763876e-01 7.96694731e-01 2.73255872e-02 3.01774094e+01] [-4.44889796e-02 -5.49380559e-04 9.99009724e-01 -7.48033048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75320100799999 meters 0.06838765022074296 Centerline is valid? [True, True] Translation: X:89.44, Y:30.20, Z:-7.48 [[ 7.97207809e-01 -6.02731077e-01 3.42776560e-02 8.94389239e+01] [ 6.02140435e-01 7.97944138e-01 2.66842288e-02 3.01964582e+01] [-4.34350686e-02 -6.32912876e-04 9.99056052e-01 -7.48032710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78320100799999 meters 0.0681455751501771 Centerline is valid? [True, True] Translation: X:89.46, Y:30.21, Z:-7.48 [[ 7.97901500e-01 -6.01829272e-01 3.39812192e-02 8.94609380e+01] [ 6.01247446e-01 7.98624478e-01 2.64660706e-02 3.02141363e+01] [-4.30662894e-02 -6.86196185e-04 9.99071981e-01 -7.47968534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.813201008 meters 0.0681455751501771 Centerline is valid? [True, True] Translation: X:89.48, Y:30.23, Z:-7.48 [[ 7.97743968e-01 -6.02038400e-01 3.39753897e-02 8.94825936e+01] [ 6.01456444e-01 7.98466841e-01 2.64735506e-02 3.02312554e+01] [-4.30663162e-02 -6.84398233e-04 9.99071981e-01 -7.48181523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.843201008 meters 0.06791635404623662 Centerline is valid? [True, True] Translation: X:89.50, Y:30.25, Z:-7.48 [[ 7.98436164e-01 -6.01114479e-01 3.40745425e-02 8.95043824e+01] [ 6.00527650e-01 7.99162576e-01 2.65653598e-02 3.02493474e+01] [-4.31999216e-02 -7.48039072e-04 9.99066168e-01 -7.48134714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.873201008 meters 0.06923498691778304 Centerline is valid? [True, True] Translation: X:89.52, Y:30.27, Z:-7.49 [[ 7.98432211e-01 -6.01177621e-01 3.30374543e-02 8.95227221e+01] [ 6.00625482e-01 7.99115093e-01 2.57701028e-02 3.02698789e+01] [-4.18931374e-02 -7.32543195e-04 9.99121829e-01 -7.49207688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.903201008 meters 0.0684714753301203 Centerline is valid? [True, True] Translation: X:89.55, Y:30.29, Z:-7.49 [[ 7.97820718e-01 -6.02084805e-01 3.12408160e-02 8.95471731e+01] [ 6.01591352e-01 7.98431873e-01 2.43801149e-02 3.02850224e+01] [-3.96225600e-02 -6.56756121e-04 9.99214502e-01 -7.49110642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.933201008 meters 0.06862811627047952 Centerline is valid? [True, True] Translation: X:89.57, Y:30.30, Z:-7.50 [[ 7.97341991e-01 -6.02758763e-01 3.04568943e-02 8.95689976e+01] [ 6.02289788e-01 7.97923237e-01 2.37806538e-02 3.03015590e+01] [-3.86362612e-02 -6.17437461e-04 9.99253150e-01 -7.49527605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.963201008 meters 0.06844682817830011 Centerline is valid? [True, True] Translation: X:89.59, Y:30.31, Z:-7.50 [[ 7.94045725e-01 -6.07154976e-01 2.92270845e-02 8.95940474e+01] [ 6.06725773e-01 7.94583337e-01 2.28288644e-02 3.03130547e+01] [-3.70840129e-02 -3.94336744e-04 9.99312074e-01 -7.50132531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99320100799999 meters 0.06685828160559612 Centerline is valid? [True, True] Translation: X:89.62, Y:30.32, Z:-7.50 [[ 7.91066827e-01 -6.10973085e-01 3.04165055e-02 8.96225549e+01] [ 6.10510412e-01 7.91651333e-01 2.37740277e-02 3.03242149e+01] [-3.86045582e-02 -2.37251355e-04 9.99254538e-01 -7.49507805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02320100799999 meters 0.06607216015430481 Centerline is valid? [True, True] Translation: X:89.65, Y:30.34, Z:-7.49 [[ 7.88517464e-01 -6.14233511e-01 3.09419334e-02 8.96488663e+01] [ 6.13756717e-01 7.89124316e-01 2.41972494e-02 3.03368743e+01] [-3.92797935e-02 -8.91342654e-05 9.99228247e-01 -7.49395733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05320100799999 meters 0.065985510657714 Centerline is valid? [True, True] Translation: X:89.67, Y:30.35, Z:-7.50 [[ 7.86669124e-01 -6.16574542e-01 3.14248858e-02 8.96722581e+01] [ 6.16083948e-01 7.87296535e-01 2.45913592e-02 3.03506701e+01] [-3.99031097e-02 1.51046311e-05 9.99203554e-01 -7.49663900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08320100799999 meters 0.06662710378682114 Centerline is valid? [True, True] Translation: X:89.69, Y:30.37, Z:-7.51 [[ 7.86442293e-01 -6.16924831e-01 3.02038433e-02 8.96918697e+01] [ 6.16471666e-01 7.87022078e-01 2.36417791e-02 3.03694148e+01] [-3.83562921e-02 2.69186528e-05 9.99264126e-01 -7.50525790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11320100799999 meters 0.06638225605560008 Centerline is valid? [True, True] Translation: X:89.71, Y:30.39, Z:-7.50 [[ 7.87723604e-01 -6.15351681e-01 2.88761589e-02 8.97124722e+01] [ 6.14936024e-01 7.88252691e-01 2.26137277e-02 3.03901793e+01] [-3.66771054e-02 -5.63767320e-05 9.99327167e-01 -7.50433455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14320100799999 meters 0.06626840278899668 Centerline is valid? [True, True] Translation: X:89.73, Y:30.41, Z:-7.51 [[ 7.88383220e-01 -6.14450550e-01 3.00403122e-02 8.97334662e+01] [ 6.13999562e-01 7.88955328e-01 2.35378227e-02 3.04090109e+01] [-3.81632924e-02 -1.12085946e-04 9.99271510e-01 -7.50621181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17320100799999 meters 0.06620199214967383 Centerline is valid? [True, True] Translation: X:89.76, Y:30.43, Z:-7.51 [[ 7.88090676e-01 -6.14800001e-01 3.05621355e-02 8.97556843e+01] [ 6.14332961e-01 7.88683046e-01 2.39596743e-02 3.04269492e+01] [-3.88342459e-02 -1.07068668e-04 9.99245660e-01 -7.50791832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.203201008 meters 0.06588590354376128 Centerline is valid? [True, True] Translation: X:89.78, Y:30.45, Z:-7.51 [[ 7.88912315e-01 -6.13714193e-01 3.11809023e-02 8.97773261e+01] [ 6.13226688e-01 7.89528251e-01 2.44575129e-02 3.04458928e+01] [-3.96281261e-02 -1.73871618e-04 9.99214482e-01 -7.50851081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.233201008 meters 0.0656511776330768 Centerline is valid? [True, True] Translation: X:89.80, Y:30.46, Z:-7.51 [[ 7.89619123e-01 -6.12835396e-01 3.05682648e-02 8.97999301e+01] [ 6.12365779e-01 7.90210560e-01 2.39880147e-02 3.04640204e+01] [-3.88560701e-02 -2.22435859e-04 9.99244793e-01 -7.50775635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.263201008 meters 0.06531135416951525 Centerline is valid? [True, True] Translation: X:89.82, Y:30.48, Z:-7.51 [[ 7.86742024e-01 -6.16568877e-01 2.96615482e-02 8.98246501e+01] [ 6.16128940e-01 7.87300970e-01 2.32875762e-02 3.04784046e+01] [-3.77109604e-02 -4.59765788e-05 9.99288688e-01 -7.50879114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.293201008 meters 0.0652536089367816 Centerline is valid? [True, True] Translation: X:89.85, Y:30.49, Z:-7.51 [[ 7.85491835e-01 -6.18170459e-01 2.94594709e-02 8.98473628e+01] [ 6.17737198e-01 7.86044072e-01 2.31402658e-02 3.04948040e+01] [-3.74610712e-02 2.17211056e-05 9.99298088e-01 -7.51195263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.323201008 meters 0.06511237234851412 Centerline is valid? [True, True] Translation: X:89.87, Y:30.51, Z:-7.51 [[ 7.85239784e-01 -6.18510839e-01 2.90314095e-02 8.98697104e+01] [ 6.18089848e-01 7.85776266e-01 2.28166465e-02 3.05126189e+01] [-3.69245357e-02 2.74808898e-05 9.99318056e-01 -7.51343570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35320100799998 meters 0.06539784169175744 Centerline is valid? [True, True] Translation: X:89.89, Y:30.53, Z:-7.52 [[ 7.84607722e-01 -6.19365180e-01 2.78836215e-02 8.98905155e+01] [ 6.18976721e-01 7.85103032e-01 2.19328122e-02 3.05294648e+01] [-3.54759360e-02 5.06588088e-05 9.99370530e-01 -7.51833394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38320100799999 meters 0.06571679671360912 Centerline is valid? [True, True] Translation: X:89.91, Y:30.55, Z:-7.52 [[ 7.84639178e-01 -6.19363210e-01 2.70291483e-02 8.99113233e+01] [ 6.18998282e-01 7.85104587e-01 2.12582888e-02 3.05465178e+01] [-3.43873103e-02 5.09101008e-05 9.99408580e-01 -7.52331827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41320100799999 meters 0.06553557400670545 Centerline is valid? [True, True] Translation: X:89.93, Y:30.56, Z:-7.52 [[ 7.85622258e-01 -6.18112403e-01 2.71058251e-02 8.99336240e+01] [ 6.17744311e-01 7.86089726e-01 2.13285766e-02 3.05643059e+01] [-3.44910684e-02 -1.17352577e-05 9.99405006e-01 -7.52419917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44320100799999 meters 0.06566285604980385 Centerline is valid? [True, True] Translation: X:89.96, Y:30.58, Z:-7.53 [[ 7.86044719e-01 -6.17524175e-01 2.82416905e-02 8.99550586e+01] [ 6.17123542e-01 7.86551899e-01 2.22405983e-02 3.05812191e+01] [-3.59476624e-02 -5.34927587e-05 9.99353672e-01 -7.52702830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47320100799999 meters 0.06536476684560805 Centerline is valid? [True, True] Translation: X:89.98, Y:30.60, Z:-7.53 [[ 7.86052939e-01 -6.17525056e-01 2.79925253e-02 8.99775815e+01] [ 6.17131378e-01 7.86551208e-01 2.20467660e-02 3.05987839e+01] [-3.56319850e-02 -5.48594879e-05 9.99364978e-01 -7.52621287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50320100799999 meters 0.06527451279252272 Centerline is valid? [True, True] Translation: X:90.00, Y:30.62, Z:-7.53 [[ 7.86304523e-01 -6.17167210e-01 2.88068173e-02 8.99984288e+01] [ 6.16749383e-01 7.86832020e-01 2.27062021e-02 3.06159090e+01] [-3.66796497e-02 -8.74026128e-05 9.99327071e-01 -7.52779598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53320100799999 meters 0.06555111606484823 Centerline is valid? [True, True] Translation: X:90.02, Y:30.64, Z:-7.53 [[ 7.86979430e-01 -6.16303311e-01 2.88722265e-02 9.00187894e+01] [ 6.15882886e-01 7.87508865e-01 2.27608858e-02 3.06359021e+01] [-3.67647436e-02 -1.30438704e-04 9.99323940e-01 -7.53077255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.563201008 meters 0.06581728514885858 Centerline is valid? [True, True] Translation: X:90.04, Y:30.65, Z:-7.54 [[ 7.86930933e-01 -6.16372793e-01 2.87103966e-02 9.00386983e+01] [ 6.15956703e-01 7.87454483e-01 2.26445865e-02 3.06540248e+01] [-3.65656375e-02 -1.35364397e-04 9.99331244e-01 -7.53545377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.593201008 meters 0.06581075110064855 Centerline is valid? [True, True] Translation: X:90.06, Y:30.67, Z:-7.54 [[ 7.87348820e-01 -6.15832404e-01 2.88493437e-02 9.00599370e+01] [ 6.15411401e-01 7.87877161e-01 2.27681151e-02 3.06720786e+01] [-3.67510821e-02 -1.72233481e-04 9.99324436e-01 -7.53685004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.623201008 meters 0.06541809019975017 Centerline is valid? [True, True] Translation: X:90.08, Y:30.69, Z:-7.54 [[ 7.87411625e-01 -6.15689535e-01 3.01551014e-02 9.00829022e+01] [ 6.15228909e-01 7.87988806e-01 2.38124179e-02 3.06896369e+01] [-3.84229389e-02 -1.97884500e-04 9.99261547e-01 -7.53533473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.653201008 meters 0.06473604100447147 Centerline is valid? [True, True] Translation: X:90.11, Y:30.71, Z:-7.53 [[ 7.86726617e-01 -6.16442472e-01 3.25562256e-02 9.01077017e+01] [ 6.15905539e-01 7.87399926e-01 2.57239886e-02 3.07051913e+01] [-4.14921288e-02 -1.86186825e-04 9.99138813e-01 -7.53285057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.683201008 meters 0.06465389656706401 Centerline is valid? [True, True] Translation: X:90.13, Y:30.72, Z:-7.54 [[ 7.86065709e-01 -6.17290630e-01 3.24496285e-02 9.01304440e+01] [ 6.16757427e-01 7.86735188e-01 2.56519190e-02 3.07219992e+01] [-4.13639538e-02 -1.50544525e-04 9.99144134e-01 -7.53521553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.713201008 meters 0.06481620745985915 Centerline is valid? [True, True] Translation: X:90.15, Y:30.74, Z:-7.54 [[ 7.85389479e-01 -6.18179332e-01 3.19010989e-02 9.01519381e+01] [ 6.17664157e-01 7.86037086e-01 2.52326803e-02 3.07386267e+01] [-4.06737683e-02 -1.13316282e-04 9.99172473e-01 -7.53839583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74320100799999 meters 0.06489304118687617 Centerline is valid? [True, True] Translation: X:90.17, Y:30.76, Z:-7.54 [[ 7.84749339e-01 -6.18969862e-01 3.23231306e-02 9.01741663e+01] [ 6.18441163e-01 7.85414733e-01 2.55778216e-02 3.07562261e+01] [-4.12189637e-02 -8.22240879e-05 9.99150134e-01 -7.54227847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77320100799999 meters 0.06491538867782984 Centerline is valid? [True, True] Translation: X:90.20, Y:30.77, Z:-7.54 [[ 7.84171153e-01 -6.19696955e-01 3.24235560e-02 9.01963335e+01] [ 6.19165051e-01 7.84841182e-01 2.56701680e-02 3.07722377e+01] [-4.13550670e-02 -5.42725338e-05 9.99144512e-01 -7.54460420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80320100799999 meters 0.06503357657218643 Centerline is valid? [True, True] Translation: X:90.22, Y:30.79, Z:-7.55 [[ 7.84184689e-01 -6.19735017e-01 3.13509618e-02 9.02179983e+01] [ 6.19237199e-01 7.84811127e-01 2.48351858e-02 3.07889278e+01] [-3.99958180e-02 -6.16906049e-05 9.99199845e-01 -7.54759816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83320100799999 meters 0.06480843007779773 Centerline is valid? [True, True] Translation: X:90.24, Y:30.81, Z:-7.55 [[ 7.84196285e-01 -6.19698318e-01 3.17833516e-02 9.02402105e+01] [ 6.19186147e-01 7.84840104e-01 2.51898010e-02 3.08068538e+01] [-4.05549263e-02 -7.39373629e-05 9.99177308e-01 -7.54776295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86320100799999 meters 0.06468173496361171 Centerline is valid? [True, True] Translation: X:90.26, Y:30.83, Z:-7.55 [[ 7.84444492e-01 -6.19379656e-01 3.18697407e-02 9.02619927e+01] [ 6.18863914e-01 7.85091607e-01 2.52710190e-02 3.08256500e+01] [-4.06730210e-02 -1.00679162e-04 9.99172505e-01 -7.54761124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89320100799999 meters 0.0646276980635462 Centerline is valid? [True, True] Translation: X:90.28, Y:30.85, Z:-7.55 [[ 7.85021833e-01 -6.18580431e-01 3.31507680e-02 9.02830403e+01] [ 6.18021005e-01 7.85721468e-01 2.63023278e-02 3.08450930e+01] [-4.23173753e-02 -1.60030588e-04 9.99104206e-01 -7.54993190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92320100799999 meters 0.06502190090308628 Centerline is valid? [True, True] Translation: X:90.30, Y:30.86, Z:-7.56 [[ 7.85062212e-01 -6.18531789e-01 3.31021134e-02 9.03029113e+01] [ 6.17973444e-01 7.85759757e-01 2.62759577e-02 3.08627658e+01] [-4.22628238e-02 -1.72034432e-04 9.99106513e-01 -7.55610392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.953201008 meters 0.06482269498640743 Centerline is valid? [True, True] Translation: X:90.32, Y:30.88, Z:-7.55 [[ 7.85469112e-01 -6.17990597e-01 3.35543754e-02 9.03249063e+01] [ 6.17415713e-01 7.86185459e-01 2.66507397e-02 3.08812430e+01] [-4.28498685e-02 -2.16334293e-04 9.99081499e-01 -7.55360182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.983201008 meters 0.06482334180469043 Centerline is valid? [True, True] Translation: X:90.35, Y:30.90, Z:-7.56 [[ 7.85762133e-01 -6.17613528e-01 3.36362854e-02 9.03467049e+01] [ 6.17034880e-01 7.86481702e-01 2.67299300e-02 3.08997071e+01] [-4.29630894e-02 -2.48605482e-04 9.99076629e-01 -7.55552463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.013201008 meters 0.06465210328865155 Centerline is valid? [True, True] Translation: X:90.37, Y:30.92, Z:-7.55 [[ 7.86087591e-01 -6.17178877e-01 3.40078225e-02 9.03692903e+01] [ 6.16586324e-01 7.86822821e-01 2.70398545e-02 3.09165682e+01] [-4.34465579e-02 -2.86935834e-04 9.99055711e-01 -7.55415277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.043201008 meters 0.06506099583081901 Centerline is valid? [True, True] Translation: X:90.39, Y:30.93, Z:-7.56 [[ 7.86406679e-01 -6.16784029e-01 3.37934600e-02 9.03898871e+01] [ 6.16197870e-01 7.87132365e-01 2.68854043e-02 3.09341422e+01] [-4.31824140e-02 -3.19403402e-04 9.99067153e-01 -7.55998019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.073201008 meters 0.06500110078899701 Centerline is valid? [True, True] Translation: X:90.41, Y:30.95, Z:-7.56 [[ 7.86798863e-01 -6.16280570e-01 3.38497949e-02 9.04121881e+01] [ 6.15691450e-01 7.87526591e-01 2.69426520e-02 3.09518601e+01] [-4.32618466e-02 -3.57418668e-04 9.99063704e-01 -7.55988669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10320100799998 meters 0.06539093840128579 Centerline is valid? [True, True] Translation: X:90.43, Y:30.97, Z:-7.56 [[ 7.87516899e-01 -6.15346968e-01 3.41356491e-02 9.04323293e+01] [ 6.14746340e-01 7.88256259e-01 2.71846900e-02 3.09693181e+01] [-4.36356557e-02 -4.23637403e-04 9.99047421e-01 -7.56414091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13320100799999 meters 0.0652131254343192 Centerline is valid? [True, True] Translation: X:90.45, Y:30.99, Z:-7.56 [[ 7.87910776e-01 -6.14840504e-01 3.41725600e-02 9.04546068e+01] [ 6.14237381e-01 7.88651341e-01 2.72305144e-02 3.09869630e+01] [-4.36926585e-02 -4.65151932e-04 9.99044912e-01 -7.56406550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16320100799999 meters 0.06534575316738833 Centerline is valid? [True, True] Translation: X:90.48, Y:31.00, Z:-7.57 [[ 7.87804519e-01 -6.14949836e-01 3.46516812e-02 9.04750921e+01] [ 6.14329102e-01 7.88566086e-01 2.76275739e-02 3.10040812e+01] [-4.43147126e-02 -4.77591393e-04 9.99017506e-01 -7.56751278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19320100799999 meters 0.0653370534075391 Centerline is valid? [True, True] Translation: X:90.50, Y:31.02, Z:-7.57 [[ 7.87900090e-01 -6.14795392e-01 3.52146750e-02 9.04962505e+01] [ 6.14153407e-01 7.88686483e-01 2.80931491e-02 3.10230908e+01] [-4.50448768e-02 -5.07382096e-04 9.98984836e-01 -7.57034451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22320100799999 meters 0.06550336216807602 Centerline is valid? [True, True] Translation: X:90.52, Y:31.04, Z:-7.57 [[ 7.88105249e-01 -6.14516684e-01 3.54874842e-02 9.05169021e+01] [ 6.13863719e-01 7.88903641e-01 2.83263104e-02 3.10415530e+01] [-4.54031958e-02 -5.39634908e-04 9.98968597e-01 -7.57372817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25320100799999 meters 0.06544063053715635 Centerline is valid? [True, True] Translation: X:90.54, Y:31.06, Z:-7.58 [[ 7.86507526e-01 -6.16589310e-01 3.49790553e-02 9.05397349e+01] [ 6.15956339e-01 7.87284855e-01 2.79346706e-02 3.10563289e+01] [-4.47626997e-02 -4.25257884e-04 9.98997557e-01 -7.57646043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28320100799999 meters 0.0649671502429114 Centerline is valid? [True, True] Translation: X:90.56, Y:31.07, Z:-7.58 [[ 7.84363305e-01 -6.19302379e-01 3.51961411e-02 9.05644663e+01] [ 6.18663455e-01 7.85152521e-01 2.81255784e-02 3.10713322e+01] [-4.50525766e-02 -2.86105382e-04 9.98984576e-01 -7.57819577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.313201008 meters 0.06459634509042685 Centerline is valid? [True, True] Translation: X:90.59, Y:31.09, Z:-7.58 [[ 7.83163168e-01 -6.20778008e-01 3.59181986e-02 9.05893217e+01] [ 6.20113440e-01 7.83986363e-01 2.87176631e-02 3.10858304e+01] [-4.59866716e-02 -2.17258299e-04 9.98942030e-01 -7.57797619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.343201008 meters 0.064612793508331 Centerline is valid? [True, True] Translation: X:90.61, Y:31.10, Z:-7.58 [[ 7.83011326e-01 -6.20929762e-01 3.65991050e-02 9.06099747e+01] [ 6.20239193e-01 7.83866175e-01 2.92773389e-02 3.11029261e+01] [-4.68679715e-02 -2.24288550e-04 9.98901068e-01 -7.58156030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.373201008 meters 0.06454568933795952 Centerline is valid? [True, True] Translation: X:90.63, Y:31.12, Z:-7.58 [[ 7.83736445e-01 -6.20006871e-01 3.67241716e-02 9.06314726e+01] [ 6.19309800e-01 7.84596326e-01 2.93934959e-02 3.11218797e+01] [-4.70378195e-02 -2.93114576e-04 9.98893066e-01 -7.58161147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.403201008 meters 0.0649710376259722 Centerline is valid? [True, True] Translation: X:90.65, Y:31.14, Z:-7.59 [[ 7.84998720e-01 -6.18387122e-01 3.70725766e-02 9.06503666e+01] [ 6.17674179e-01 7.85873528e-01 2.96884889e-02 3.11421384e+01] [-4.74933357e-02 -4.06652453e-04 9.98871472e-01 -7.58593763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.433201008 meters 0.0652152275081894 Centerline is valid? [True, True] Translation: X:90.67, Y:31.16, Z:-7.59 [[ 7.85086218e-01 -6.18250057e-01 3.75033064e-02 9.06717393e+01] [ 6.17519398e-01 7.85981348e-01 3.00518613e-02 3.11606418e+01] [-4.80564643e-02 -4.34282987e-04 9.98844526e-01 -7.58859464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.463201008 meters 0.06517784065862572 Centerline is valid? [True, True] Translation: X:90.69, Y:31.18, Z:-7.59 [[ 7.85039577e-01 -6.18292598e-01 3.77773214e-02 9.06941440e+01] [ 6.17550457e-01 7.85947875e-01 3.02881365e-02 3.11776231e+01] [-4.84179361e-02 -4.47983788e-04 9.98827064e-01 -7.59016249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49320100799999 meters 0.06531196100429242 Centerline is valid? [True, True] Translation: X:90.72, Y:31.20, Z:-7.59 [[ 7.85018487e-01 -6.18366345e-01 3.70005138e-02 9.07166722e+01] [ 6.17653738e-01 7.85889854e-01 2.96815869e-02 3.11951982e+01] [-4.74324229e-02 -4.47088793e-04 9.98874349e-01 -7.59252937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52320100799999 meters 0.06562395760348641 Centerline is valid? [True, True] Translation: X:90.74, Y:31.21, Z:-7.60 [[ 7.85666018e-01 -6.17524820e-01 3.73096001e-02 9.07364296e+01] [ 6.16798614e-01 7.86551228e-01 2.99438713e-02 3.12138825e+01] [-4.78369955e-02 -5.13372474e-04 9.98855024e-01 -7.59639443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55320100799999 meters 0.0658311051996972 Centerline is valid? [True, True] Translation: X:90.76, Y:31.23, Z:-7.60 [[ 7.85828652e-01 -6.17296764e-01 3.76568092e-02 9.07568371e+01] [ 6.16555829e-01 7.86730199e-01 3.02407618e-02 3.12327904e+01] [-4.82932734e-02 -5.46531849e-04 9.98833050e-01 -7.59982030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58320100799999 meters 0.06576738500117799 Centerline is valid? [True, True] Translation: X:90.78, Y:31.25, Z:-7.60 [[ 7.85690169e-01 -6.17447117e-01 3.80790678e-02 9.07790629e+01] [ 6.16688840e-01 7.86612197e-01 3.05961808e-02 3.12506885e+01] [-4.88449828e-02 -5.56182355e-04 9.98806217e-01 -7.60113593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61320100799999 meters 0.06566927230160986 Centerline is valid? [True, True] Translation: X:90.80, Y:31.27, Z:-7.60 [[ 7.85731724e-01 -6.17400941e-01 3.79701963e-02 9.08010361e+01] [ 6.16646145e-01 7.86648431e-01 3.05250440e-02 3.12679476e+01] [-4.87153862e-02 -5.70320226e-04 9.98812538e-01 -7.60269390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64320100799999 meters 0.06549995968047143 Centerline is valid? [True, True] Translation: X:90.82, Y:31.28, Z:-7.60 [[ 7.85468497e-01 -6.17600255e-01 4.01144062e-02 9.08224945e+01] [ 6.16756831e-01 7.86491930e-01 3.22715830e-02 3.12843518e+01] [-5.14805947e-02 -6.07477766e-04 9.98673810e-01 -7.60192310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67320100799999 meters 0.06492488180694346 Centerline is valid? [True, True] Translation: X:90.85, Y:31.30, Z:-7.60 [[ 7.85103378e-01 -6.18005881e-01 4.10050715e-02 9.08450105e+01] [ 6.17124693e-01 7.86173245e-01 3.29961032e-02 3.13015563e+01] [-5.26288759e-02 -6.00109934e-04 9.98613960e-01 -7.60158340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.703201008 meters 0.06469420481266171 Centerline is valid? [True, True] Translation: X:90.87, Y:31.32, Z:-7.60 [[ 7.83738058e-01 -6.19609617e-01 4.28786494e-02 9.08669231e+01] [ 6.18647330e-01 7.84909957e-01 3.45230372e-02 3.13183643e+01] [-5.50466848e-02 -5.30256144e-04 9.98483641e-01 -7.60291300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.733201008 meters 0.06469420481266171 Centerline is valid? [True, True] Translation: X:90.89, Y:31.34, Z:-7.61 [[ 7.83574877e-01 -6.19816592e-01 4.28696205e-02 9.08882968e+01] [ 6.18854001e-01 7.84746527e-01 3.45342442e-02 3.13358255e+01] [-5.50466833e-02 -5.30129992e-04 9.98483641e-01 -7.60504082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.763201008 meters 0.06436260626733807 Centerline is valid? [True, True] Translation: X:90.91, Y:31.35, Z:-7.61 [[ 7.82337492e-01 -6.21275381e-01 4.43277527e-02 9.09116410e+01] [ 6.20247312e-01 7.83592172e-01 3.57292630e-02 3.13526267e+01] [-5.69325915e-02 -4.58172558e-04 9.98377919e-01 -7.60505826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.793201008 meters 0.06374286897903461 Centerline is valid? [True, True] Translation: X:90.94, Y:31.36, Z:-7.61 [[ 7.74446202e-01 -6.30972039e-01 4.59060527e-02 9.09399114e+01] [ 6.29885049e-01 7.75805534e-01 3.70216045e-02 3.13627562e+01] [-5.89737670e-02 2.44295222e-04 9.98259503e-01 -7.60738656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.823201008 meters 0.06401813810685078 Centerline is valid? [True, True] Translation: X:90.96, Y:31.38, Z:-7.61 [[ 7.70856829e-01 -6.35294658e-01 4.66952416e-02 9.09643298e+01] [ 6.34176616e-01 7.72269625e-01 3.76781839e-02 3.13767805e+01] [-5.99980657e-02 5.68544949e-04 9.98198331e-01 -7.60914895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85320100799998 meters 0.06440191087448867 Centerline is valid? [True, True] Translation: X:90.99, Y:31.39, Z:-7.61 [[ 7.65068303e-01 -6.42240522e-01 4.68786016e-02 9.09918610e+01] [ 6.41125344e-01 7.66502383e-01 3.78469455e-02 3.13884767e+01] [-6.02394018e-02 1.09956118e-03 9.98183353e-01 -7.60897205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88320100799999 meters 0.06500626863352915 Centerline is valid? [True, True] Translation: X:91.02, Y:31.40, Z:-7.61 [[ 7.62719033e-01 -6.45087068e-01 4.60689951e-02 9.10166308e+01] [ 6.44014156e-01 7.64107990e-01 3.72121968e-02 3.14010147e+01] [-5.92067942e-02 1.28663428e-03 9.98244910e-01 -7.61254610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91320100799999 meters 0.06510324444537641 Centerline is valid? [True, True] Translation: X:91.04, Y:31.42, Z:-7.61 [[ 7.60646816e-01 -6.47452407e-01 4.71359867e-02 9.10408359e+01] [ 6.46332384e-01 7.62104432e-01 3.80957129e-02 3.14166327e+01] [-6.05877054e-02 1.48813190e-03 9.98161768e-01 -7.61230740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94320100799999 meters 0.06543429617780326 Centerline is valid? [True, True] Translation: X:91.06, Y:31.43, Z:-7.61 [[ 7.58765483e-01 -6.49604137e-01 4.78477453e-02 9.10645882e+01] [ 6.48453041e-01 7.60270792e-01 3.86907902e-02 3.14321620e+01] [-6.15109405e-02 1.66977985e-03 9.98105013e-01 -7.61371370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97320100799999 meters 0.06548581397675092 Centerline is valid? [True, True] Translation: X:91.09, Y:31.45, Z:-7.61 [[ 7.57490842e-01 -6.51074063e-01 4.80644262e-02 9.10868546e+01] [ 6.49914245e-01 7.59012113e-01 3.88855478e-02 3.14502003e+01] [-6.17988533e-02 1.78230894e-03 9.98087033e-01 -7.61490782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00320100799999 meters 0.06505351923126272 Centerline is valid? [True, True] Translation: X:91.11, Y:31.47, Z:-7.62 [[ 7.56236509e-01 -6.52460170e-01 4.90109101e-02 9.11051488e+01] [ 6.51255793e-01 7.57820592e-01 3.96716814e-02 3.14723295e+01] [-6.30256689e-02 1.91746530e-03 9.98010064e-01 -7.61743438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03320100799999 meters 0.06479914224352563 Centerline is valid? [True, True] Translation: X:91.13, Y:31.49, Z:-7.62 [[ 7.56131016e-01 -6.52613267e-01 4.85984626e-02 9.11250052e+01] [ 6.51428169e-01 7.57688800e-01 3.93576303e-02 3.14926375e+01] [-6.25078225e-02 1.89888247e-03 9.98042668e-01 -7.62090075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.063201008 meters 0.06486613265959422 Centerline is valid? [True, True] Translation: X:91.15, Y:31.51, Z:-7.62 [[ 7.55610717e-01 -6.53184660e-01 4.90127049e-02 9.11458067e+01] [ 6.51979089e-01 7.57196151e-01 3.97146856e-02 3.15121463e+01] [-6.30532549e-02 1.94641667e-03 9.98008266e-01 -7.62368326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.093201008 meters 0.0649413462887922 Centerline is valid? [True, True] Translation: X:91.17, Y:31.53, Z:-7.63 [[ 7.55466590e-01 -6.53294364e-01 4.97665085e-02 9.11662676e+01] [ 6.52050224e-01 7.57101444e-01 4.03473564e-02 3.15298964e+01] [-6.40369959e-02 1.96918322e-03 9.97945582e-01 -7.62592531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.123201008 meters 0.06443316116616324 Centerline is valid? [True, True] Translation: X:91.19, Y:31.55, Z:-7.62 [[ 7.55861768e-01 -6.52662598e-01 5.20049983e-02 9.11850068e+01] [ 6.51300651e-01 7.57646094e-01 4.21883675e-02 3.15507476e+01] [-6.69361533e-02 1.98231524e-03 9.97755292e-01 -7.62448283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.153201008 meters 0.06373728559698708 Centerline is valid? [True, True] Translation: X:91.21, Y:31.57, Z:-7.62 [[ 7.56309095e-01 -6.52062418e-01 5.30203290e-02 9.12050372e+01] [ 6.50644374e-01 7.58162761e-01 4.30247314e-02 3.15721688e+01] [-6.82528494e-02 1.95738306e-03 9.97666135e-01 -7.62412274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.183201008 meters 0.06304906056424675 Centerline is valid? [True, True] Translation: X:91.22, Y:31.59, Z:-7.62 [[ 7.57453229e-01 -6.50619355e-01 5.43972543e-02 9.12233482e+01] [ 6.49121298e-01 7.59401741e-01 4.41648700e-02 3.15936356e+01] [-7.00438888e-02 1.85759300e-03 9.97542181e-01 -7.62253286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.213201008 meters 0.06292810098259001 Centerline is valid? [True, True] Translation: X:91.24, Y:31.61, Z:-7.63 [[ 7.58248713e-01 -6.49677868e-01 5.45669903e-02 9.12431223e+01] [ 6.48167046e-01 7.60207570e-01 4.43162597e-02 3.16137438e+01] [-7.02735322e-02 1.76577800e-03 9.97526197e-01 -7.62523427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24320100799999 meters 0.06296553058630024 Centerline is valid? [True, True] Translation: X:91.26, Y:31.63, Z:-7.63 [[ 7.58788757e-01 -6.49059612e-01 5.44173042e-02 9.12623693e+01] [ 6.47553932e-01 7.60735680e-01 4.42168521e-02 3.16343449e+01] [-7.00965578e-02 1.68688907e-03 9.97538785e-01 -7.62820383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27320100799999 meters 0.06266702516100588 Centerline is valid? [True, True] Translation: X:91.28, Y:31.66, Z:-7.63 [[ 7.60035810e-01 -6.47585799e-01 5.45728863e-02 9.12811116e+01] [ 6.46066039e-01 7.61990990e-01 4.43666983e-02 3.16567530e+01] [-7.03152915e-02 1.53740907e-03 9.97523632e-01 -7.63110482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30320100799999 meters 0.06253607971410148 Centerline is valid? [True, True] Translation: X:91.30, Y:31.68, Z:-7.63 [[ 7.61915121e-01 -6.45261695e-01 5.58810601e-02 9.12973840e+01] [ 6.43660128e-01 7.63960444e-01 4.54541588e-02 3.16805343e+01] [-7.20207470e-02 1.33619943e-03 9.97402239e-01 -7.63448079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33320100799999 meters 0.06241272649702845 Centerline is valid? [True, True] Translation: X:91.32, Y:31.70, Z:-7.64 [[ 7.62361648e-01 -6.44722774e-01 5.60112681e-02 9.13169377e+01] [ 6.43110657e-01 7.64415417e-01 4.55823810e-02 3.17013526e+01] [-7.22038759e-02 1.27118434e-03 9.97389084e-01 -7.63670767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36320100799999 meters 0.062284364112448996 Centerline is valid? [True, True] Translation: X:91.34, Y:31.72, Z:-7.64 [[ 7.62494513e-01 -6.44552437e-01 5.61629270e-02 9.13364402e+01] [ 6.42929334e-01 7.64559101e-01 4.57302031e-02 3.17216108e+01] [-7.24153908e-02 1.23976434e-03 9.97373789e-01 -7.63797095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39320100799999 meters 0.06232389901147491 Centerline is valid? [True, True] Translation: X:91.36, Y:31.74, Z:-7.64 [[ 7.62400450e-01 -6.44638125e-01 5.64556611e-02 9.13572966e+01] [ 6.42996408e-01 7.64486862e-01 4.59940950e-02 3.17393080e+01] [-7.28091584e-02 1.23486853e-03 9.97345127e-01 -7.63893298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42320100799999 meters 0.062089304279094405 Centerline is valid? [True, True] Translation: X:91.38, Y:31.76, Z:-7.64 [[ 7.62846775e-01 -6.44141354e-01 5.60955832e-02 9.13778472e+01] [ 6.42517576e-01 7.64905592e-01 4.57230839e-02 3.17566675e+01] [-7.23599545e-02 1.16269105e-03 9.97377905e-01 -7.63861467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.453201008 meters 0.06204198485805356 Centerline is valid? [True, True] Translation: X:91.40, Y:31.78, Z:-7.64 [[ 7.62970724e-01 -6.43952319e-01 5.65781415e-02 9.13983767e+01] [ 6.42298386e-01 7.65064778e-01 4.61374893e-02 3.17762263e+01] [-7.29962866e-02 1.13849541e-03 9.97331563e-01 -7.64123134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.483201008 meters 0.06203516742055161 Centerline is valid? [True, True] Translation: X:91.42, Y:31.80, Z:-7.64 [[ 7.64040569e-01 -6.42694909e-01 5.64381315e-02 9.14170214e+01] [ 6.41043966e-01 7.66121569e-01 4.60475270e-02 3.17960208e+01] [-7.28329811e-02 9.97144890e-04 9.97343653e-01 -7.64439529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.513201008 meters 0.06193266822023757 Centerline is valid? [True, True] Translation: X:91.44, Y:31.82, Z:-7.65 [[ 7.65097380e-01 -6.41493849e-01 5.57820835e-02 9.14360875e+01] [ 6.39876211e-01 7.67127703e-01 4.55359439e-02 3.18177076e+01] [-7.20030095e-02 8.54196865e-04 9.97404049e-01 -7.64751848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.543201008 meters 0.062008504728184775 Centerline is valid? [True, True] Translation: X:91.45, Y:31.84, Z:-7.65 [[ 7.67629196e-01 -6.38601539e-01 5.41617226e-02 9.14541021e+01] [ 6.37067784e-01 7.69537377e-01 4.42364491e-02 3.18384998e+01] [-6.99289344e-02 5.47498744e-04 9.97551825e-01 -7.65358099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.573201008 meters 0.062041829844342214 Centerline is valid? [True, True] Translation: X:91.47, Y:31.86, Z:-7.66 [[ 7.69027810e-01 -6.37044528e-01 5.26355080e-02 9.14742677e+01] [ 6.35591351e-01 7.70826909e-01 4.30059348e-02 3.18588799e+01] [-6.79695614e-02 3.81913719e-04 9.97687322e-01 -7.65639593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60320100799998 meters 0.06207031820520863 Centerline is valid? [True, True] Translation: X:91.49, Y:31.88, Z:-7.66 [[ 7.70530364e-01 -6.35269298e-01 5.21140823e-02 9.14936772e+01] [ 6.33839200e-01 7.72290668e-01 4.26027249e-02 3.18781626e+01] [-6.73114226e-02 2.05255109e-04 9.97731993e-01 -7.66042300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63320100799999 meters 0.06203411800252252 Centerline is valid? [True, True] Translation: X:91.51, Y:31.90, Z:-7.66 [[ 7.72457322e-01 -6.33007388e-01 5.11012000e-02 9.15132091e+01] [ 6.31626195e-01 7.74145753e-01 4.17935698e-02 3.18986167e+01] [-6.60154154e-02 -6.89250875e-06 9.97818603e-01 -7.66317309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66320100799999 meters 0.06224525879573859 Centerline is valid? [True, True] Translation: X:91.53, Y:31.92, Z:-7.67 [[ 7.75458818e-01 -6.29324293e-01 5.11327164e-02 9.15308210e+01] [ 6.27931945e-01 7.77142728e-01 4.18408011e-02 3.19205123e+01] [-6.60688512e-02 -3.37952102e-04 9.97815009e-01 -7.66608400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69320100799999 meters 0.062425609996116314 Centerline is valid? [True, True] Translation: X:91.55, Y:31.94, Z:-7.67 [[ 7.75986139e-01 -6.28642022e-01 5.15239645e-02 9.15519889e+01] [ 6.27225334e-01 7.77694692e-01 4.21822946e-02 3.19389217e+01] [-6.65874767e-02 -4.15740061e-04 9.97780504e-01 -7.66719723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72320100799999 meters 0.06232513066002004 Centerline is valid? [True, True] Translation: X:91.57, Y:31.96, Z:-7.67 [[ 7.75753579e-01 -6.28894401e-01 5.19443620e-02 9.15740352e+01] [ 6.27453535e-01 7.77490618e-01 4.25488055e-02 3.19557331e+01] [-6.71449597e-02 -4.14714617e-04 9.97743145e-01 -7.66839491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75320100799999 meters 0.06231966649748459 Centerline is valid? [True, True] Translation: X:91.60, Y:31.97, Z:-7.67 [[ 7.75652383e-01 -6.29048960e-01 5.15828196e-02 9.15961456e+01] [ 6.27626962e-01 7.77365573e-01 4.22748560e-02 3.19722672e+01] [-6.66916623e-02 -4.15824415e-04 9.97773546e-01 -7.67040918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78320100799999 meters 0.062266728603530476 Centerline is valid? [True, True] Translation: X:91.62, Y:31.99, Z:-7.67 [[ 7.74395719e-01 -6.30661258e-01 5.07705519e-02 9.16197909e+01] [ 6.29285926e-01 7.76058178e-01 4.16284492e-02 3.19870106e+01] [-6.56543522e-02 -2.87699046e-04 9.97842384e-01 -7.67388677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.813201008 meters 0.0621858754791691 Centerline is valid? [True, True] Translation: X:91.64, Y:32.00, Z:-7.68 [[ 7.73616213e-01 -6.31654391e-01 5.03059180e-02 9.16423933e+01] [ 6.30304839e-01 7.75250078e-01 4.12689627e-02 3.20033519e+01] [-6.50673883e-02 -2.18275116e-04 9.97880848e-01 -7.67656293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.843201008 meters 0.06209502628483661 Centerline is valid? [True, True] Translation: X:91.66, Y:32.02, Z:-7.68 [[ 7.72628172e-01 -6.32905912e-01 4.97575664e-02 9.16646583e+01] [ 6.31586888e-01 7.74228707e-01 4.08400865e-02 3.20190745e+01] [-6.43716684e-02 -1.27974822e-04 9.97925985e-01 -7.67929024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.873201008 meters 0.06194150024758263 Centerline is valid? [True, True] Translation: X:91.69, Y:32.03, Z:-7.68 [[ 7.70779614e-01 -6.35087326e-01 5.06248488e-02 9.16896721e+01] [ 6.33725007e-01 7.72440345e-01 4.15755739e-02 3.20334523e+01] [-6.55087958e-02 3.66278774e-05 9.97851991e-01 -7.67960918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.903201008 meters 0.0618281289033611 Centerline is valid? [True, True] Translation: X:91.71, Y:32.05, Z:-7.68 [[ 7.69566287e-01 -6.36581143e-01 5.03207463e-02 9.17133412e+01] [ 6.35236942e-01 7.71209716e-01 4.13473112e-02 3.20495238e+01] [-6.51287671e-02 1.46100236e-04 9.97876857e-01 -7.68030600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.933201008 meters 0.06187495575684975 Centerline is valid? [True, True] Translation: X:91.74, Y:32.06, Z:-7.68 [[ 7.68242895e-01 -6.38155183e-01 5.06045046e-02 9.17359292e+01] [ 6.36797619e-01 7.69907717e-01 4.16040834e-02 3.20648640e+01] [-6.55106601e-02 2.62786490e-04 9.97851835e-01 -7.68250915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.963201008 meters 0.061870981028376106 Centerline is valid? [True, True] Translation: X:91.76, Y:32.08, Z:-7.69 [[ 7.67199939e-01 -6.39404424e-01 5.06580398e-02 9.17579168e+01] [ 6.38045321e-01 7.68870508e-01 4.16690522e-02 3.20803459e+01] [-6.55928491e-02 3.53630937e-04 9.97846408e-01 -7.68552108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99320100799999 meters 0.061881286958566796 Centerline is valid? [True, True] Translation: X:91.78, Y:32.10, Z:-7.69 [[ 7.66929245e-01 -6.39794124e-01 4.98298372e-02 9.17797907e+01] [ 6.38478699e-01 7.68546255e-01 4.10073738e-02 3.20984638e+01] [-6.45328116e-02 3.65535429e-04 9.97915519e-01 -7.68791458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02320100799999 meters 0.06190336952592605 Centerline is valid? [True, True] Translation: X:91.80, Y:32.12, Z:-7.69 [[ 7.66782439e-01 -6.39978290e-01 4.97240244e-02 9.18008356e+01] [ 6.38667408e-01 7.68392905e-01 4.09424726e-02 3.21153426e+01] [-6.44098811e-02 3.63144763e-04 9.97923462e-01 -7.69121937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05320100799999 meters 0.06185237158845592 Centerline is valid? [True, True] Translation: X:91.82, Y:32.13, Z:-7.69 [[ 7.66611074e-01 -6.40232545e-01 4.90891968e-02 9.18230905e+01] [ 6.38954120e-01 7.68181070e-01 4.04410153e-02 3.21328738e+01] [-6.36010459e-02 3.63214372e-04 9.97975338e-01 -7.69227661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08320100799999 meters 0.06184333607750579 Centerline is valid? [True, True] Translation: X:91.85, Y:32.15, Z:-7.69 [[ 7.66022058e-01 -6.40966001e-01 4.87113145e-02 9.18459248e+01] [ 6.39707335e-01 7.67569164e-01 4.01510095e-02 3.21495406e+01] [-6.31247350e-02 4.04426305e-04 9.98005563e-01 -7.69438855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11320100799999 meters 0.06183057858174684 Centerline is valid? [True, True] Translation: X:91.87, Y:32.17, Z:-7.70 [[ 7.64197651e-01 -6.43160845e-01 4.84363240e-02 9.18686450e+01] [ 6.41919393e-01 7.65730898e-01 3.99460235e-02 3.21662993e+01] [-6.27809081e-02 5.65558350e-04 9.98027173e-01 -7.69846688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14320100799999 meters 0.062003740611382474 Centerline is valid? [True, True] Translation: X:91.89, Y:32.18, Z:-7.70 [[ 7.63214269e-01 -6.44302534e-01 4.87670311e-02 9.18903256e+01] [ 6.43045226e-01 7.64770437e-01 4.02369955e-02 3.21843180e+01] [-6.32203818e-02 6.49957399e-04 9.97999379e-01 -7.70056247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17320100799999 meters 0.06220612271859258 Centerline is valid? [True, True] Translation: X:91.91, Y:32.20, Z:-7.70 [[ 7.62404024e-01 -6.45270212e-01 4.86462373e-02 9.19125153e+01] [ 6.44019737e-01 7.63954086e-01 4.01588399e-02 3.22015606e+01] [-6.30767949e-02 7.11875778e-04 9.98008422e-01 -7.70427069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.203201008 meters 0.06213307337894296 Centerline is valid? [True, True] Translation: X:91.93, Y:32.22, Z:-7.71 [[ 7.61588274e-01 -6.46230245e-01 4.86802950e-02 9.19345236e+01] [ 6.44978642e-01 7.63142103e-01 4.02079826e-02 3.22178143e+01] [-6.31335972e-02 7.75822513e-04 9.98004783e-01 -7.70600709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.233201008 meters 0.062043493310553297 Centerline is valid? [True, True] Translation: X:91.96, Y:32.23, Z:-7.71 [[ 7.60115298e-01 -6.47912059e-01 4.93426474e-02 9.19577820e+01] [ 6.46628168e-01 7.61714602e-01 4.07783941e-02 3.22345510e+01] [-6.40058283e-02 9.10064510e-04 9.97949110e-01 -7.70508199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.263201008 meters 0.06212262914574529 Centerline is valid? [True, True] Translation: X:91.98, Y:32.25, Z:-7.71 [[ 7.59280013e-01 -6.48802456e-01 5.04899540e-02 9.19793008e+01] [ 6.47458644e-01 7.60956234e-01 4.17482304e-02 3.22512374e+01] [-6.55069997e-02 9.91560292e-04 9.97851617e-01 -7.70805968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.293201008 meters 0.06196886642463442 Centerline is valid? [True, True] Translation: X:92.00, Y:32.27, Z:-7.71 [[ 7.58617228e-01 -6.49567671e-01 5.06136542e-02 9.19992295e+01] [ 6.48217391e-01 7.60303068e-01 4.18743204e-02 3.22710734e+01] [-6.56819213e-02 1.04206994e-03 9.97840067e-01 -7.70876054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.323201008 meters 0.06226791936814844 Centerline is valid? [True, True] Translation: X:92.02, Y:32.29, Z:-7.71 [[ 7.58333468e-01 -6.49850256e-01 5.12347170e-02 9.20198942e+01] [ 6.48465723e-01 7.60061521e-01 4.24109669e-02 3.22882130e+01] [-6.65023147e-02 1.06230216e-03 9.97785705e-01 -7.71312377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35320100799998 meters 0.06175417172077008 Centerline is valid? [True, True] Translation: X:92.04, Y:32.31, Z:-7.71 [[ 7.59777649e-01 -6.48253588e-01 5.00520805e-02 9.20373932e+01] [ 6.46927643e-01 7.61423994e-01 4.14502694e-02 3.23113632e+01] [-6.49811409e-02 8.87086288e-04 9.97886098e-01 -7.71465382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38320100799999 meters 0.06176476082566665 Centerline is valid? [True, True] Translation: X:92.06, Y:32.33, Z:-7.72 [[ 7.61150884e-01 -6.46626990e-01 5.02281471e-02 9.20568624e+01] [ 6.45286653e-01 7.62806003e-01 4.16189644e-02 3.23301990e+01] [-6.52262778e-02 7.33241386e-04 9.97870230e-01 -7.71853779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41320100799999 meters 0.0615545596268322 Centerline is valid? [True, True] Translation: X:92.07, Y:32.36, Z:-7.72 [[ 7.65017721e-01 -6.42151680e-01 4.88784879e-02 9.20728016e+01] [ 6.40872439e-01 7.66577531e-01 4.05142680e-02 3.23555698e+01] [-6.34854559e-02 3.30742778e-04 9.97982709e-01 -7.72126619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44320100799999 meters 0.06153230545585618 Centerline is valid? [True, True] Translation: X:92.09, Y:32.38, Z:-7.72 [[ 7.66816572e-01 -6.40036368e-01 4.84333764e-02 9.20910250e+01] [ 6.38774828e-01 7.68344603e-01 4.01657938e-02 3.23777040e+01] [-6.29210921e-02 1.38225330e-04 9.98018495e-01 -7.72404037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47320100799999 meters 0.061609903834553545 Centerline is valid? [True, True] Translation: X:92.11, Y:32.40, Z:-7.73 [[ 7.69145260e-01 -6.37251246e-01 4.82329646e-02 9.21088416e+01] [ 6.35993327e-01 7.70656109e-01 4.00206222e-02 3.23990798e+01] [-6.26742202e-02 -1.05828210e-04 9.98034033e-01 -7.72833723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50320100799999 meters 0.06184015758781737 Centerline is valid? [True, True] Translation: X:92.13, Y:32.42, Z:-7.73 [[ 7.71032187e-01 -6.34899995e-01 4.91056311e-02 9.21274930e+01] [ 6.33589912e-01 7.72594262e-01 4.07667747e-02 3.24209121e+01] [-6.38215539e-02 -3.19663022e-04 9.97961275e-01 -7.72968524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53320100799999 meters 0.062068209918580086 Centerline is valid? [True, True] Translation: X:92.15, Y:32.44, Z:-7.73 [[ 7.73070705e-01 -6.32441582e-01 4.87783783e-02 9.21467721e+01] [ 6.31142710e-01 7.74607874e-01 4.05156831e-02 3.24424005e+01] [-6.34079186e-02 -5.35369826e-04 9.97987550e-01 -7.73080667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.563201008 meters 0.0629560444165236 Centerline is valid? [True, True] Translation: X:92.16, Y:32.47, Z:-7.73 [[ 7.76780890e-01 -6.27902032e-01 4.84818269e-02 9.21625945e+01] [ 6.26608791e-01 7.78291846e-01 4.02892786e-02 3.24677176e+01] [-6.30307305e-02 -9.16802688e-04 9.98011166e-01 -7.73315875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.593201008 meters 0.06325578638629956 Centerline is valid? [True, True] Translation: X:92.18, Y:32.49, Z:-7.73 [[ 7.78488187e-01 -6.25748443e-01 4.89390303e-02 9.21829800e+01] [ 6.24425228e-01 7.80024128e-01 4.06877623e-02 3.24882483e+01] [-6.36339284e-02 -1.11617715e-03 9.97972684e-01 -7.73366938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.623201008 meters 0.06325578638629956 Centerline is valid? [True, True] Translation: X:92.20, Y:32.51, Z:-7.74 [[ 7.78321040e-01 -6.25957056e-01 4.89297666e-02 9.22040863e+01] [ 6.24633554e-01 7.79856733e-01 4.06988990e-02 3.25060084e+01] [-6.36339709e-02 -1.11363544e-03 9.97972684e-01 -7.73579871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.653201008 meters 0.0637185745094554 Centerline is valid? [True, True] Translation: X:92.22, Y:32.53, Z:-7.74 [[ 7.79664740e-01 -6.24225711e-01 4.96503177e-02 9.22232281e+01] [ 6.22857764e-01 7.81242977e-01 4.13233207e-02 3.25262722e+01] [-6.45840413e-02 -1.29325023e-03 9.97911434e-01 -7.73723862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.683201008 meters 0.06477574227494183 Centerline is valid? [True, True] Translation: X:92.24, Y:32.55, Z:-7.74 [[ 7.80895238e-01 -6.22660772e-01 4.99618946e-02 9.22415564e+01] [ 6.21271635e-01 7.82490567e-01 4.15940970e-02 3.25477873e+01] [-6.49937238e-02 -1.44072432e-03 9.97884633e-01 -7.74065550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.713201008 meters 0.06468692113787902 Centerline is valid? [True, True] Translation: X:92.26, Y:32.57, Z:-7.74 [[ 7.81944883e-01 -6.21299767e-01 5.04856390e-02 9.22644935e+01] [ 6.19877742e-01 7.83571379e-01 4.20413910e-02 3.25653274e+01] [-6.56794083e-02 -1.57912664e-03 9.97839527e-01 -7.74045349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74320100799999 meters 0.06493576787726855 Centerline is valid? [True, True] Translation: X:92.28, Y:32.58, Z:-7.74 [[ 7.81484797e-01 -6.21846296e-01 5.08792333e-02 9.22849980e+01] [ 6.20401726e-01 7.83137756e-01 4.23904927e-02 3.25830524e+01] [-6.62058195e-02 -1.56196141e-03 9.97804765e-01 -7.74294388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77320100799999 meters 0.06406643481405323 Centerline is valid? [True, True] Translation: X:92.31, Y:32.60, Z:-7.74 [[ 7.80398004e-01 -6.23240997e-01 5.04937162e-02 9.23106808e+01] [ 6.21820278e-01 7.82028501e-01 4.20828462e-02 3.25968417e+01] [-6.57152802e-02 -1.44335254e-03 9.97837371e-01 -7.74444263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80320100799999 meters 0.06382131022542148 Centerline is valid? [True, True] Translation: X:92.33, Y:32.61, Z:-7.75 [[ 7.79279391e-01 -6.24699394e-01 4.97423171e-02 9.23324852e+01] [ 6.23322179e-01 7.80864219e-01 4.14793103e-02 3.26135983e+01] [-6.47540956e-02 -1.31848221e-03 9.97900380e-01 -7.74797193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83320100799999 meters 0.06358216021003762 Centerline is valid? [True, True] Translation: X:92.36, Y:32.63, Z:-7.75 [[ 7.78358554e-01 -6.25814877e-01 5.01368285e-02 9.23560948e+01] [ 6.24416882e-01 7.79970628e-01 4.18255600e-02 3.26298695e+01] [-6.52803113e-02 -1.24900028e-03 9.97866184e-01 -7.75049957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86320100799999 meters 0.06338687155924899 Centerline is valid? [True, True] Translation: X:92.38, Y:32.64, Z:-7.75 [[ 7.77094610e-01 -6.27438023e-01 4.94519341e-02 9.23786243e+01] [ 6.26079987e-01 7.78665710e-01 4.12742295e-02 3.26448548e+01] [-6.44035463e-02 -1.11311498e-03 9.97923316e-01 -7.75348311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89320100799999 meters 0.06305332807583813 Centerline is valid? [True, True] Translation: X:92.40, Y:32.66, Z:-7.76 [[ 7.75612469e-01 -6.29375986e-01 4.80745949e-02 9.24032781e+01] [ 6.28095382e-01 7.77100373e-01 4.01397782e-02 3.26589462e+01] [-6.26217981e-02 -9.37481435e-04 9.98036889e-01 -7.75722815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92320100799999 meters 0.06305365321441371 Centerline is valid? [True, True] Translation: X:92.42, Y:32.68, Z:-7.76 [[ 7.74995470e-01 -6.30200542e-01 4.72154460e-02 9.24247760e+01] [ 6.28965569e-01 7.76431914e-01 3.94435783e-02 3.26758674e+01] [-6.15169435e-02 -8.71704715e-04 9.98105659e-01 -7.76104033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.953201008 meters 0.0628735104707933 Centerline is valid? [True, True] Translation: X:92.45, Y:32.69, Z:-7.76 [[ 7.74625737e-01 -6.30669372e-01 4.70224552e-02 9.24472196e+01] [ 6.29444220e-01 7.76051177e-01 3.93006911e-02 3.26925716e+01] [-6.12775738e-02 -8.45314107e-04 9.98120406e-01 -7.76294357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.983201008 meters 0.0630572152148452 Centerline is valid? [True, True] Translation: X:92.47, Y:32.71, Z:-7.77 [[ 7.74202115e-01 -6.31174411e-01 4.72223234e-02 9.24683032e+01] [ 6.29938357e-01 7.75640497e-01 3.94903248e-02 3.27095691e+01] [-6.15528289e-02 -8.26340176e-04 9.98103485e-01 -7.76622700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.013201008 meters 0.0632131918500229 Centerline is valid? [True, True] Translation: X:92.49, Y:32.72, Z:-7.77 [[ 7.74515706e-01 -6.30778636e-01 4.73680574e-02 9.24907840e+01] [ 6.29533041e-01 7.75962336e-01 3.96308394e-02 3.27249116e+01] [-6.17541153e-02 -8.74950336e-04 9.98091010e-01 -7.76848810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.043201008 meters 0.06322969286353364 Centerline is valid? [True, True] Translation: X:92.51, Y:32.74, Z:-7.77 [[ 7.74399936e-01 -6.30951429e-01 4.69577936e-02 9.25129709e+01] [ 6.29726501e-01 7.75821849e-01 3.93064032e-02 3.27418066e+01] [-6.12313134e-02 -8.68309032e-04 9.98123225e-01 -7.77096536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.073201008 meters 0.06327842516270711 Centerline is valid? [True, True] Translation: X:92.53, Y:32.76, Z:-7.77 [[ 7.74429660e-01 -6.30927351e-01 4.67908141e-02 9.25349145e+01] [ 6.29709818e-01 7.75841413e-01 3.91873422e-02 3.27585962e+01] [-6.10266173e-02 -8.83205124e-04 9.98135748e-01 -7.77350198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10320100799998 meters 0.06368483338290566 Centerline is valid? [True, True] Translation: X:92.56, Y:32.78, Z:-7.78 [[ 7.75602083e-01 -6.29496707e-01 4.66401685e-02 9.25559202e+01] [ 6.28282944e-01 7.77002492e-01 3.90854074e-02 3.27754002e+01] [-6.08436624e-02 -1.01150099e-03 9.98146796e-01 -7.77673453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13320100799999 meters 0.0637375282277288 Centerline is valid? [True, True] Translation: X:92.58, Y:32.79, Z:-7.78 [[ 7.76342961e-01 -6.28545739e-01 4.71366155e-02 9.25777234e+01] [ 6.27303832e-01 7.77771842e-01 3.95077751e-02 3.27930484e+01] [-6.14939759e-02 -1.10260352e-03 9.98106846e-01 -7.77873063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16320100799999 meters 0.0645449590860956 Centerline is valid? [True, True] Translation: X:92.60, Y:32.81, Z:-7.78 [[ 7.77216943e-01 -6.27438000e-01 4.74908371e-02 9.25968691e+01] [ 6.26173930e-01 7.78665574e-01 3.98262872e-02 3.28121244e+01] [-6.19680059e-02 -1.21614114e-03 9.98077395e-01 -7.78181494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19320100799999 meters 0.06499478323209466 Centerline is valid? [True, True] Translation: X:92.62, Y:32.83, Z:-7.79 [[ 7.77838476e-01 -6.26669697e-01 4.74594122e-02 9.26179222e+01] [ 6.25404662e-01 7.79283916e-01 3.98194232e-02 3.28304484e+01] [-6.19379825e-02 -1.29174180e-03 9.98079164e-01 -7.78508301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22320100799999 meters 0.06557673536692671 Centerline is valid? [True, True] Translation: X:92.64, Y:32.85, Z:-7.79 [[ 7.79356326e-01 -6.24836759e-01 4.67198161e-02 9.26408571e+01] [ 6.23606422e-01 7.80754109e-01 3.92179942e-02 3.28474057e+01] [-6.09815329e-02 -1.43001453e-03 9.98137870e-01 -7.78744256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25320100799999 meters 0.06634689501609167 Centerline is valid? [True, True] Translation: X:92.66, Y:32.87, Z:-7.79 [[ 7.79896196e-01 -6.24142729e-01 4.69869930e-02 9.26611474e+01] [ 6.22895762e-01 7.81308887e-01 3.94625498e-02 3.28653223e+01] [-6.13416187e-02 -1.50869365e-03 9.98115690e-01 -7.79030986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28320100799999 meters 0.06590486219956358 Centerline is valid? [True, True] Translation: X:92.68, Y:32.88, Z:-7.79 [[ 7.78750177e-01 -6.25618337e-01 4.63665632e-02 9.26841098e+01] [ 6.24405536e-01 7.80128044e-01 3.89610213e-02 3.28799339e+01] [-6.05465857e-02 -1.38936350e-03 9.98164406e-01 -7.79324711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.313201008 meters 0.06542135955875246 Centerline is valid? [True, True] Translation: X:92.71, Y:32.90, Z:-7.80 [[ 7.76895626e-01 -6.27954826e-01 4.58903283e-02 9.27081637e+01] [ 6.26770096e-01 7.78248857e-01 3.85741242e-02 3.28951474e+01] [-5.99369030e-02 -1.20538290e-03 9.98201440e-01 -7.79674313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.343201008 meters 0.06413493644182705 Centerline is valid? [True, True] Translation: X:92.73, Y:32.91, Z:-7.80 [[ 7.73334047e-01 -6.32399644e-01 4.50015794e-02 9.27347143e+01] [ 6.31266674e-01 7.74641820e-01 3.78475527e-02 3.29053611e+01] [-5.87948842e-02 -8.60803761e-04 9.98269713e-01 -7.80060548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.373201008 meters 0.06384351888715838 Centerline is valid? [True, True] Translation: X:92.76, Y:32.92, Z:-7.80 [[ 7.72119515e-01 -6.33887290e-01 4.49261417e-02 9.27584901e+01] [ 6.32760080e-01 7.73425068e-01 3.77934537e-02 3.29213387e+01] [-5.87037942e-02 -7.53594102e-04 9.98275161e-01 -7.80424016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.403201008 meters 0.06352202148531777 Centerline is valid? [True, True] Translation: X:92.78, Y:32.94, Z:-7.81 [[ 7.71311492e-01 -6.34915003e-01 4.42890776e-02 9.27824576e+01] [ 6.33820285e-01 7.72581697e-01 3.72742212e-02 3.29363285e+01] [-5.78828930e-02 -6.78719327e-04 9.98323149e-01 -7.80515401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.433201008 meters 0.0631656132611718 Centerline is valid? [True, True] Translation: X:92.81, Y:32.95, Z:-7.81 [[ 7.69523328e-01 -6.37080228e-01 4.43015908e-02 9.28077745e+01] [ 6.35987315e-01 7.70797315e-01 3.73046244e-02 3.29494998e+01] [-5.79135858e-02 -5.31528985e-04 9.98321458e-01 -7.80615078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.463201008 meters 0.06302702867665046 Centerline is valid? [True, True] Translation: X:92.83, Y:32.96, Z:-7.81 [[ 7.68677493e-01 -6.38067876e-01 4.47693899e-02 9.28303039e+01] [ 6.36952227e-01 7.69979973e-01 3.77187354e-02 3.29649586e+01] [-5.85386470e-02 -4.77580388e-04 9.98285029e-01 -7.80763052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49320100799999 meters 0.06252542755723915 Centerline is valid? [True, True] Translation: X:92.86, Y:32.98, Z:-7.81 [[ 7.66298480e-01 -6.40868812e-01 4.55390584e-02 9.28559411e+01] [ 6.39718037e-01 7.67650366e-01 3.83894259e-02 3.29795170e+01] [-5.95606606e-02 -2.85601693e-04 9.98224647e-01 -7.80845650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52320100799999 meters 0.0623201133685238 Centerline is valid? [True, True] Translation: X:92.88, Y:33.00, Z:-7.81 [[ 7.64654439e-01 -6.42886916e-01 4.47213766e-02 9.28796993e+01] [ 6.41779611e-01 7.65961092e-01 3.77165290e-02 3.29951276e+01] [-5.85022975e-02 -1.38843591e-04 9.98287264e-01 -7.80973076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55320100799999 meters 0.06233475824951211 Centerline is valid? [True, True] Translation: X:92.90, Y:33.01, Z:-7.81 [[ 7.64057839e-01 -6.43612465e-01 4.44816055e-02 9.29017276e+01] [ 6.42517068e-01 7.65351544e-01 3.75344102e-02 3.30131493e+01] [-5.82016797e-02 -9.82695789e-05 9.98304841e-01 -7.81304372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58320100799999 meters 0.062480119793179946 Centerline is valid? [True, True] Translation: X:92.92, Y:33.03, Z:-7.82 [[ 7.64176235e-01 -6.43485599e-01 4.42827978e-02 9.29219982e+01] [ 6.42398602e-01 7.65458208e-01 3.73867290e-02 3.30330033e+01] [-5.79544528e-02 -1.22842419e-04 9.98319221e-01 -7.81859745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61320100799999 meters 0.06271494043353222 Centerline is valid? [True, True] Translation: X:92.94, Y:33.05, Z:-7.82 [[ 7.64817432e-01 -6.42744336e-01 4.39774199e-02 9.29432358e+01] [ 6.41669924e-01 7.66080727e-01 3.71487290e-02 3.30519952e+01] [-5.75673890e-02 -1.93007835e-04 9.98341604e-01 -7.82098256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64320100799999 meters 0.06261180630055029 Centerline is valid? [True, True] Translation: X:92.97, Y:33.07, Z:-7.82 [[ 7.64454758e-01 -6.43174890e-01 4.39884562e-02 9.29660740e+01] [ 6.42099488e-01 7.65719289e-01 3.71781789e-02 3.30692620e+01] [-5.75948806e-02 -1.76070562e-04 9.98340022e-01 -7.82218790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67320100799999 meters 0.06253822675311259 Centerline is valid? [True, True] Translation: X:92.99, Y:33.09, Z:-7.82 [[ 7.64507262e-01 -6.43120563e-01 4.38701374e-02 9.29881163e+01] [ 6.42049707e-01 7.65764914e-01 3.70981094e-02 3.30873226e+01] [-5.74527690e-02 -1.94965115e-04 9.98348206e-01 -7.82288221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.703201008 meters 0.0626797162835789 Centerline is valid? [True, True] Translation: X:93.01, Y:33.11, Z:-7.82 [[ 7.64861225e-01 -6.42723685e-01 4.35151777e-02 9.30082085e+01] [ 6.41668368e-01 7.66098041e-01 3.68170774e-02 3.31061171e+01] [-5.70001001e-02 -2.37641864e-04 9.98374144e-01 -7.82487718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.733201008 meters 0.06280414246466762 Centerline is valid? [True, True] Translation: X:93.03, Y:33.12, Z:-7.83 [[ 7.64462092e-01 -6.43206103e-01 4.34006817e-02 9.30280147e+01] [ 6.42155924e-01 7.65693060e-01 3.67410857e-02 3.31240934e+01] [-5.68636913e-02 -2.17162361e-04 9.98381928e-01 -7.82901803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.763201008 meters 0.0624685518916301 Centerline is valid? [True, True] Translation: X:93.05, Y:33.14, Z:-7.83 [[ 7.62022064e-01 -6.46050999e-01 4.40508815e-02 9.30520091e+01] [ 6.44972567e-01 7.63294246e-01 3.73132895e-02 3.31394532e+01] [-5.77300724e-02 -2.19397981e-05 9.98332228e-01 -7.82954376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.793201008 meters 0.06230973776318271 Centerline is valid? [True, True] Translation: X:93.08, Y:33.16, Z:-7.83 [[ 7.60233698e-01 -6.48102381e-01 4.48110349e-02 9.30752597e+01] [ 6.46988732e-01 7.61553209e-01 3.79775087e-02 3.31551091e+01] [-5.87393012e-02 1.20452754e-04 9.98273349e-01 -7.83017046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.823201008 meters 0.06265608149844691 Centerline is valid? [True, True] Translation: X:93.10, Y:33.17, Z:-7.84 [[ 7.59267674e-01 -6.49375619e-01 4.27072069e-02 9.30972938e+01] [ 6.48365156e-01 7.60467795e-01 3.62126586e-02 3.31730923e+01] [-5.59930731e-02 1.94763776e-04 9.98431138e-01 -7.83590730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85320100799998 meters 0.06284243111998489 Centerline is valid? [True, True] Translation: X:93.12, Y:33.19, Z:-7.84 [[ 7.58748463e-01 -6.50021130e-01 4.21105715e-02 9.31180722e+01] [ 6.49038794e-01 7.59916100e-01 3.57234434e-02 3.31920177e+01] [-5.52214943e-02 2.26286829e-04 9.98474104e-01 -7.83858296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88320100799999 meters 0.0631435957889499 Centerline is valid? [True, True] Translation: X:93.14, Y:33.21, Z:-7.84 [[ 7.58776286e-01 -6.50049345e-01 4.11630540e-02 9.31378578e+01] [ 6.49109844e-01 7.59891969e-01 3.49371639e-02 3.32105422e+01] [-5.39903547e-02 2.09852157e-04 9.98541435e-01 -7.84481349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91320100799999 meters 0.06327039789829791 Centerline is valid? [True, True] Translation: X:93.16, Y:33.23, Z:-7.85 [[ 7.58896345e-01 -6.49976546e-01 4.00852548e-02 9.31583048e+01] [ 6.49084746e-01 7.59954245e-01 3.40372978e-02 3.32303234e+01] [-5.25864048e-02 1.87946527e-04 9.98616360e-01 -7.84650527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94320100799999 meters 0.0638034795861471 Centerline is valid? [True, True] Translation: X:93.18, Y:33.25, Z:-7.85 [[ 7.58946366e-01 -6.50085155e-01 3.72787410e-02 9.31789110e+01] [ 6.49313362e-01 7.59861344e-01 3.16685311e-02 3.32497579e+01] [-4.89139162e-02 1.70868041e-04 9.98802983e-01 -7.85272100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97320100799999 meters 0.06394947605269496 Centerline is valid? [True, True] Translation: X:93.20, Y:33.27, Z:-7.85 [[ 7.59301384e-01 -6.49751841e-01 3.58322969e-02 9.31997097e+01] [ 6.49037776e-01 7.60146386e-01 3.04538617e-02 3.32685420e+01] [-4.70252436e-02 1.32854941e-04 9.98893692e-01 -7.85494093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00320100799999 meters 0.06396686352025675 Centerline is valid? [True, True] Translation: X:93.22, Y:33.29, Z:-7.86 [[ 7.59261125e-01 -6.49771535e-01 3.63248792e-02 9.32201945e+01] [ 6.49036954e-01 7.60129553e-01 3.08884268e-02 3.32869329e+01] [-4.76820346e-02 1.23807289e-04 9.98862557e-01 -7.85756194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03320100799999 meters 0.06396811213631119 Centerline is valid? [True, True] Translation: X:93.24, Y:33.31, Z:-7.86 [[ 7.59500777e-01 -6.49445039e-01 3.71444713e-02 9.32407905e+01] [ 6.48675653e-01 7.60408530e-01 3.16032382e-02 3.33064374e+01] [-4.87695391e-02 9.20302215e-05 9.98810054e-01 -7.85675344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.063201008 meters 0.06411794478662362 Centerline is valid? [True, True] Translation: X:93.26, Y:33.32, Z:-7.86 [[ 7.59402217e-01 -6.49518874e-01 3.78616595e-02 9.32607983e+01] [ 6.48718723e-01 7.60345464e-01 3.22303290e-02 3.33245838e+01] [-4.97221481e-02 8.57840531e-05 9.98763085e-01 -7.86001108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.093201008 meters 0.06404762888490642 Centerline is valid? [True, True] Translation: X:93.28, Y:33.34, Z:-7.86 [[ 7.59586938e-01 -6.49299541e-01 3.79182007e-02 9.32817862e+01] [ 6.48495833e-01 7.60532776e-01 3.22963104e-02 3.33436128e+01] [-4.98080140e-02 5.79396119e-05 9.98758809e-01 -7.86093808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.123201008 meters 0.06395534130544282 Centerline is valid? [True, True] Translation: X:93.30, Y:33.36, Z:-7.86 [[ 7.60522048e-01 -6.48128430e-01 3.91886847e-02 9.33023675e+01] [ 6.47267359e-01 7.61531048e-01 3.33980427e-02 3.33643316e+01] [-5.14896211e-02 -3.43914081e-05 9.98673529e-01 -7.85955251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.153201008 meters 0.06408122745273326 Centerline is valid? [True, True] Translation: X:93.32, Y:33.38, Z:-7.86 [[ 7.61130645e-01 -6.47363773e-01 4.00035826e-02 9.33210244e+01] [ 6.46464588e-01 7.62181170e-01 3.41086519e-02 3.33840072e+01] [-5.25706829e-02 -1.00240634e-04 9.98617201e-01 -7.86365944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.183201008 meters 0.06412726891867755 Centerline is valid? [True, True] Translation: X:93.34, Y:33.40, Z:-7.87 [[ 7.61815069e-01 -6.46571571e-01 3.97869959e-02 9.33405272e+01] [ 6.45680021e-01 7.62853312e-01 3.39431225e-02 3.34040343e+01] [-5.22982996e-02 -1.68713872e-04 9.98631493e-01 -7.86520886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.213201008 meters 0.06421593638834203 Centerline is valid? [True, True] Translation: X:93.36, Y:33.42, Z:-7.87 [[ 7.61234761e-01 -6.47278882e-01 3.93914558e-02 9.33621736e+01] [ 6.46405051e-01 7.62253259e-01 3.36225865e-02 3.34225642e+01] [-5.17894557e-02 -1.31845577e-04 9.98658017e-01 -7.86512069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24320100799999 meters 0.06398715317633938 Centerline is valid? [True, True] Translation: X:93.38, Y:33.44, Z:-7.87 [[ 7.59291684e-01 -6.49543040e-01 3.96229374e-02 9.33846862e+01] [ 6.48660880e-01 7.60324824e-01 3.38411587e-02 3.34377363e+01] [-5.21075920e-02 6.53905413e-06 9.98641477e-01 -7.86831052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27320100799999 meters 0.06399377578371152 Centerline is valid? [True, True] Translation: X:93.41, Y:33.46, Z:-7.87 [[ 7.58181992e-01 -6.50854437e-01 3.93518543e-02 9.34061141e+01] [ 6.49985513e-01 7.59202538e-01 3.36205100e-02 3.34553004e+01] [-5.17580857e-02 8.76699347e-05 9.98659648e-01 -7.87073712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30320100799999 meters 0.06417280524847568 Centerline is valid? [True, True] Translation: X:93.43, Y:33.47, Z:-7.88 [[ 7.58098814e-01 -6.50980138e-01 3.88721988e-02 9.34265660e+01] [ 6.50131417e-01 7.59094759e-01 3.32308160e-02 3.34728945e+01] [-5.11402836e-02 7.97954496e-05 9.98691476e-01 -7.87588828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33320100799999 meters 0.06429155831447898 Centerline is valid? [True, True] Translation: X:93.45, Y:33.49, Z:-7.88 [[ 7.57685354e-01 -6.51508877e-01 3.80668906e-02 9.34476764e+01] [ 6.50695105e-01 7.58641004e-01 3.25531605e-02 3.34912997e+01] [-5.00877771e-02 1.04886451e-04 9.98744814e-01 -7.87758937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36320100799999 meters 0.0644748093310129 Centerline is valid? [True, True] Translation: X:93.47, Y:33.51, Z:-7.88 [[ 7.57485959e-01 -6.51741232e-01 3.80576973e-02 9.34689118e+01] [ 6.50927400e-01 7.58441398e-01 3.25601928e-02 3.35099104e+01] [-5.00853533e-02 1.08909113e-04 9.98744935e-01 -7.88061100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39320100799999 meters 0.06460580663023172 Centerline is valid? [True, True] Translation: X:93.49, Y:33.53, Z:-7.88 [[ 7.57089571e-01 -6.52200005e-01 3.80858857e-02 9.34892085e+01] [ 6.51384549e-01 7.58046923e-01 3.26041625e-02 3.35271857e+01] [-5.01353234e-02 1.24286055e-04 9.98742426e-01 -7.88367514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42320100799999 meters 0.06461997039775759 Centerline is valid? [True, True] Translation: X:93.51, Y:33.55, Z:-7.89 [[ 7.56946333e-01 -6.52344527e-01 3.84560404e-02 9.35109543e+01] [ 6.51512781e-01 7.57922557e-01 3.29316629e-02 3.35454078e+01] [-5.06294905e-02 1.27100382e-04 9.98717497e-01 -7.88734884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.453201008 meters 0.06491884388697303 Centerline is valid? [True, True] Translation: X:93.53, Y:33.56, Z:-7.89 [[ 7.57477877e-01 -6.51738614e-01 3.82628352e-02 9.35313420e+01] [ 6.50913603e-01 7.58443652e-01 3.27827402e-02 3.35626792e+01] [-5.03859822e-02 7.35994896e-05 9.98729817e-01 -7.88944139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.483201008 meters 0.06494322094414559 Centerline is valid? [True, True] Translation: X:93.55, Y:33.58, Z:-7.89 [[ 7.58222225e-01 -6.50854220e-01 3.85725572e-02 9.35526138e+01] [ 6.50013677e-01 7.59202729e-01 3.30671475e-02 3.35815663e+01] [-5.08062832e-02 4.43575271e-07 9.98708527e-01 -7.89040294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.513201008 meters 0.06475730931928572 Centerline is valid? [True, True] Translation: X:93.57, Y:33.60, Z:-7.89 [[ 7.58806028e-01 -6.50122585e-01 3.94212683e-02 9.35731148e+01] [ 6.49242698e-01 7.59829337e-01 3.38126850e-02 3.36005877e+01] [-5.19358263e-02 -6.32986580e-05 9.98650422e-01 -7.89034300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.543201008 meters 0.06475730931928572 Centerline is valid? [True, True] Translation: X:93.59, Y:33.62, Z:-7.89 [[ 7.58640393e-01 -6.50316385e-01 3.94126131e-02 9.35939315e+01] [ 6.49436236e-01 7.59663475e-01 3.38227694e-02 3.36186990e+01] [-5.19358238e-02 -6.33398968e-05 9.98650422e-01 -7.89247074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.573201008 meters 0.06476473835171055 Centerline is valid? [True, True] Translation: X:93.61, Y:33.64, Z:-7.89 [[ 7.59461969e-01 -6.49321833e-01 3.99834323e-02 9.36141076e+01] [ 6.48413663e-01 7.60513731e-01 3.43305409e-02 3.36380766e+01] [-5.26995190e-02 -1.46936378e-04 9.98610404e-01 -7.89335714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60320100799998 meters 0.064789139254772 Centerline is valid? [True, True] Translation: X:93.64, Y:33.66, Z:-7.90 [[ 7.59014404e-01 -6.49855159e-01 3.98171666e-02 9.36365460e+01] [ 6.48954340e-01 7.60058062e-01 3.42053658e-02 3.36558218e+01] [-5.24918919e-02 -1.22842275e-04 9.98621343e-01 -7.89552026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63320100799999 meters 0.06489731816147577 Centerline is valid? [True, True] Translation: X:93.66, Y:33.67, Z:-7.90 [[ 7.57912483e-01 -6.51145152e-01 3.97323474e-02 9.36581912e+01] [ 6.50248982e-01 7.58953220e-01 3.41507199e-02 3.36719171e+01] [-5.23920686e-02 -4.73384376e-05 9.98626591e-01 -7.89878370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66320100799999 meters 0.06499120268547408 Centerline is valid? [True, True] Translation: X:93.68, Y:33.69, Z:-7.90 [[ 7.56702672e-01 -6.52566951e-01 3.94644218e-02 9.36803830e+01] [ 6.51683718e-01 7.57731069e-01 3.39405040e-02 3.36891480e+01] [-5.20518698e-02 3.54510703e-05 9.98644382e-01 -7.90121890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69320100799999 meters 0.06513334448008058 Centerline is valid? [True, True] Translation: X:93.70, Y:33.71, Z:-7.90 [[ 7.55772939e-01 -6.53660842e-01 3.91761259e-02 9.37017913e+01] [ 6.52791012e-01 7.56787615e-01 3.37105463e-02 3.37066506e+01] [-5.16832710e-02 9.63042645e-05 9.98663522e-01 -7.90443505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72320100799999 meters 0.06534413218669455 Centerline is valid? [True, True] Translation: X:93.72, Y:33.72, Z:-7.91 [[ 7.54479123e-01 -6.55164722e-01 3.89928080e-02 9.37242285e+01] [ 6.54304081e-01 7.55486037e-01 3.35710784e-02 3.37238280e+01] [-5.14531083e-02 1.84475631e-04 9.98675395e-01 -7.90783762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75320100799999 meters 0.06572465033781216 Centerline is valid? [True, True] Translation: X:93.75, Y:33.74, Z:-7.91 [[ 7.51912653e-01 -6.58128993e-01 3.86470018e-02 9.37491642e+01] [ 6.57286356e-01 7.52905103e-01 3.32949217e-02 3.37368677e+01] [-5.10098781e-02 3.67274096e-04 9.98698081e-01 -7.91143840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78320100799999 meters 0.06563930188659621 Centerline is valid? [True, True] Translation: X:93.77, Y:33.75, Z:-7.91 [[ 7.50767982e-01 -6.59436094e-01 3.86196265e-02 9.37723489e+01] [ 6.58595973e-01 7.51760491e-01 3.32792516e-02 3.37530846e+01] [-5.09782491e-02 4.49733953e-04 9.98699662e-01 -7.91110839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.813201008 meters 0.06569431928099632 Centerline is valid? [True, True] Translation: X:93.80, Y:33.77, Z:-7.91 [[ 7.49545079e-01 -6.60789849e-01 3.92294467e-02 9.37951550e+01] [ 6.59923851e-01 7.50570775e-01 3.38234048e-02 3.37694960e+01] [-5.17946387e-02 5.36280883e-04 9.98657613e-01 -7.91224178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.843201008 meters 0.06603211554699356 Centerline is valid? [True, True] Translation: X:93.82, Y:33.79, Z:-7.91 [[ 7.47824843e-01 -6.62713752e-01 3.96041253e-02 9.38176391e+01] [ 6.61832836e-01 7.48872516e-01 3.41650826e-02 3.37857760e+01] [-5.23001110e-02 6.61812996e-04 9.98631193e-01 -7.91488301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.873201008 meters 0.06661750616977785 Centerline is valid? [True, True] Translation: X:93.84, Y:33.80, Z:-7.92 [[ 7.44647553e-01 -6.66284473e-01 3.95603597e-02 9.38409462e+01] [ 6.65409540e-01 7.45697121e-01 3.41459873e-02 3.38020933e+01] [-5.22509875e-02 8.97114898e-04 9.98633581e-01 -7.91834023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.903201008 meters 0.06739732416361416 Centerline is valid? [True, True] Translation: X:93.86, Y:33.82, Z:-7.92 [[ 7.43189561e-01 -6.67906888e-01 3.96190037e-02 9.38637659e+01] [ 6.67030732e-01 7.44244174e-01 3.42142129e-02 3.38177209e+01] [-5.23381212e-02 9.99447242e-04 9.98628921e-01 -7.92354911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.933201008 meters 0.06714046735462033 Centerline is valid? [True, True] Translation: X:93.88, Y:33.84, Z:-7.92 [[ 7.41783033e-01 -6.69473155e-01 3.95427306e-02 9.38847797e+01] [ 6.68601744e-01 7.42835443e-01 3.41644987e-02 3.38370462e+01] [-5.22459565e-02 1.09569317e-03 9.98633646e-01 -7.92253638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.963201008 meters 0.06736551444278775 Centerline is valid? [True, True] Translation: X:93.91, Y:33.85, Z:-7.92 [[ 7.40579070e-01 -6.70756299e-01 4.03562596e-02 9.39060425e+01] [ 6.69849417e-01 7.41676856e-01 3.48883989e-02 3.38530645e+01] [-5.33329171e-02 1.19499894e-03 9.98576072e-01 -7.92443061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99320100799999 meters 0.0685186728325321 Centerline is valid? [True, True] Translation: X:93.93, Y:33.86, Z:-7.92 [[ 7.38057781e-01 -6.73373154e-01 4.28871405e-02 9.39328532e+01] [ 6.72352613e-01 7.39301330e-01 3.70878342e-02 3.38641421e+01] [-5.66804719e-02 1.46231632e-03 9.98391299e-01 -7.92445148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02320100799999 meters 0.06779701215438629 Centerline is valid? [True, True] Translation: X:93.95, Y:33.88, Z:-7.92 [[ 7.37118812e-01 -6.74307954e-01 4.43242664e-02 9.39533266e+01] [ 6.73218131e-01 7.38448592e-01 3.83539467e-02 3.38837439e+01] [-5.85935634e-02 1.56848414e-03 9.98280689e-01 -7.92122322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05320100799999 meters 0.06819218198821667 Centerline is valid? [True, True] Translation: X:93.97, Y:33.90, Z:-7.92 [[ 7.36123555e-01 -6.75310337e-01 4.55857599e-02 9.39737940e+01] [ 6.74158179e-01 7.37531781e-01 3.94667226e-02 3.39008794e+01] [-6.02732324e-02 1.67962873e-03 9.98180503e-01 -7.92321267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08320100799999 meters 0.06834199439705806 Centerline is valid? [True, True] Translation: X:93.99, Y:33.92, Z:-7.93 [[ 7.36818329e-01 -6.74544294e-01 4.57027957e-02 9.39912134e+01] [ 6.73383360e-01 7.38232634e-01 3.95907691e-02 3.39235263e+01] [-6.04450227e-02 1.60429774e-03 9.98170239e-01 -7.92731759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11320100799999 meters 0.06801097189168305 Centerline is valid? [True, True] Translation: X:94.01, Y:33.95, Z:-7.93 [[ 7.37945154e-01 -6.73364802e-01 4.49087236e-02 9.40088951e+01] [ 6.72240592e-01 7.39308928e-01 3.89216642e-02 3.39453328e+01] [-5.94098990e-02 1.46741344e-03 9.98232593e-01 -7.93084118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14320100799999 meters 0.06794524871556308 Centerline is valid? [True, True] Translation: X:94.03, Y:33.97, Z:-7.93 [[ 7.39046623e-01 -6.72220944e-01 4.39214204e-02 9.40278496e+01] [ 6.71142492e-01 7.40349399e-01 3.80857213e-02 3.39662618e+01] [-5.81192167e-02 1.33040786e-03 9.98308763e-01 -7.93396576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17320100799999 meters 0.06771579708340067 Centerline is valid? [True, True] Translation: X:94.05, Y:33.99, Z:-7.94 [[ 7.40443573e-01 -6.70713125e-01 4.34421410e-02 9.40471271e+01] [ 6.69654339e-01 7.41715918e-01 3.76903638e-02 3.39864398e+01] [-5.75011492e-02 1.18363060e-03 9.98344738e-01 -7.93826309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.203201008 meters 0.06785601975553543 Centerline is valid? [True, True] Translation: X:94.07, Y:34.01, Z:-7.94 [[ 7.42717261e-01 -6.68242842e-01 4.26916221e-02 9.40655193e+01] [ 6.67215200e-01 7.43942592e-01 3.70580164e-02 3.40074568e+01] [-5.65238702e-02 9.60870780e-04 9.98400786e-01 -7.94276373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.233201008 meters 0.06751158130249005 Centerline is valid? [True, True] Translation: X:94.08, Y:34.03, Z:-7.94 [[ 7.42928590e-01 -6.67958513e-01 4.34572699e-02 9.40848587e+01] [ 6.66892023e-01 7.44197916e-01 3.77424409e-02 3.40288193e+01] [-5.75511944e-02 9.41368249e-04 9.98342113e-01 -7.94294097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.263201008 meters 0.06752342745181038 Centerline is valid? [True, True] Translation: X:94.10, Y:34.05, Z:-7.95 [[ 7.43301945e-01 -6.67535593e-01 4.35712023e-02 9.41046797e+01] [ 6.66461657e-01 7.44577348e-01 3.78606910e-02 3.40488679e+01] [-5.77154891e-02 8.96610420e-04 9.98332669e-01 -7.94530636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.293201008 meters 0.06768524315015877 Centerline is valid? [True, True] Translation: X:94.12, Y:34.07, Z:-7.95 [[ 7.44521974e-01 -6.66181887e-01 4.34594433e-02 9.41208493e+01] [ 6.65109925e-01 7.45788907e-01 3.77848387e-02 3.40711469e+01] [-5.75831459e-02 7.73664355e-04 9.98340414e-01 -7.94937244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.323201008 meters 0.06782878943244962 Centerline is valid? [True, True] Translation: X:94.14, Y:34.09, Z:-7.95 [[ 7.44919284e-01 -6.65692144e-01 4.41500857e-02 9.41402985e+01] [ 6.64584177e-01 7.46226122e-01 3.83985263e-02 3.40917063e+01] [-5.85075445e-02 7.37645654e-04 9.98286694e-01 -7.95205056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35320100799998 meters 0.06776672116278792 Centerline is valid? [True, True] Translation: X:94.16, Y:34.11, Z:-7.95 [[ 7.45435232e-01 -6.65107242e-01 4.42568817e-02 9.41594472e+01] [ 6.63991719e-01 7.46747545e-01 3.85110463e-02 3.41116001e+01] [-5.86626935e-02 6.78712272e-04 9.98277631e-01 -7.95460303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38320100799999 meters 0.06735745323864628 Centerline is valid? [True, True] Translation: X:94.18, Y:34.13, Z:-7.95 [[ 7.46854655e-01 -6.63358050e-01 4.65212076e-02 9.41780540e+01] [ 6.62120509e-01 7.48301940e-01 4.05047903e-02 3.41343893e+01] [-6.16810886e-02 5.51454475e-04 9.98095757e-01 -7.95317204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41320100799999 meters 0.06716440485738769 Centerline is valid? [True, True] Translation: X:94.20, Y:34.15, Z:-7.96 [[ 7.47239728e-01 -6.62858590e-01 4.74476426e-02 9.41975477e+01] [ 6.61568937e-01 7.48744439e-01 4.13316667e-02 3.41543244e+01] [-6.29232088e-02 5.05223056e-04 9.98018244e-01 -7.95528503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44320100799999 meters 0.06723829814766537 Centerline is valid? [True, True] Translation: X:94.22, Y:34.17, Z:-7.96 [[ 7.48036609e-01 -6.61962780e-01 4.73973481e-02 9.42162053e+01] [ 6.60672717e-01 7.49536595e-01 4.13092582e-02 3.41738887e+01] [-6.28712383e-02 4.13297338e-04 9.98021561e-01 -7.95833298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47320100799999 meters 0.06736501856504151 Centerline is valid? [True, True] Translation: X:94.24, Y:34.19, Z:-7.96 [[ 7.48493346e-01 -6.61452264e-01 4.73139814e-02 9.42358899e+01] [ 6.60164280e-01 7.49987185e-01 4.12594967e-02 3.41941314e+01] [-6.27760672e-02 3.52541696e-04 9.98027575e-01 -7.96074999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50320100799999 meters 0.06735257146596163 Centerline is valid? [True, True] Translation: X:94.26, Y:34.21, Z:-7.96 [[ 7.49287465e-01 -6.60547475e-01 4.73849007e-02 9.42557913e+01] [ 6.59252452e-01 7.50784234e-01 4.13429396e-02 3.42141061e+01] [-6.28848107e-02 2.60865585e-04 9.98020758e-01 -7.96318074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53320100799999 meters 0.06752022109391521 Centerline is valid? [True, True] Translation: X:94.28, Y:34.23, Z:-7.97 [[ 7.49772541e-01 -6.59988280e-01 4.75037555e-02 9.42755699e+01] [ 6.58684260e-01 7.51275869e-01 4.14682440e-02 3.42344646e+01] [-6.30569803e-02 1.98225338e-04 9.98009909e-01 -7.96703231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.563201008 meters 0.06773721581249226 Centerline is valid? [True, True] Translation: X:94.30, Y:34.25, Z:-7.97 [[ 7.49701647e-01 -6.60117471e-01 4.68226902e-02 9.42962035e+01] [ 6.58849565e-01 7.51162358e-01 4.08945346e-02 3.42533493e+01] [-6.21666392e-02 1.90409132e-04 9.98065766e-01 -7.97053958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.593201008 meters 0.06778924407608879 Centerline is valid? [True, True] Translation: X:94.32, Y:34.27, Z:-7.97 [[ 7.49377774e-01 -6.60457934e-01 4.72045533e-02 9.43177363e+01] [ 6.59168570e-01 7.50863021e-01 4.12494891e-02 3.42719496e+01] [-6.26877059e-02 2.04307591e-04 9.98033171e-01 -7.97234336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.623201008 meters 0.0681249992746389 Centerline is valid? [True, True] Translation: X:94.34, Y:34.29, Z:-7.98 [[ 7.48947450e-01 -6.61013317e-01 4.62505241e-02 9.43395656e+01] [ 6.59775363e-01 7.50374134e-01 4.04367297e-02 3.42897650e+01] [-6.14344138e-02 2.29970694e-04 9.98111096e-01 -7.97603765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.653201008 meters 0.06818222689339495 Centerline is valid? [True, True] Translation: X:94.36, Y:34.31, Z:-7.98 [[ 7.48264980e-01 -6.61809158e-01 4.59146949e-02 9.43602896e+01] [ 6.60589441e-01 7.49672303e-01 4.01625358e-02 3.43081380e+01] [-6.10009090e-02 2.78543646e-04 9.98137672e-01 -7.97895693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.683201008 meters 0.0682316161004901 Centerline is valid? [True, True] Translation: X:94.38, Y:34.33, Z:-7.98 [[ 7.47683791e-01 -6.62458241e-01 4.60220322e-02 9.43812020e+01] [ 6.61232750e-01 7.49098778e-01 4.02774302e-02 3.43263712e+01] [-6.11571636e-02 3.16493163e-04 9.98128099e-01 -7.98096405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.713201008 meters 0.06832430913948402 Centerline is valid? [True, True] Translation: X:94.40, Y:34.34, Z:-7.98 [[ 7.47210343e-01 -6.62963091e-01 4.64396683e-02 9.44021487e+01] [ 6.61714877e-01 7.48652002e-01 4.06645010e-02 3.43431915e+01] [-6.17262139e-02 3.44883657e-04 9.98093060e-01 -7.98335200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74320100799999 meters 0.06812765349519773 Centerline is valid? [True, True] Translation: X:94.43, Y:34.36, Z:-7.98 [[ 7.46231255e-01 -6.63980005e-01 4.76389212e-02 9.44258644e+01] [ 6.62666945e-01 7.47750209e-01 4.17390121e-02 3.43582751e+01] [-6.33358828e-02 4.21782957e-04 9.97992178e-01 -7.98280656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77320100799999 meters 0.06808311620621187 Centerline is valid? [True, True] Translation: X:94.45, Y:34.38, Z:-7.98 [[ 7.45818601e-01 -6.64380867e-01 4.85044035e-02 9.44473591e+01] [ 6.63018877e-01 7.47394049e-01 4.25218014e-02 3.43758240e+01] [-6.45025739e-02 4.45784707e-04 9.97917441e-01 -7.98396794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80320100799999 meters 0.06803939152076217 Centerline is valid? [True, True] Translation: X:94.47, Y:34.39, Z:-7.99 [[ 7.45489916e-01 -6.64732309e-01 4.87415963e-02 9.44681014e+01] [ 6.63356902e-01 7.47081480e-01 4.27420529e-02 3.43943187e+01] [-6.48259674e-02 4.69304905e-04 9.97896474e-01 -7.98652901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83320100799999 meters 0.06806067958110058 Centerline is valid? [True, True] Translation: X:94.49, Y:34.41, Z:-7.99 [[ 7.45919419e-01 -6.64290647e-01 4.81887594e-02 9.44882652e+01] [ 6.62943955e-01 7.47474260e-01 4.22793569e-02 3.44133340e+01] [-6.41056385e-02 4.09453370e-04 9.97943034e-01 -7.98942567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86320100799999 meters 0.06830271399731708 Centerline is valid? [True, True] Translation: X:94.51, Y:34.43, Z:-7.99 [[ 7.47658161e-01 -6.62266860e-01 4.90905416e-02 9.45067430e+01] [ 6.60863359e-01 7.49268014e-01 4.30936618e-02 3.44344375e+01] [-6.53214767e-02 2.22812319e-04 9.97864247e-01 -7.99360435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89320100799999 meters 0.0683185270995781 Centerline is valid? [True, True] Translation: X:94.53, Y:34.45, Z:-8.00 [[ 7.49234385e-01 -6.60503760e-01 4.88120735e-02 9.45261163e+01] [ 6.59111031e-01 7.50822735e-01 4.28703710e-02 3.44549825e+01] [-6.49652558e-02 5.26200576e-05 9.97887525e-01 -7.99604058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92320100799999 meters 0.06838283170508447 Centerline is valid? [True, True] Translation: X:94.55, Y:34.47, Z:-8.00 [[ 7.50500830e-01 -6.59042206e-01 4.91108438e-02 9.45461583e+01] [ 6.57627743e-01 7.52105952e-01 4.31554005e-02 3.44747204e+01] [-6.53777883e-02 -9.15105172e-05 9.97860580e-01 -7.99734612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.953201008 meters 0.0686061281417661 Centerline is valid? [True, True] Translation: X:94.57, Y:34.50, Z:-8.00 [[ 7.53855087e-01 -6.55279478e-01 4.80761322e-02 9.45650773e+01] [ 6.53914979e-01 7.55386407e-01 4.22679075e-02 3.44953318e+01] [-6.40133492e-02 -4.26174061e-04 9.97948951e-01 -7.99977735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.983201008 meters 0.06885057437040538 Centerline is valid? [True, True] Translation: X:94.58, Y:34.52, Z:-8.00 [[ 7.55993670e-01 -6.52857756e-01 4.74375505e-02 9.45847087e+01] [ 6.51523288e-01 7.57480259e-01 4.17260418e-02 3.45161045e+01] [-6.31741781e-02 -6.37954575e-04 9.98002313e-01 -8.00243579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.013201008 meters 0.06946772740912549 Centerline is valid? [True, True] Translation: X:94.60, Y:34.54, Z:-8.01 [[ 7.57603090e-01 -6.50953393e-01 4.79295200e-02 9.46016157e+01] [ 6.49585899e-01 7.59117254e-01 4.21800290e-02 3.45376064e+01] [-6.38413586e-02 -8.21379997e-04 9.97959722e-01 -8.00667690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.043201008 meters 0.06985985803351026 Centerline is valid? [True, True] Translation: X:94.62, Y:34.56, Z:-8.01 [[ 7.59592139e-01 -6.48665566e-01 4.74633051e-02 9.46212371e+01] [ 6.47318900e-01 7.61072891e-01 4.17887072e-02 3.45588460e+01] [-6.32299302e-02 -1.01847904e-03 9.97998466e-01 -8.01040686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.073201008 meters 0.07158067061350494 Centerline is valid? [True, True] Translation: X:94.64, Y:34.58, Z:-8.02 [[ 7.63531517e-01 -6.44141389e-01 4.58420501e-02 9.46366160e+01] [ 6.42875795e-01 7.64905233e-01 4.03818926e-02 3.45818530e+01] [-6.10764724e-02 -1.36210331e-03 9.98132160e-01 -8.01641359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10320100799998 meters 0.071700550295796 Centerline is valid? [True, True] Translation: X:94.66, Y:34.60, Z:-8.02 [[ 7.64662931e-01 -6.42851983e-01 4.50769340e-02 9.46587785e+01] [ 6.41625226e-01 7.65989048e-01 3.97221346e-02 3.46002782e+01] [-6.00638907e-02 -1.45154591e-03 9.98193479e-01 -8.01836490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13320100799999 meters 0.07215381634413108 Centerline is valid? [True, True] Translation: X:94.68, Y:34.62, Z:-8.02 [[ 7.65480931e-01 -6.41921411e-01 4.44504977e-02 9.46792927e+01] [ 6.40725823e-01 7.66768933e-01 3.91895867e-02 3.46181465e+01] [-5.92398955e-02 -1.51829964e-03 9.98242621e-01 -8.02055114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16320100799999 meters 0.07219813873316559 Centerline is valid? [True, True] Translation: X:94.70, Y:34.64, Z:-8.02 [[ 7.66011386e-01 -6.41329789e-01 4.38481346e-02 9.47016379e+01] [ 6.40164312e-01 7.67263759e-01 3.86778769e-02 3.46354786e+01] [-5.84483592e-02 -1.55768319e-03 9.98289218e-01 -8.02209291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19320100799999 meters 0.0721921936659953 Centerline is valid? [True, True] Translation: X:94.72, Y:34.65, Z:-8.02 [[ 7.66002760e-01 -6.41305796e-01 4.43469042e-02 9.47242273e+01] [ 6.40112406e-01 7.67283741e-01 3.91378047e-02 3.46519578e+01] [-5.91259596e-02 -1.59266289e-03 9.98249260e-01 -8.02460517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22320100799999 meters 0.0718775457608297 Centerline is valid? [True, True] Translation: X:94.75, Y:34.67, Z:-8.03 [[ 7.65782789e-01 -6.41603552e-01 4.38360797e-02 9.47463751e+01] [ 6.40436815e-01 7.67034827e-01 3.87073797e-02 3.46686831e+01] [-5.84585922e-02 -1.56720593e-03 9.98288604e-01 -8.02658985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25320100799999 meters 0.07192933756330892 Centerline is valid? [True, True] Translation: X:94.77, Y:34.69, Z:-8.03 [[ 7.65421914e-01 -6.42014335e-01 4.41235540e-02 9.47675726e+01] [ 6.40831629e-01 7.66691041e-01 3.89829595e-02 3.46867650e+01] [-5.88567523e-02 -1.56264243e-03 9.98265216e-01 -8.02967426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28320100799999 meters 0.07213189943424769 Centerline is valid? [True, True] Translation: X:94.79, Y:34.70, Z:-8.03 [[ 7.65084632e-01 -6.42408431e-01 4.42370063e-02 9.47877102e+01] [ 6.41219037e-01 7.66360879e-01 3.91043326e-02 3.47049062e+01] [-5.90224640e-02 -1.55251334e-03 9.98255447e-01 -8.03302655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.313201008 meters 0.07149912491836531 Centerline is valid? [True, True] Translation: X:94.81, Y:34.72, Z:-8.03 [[ 7.63900120e-01 -6.43747942e-01 4.52238130e-02 9.48122379e+01] [ 6.42505709e-01 7.65236131e-01 4.00009678e-02 3.47202730e+01] [-6.03574364e-02 -1.50018604e-03 9.98175701e-01 -8.03388112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.343201008 meters 0.07089995919068481 Centerline is valid? [True, True] Translation: X:94.84, Y:34.74, Z:-8.03 [[ 7.62836976e-01 -6.44946973e-01 4.60776462e-02 9.48366849e+01] [ 6.43658219e-01 7.64225951e-01 4.07773501e-02 3.47359932e+01] [-6.15129615e-02 -1.44821476e-03 9.98105234e-01 -8.03344188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.373201008 meters 0.07055419514881793 Centerline is valid? [True, True] Translation: X:94.86, Y:34.75, Z:-8.03 [[ 7.61830092e-01 -6.46107350e-01 4.64779862e-02 9.48596809e+01] [ 6.44796893e-01 7.63245295e-01 4.11532061e-02 3.47521565e+01] [-6.20634932e-02 -1.38288970e-03 9.98071245e-01 -8.03419010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.403201008 meters 0.0699696762362109 Centerline is valid? [True, True] Translation: X:94.88, Y:34.77, Z:-8.03 [[ 7.60600674e-01 -6.47535344e-01 4.67396385e-02 9.48835477e+01] [ 6.46211413e-01 7.62034326e-01 4.14064610e-02 3.47681444e+01] [-6.24293559e-02 -1.29009434e-03 9.98048552e-01 -8.03463209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.433201008 meters 0.0699696762362109 Centerline is valid? [True, True] Translation: X:94.90, Y:34.79, Z:-8.04 [[ 7.60429369e-01 -6.47737259e-01 4.67292005e-02 9.49040766e+01] [ 6.46412986e-01 7.61862705e-01 4.14182367e-02 3.47865886e+01] [-6.24293702e-02 -1.28928161e-03 9.98048552e-01 -8.03676044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.463201008 meters 0.06926866413126574 Centerline is valid? [True, True] Translation: X:94.93, Y:34.80, Z:-8.04 [[ 7.58544630e-01 -6.49819054e-01 4.84276870e-02 9.49267669e+01] [ 6.48399208e-01 7.60088026e-01 4.29494933e-02 3.48020219e+01] [-6.47187041e-02 -1.17863363e-03 9.97902851e-01 -8.03754890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49320100799999 meters 0.0686197850669157 Centerline is valid? [True, True] Translation: X:94.95, Y:34.82, Z:-8.04 [[ 7.57767469e-01 -6.50749460e-01 4.80999372e-02 9.49512639e+01] [ 6.49349945e-01 7.59291730e-01 4.26698810e-02 3.48176135e+01] [-6.42892865e-02 -1.10015615e-03 9.97930698e-01 -8.03762588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52320100799999 meters 0.06856756165831668 Centerline is valid? [True, True] Translation: X:94.97, Y:34.84, Z:-8.04 [[ 7.56881485e-01 -6.51770954e-01 4.82186816e-02 9.49716123e+01] [ 6.50364981e-01 7.58415159e-01 4.27999820e-02 3.48355715e+01] [-6.44655641e-02 -1.03477197e-03 9.97919396e-01 -8.04151349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55320100799999 meters 0.06820562020502308 Centerline is valid? [True, True] Translation: X:94.99, Y:34.85, Z:-8.05 [[ 7.55916537e-01 -6.52931096e-01 4.76568277e-02 9.49923602e+01] [ 6.51559052e-01 7.57416733e-01 4.23165995e-02 3.48538149e+01] [-6.37259024e-02 -9.36579927e-04 9.97967000e-01 -8.04552850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58320100799999 meters 0.06832251181256806 Centerline is valid? [True, True] Translation: X:95.01, Y:34.87, Z:-8.05 [[ 7.55315114e-01 -6.53658024e-01 4.72257027e-02 9.50117386e+01] [ 6.52310743e-01 7.56789539e-01 4.19557889e-02 3.48720895e+01] [-6.31646558e-02 -8.84008279e-04 9.98002728e-01 -8.04916413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61320100799999 meters 0.06813585484033417 Centerline is valid? [True, True] Translation: X:95.03, Y:34.89, Z:-8.05 [[ 7.54926691e-01 -6.54181962e-01 4.61698118e-02 9.50339204e+01] [ 6.52893883e-01 7.56336735e-01 4.10404806e-02 3.48899053e+01] [-6.17678669e-02 -8.38566546e-04 9.98090190e-01 -8.05196732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64320100799999 meters 0.06778212498148152 Centerline is valid? [True, True] Translation: X:95.06, Y:34.91, Z:-8.06 [[ 7.54033887e-01 -6.55344270e-01 4.42355587e-02 9.50555994e+01] [ 6.54162718e-01 7.55329966e-01 3.93418416e-02 3.49061961e+01] [-5.91948935e-02 -7.27828453e-04 9.98246179e-01 -8.05576718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67320100799999 meters 0.06748142866095969 Centerline is valid? [True, True] Translation: X:95.08, Y:34.92, Z:-8.06 [[ 7.52985456e-01 -6.56642282e-01 4.28230888e-02 9.50787952e+01] [ 6.55536145e-01 7.54201917e-01 3.81029029e-02 3.49231566e+01] [-5.73172327e-02 -6.18849119e-04 9.98355824e-01 -8.05828469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.703201008 meters 0.06704593368969304 Centerline is valid? [True, True] Translation: X:95.10, Y:34.94, Z:-8.06 [[ 7.50811728e-01 -6.59124609e-01 4.28543908e-02 9.51032754e+01] [ 6.58019775e-01 7.52033611e-01 3.81500181e-02 3.49389723e+01] [-5.73735580e-02 -4.44444406e-04 9.98352682e-01 -8.05975284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.733201008 meters 0.06656490375522926 Centerline is valid? [True, True] Translation: X:95.13, Y:34.95, Z:-8.06 [[ 7.48848655e-01 -6.61382311e-01 4.24161560e-02 9.51270880e+01] [ 6.60302531e-01 7.50048904e-01 3.77784129e-02 3.49540681e+01] [-5.68001654e-02 -2.82818544e-04 9.98385527e-01 -8.06112197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.763201008 meters 0.06642063186589373 Centerline is valid? [True, True] Translation: X:95.15, Y:34.97, Z:-8.06 [[ 7.47396874e-01 -6.63056879e-01 4.18746613e-02 9.51492500e+01] [ 6.62005935e-01 7.48568999e-01 3.73175077e-02 3.49704327e+01] [-5.60897035e-02 -1.69714303e-04 9.98425719e-01 -8.06386735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.793201008 meters 0.06640132790136498 Centerline is valid? [True, True] Translation: X:95.17, Y:34.99, Z:-8.07 [[ 7.45890029e-01 -6.64834847e-01 4.05301322e-02 9.51715056e+01] [ 6.63852345e-01 7.46990378e-01 3.61308679e-02 3.49887296e+01] [-5.42966787e-02 -4.36308030e-05 9.98524846e-01 -8.06700999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.823201008 meters 0.06633455102671768 Centerline is valid? [True, True] Translation: X:95.19, Y:35.01, Z:-8.07 [[ 7.45830012e-01 -6.64940914e-01 3.98895196e-02 9.51926374e+01] [ 6.63988462e-01 7.46895962e-01 3.55772971e-02 3.50078627e+01] [-5.34501216e-02 -4.84351699e-05 9.98570519e-01 -8.07044405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85320100799998 meters 0.06620440247022552 Centerline is valid? [True, True] Translation: X:95.21, Y:35.03, Z:-8.07 [[ 7.46780379e-01 -6.63924313e-01 3.90329606e-02 9.52122105e+01] [ 6.63010048e-01 7.47799766e-01 3.48308273e-02 3.50273888e+01] [-5.23138719e-02 -1.31733334e-04 9.98630683e-01 -8.07229605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88320100799999 meters 0.06586165339582847 Centerline is valid? [True, True] Translation: X:95.23, Y:35.05, Z:-8.07 [[ 7.49057724e-01 -6.61354427e-01 3.90236741e-02 9.52305880e+01] [ 6.60436268e-01 7.50073474e-01 3.48384694e-02 3.50486802e+01] [-5.23111988e-02 -3.23374895e-04 9.98630780e-01 -8.07206153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91320100799999 meters 0.06573898519923593 Centerline is valid? [True, True] Translation: X:95.25, Y:35.07, Z:-8.07 [[ 7.49927559e-01 -6.60377549e-01 3.88606266e-02 9.52498848e+01] [ 6.59464744e-01 7.50933638e-01 3.47119950e-02 3.50685794e+01] [-5.21047739e-02 -4.04268545e-04 9.98641542e-01 -8.07347084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94320100799999 meters 0.06565166866627718 Centerline is valid? [True, True] Translation: X:95.27, Y:35.09, Z:-8.07 [[ 7.50901934e-01 -6.59326418e-01 3.78808639e-02 9.52704249e+01] [ 6.58457028e-01 7.51856667e-01 3.38510586e-02 3.50889686e+01] [-5.07998773e-02 -4.75904324e-04 9.98708739e-01 -8.07312839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97320100799999 meters 0.06473234316599208 Centerline is valid? [True, True] Translation: X:95.29, Y:35.11, Z:-8.07 [[ 7.47241291e-01 -6.63401453e-01 3.91019837e-02 9.52944385e+01] [ 6.62479619e-01 7.48263633e-01 3.49612721e-02 3.51053208e+01] [-5.24519511e-02 -2.20238780e-04 9.98623425e-01 -8.07158668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00320100799999 meters 0.06470986820584529 Centerline is valid? [True, True] Translation: X:95.31, Y:35.12, Z:-8.08 [[ 7.45932886e-01 -6.64903867e-01 3.85613469e-02 9.53141288e+01] [ 6.64008542e-01 7.46928934e-01 3.44938265e-02 3.51230686e+01] [-5.17376644e-02 -1.25015794e-04 9.98660702e-01 -8.07879203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03320100799999 meters 0.06463910891466881 Centerline is valid? [True, True] Translation: X:95.33, Y:35.14, Z:-8.08 [[ 7.45503266e-01 -6.65473308e-01 3.70156142e-02 9.53344824e+01] [ 6.64648123e-01 7.46421641e-01 3.31301369e-02 3.51427162e+01] [-4.96764773e-02 -9.62667743e-05 9.98765357e-01 -8.07922746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.063201008 meters 0.06475364009143869 Centerline is valid? [True, True] Translation: X:95.35, Y:35.16, Z:-8.08 [[ 7.45627586e-01 -6.65399662e-01 3.58160977e-02 9.53541634e+01] [ 6.64626289e-01 7.46487293e-01 3.20720802e-02 3.51635784e+01] [-4.80770131e-02 -1.09507672e-04 9.98843626e-01 -8.08388915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.093201008 meters 0.064751495861733 Centerline is valid? [True, True] Translation: X:95.37, Y:35.18, Z:-8.09 [[ 7.46454821e-01 -6.64510249e-01 3.50903024e-02 9.53723333e+01] [ 6.63766196e-01 7.47279130e-01 3.14378642e-02 3.51845452e+01] [-4.71130336e-02 -1.75188736e-04 9.98889549e-01 -8.08814397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.123201008 meters 0.06458570551941999 Centerline is valid? [True, True] Translation: X:95.39, Y:35.21, Z:-8.09 [[ 7.49329004e-01 -6.61219056e-01 3.59917123e-02 9.53890074e+01] [ 6.60431703e-01 7.50192773e-01 3.22609604e-02 3.52086767e+01] [-4.83322843e-02 -4.04005484e-04 9.98831231e-01 -8.08852086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.153201008 meters 0.06451190560731132 Centerline is valid? [True, True] Translation: X:95.41, Y:35.23, Z:-8.09 [[ 7.50512239e-01 -6.59878091e-01 3.59483602e-02 9.54084657e+01] [ 6.59090239e-01 7.51372512e-01 3.22397911e-02 3.52293332e+01] [-4.82849415e-02 -5.03144493e-04 9.98833475e-01 -8.08860460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.183201008 meters 0.0643356680373245 Centerline is valid? [True, True] Translation: X:95.43, Y:35.25, Z:-8.09 [[ 7.50786652e-01 -6.59553767e-01 3.61694834e-02 9.54295289e+01] [ 6.58755032e-01 7.51657194e-01 3.24541302e-02 3.52487785e+01] [-4.85922962e-02 -5.39298589e-04 9.98818551e-01 -8.08937075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.213201008 meters 0.06343174319731101 Centerline is valid? [True, True] Translation: X:95.45, Y:35.27, Z:-8.09 [[ 7.49868418e-01 -6.60550815e-01 3.70131963e-02 9.54504254e+01] [ 6.59714641e-01 7.50781174e-01 3.32298129e-02 3.52679590e+01] [-4.97387910e-02 -4.99839668e-04 9.98762135e-01 -8.08872263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24320100799999 meters 0.06326965060122398 Centerline is valid? [True, True] Translation: X:95.47, Y:35.29, Z:-8.09 [[ 7.49415083e-01 -6.61090032e-01 3.65650452e-02 9.54706702e+01] [ 6.60273869e-01 7.50306436e-01 3.28430983e-02 3.52869214e+01] [-4.91472336e-02 -4.70169384e-04 9.98791434e-01 -8.08951409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27320100799999 meters 0.06297527323815942 Centerline is valid? [True, True] Translation: X:95.49, Y:35.31, Z:-8.09 [[ 7.48518063e-01 -6.62121815e-01 3.62685975e-02 9.54918256e+01] [ 6.61319195e-01 7.49396112e-01 3.25943241e-02 3.53059115e+01] [-4.87609589e-02 -4.12320651e-04 9.98810392e-01 -8.09241189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30320100799999 meters 0.0627951483988969 Centerline is valid? [True, True] Translation: X:95.51, Y:35.32, Z:-8.10 [[ 7.46775238e-01 -6.64117945e-01 3.56945317e-02 9.55127852e+01] [ 6.63342036e-01 7.47627762e-01 3.20947364e-02 3.53223006e+01] [-4.80009132e-02 -2.89871058e-04 9.98847250e-01 -8.09544904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33320100799999 meters 0.0625608597065725 Centerline is valid? [True, True] Translation: X:95.54, Y:35.34, Z:-8.10 [[ 7.45498665e-01 -6.65604237e-01 3.46805597e-02 9.55352041e+01] [ 6.64872559e-01 7.46304870e-01 3.12012992e-02 3.53398786e+01] [-4.66499875e-02 -2.02374417e-04 9.98911276e-01 -8.09872398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36320100799999 meters 0.06275552799542469 Centerline is valid? [True, True] Translation: X:95.56, Y:35.36, Z:-8.10 [[ 7.44732509e-01 -6.66512662e-01 3.36802832e-02 9.55566643e+01] [ 6.65822861e-01 7.45493694e-01 3.03161670e-02 3.53571420e+01] [-4.53145479e-02 -1.52332573e-04 9.98972757e-01 -8.10466977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39320100799999 meters 0.06269029007196011 Centerline is valid? [True, True] Translation: X:95.58, Y:35.38, Z:-8.11 [[ 7.43887144e-01 -6.67511000e-01 3.25727212e-02 9.55788157e+01] [ 6.66866215e-01 7.44599930e-01 2.93325131e-02 3.53755151e+01] [-4.38334211e-02 -9.84320611e-05 9.99038849e-01 -8.10617715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42320100799999 meters 0.0625687320742855 Centerline is valid? [True, True] Translation: X:95.60, Y:35.39, Z:-8.11 [[ 7.44241774e-01 -6.67187782e-01 3.10587507e-02 9.56003996e+01] [ 6.66600759e-01 7.44889555e-01 2.79817679e-02 3.53942201e+01] [-4.18044326e-02 -1.21413748e-04 9.99125805e-01 -8.10920774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.453201008 meters 0.06236322172556536 Centerline is valid? [True, True] Translation: X:95.62, Y:35.41, Z:-8.11 [[ 7.44586760e-01 -6.66817056e-01 3.07501313e-02 9.56212963e+01] [ 6.66240664e-01 7.45221437e-01 2.77198160e-02 3.54122089e+01] [-4.13997031e-02 -1.52820096e-04 9.99142653e-01 -8.11073471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.483201008 meters 0.062112325112848914 Centerline is valid? [True, True] Translation: X:95.64, Y:35.43, Z:-8.11 [[ 7.44908145e-01 -6.66433150e-01 3.12843694e-02 9.56429645e+01] [ 6.65835878e-01 7.45564768e-01 2.82092171e-02 3.54309307e+01] [-4.21240811e-02 -1.83020003e-04 9.99112370e-01 -8.11020088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.513201008 meters 0.06176900833161347 Centerline is valid? [True, True] Translation: X:95.66, Y:35.45, Z:-8.11 [[ 7.45345375e-01 -6.65872391e-01 3.27754576e-02 9.56620976e+01] [ 6.65215472e-01 7.46065615e-01 2.95715055e-02 3.54511059e+01] [-4.41434910e-02 -2.38243400e-04 9.99025173e-01 -8.11246467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.543201008 meters 0.06189785643646539 Centerline is valid? [True, True] Translation: X:95.68, Y:35.47, Z:-8.12 [[ 7.45904579e-01 -6.65201269e-01 3.36694358e-02 9.56814650e+01] [ 6.64506452e-01 7.46664036e-01 3.03972552e-02 3.54702458e+01] [-4.53600495e-02 -2.99894578e-04 9.98970658e-01 -8.11534280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.573201008 meters 0.061725794755499615 Centerline is valid? [True, True] Translation: X:95.70, Y:35.49, Z:-8.12 [[ 7.45809903e-01 -6.65299884e-01 3.38179251e-02 9.57018410e+01] [ 6.64598668e-01 7.46576167e-01 3.05391109e-02 3.54879496e+01] [-4.55653239e-02 -3.01023355e-04 9.98961316e-01 -8.11816115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60320100799998 meters 0.06144655923754066 Centerline is valid? [True, True] Translation: X:95.72, Y:35.51, Z:-8.12 [[ 7.45009904e-01 -6.66188624e-01 3.39552771e-02 9.57245441e+01] [ 6.65481817e-01 7.45783246e-01 3.06806519e-02 3.55050850e+01] [-4.57623780e-02 -2.60770042e-04 9.98952320e-01 -8.11726282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63320100799999 meters 0.06069502287227002 Centerline is valid? [True, True] Translation: X:95.75, Y:35.52, Z:-8.12 [[ 7.43373593e-01 -6.68002730e-01 3.41768077e-02 9.57487261e+01] [ 6.67287836e-01 7.44158805e-01 3.08968713e-02 3.55200476e+01] [-4.60721667e-02 -1.62150217e-04 9.98938101e-01 -8.11627877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66320100799999 meters 0.060596830614587975 Centerline is valid? [True, True] Translation: X:95.77, Y:35.54, Z:-8.12 [[ 7.42116085e-01 -6.69441077e-01 3.33520814e-02 9.57709567e+01] [ 6.68760980e-01 7.42865155e-01 3.01680923e-02 3.55371527e+01] [-4.49718593e-02 -8.36558955e-05 9.98988251e-01 -8.11896586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69320100799999 meters 0.060607387360921715 Centerline is valid? [True, True] Translation: X:95.79, Y:35.56, Z:-8.12 [[ 7.41695012e-01 -6.69946376e-01 3.25632086e-02 9.57921169e+01] [ 6.69297993e-01 7.42409489e-01 2.94677376e-02 3.55558074e+01] [-4.39170390e-02 -6.15838203e-05 9.99035180e-01 -8.12190828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72320100799999 meters 0.06100994646887659 Centerline is valid? [True, True] Translation: X:95.81, Y:35.58, Z:-8.13 [[ 7.42265467e-01 -6.69366484e-01 3.14719992e-02 9.58104188e+01] [ 6.68759476e-01 7.42932365e-01 2.85002430e-02 3.55751899e+01] [-4.24586743e-02 -1.07548497e-04 9.99098218e-01 -8.12743829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75320100799999 meters 0.061387105377425685 Centerline is valid? [True, True] Translation: X:95.83, Y:35.59, Z:-8.13 [[ 7.41922183e-01 -6.69739313e-01 3.16342727e-02 9.58297675e+01] [ 6.69126400e-01 7.42596287e-01 2.86463956e-02 3.55944170e+01] [-4.26771108e-02 -8.60693380e-05 9.99088913e-01 -8.13311195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78320100799999 meters 0.06089806978431829 Centerline is valid? [True, True] Translation: X:95.85, Y:35.61, Z:-8.13 [[ 7.41943854e-01 -6.69725110e-01 3.14260319e-02 9.58509044e+01] [ 6.69119549e-01 7.42609095e-01 2.84738559e-02 3.56135132e+01] [-4.24069134e-02 -9.82300465e-05 9.99100417e-01 -8.13036468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.813201008 meters 0.06094438031605482 Centerline is valid? [True, True] Translation: X:95.87, Y:35.63, Z:-8.13 [[ 7.41964072e-01 -6.69721954e-01 3.10132231e-02 9.58719715e+01] [ 6.69131564e-01 7.42611939e-01 2.81150850e-02 3.56330298e+01] [-4.18600794e-02 -1.08456438e-04 9.99123477e-01 -8.13272474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.843201008 meters 0.06103000814884239 Centerline is valid? [True, True] Translation: X:95.89, Y:35.65, Z:-8.14 [[ 7.42349720e-01 -6.69333843e-01 3.01512930e-02 9.58913215e+01] [ 6.68774959e-01 7.42961768e-01 2.73471435e-02 3.56533269e+01] [-4.07056266e-02 -1.36714587e-04 9.99171173e-01 -8.13524788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.873201008 meters 0.061073906299166335 Centerline is valid? [True, True] Translation: X:95.91, Y:35.67, Z:-8.14 [[ 7.42620139e-01 -6.69011176e-01 3.06492288e-02 9.59100158e+01] [ 6.68432703e-01 7.43252324e-01 2.78155317e-02 3.56731623e+01] [-4.13890121e-02 -1.69427175e-04 9.99143093e-01 -8.13793167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.903201008 meters 0.06111728744598628 Centerline is valid? [True, True] Translation: X:95.93, Y:35.69, Z:-8.14 [[ 7.42642595e-01 -6.68960255e-01 3.12114311e-02 9.59297932e+01] [ 6.68359964e-01 7.43298153e-01 2.83339701e-02 3.56935394e+01] [-4.21536990e-02 -1.81542068e-04 9.99111121e-01 -8.13998171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.933201008 meters 0.061076329733632306 Centerline is valid? [True, True] Translation: X:95.95, Y:35.71, Z:-8.14 [[ 7.43003039e-01 -6.68507290e-01 3.23185242e-02 9.59483631e+01] [ 6.67862309e-01 7.43705553e-01 2.93596173e-02 3.57131486e+01] [-4.36625841e-02 -2.29960705e-04 9.99046308e-01 -8.14214769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.963201008 meters 0.06094861364898797 Centerline is valid? [True, True] Translation: X:95.97, Y:35.73, Z:-8.14 [[ 7.43958331e-01 -6.67402324e-01 3.31683570e-02 9.59672364e+01] [ 6.66721593e-01 7.44697283e-01 3.01375916e-02 3.57349598e+01] [-4.48142840e-02 -3.07052537e-04 9.98995288e-01 -8.14063272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99320100799999 meters 0.06592320497277776 Centerline is valid? [True, True] Translation: X:95.98, Y:35.76, Z:-8.16 [[ 7.45483668e-01 -6.65413099e-01 3.84643811e-02 9.59768275e+01] [ 6.64493453e-01 7.46475146e-01 3.49758253e-02 3.57613273e+01] [-5.19860768e-02 -5.14577136e-04 9.98647677e-01 -8.16327995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02320100799999 meters 0.06179821198479547 Centerline is valid? [True, True] Translation: X:96.00, Y:35.78, Z:-8.14 [[ 7.46616971e-01 -6.64340622e-01 3.48516483e-02 9.60013821e+01] [ 6.63584260e-01 7.47429761e-01 3.16967138e-02 3.57775894e+01] [-4.71065738e-02 -5.38299180e-04 9.98889724e-01 -8.14493164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05320100799999 meters 0.061182206044648746 Centerline is valid? [True, True] Translation: X:96.02, Y:35.80, Z:-8.14 [[ 7.47007450e-01 -6.63882129e-01 3.52191353e-02 9.60222628e+01] [ 6.63108346e-01 7.47836997e-01 3.20491471e-02 3.57968536e+01] [-4.76150284e-02 -5.86849142e-04 9.98865589e-01 -8.14217230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08320100799999 meters 0.06139007222482464 Centerline is valid? [True, True] Translation: X:96.04, Y:35.82, Z:-8.14 [[ 7.47472588e-01 -6.63357250e-01 3.52404408e-02 9.60412164e+01] [ 6.62580979e-01 7.48302582e-01 3.20888074e-02 3.58162805e+01] [-4.76568559e-02 -6.35858131e-04 9.98863564e-01 -8.14418641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11320100799999 meters 0.061268087069479 Centerline is valid? [True, True] Translation: X:96.06, Y:35.84, Z:-8.15 [[ 7.47225968e-01 -6.63610520e-01 3.56991702e-02 9.60616226e+01] [ 6.62813681e-01 7.48077987e-01 3.25169181e-02 3.58350641e+01] [-4.82843323e-02 -6.35587173e-04 9.98833429e-01 -8.14626000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14320100799999 meters 0.06129215824709205 Centerline is valid? [True, True] Translation: X:96.08, Y:35.85, Z:-8.15 [[ 7.47110701e-01 -6.63773034e-01 3.50850359e-02 9.60829674e+01] [ 6.63002770e-01 7.47933798e-01 3.19743749e-02 3.58539623e+01] [-4.74650120e-02 -6.26921638e-04 9.98872704e-01 -8.14730708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17320100799999 meters 0.06069338689869663 Centerline is valid? [True, True] Translation: X:96.11, Y:35.87, Z:-8.15 [[ 7.44747206e-01 -6.66397391e-01 3.55825357e-02 9.61063979e+01] [ 6.65607271e-01 7.45596598e-01 3.24449284e-02 3.58705019e+01] [-4.81514332e-02 -4.79275266e-04 9.98839932e-01 -8.15000950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.203201008 meters 0.060492087664945814 Centerline is valid? [True, True] Translation: X:96.13, Y:35.89, Z:-8.15 [[ 7.43137531e-01 -6.68244677e-01 3.45783460e-02 9.61292402e+01] [ 6.67499774e-01 7.43941477e-01 3.15456889e-02 3.58860649e+01] [-4.68045045e-02 -3.61747145e-04 9.98904003e-01 -8.15205007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.233201008 meters 0.06002460988265352 Centerline is valid? [True, True] Translation: X:96.15, Y:35.90, Z:-8.15 [[ 7.40782856e-01 -6.70819531e-01 3.52408313e-02 9.61527187e+01] [ 6.70047967e-01 7.41620597e-01 3.21653730e-02 3.59018815e+01] [-4.77124868e-02 -2.14509510e-04 9.98861088e-01 -8.15323107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.263201008 meters 0.05975208030961605 Centerline is valid? [True, True] Translation: X:96.18, Y:35.92, Z:-8.16 [[ 7.38390799e-01 -6.73455726e-01 3.51626552e-02 9.61760409e+01] [ 6.72689801e-01 7.39227558e-01 3.21099634e-02 3.59175389e+01] [-4.76178424e-02 -5.61419865e-05 9.98865626e-01 -8.15548336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.293201008 meters 0.05952281845957944 Centerline is valid? [True, True] Translation: X:96.20, Y:35.93, Z:-8.16 [[ 7.32910399e-01 -6.79397601e-01 3.55140412e-02 9.62026194e+01] [ 6.78622397e-01 7.33770262e-01 3.24475711e-02 3.59283989e+01] [-4.81039493e-02 3.19461475e-04 9.98842284e-01 -8.15715318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.323201008 meters 0.059255859300582185 Centerline is valid? [True, True] Translation: X:96.22, Y:35.95, Z:-8.16 [[ 7.31146455e-01 -6.81292785e-01 3.55668695e-02 9.62244266e+01] [ 6.80516650e-01 7.32010898e-01 3.25136051e-02 3.59457612e+01] [-4.81866206e-02 4.31639814e-04 9.98838257e-01 -8.15639958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35320100799998 meters 0.059255859300582185 Centerline is valid? [True, True] Translation: X:96.24, Y:35.96, Z:-8.16 [[ 7.30966336e-01 -6.81486527e-01 3.55574072e-02 9.62446829e+01] [ 6.80710118e-01 7.31830532e-01 3.25239481e-02 3.59645218e+01] [-4.81866287e-02 4.30375721e-04 9.98838257e-01 -8.15852669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38320100799999 meters 0.05956725304216957 Centerline is valid? [True, True] Translation: X:96.27, Y:35.98, Z:-8.16 [[ 7.29203696e-01 -6.83318185e-01 3.65818132e-02 9.62663259e+01] [ 6.82497755e-01 7.30120505e-01 3.34792870e-02 3.59813777e+01] [-4.95861376e-02 5.53785551e-04 9.98769697e-01 -8.16195717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41320100799999 meters 0.059179525084136576 Centerline is valid? [True, True] Translation: X:96.29, Y:36.00, Z:-8.16 [[ 7.28175072e-01 -6.84380761e-01 3.72026689e-02 9.62866371e+01] [ 6.83532641e-01 7.29124535e-01 3.40667270e-02 3.60007345e+01] [-5.04399912e-02 6.22697156e-04 9.98726899e-01 -8.15958114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44320100799999 meters 0.059013829126992344 Centerline is valid? [True, True] Translation: X:96.31, Y:36.02, Z:-8.16 [[ 7.28004077e-01 -6.84571342e-01 3.70424296e-02 9.63073860e+01] [ 6.83729857e-01 7.28945604e-01 3.39380251e-02 3.60192069e+01] [-5.02349156e-02 6.19994402e-04 9.98737237e-01 -8.16046030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47320100799999 meters 0.059042426735936765 Centerline is valid? [True, True] Translation: X:96.33, Y:36.04, Z:-8.16 [[ 7.27362197e-01 -6.85231720e-01 3.74395999e-02 9.63284968e+01] [ 6.84372030e-01 7.28324828e-01 3.43201058e-02 3.60367687e+01] [-5.07854153e-02 6.59467464e-04 9.98709370e-01 -8.16271116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50320100799999 meters 0.05907593417071576 Centerline is valid? [True, True] Translation: X:96.35, Y:36.06, Z:-8.17 [[ 7.27680858e-01 -6.84903201e-01 3.72582153e-02 9.63473633e+01] [ 6.84050397e-01 7.28633805e-01 3.41735646e-02 3.60581996e+01] [-5.05531790e-02 6.19048202e-04 9.98721179e-01 -8.16506994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53320100799999 meters 0.05921113084711621 Centerline is valid? [True, True] Translation: X:96.37, Y:36.08, Z:-8.17 [[ 7.27965334e-01 -6.84623166e-01 3.68455204e-02 9.63655997e+01] [ 6.83787946e-01 7.28896963e-01 3.38121535e-02 3.60778826e+01] [-5.00051715e-02 5.80447052e-04 9.98748790e-01 -8.16889682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.563201008 meters 0.05936346540101717 Centerline is valid? [True, True] Translation: X:96.38, Y:36.10, Z:-8.17 [[ 7.28740136e-01 -6.83802357e-01 3.67716044e-02 9.63834537e+01] [ 6.82968335e-01 7.29667102e-01 3.37664667e-02 3.60975012e+01] [-4.99206195e-02 5.06861892e-04 9.98753060e-01 -8.17300151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.593201008 meters 0.059137680660789525 Centerline is valid? [True, True] Translation: X:96.40, Y:36.12, Z:-8.17 [[ 7.29587096e-01 -6.82902028e-01 3.67081792e-02 9.64022558e+01] [ 6.82069230e-01 7.30509842e-01 3.37184828e-02 3.61192221e+01] [-4.98421065e-02 4.36949593e-04 9.98757014e-01 -8.17461928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.623201008 meters 0.05903218209101854 Centerline is valid? [True, True] Translation: X:96.42, Y:36.14, Z:-8.18 [[ 7.32811861e-01 -6.79497374e-01 3.56383968e-02 9.64188231e+01] [ 6.78707592e-01 7.33677916e-01 3.27524184e-02 3.61426109e+01] [-4.84022870e-02 1.86689779e-04 9.98827905e-01 -8.17621927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.653201008 meters 0.0590817968898534 Centerline is valid? [True, True] Translation: X:96.44, Y:36.16, Z:-8.18 [[ 7.34450674e-01 -6.77722035e-01 3.57078579e-02 9.64374733e+01] [ 6.76926246e-01 7.35318190e-01 3.28331745e-02 3.61623616e+01] [-4.85084033e-02 5.72390003e-05 9.98822773e-01 -8.17838389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.683201008 meters 0.05891064698866691 Centerline is valid? [True, True] Translation: X:96.46, Y:36.18, Z:-8.18 [[ 7.35809893e-01 -6.76266230e-01 3.53240343e-02 9.64570230e+01] [ 6.75484942e-01 7.36657304e-01 3.24978365e-02 3.61822135e+01] [-4.79988973e-02 -5.13763240e-05 9.98847387e-01 -8.17787738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.713201008 meters 0.05925756257086974 Centerline is valid? [True, True] Translation: X:96.47, Y:36.21, Z:-8.18 [[ 7.37929620e-01 -6.73911061e-01 3.61075885e-02 9.64735483e+01] [ 6.73090898e-01 7.38812447e-01 3.32387026e-02 3.62053917e+01] [-4.90766651e-02 -2.24134026e-04 9.98794989e-01 -8.18044015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74320100799999 meters 0.05966094750691159 Centerline is valid? [True, True] Translation: X:96.49, Y:36.23, Z:-8.18 [[ 7.38789143e-01 -6.72971608e-01 3.60529744e-02 9.64911448e+01] [ 6.72151958e-01 7.39668253e-01 3.32057366e-02 3.62277796e+01] [-4.90137586e-02 -2.98960318e-04 9.98798059e-01 -8.18481295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77320100799999 meters 0.06025798449571339 Centerline is valid? [True, True] Translation: X:96.51, Y:36.25, Z:-8.19 [[ 7.40019464e-01 -6.71634015e-01 3.57622966e-02 9.65080843e+01] [ 6.70824870e-01 7.40882979e-01 3.29606760e-02 3.62487979e+01] [-4.86331880e-02 -4.01303822e-04 9.98816626e-01 -8.18971589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80320100799999 meters 0.06032704130645433 Centerline is valid? [True, True] Translation: X:96.53, Y:36.27, Z:-8.19 [[ 7.40424131e-01 -6.71163057e-01 3.62250883e-02 9.65283892e+01] [ 6.70332156e-01 7.41309624e-01 3.33892609e-02 3.62686149e+01] [-4.92636450e-02 -4.39372962e-04 9.98785713e-01 -8.19119694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83320100799999 meters 0.06080156903613972 Centerline is valid? [True, True] Translation: X:96.55, Y:36.29, Z:-8.19 [[ 7.41225696e-01 -6.70269866e-01 3.63699554e-02 9.65487868e+01] [ 6.69430373e-01 7.42117270e-01 3.35400228e-02 3.62868331e+01] [-4.94716387e-02 -5.13573906e-04 9.98775397e-01 -8.19397747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86320100799999 meters 0.06053276839209334 Centerline is valid? [True, True] Translation: X:96.57, Y:36.31, Z:-8.19 [[ 7.41706175e-01 -6.69675211e-01 3.75108198e-02 9.65710070e+01] [ 6.68780342e-01 7.42653868e-01 3.46133821e-02 3.63053153e+01] [-5.10372794e-02 -5.86460357e-04 9.98696577e-01 -8.19189642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89320100799999 meters 0.06023269497916747 Centerline is valid? [True, True] Translation: X:96.59, Y:36.32, Z:-8.19 [[ 7.41653545e-01 -6.69698450e-01 3.81314076e-02 9.65934799e+01] [ 6.68772865e-01 7.42632895e-01 3.52028077e-02 3.63224011e+01] [-5.18929034e-02 -6.07036385e-04 9.98652471e-01 -8.19051743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92320100799999 meters 0.060263014340707556 Centerline is valid? [True, True] Translation: X:96.61, Y:36.34, Z:-8.19 [[ 7.41351812e-01 -6.70008500e-01 3.85499758e-02 9.66138593e+01] [ 6.69061860e-01 7.42353179e-01 3.56087869e-02 3.63395659e+01] [-5.24758870e-02 -6.06320228e-04 9.98622007e-01 -8.19291108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.953201008 meters 0.06048137351423682 Centerline is valid? [True, True] Translation: X:96.63, Y:36.36, Z:-8.20 [[ 7.40064594e-01 -6.71463430e-01 3.79639064e-02 9.66345830e+01] [ 6.70546124e-01 7.41037516e-01 3.50898332e-02 3.63558897e+01] [-5.16942186e-02 -5.12192932e-04 9.98662829e-01 -8.20022248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.983201008 meters 0.060425257805478666 Centerline is valid? [True, True] Translation: X:96.66, Y:36.37, Z:-8.20 [[ 7.39016350e-01 -6.72610194e-01 3.80836087e-02 9.66564669e+01] [ 6.71688014e-01 7.39996845e-01 3.52119488e-02 3.63742573e+01] [-5.18656660e-02 -4.41902411e-04 9.98653973e-01 -8.20224596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.013201008 meters 0.060563630894235 Centerline is valid? [True, True] Translation: X:96.68, Y:36.39, Z:-8.21 [[ 7.38582186e-01 -6.73145205e-01 3.70390018e-02 9.66778346e+01] [ 6.72272722e-01 7.39510222e-01 3.42639686e-02 3.63927493e+01] [-5.04553466e-02 -4.06446355e-04 9.98726235e-01 -8.20628265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.043201008 meters 0.06081364895062581 Centerline is valid? [True, True] Translation: X:96.70, Y:36.41, Z:-8.21 [[ 7.37130422e-01 -6.74844401e-01 3.49824984e-02 9.67012078e+01] [ 6.74067439e-01 7.37959994e-01 3.23749068e-02 3.64066409e+01] [-4.76637089e-02 -2.83965567e-04 9.98863399e-01 -8.21120539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.073201008 meters 0.06087632569115452 Centerline is valid? [True, True] Translation: X:96.72, Y:36.42, Z:-8.21 [[ 7.36191755e-01 -6.75897664e-01 3.44099866e-02 9.67240712e+01] [ 6.75146251e-01 7.36995452e-01 3.18628867e-02 3.64239900e+01] [-4.68960544e-02 -2.25421047e-04 9.98899749e-01 -8.21295743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10320100799998 meters 0.06075043638550872 Centerline is valid? [True, True] Translation: X:96.75, Y:36.44, Z:-8.21 [[ 7.36043610e-01 -6.76091521e-01 3.37647661e-02 9.67462335e+01] [ 6.75367493e-01 7.36817621e-01 3.12816624e-02 3.64423144e+01] [-4.60277413e-02 -2.21042300e-04 9.98940137e-01 -8.21379684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13320100799999 meters 0.06077733343366311 Centerline is valid? [True, True] Translation: X:96.77, Y:36.46, Z:-8.22 [[ 7.35369859e-01 -6.76798513e-01 3.42774442e-02 9.67673908e+01] [ 6.76052336e-01 7.36168280e-01 3.17726812e-02 3.64599412e+01] [-4.67376705e-02 -1.91325886e-04 9.98907180e-01 -8.21543846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16320100799999 meters 0.06088303445632446 Centerline is valid? [True, True] Translation: X:96.79, Y:36.48, Z:-8.22 [[ 7.35195183e-01 -6.76985612e-01 3.43296350e-02 9.67862533e+01] [ 6.76236550e-01 7.35996226e-01 3.18384063e-02 3.64787167e+01] [-4.68206247e-02 -1.92489035e-04 9.98903295e-01 -8.21905173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19320100799999 meters 0.061309672748924286 Centerline is valid? [True, True] Translation: X:96.80, Y:36.50, Z:-8.22 [[ 7.34884859e-01 -6.77335786e-01 3.40657836e-02 9.68049156e+01] [ 6.76597744e-01 7.35673977e-01 3.16115949e-02 3.64975816e+01] [-4.64729749e-02 -1.82050128e-04 9.98919531e-01 -8.22439064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22320100799999 meters 0.06110179201882028 Centerline is valid? [True, True] Translation: X:96.82, Y:36.52, Z:-8.22 [[ 7.34933862e-01 -6.77281473e-01 3.40884729e-02 9.68249336e+01] [ 6.76541543e-01 7.35723974e-01 3.16508177e-02 3.65174561e+01] [-4.65162192e-02 -1.98989678e-04 9.98917515e-01 -8.22444597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25320100799999 meters 0.06134076612246239 Centerline is valid? [True, True] Translation: X:96.84, Y:36.54, Z:-8.23 [[ 7.35327727e-01 -6.76850618e-01 3.41522396e-02 9.68436909e+01] [ 6.76106680e-01 7.36120360e-01 3.17265419e-02 3.65372546e+01] [-4.66142884e-02 -2.38848569e-04 9.98912935e-01 -8.22766683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28320100799999 meters 0.06125034421497892 Centerline is valid? [True, True] Translation: X:96.86, Y:36.56, Z:-8.23 [[ 7.35007176e-01 -6.77179369e-01 3.45333731e-02 9.68637695e+01] [ 6.76418190e-01 7.35817944e-01 3.20996174e-02 3.65560289e+01] [-4.71474743e-02 -2.34447458e-04 9.98887912e-01 -8.22910809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.313201008 meters 0.06126822077884511 Centerline is valid? [True, True] Translation: X:96.88, Y:36.57, Z:-8.23 [[ 7.34725009e-01 -6.77437730e-01 3.54581922e-02 9.68834133e+01] [ 6.76634571e-01 7.35580088e-01 3.29786655e-02 3.65741818e+01] [-4.84233324e-02 -2.38011683e-04 9.98826874e-01 -8.23129750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.343201008 meters 0.06075310457142332 Centerline is valid? [True, True] Translation: X:96.91, Y:36.59, Z:-8.23 [[ 7.33254968e-01 -6.78983667e-01 3.63088424e-02 9.69065009e+01] [ 6.78142476e-01 7.34153361e-01 3.37879368e-02 3.65909386e+01] [-4.95977159e-02 -1.52604187e-04 9.98769264e-01 -8.22956146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.373201008 meters 0.06067759740238754 Centerline is valid? [True, True] Translation: X:96.93, Y:36.61, Z:-8.23 [[ 7.31280799e-01 -6.81074694e-01 3.69547537e-02 9.69297510e+01] [ 6.80205014e-01 7.32213944e-01 3.44075275e-02 3.66079138e+01] [-5.04928822e-02 -2.47554170e-05 9.98724421e-01 -8.23150084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.403201008 meters 0.060665081890975 Centerline is valid? [True, True] Translation: X:96.95, Y:36.63, Z:-8.24 [[ 7.30754647e-01 -6.81647381e-01 3.68034478e-02 9.69495574e+01] [ 6.80784732e-01 7.31680837e-01 3.42826748e-02 3.66262383e+01] [-5.02970729e-02 3.00143463e-06 9.98734301e-01 -8.23597918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.433201008 meters 0.06075297721400467 Centerline is valid? [True, True] Translation: X:96.97, Y:36.65, Z:-8.24 [[ 7.30266820e-01 -6.82176980e-01 3.66733999e-02 9.69702528e+01] [ 6.81320097e-01 7.31187094e-01 3.41812538e-02 3.66454378e+01] [-5.01327812e-02 2.48888820e-05 9.98742561e-01 -8.23895910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.463201008 meters 0.06078031966210642 Centerline is valid? [True, True] Translation: X:96.99, Y:36.66, Z:-8.24 [[ 7.29587551e-01 -6.82908997e-01 3.65692147e-02 9.69909283e+01] [ 6.82057017e-01 7.30503455e-01 3.41017232e-02 3.66637946e+01] [-5.00023113e-02 6.20967703e-05 9.98749100e-01 -8.24083645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49320100799999 meters 0.060906781732798204 Centerline is valid? [True, True] Translation: X:97.01, Y:36.68, Z:-8.24 [[ 7.29455711e-01 -6.83028860e-01 3.69586720e-02 9.70109848e+01] [ 6.82157566e-01 7.30391384e-01 3.44888532e-02 3.66820704e+01] [-5.05511777e-02 5.35468412e-05 9.98721470e-01 -8.24475105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52320100799999 meters 0.06075968098730081 Centerline is valid? [True, True] Translation: X:97.03, Y:36.70, Z:-8.24 [[ 7.29250201e-01 -6.83256385e-01 3.68083711e-02 9.70314821e+01] [ 6.82391929e-01 7.30178546e-01 3.43590901e-02 3.67008330e+01] [-5.03527506e-02 6.13619802e-05 9.98731494e-01 -8.24465671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55320100799999 meters 0.06068334272946446 Centerline is valid? [True, True] Translation: X:97.05, Y:36.72, Z:-8.25 [[ 7.29095469e-01 -6.83424728e-01 3.67483157e-02 9.70523999e+01] [ 6.82562270e-01 7.30020984e-01 3.43236002e-02 3.67201412e+01] [-5.02846387e-02 5.78324297e-05 9.98734926e-01 -8.24684345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58320100799999 meters 0.060734833968598724 Centerline is valid? [True, True] Translation: X:97.07, Y:36.74, Z:-8.25 [[ 7.29905888e-01 -6.82499932e-01 3.78316874e-02 9.70720924e+01] [ 6.81583402e-01 7.30885656e-01 3.53585122e-02 3.67395781e+01] [-5.17828198e-02 -2.29360685e-05 9.98658370e-01 -8.24900382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61320100799999 meters 0.060777727688368484 Centerline is valid? [True, True] Translation: X:97.09, Y:36.76, Z:-8.25 [[ 7.29705510e-01 -6.82700852e-01 3.80711796e-02 9.70927883e+01] [ 6.81772377e-01 7.30697986e-01 3.55932452e-02 3.67593357e+01] [-5.21180731e-02 -1.67085169e-05 9.98640930e-01 -8.25095148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64320100799999 meters 0.06084025152408861 Centerline is valid? [True, True] Translation: X:97.11, Y:36.78, Z:-8.25 [[ 7.29155087e-01 -6.83274567e-01 3.83239545e-02 9.71127550e+01] [ 6.82333578e-01 7.30161535e-01 3.58472059e-02 3.67794571e+01] [-5.24761615e-02 1.15484852e-05 9.98622177e-01 -8.25362021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67320100799999 meters 0.06097822064692842 Centerline is valid? [True, True] Translation: X:97.13, Y:36.80, Z:-8.26 [[ 7.29449924e-01 -6.82935068e-01 3.87621247e-02 9.71319216e+01] [ 6.81970898e-01 7.30479084e-01 3.62767431e-02 3.67999492e+01] [-5.30895814e-02 -2.74265480e-05 9.98589753e-01 -8.25640622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.703201008 meters 0.06123645915090978 Centerline is valid? [True, True] Translation: X:97.15, Y:36.82, Z:-8.26 [[ 7.30370307e-01 -6.81943607e-01 3.88861389e-02 9.71510587e+01] [ 6.80970801e-01 7.31404747e-01 3.64124116e-02 3.68207607e+01] [-5.32727178e-02 -1.14219060e-04 9.98579994e-01 -8.25903776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.733201008 meters 0.061251584239843 Centerline is valid? [True, True] Translation: X:97.17, Y:36.84, Z:-8.26 [[ 7.30663951e-01 -6.81612971e-01 3.91656639e-02 9.71706110e+01] [ 6.80624577e-01 7.31712877e-01 3.66940162e-02 3.68402015e+01] [-5.36691380e-02 -1.53881453e-04 9.98558761e-01 -8.26154918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.763201008 meters 0.06140828711147117 Centerline is valid? [True, True] Translation: X:97.19, Y:36.86, Z:-8.26 [[ 7.32136293e-01 -6.79981734e-01 4.00161228e-02 9.71884116e+01] [ 6.78946369e-01 7.33228992e-01 3.75109776e-02 3.68619696e+01] [-5.48477610e-02 -2.94346875e-04 9.98494685e-01 -8.26145009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.793201008 meters 0.06155038030565916 Centerline is valid? [True, True] Translation: X:97.21, Y:36.88, Z:-8.27 [[ 7.32120342e-01 -6.79964051e-01 4.06041108e-02 9.72068486e+01] [ 6.78896826e-01 7.33245382e-01 3.80829380e-02 3.68813851e+01] [-5.56678056e-02 -3.15291659e-04 9.98449296e-01 -8.26529195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.823201008 meters 0.06138244646189911 Centerline is valid? [True, True] Translation: X:97.23, Y:36.90, Z:-8.27 [[ 7.31780623e-01 -6.80254565e-01 4.18431138e-02 9.72272463e+01] [ 6.79120301e-01 7.32975869e-01 3.92682198e-02 3.69013873e+01] [-5.73823785e-02 -3.19214329e-04 9.98352223e-01 -8.26575294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85320100799998 meters 0.06141265262151577 Centerline is valid? [True, True] Translation: X:97.25, Y:36.92, Z:-8.27 [[ 7.31413436e-01 -6.80576524e-01 4.30113928e-02 9.72466047e+01] [ 6.79377184e-01 7.32676936e-01 4.03874868e-02 3.69207794e+01] [-5.90002309e-02 -3.18991557e-04 9.98257918e-01 -8.26858052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88320100799999 meters 0.06137189894528176 Centerline is valid? [True, True] Translation: X:97.27, Y:36.94, Z:-8.27 [[ 7.30634492e-01 -6.81313673e-01 4.45524195e-02 9.72671796e+01] [ 6.80027188e-01 7.31991531e-01 4.18500103e-02 3.69394521e+01] [-6.11249780e-02 -2.80204509e-04 9.98130081e-01 -8.27025032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91320100799999 meters 0.06141775140556625 Centerline is valid? [True, True] Translation: X:97.29, Y:36.96, Z:-8.27 [[ 7.29870494e-01 -6.82081751e-01 4.53160843e-02 9.72878709e+01] [ 6.80750703e-01 7.31275891e-01 4.25916749e-02 3.69565324e+01] [-6.21895641e-02 -2.37450538e-04 9.98064327e-01 -8.27253625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94320100799999 meters 0.06127145294607899 Centerline is valid? [True, True] Translation: X:97.31, Y:36.97, Z:-8.27 [[ 7.28730970e-01 -6.83206175e-01 4.66957748e-02 9.73102231e+01] [ 6.81794004e-01 7.30225511e-01 4.39048822e-02 3.69742458e+01] [-6.40945326e-02 -1.57948131e-04 9.97943819e-01 -8.27267885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97320100799999 meters 0.06132600318392452 Centerline is valid? [True, True] Translation: X:97.33, Y:36.99, Z:-8.27 [[ 7.27279688e-01 -6.84651741e-01 4.81274285e-02 9.73312222e+01] [ 6.83153120e-01 7.28870353e-01 4.52749748e-02 3.69909230e+01] [-6.60762461e-02 -4.91665432e-05 9.97814576e-01 -8.27448951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00320100799999 meters 0.06141137528953678 Centerline is valid? [True, True] Translation: X:97.35, Y:37.01, Z:-8.28 [[ 7.25687928e-01 -6.86313641e-01 4.84831697e-02 9.73533126e+01] [ 6.84794794e-01 7.27305699e-01 4.56345363e-02 3.70085952e+01] [-6.65816904e-02 8.45900656e-05 9.97780974e-01 -8.27617336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03320100799999 meters 0.061653847836439096 Centerline is valid? [True, True] Translation: X:97.38, Y:37.02, Z:-8.28 [[ 7.22614423e-01 -6.89551446e-01 4.84479058e-02 9.73761705e+01] [ 6.88040451e-01 7.24236612e-01 4.56252978e-02 3.70235876e+01] [-6.65487372e-02 3.64620722e-04 9.97783109e-01 -8.28014009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.063201008 meters 0.06190242830662607 Centerline is valid? [True, True] Translation: X:97.40, Y:37.04, Z:-8.28 [[ 7.20807174e-01 -6.91444538e-01 4.83887364e-02 9.73978237e+01] [ 6.89939688e-01 7.22429361e-01 4.55965425e-02 3.70395024e+01] [-6.64849242e-02 5.18994805e-04 9.97787295e-01 -8.28287277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.093201008 meters 0.061848699412421375 Centerline is valid? [True, True] Translation: X:97.42, Y:37.06, Z:-8.28 [[ 7.18774432e-01 -6.93538869e-01 4.86534028e-02 9.74213451e+01] [ 6.92021156e-01 7.20418865e-01 4.58626052e-02 3.70560895e+01] [-6.68583285e-02 7.04316062e-04 9.97762230e-01 -8.28163931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.123201008 meters 0.06198459096585889 Centerline is valid? [True, True] Translation: X:97.44, Y:37.07, Z:-8.28 [[ 7.17482689e-01 -6.94873397e-01 4.86780663e-02 9.74423760e+01] [ 6.93355465e-01 7.19131633e-01 4.59117923e-02 3.70730070e+01] [-6.69088204e-02 8.10287162e-04 9.97758765e-01 -8.28362939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.153201008 meters 0.06214983726015807 Centerline is valid? [True, True] Translation: X:97.46, Y:37.09, Z:-8.29 [[ 7.16442785e-01 -6.95970859e-01 4.83145885e-02 9.74636794e+01] [ 6.94477436e-01 7.18069463e-01 4.55778151e-02 3.70917148e+01] [-6.64140618e-02 8.99494755e-04 9.97791743e-01 -8.28698299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.183201008 meters 0.06243824417221505 Centerline is valid? [True, True] Translation: X:97.48, Y:37.11, Z:-8.29 [[ 7.15091504e-01 -6.97391684e-01 4.78432835e-02 9.74843384e+01] [ 6.95928936e-01 7.16689493e-01 4.51562494e-02 3.71105073e+01] [-6.57803714e-02 1.00467504e-03 9.97833620e-01 -8.28962498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21320100799998 meters 0.06276966610039075 Centerline is valid? [True, True] Translation: X:97.51, Y:37.13, Z:-8.29 [[ 7.13854964e-01 -6.98644428e-01 4.80317933e-02 9.75054248e+01] [ 6.97171466e-01 7.15468192e-01 4.53565104e-02 3.71291774e+01] [-6.60532936e-02 1.10842564e-03 9.97815481e-01 -8.29304007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24320100799999 meters 0.06276966610039075 Centerline is valid? [True, True] Translation: X:97.53, Y:37.15, Z:-8.30 [[ 7.13667027e-01 -6.98837203e-01 4.80201803e-02 9.75253789e+01] [ 6.97363850e-01 7.15279898e-01 4.53688016e-02 3.71482606e+01] [-6.60532761e-02 1.10931998e-03 9.97815481e-01 -8.29516825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27320100799999 meters 0.06311380112457278 Centerline is valid? [True, True] Translation: X:97.55, Y:37.17, Z:-8.30 [[ 7.12259508e-01 -7.00288767e-01 4.77706585e-02 9.75457989e+01] [ 6.98832357e-01 7.13858637e-01 4.51573164e-02 3.71671102e+01] [-6.57246587e-02 1.21995390e-03 9.97837051e-01 -8.29827957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30320100799999 meters 0.06344654660484154 Centerline is valid? [True, True] Translation: X:97.57, Y:37.19, Z:-8.30 [[ 7.11959351e-01 -7.00578448e-01 4.79970883e-02 9.75651461e+01] [ 6.99107233e-01 7.13574321e-01 4.53956486e-02 3.71856983e+01] [-6.60527028e-02 1.23525508e-03 9.97815371e-01 -8.30164901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33320100799999 meters 0.06349132819964091 Centerline is valid? [True, True] Translation: X:97.58, Y:37.20, Z:-8.30 [[ 7.11943617e-01 -7.00568161e-01 4.83790990e-02 9.75839749e+01] [ 6.99071652e-01 7.13584438e-01 4.57829197e-02 3.72049308e+01] [-6.65966280e-02 1.22559925e-03 9.97779228e-01 -8.30395947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36320100799999 meters 0.06306530595229481 Centerline is valid? [True, True] Translation: X:97.60, Y:37.23, Z:-8.30 [[ 7.12971639e-01 -6.99524120e-01 4.83471536e-02 9.76007317e+01] [ 6.98025399e-01 7.14608129e-01 4.57795295e-02 3.72281372e+01] [-6.65731540e-02 1.10803494e-03 9.97780932e-01 -8.30448319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39320100799999 meters 0.06288058231380568 Centerline is valid? [True, True] Translation: X:97.62, Y:37.25, Z:-8.31 [[ 7.13664120e-01 -6.98810526e-01 4.84496995e-02 9.76197929e+01] [ 6.97302136e-01 7.15306086e-01 4.59013574e-02 3.72487526e+01] [-6.67327166e-02 1.02592718e-03 9.97770360e-01 -8.30592251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42320100799999 meters 0.06266716094226425 Centerline is valid? [True, True] Translation: X:97.64, Y:37.27, Z:-8.31 [[ 7.14176344e-01 -6.98235898e-01 4.91810910e-02 9.76382045e+01] [ 6.96678500e-01 7.15867091e-01 4.66194842e-02 3.72694742e+01] [-6.77585220e-02 9.68875933e-04 9.97701280e-01 -8.30728771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.453201008 meters 0.0626053793202334 Centerline is valid? [True, True] Translation: X:97.66, Y:37.29, Z:-8.31 [[ 7.14697302e-01 -6.97674436e-01 4.95797121e-02 9.76565940e+01] [ 6.96088591e-01 7.16414379e-01 4.70224537e-02 3.72893268e+01] [-6.83259826e-02 9.05051187e-04 9.97662639e-01 -8.30955758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.483201008 meters 0.06257711702330067 Centerline is valid? [True, True] Translation: X:97.68, Y:37.31, Z:-8.31 [[ 7.15031879e-01 -6.97341257e-01 4.94427174e-02 9.76750291e+01] [ 6.95761625e-01 7.16738756e-01 4.69182005e-02 3.73112564e+01] [-6.81555087e-02 8.52336288e-04 9.97674346e-01 -8.31304436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.513201008 meters 0.06256065527408133 Centerline is valid? [True, True] Translation: X:97.69, Y:37.33, Z:-8.32 [[ 7.15175206e-01 -6.97190756e-01 4.94921750e-02 9.76930462e+01] [ 6.95606078e-01 7.16885188e-01 4.69873547e-02 3.73315684e+01] [-6.82393565e-02 8.22866689e-04 9.97668639e-01 -8.31598298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.543201008 meters 0.06248456626256443 Centerline is valid? [True, True] Translation: X:97.71, Y:37.35, Z:-8.32 [[ 7.15892058e-01 -6.96424866e-01 4.99095920e-02 9.77105432e+01] [ 6.94809539e-01 7.17629336e-01 4.74113940e-02 3.73526396e+01] [-6.88350611e-02 7.36220217e-04 9.97627782e-01 -8.31820800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.573201008 meters 0.062300668188269535 Centerline is valid? [True, True] Translation: X:97.73, Y:37.38, Z:-8.32 [[ 7.16906764e-01 -6.95356630e-01 5.02379160e-02 9.77273513e+01] [ 6.93715392e-01 7.18664578e-01 4.77512195e-02 3.73753474e+01] [-6.93083378e-02 6.17643354e-04 9.97595095e-01 -8.31947477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60320100799998 meters 0.062187624887313296 Centerline is valid? [True, True] Translation: X:97.75, Y:37.40, Z:-8.32 [[ 7.17284629e-01 -6.94963875e-01 5.02789522e-02 9.77470724e+01] [ 6.93317248e-01 7.19044433e-01 4.78152456e-02 3.73957593e+01] [-6.93826691e-02 5.62124057e-04 9.97589960e-01 -8.32106521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63320100799999 meters 0.06191289566277539 Centerline is valid? [True, True] Translation: X:97.77, Y:37.42, Z:-8.32 [[ 7.18218728e-01 -6.93982057e-01 5.05050747e-02 9.77661277e+01] [ 6.92316349e-01 7.19992154e-01 4.80559265e-02 3.74166091e+01] [-6.97132082e-02 4.50822491e-04 9.97566973e-01 -8.32226119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66320100799999 meters 0.061817367180853657 Centerline is valid? [True, True] Translation: X:97.79, Y:37.44, Z:-8.32 [[ 7.18207604e-01 -6.93940344e-01 5.12312066e-02 9.77858792e+01] [ 6.92224361e-01 7.20032367e-01 4.87731920e-02 3.74371609e+01] [-7.07338126e-02 4.34211895e-04 9.97495132e-01 -8.32372142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69320100799999 meters 0.061975177078475406 Centerline is valid? [True, True] Translation: X:97.80, Y:37.46, Z:-8.33 [[ 7.18320063e-01 -6.93819629e-01 5.12894655e-02 9.78047363e+01] [ 6.92097606e-01 7.20148706e-01 4.88543301e-02 3.74583922e+01] [-7.08321354e-02 4.04270757e-04 9.97488168e-01 -8.32699765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72320100799999 meters 0.06199965564879756 Centerline is valid? [True, True] Translation: X:97.82, Y:37.48, Z:-8.33 [[ 7.18037037e-01 -6.94197666e-01 5.01239856e-02 9.78237314e+01] [ 6.92552326e-01 7.19784294e-01 4.77686681e-02 3.74776490e+01] [-6.92393555e-02 4.13809948e-04 9.97599990e-01 -8.33076934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75320100799999 meters 0.06218981473850645 Centerline is valid? [True, True] Translation: X:97.84, Y:37.50, Z:-8.33 [[ 7.17906276e-01 -6.94369697e-01 4.96115145e-02 9.78426759e+01] [ 6.92756477e-01 7.19618342e-01 4.73065097e-02 3.74970468e+01] [-6.85495626e-02 4.07057707e-04 9.97647629e-01 -8.33485581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78320100799999 meters 0.06212622788008222 Centerline is valid? [True, True] Translation: X:97.86, Y:37.52, Z:-8.34 [[ 7.17659013e-01 -6.94703919e-01 4.84974837e-02 9.78610235e+01] [ 6.93161508e-01 7.19295695e-01 4.62690842e-02 3.75189569e+01] [-6.70273453e-02 4.11163637e-04 9.97751054e-01 -8.33855205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.813201008 meters 0.06224917569744927 Centerline is valid? [True, True] Translation: X:97.88, Y:37.54, Z:-8.34 [[ 7.17749646e-01 -6.94604964e-01 4.85735374e-02 9.78805660e+01] [ 6.93055782e-01 7.19391267e-01 4.63668775e-02 3.75379120e+01] [-6.71500419e-02 3.84360964e-04 9.97742815e-01 -8.34226456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.843201008 meters 0.062015323578585975 Centerline is valid? [True, True] Translation: X:97.90, Y:37.56, Z:-8.34 [[ 7.18201164e-01 -6.94160262e-01 4.82557505e-02 9.79002238e+01] [ 6.92628504e-01 7.19820413e-01 4.60904324e-02 3.75575128e+01] [-6.67296208e-02 3.21106075e-04 9.97771043e-01 -8.34357538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.873201008 meters 0.062083811449841535 Centerline is valid? [True, True] Translation: X:97.92, Y:37.58, Z:-8.35 [[ 7.18860484e-01 -6.93510913e-01 4.77725676e-02 9.79205787e+01] [ 6.92006714e-01 7.20446081e-01 4.56525227e-02 3.75776239e+01] [-6.60780818e-02 2.41142985e-04 9.97814426e-01 -8.34507437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.903201008 meters 0.06194825466573916 Centerline is valid? [True, True] Translation: X:97.94, Y:37.60, Z:-8.35 [[ 7.21144529e-01 -6.91125855e-01 4.79126375e-02 9.79383077e+01] [ 6.89605943e-01 7.22734427e-01 4.58103836e-02 3.75989690e+01] [-6.62888531e-02 4.93205435e-06 9.97800475e-01 -8.34525668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.933201008 meters 0.06202787383666027 Centerline is valid? [True, True] Translation: X:97.96, Y:37.62, Z:-8.35 [[ 7.22425114e-01 -6.89808922e-01 4.75983758e-02 9.79561086e+01] [ 6.88304382e-01 7.23991459e-01 4.55350853e-02 3.76203682e+01] [-6.58713256e-02 -1.33518565e-04 9.97828117e-01 -8.34873437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96320100799998 meters 0.06220664375248287 Centerline is valid? [True, True] Translation: X:97.98, Y:37.64, Z:-8.35 [[ 7.23079065e-01 -6.89068883e-01 4.83812068e-02 9.79750973e+01] [ 6.87511096e-01 7.24695816e-01 4.63083937e-02 3.76417112e+01] [-6.69713312e-02 -2.22013501e-04 9.97754875e-01 -8.35064239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99320100799999 meters 0.06222943230241749 Centerline is valid? [True, True] Translation: X:97.99, Y:37.66, Z:-8.35 [[ 7.23273186e-01 -6.88786392e-01 4.94894471e-02 9.79946679e+01] [ 6.87153895e-01 7.24964297e-01 4.73950642e-02 3.76622826e+01] [-6.85231575e-02 -2.72712682e-04 9.97649489e-01 -8.35126125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02320100799999 meters 0.06256245597222476 Centerline is valid? [True, True] Translation: X:98.01, Y:37.68, Z:-8.35 [[ 7.25191076e-01 -6.86807072e-01 4.89279895e-02 9.80108199e+01] [ 6.85205239e-01 7.26839612e-01 4.68823916e-02 3.76848809e+01] [-6.77619590e-02 -4.72977272e-04 9.97701405e-01 -8.35399726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05320100799999 meters 0.06266687896044763 Centerline is valid? [True, True] Translation: X:98.03, Y:37.71, Z:-8.36 [[ 7.25991519e-01 -6.85988397e-01 4.85410524e-02 9.80296956e+01] [ 6.84408542e-01 7.27612262e-01 4.65332486e-02 3.77053584e+01] [-6.72403336e-02 -5.60832946e-04 9.97736650e-01 -8.35641830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08320100799999 meters 0.06293980210191423 Centerline is valid? [True, True] Translation: X:98.05, Y:37.73, Z:-8.36 [[ 7.27122518e-01 -6.84796760e-01 4.84380151e-02 9.80494725e+01] [ 6.83219328e-01 7.28733782e-01 4.64588420e-02 3.77258443e+01] [-6.71132824e-02 -6.87482065e-04 9.97745125e-01 -8.35810108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11320100799999 meters 0.06296650628839055 Centerline is valid? [True, True] Translation: X:98.07, Y:37.75, Z:-8.36 [[ 7.28126847e-01 -6.83812282e-01 4.72446586e-02 9.80702648e+01] [ 6.82308154e-01 7.29657565e-01 4.53367591e-02 3.77455905e+01] [-6.54742553e-02 -7.75495691e-04 9.97853958e-01 -8.35960252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14320100799999 meters 0.06313352914134007 Centerline is valid? [True, True] Translation: X:98.09, Y:37.76, Z:-8.36 [[ 7.29201923e-01 -6.82724300e-01 4.63905913e-02 9.80911019e+01] [ 6.81270401e-01 7.30675554e-01 4.45407157e-02 3.77643294e+01] [-6.43054999e-02 -8.74638778e-04 9.97929876e-01 -8.36160702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17320100799999 meters 0.06318693968156501 Centerline is valid? [True, True] Translation: X:98.11, Y:37.78, Z:-8.36 [[ 7.29196117e-01 -6.82765559e-01 4.58717222e-02 9.81094755e+01] [ 6.81343339e-01 7.30637006e-01 4.40547290e-02 3.77835523e+01] [-6.35946294e-02 -8.70144922e-04 9.97975434e-01 -8.36486449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.203201008 meters 0.0630931356278566 Centerline is valid? [True, True] Translation: X:98.13, Y:37.80, Z:-8.37 [[ 7.28246019e-01 -6.83748340e-01 4.63243229e-02 9.81309020e+01] [ 6.82298213e-01 7.29717445e-01 4.45151602e-02 3.78020333e+01] [-6.42408334e-02 -8.10985476e-04 9.97934095e-01 -8.36732611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.233201008 meters 0.06307899949117118 Centerline is valid? [True, True] Translation: X:98.15, Y:37.82, Z:-8.37 [[ 7.27225850e-01 -6.84849192e-01 4.60884646e-02 9.81517480e+01] [ 6.83414490e-01 7.28684468e-01 4.43123053e-02 3.78201181e+01] [-6.39311949e-02 -7.27529348e-04 9.97954044e-01 -8.36971313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.263201008 meters 0.06303039024308647 Centerline is valid? [True, True] Translation: X:98.17, Y:37.84, Z:-8.37 [[ 7.25662737e-01 -6.86640240e-01 4.40315000e-02 9.81732353e+01] [ 6.85332793e-01 7.26997158e-01 4.23567648e-02 3.78367257e+01] [-6.10946345e-02 -5.60494963e-04 9.98131821e-01 -8.37497021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.293201008 meters 0.0629531549185952 Centerline is valid? [True, True] Translation: X:98.19, Y:37.86, Z:-8.38 [[ 7.24941513e-01 -6.87428307e-01 4.36133608e-02 9.81944235e+01] [ 6.86145861e-01 7.26252070e-01 4.19736540e-02 3.78556321e+01] [-6.05281715e-02 -5.03317226e-04 9.98166362e-01 -8.37725732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.323201008 meters 0.06312366915837009 Centerline is valid? [True, True] Translation: X:98.21, Y:37.87, Z:-8.38 [[ 7.24479797e-01 -6.87958311e-01 4.29230260e-02 9.82135948e+01] [ 6.86715827e-01 7.25750056e-01 4.13307424e-02 3.78741374e+01] [-5.95852162e-02 -4.67366567e-04 9.98223113e-01 -8.38100231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35320100799998 meters 0.06313993215468608 Centerline is valid? [True, True] Translation: X:98.23, Y:37.89, Z:-8.38 [[ 7.24397260e-01 -6.88078517e-01 4.23858993e-02 9.82347573e+01] [ 6.86865795e-01 7.25636090e-01 4.08368018e-02 3.78928100e+01] [-5.88556643e-02 -4.68642909e-04 9.98266393e-01 -8.38238916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38320100799999 meters 0.06312005936738048 Centerline is valid? [True, True] Translation: X:98.26, Y:37.91, Z:-8.38 [[ 7.24858276e-01 -6.87609926e-01 4.21078281e-02 9.82554226e+01] [ 6.86411052e-01 7.26080106e-01 4.05899848e-02 3.79109733e+01] [-5.84837328e-02 -5.18707813e-04 9.98288227e-01 -8.38378875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41320100799999 meters 0.06320066311229774 Centerline is valid? [True, True] Translation: X:98.28, Y:37.93, Z:-8.39 [[ 7.24893033e-01 -6.87611737e-01 4.14751667e-02 9.82758948e+01] [ 6.86447350e-01 7.26078385e-01 4.00026844e-02 3.79297586e+01] [-5.76205374e-02 -5.27148947e-04 9.98338417e-01 -8.38636821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44320100799999 meters 0.0632807049063947 Centerline is valid? [True, True] Translation: X:98.29, Y:37.95, Z:-8.39 [[ 7.24800369e-01 -6.87733313e-01 4.10769471e-02 9.82948929e+01] [ 6.86590253e-01 7.25963231e-01 3.96385228e-02 3.79483951e+01] [-5.70810858e-02 -5.26984507e-04 9.98369407e-01 -8.38909318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47320100799999 meters 0.06364691269442316 Centerline is valid? [True, True] Translation: X:98.31, Y:37.97, Z:-8.39 [[ 7.25052794e-01 -6.87445364e-01 4.14405253e-02 9.83124684e+01] [ 6.86280130e-01 7.26235874e-01 4.00129918e-02 3.79670371e+01] [-5.76023419e-02 -5.71722387e-04 9.98339443e-01 -8.39310751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50320100799999 meters 0.06346626976935718 Centerline is valid? [True, True] Translation: X:98.33, Y:37.99, Z:-8.39 [[ 7.24829159e-01 -6.87691047e-01 4.12760875e-02 9.83332024e+01] [ 6.86534498e-01 7.26003243e-01 3.98707162e-02 3.79867394e+01] [-5.73853079e-02 -5.61999698e-04 9.98351947e-01 -8.39384650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53320100799999 meters 0.06339883278744776 Centerline is valid? [True, True] Translation: X:98.35, Y:38.00, Z:-8.40 [[ 7.23058721e-01 -6.89535180e-01 4.15610579e-02 9.83539182e+01] [ 6.88364385e-01 7.24252061e-01 4.01674822e-02 3.80043521e+01] [-5.77975739e-02 -4.34296315e-04 9.98328229e-01 -8.39663270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.563201008 meters 0.06357310287532317 Centerline is valid? [True, True] Translation: X:98.37, Y:38.02, Z:-8.40 [[ 7.22040587e-01 -6.90633837e-01 4.10157758e-02 9.83739804e+01] [ 6.89494189e-01 7.23204519e-01 3.96608974e-02 3.80221020e+01] [-5.70539522e-02 -3.56638577e-04 9.98371033e-01 -8.40083734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.593201008 meters 0.0632347860968575 Centerline is valid? [True, True] Translation: X:98.40, Y:38.04, Z:-8.40 [[ 7.21453868e-01 -6.91237066e-01 4.11780804e-02 9.83964576e+01] [ 6.90088077e-01 7.22627990e-01 3.98401109e-02 3.80402976e+01] [-5.72953948e-02 -3.26299848e-04 9.98357216e-01 -8.39974349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.623201008 meters 0.06368343098834171 Centerline is valid? [True, True] Translation: X:98.42, Y:38.06, Z:-8.41 [[ 7.20429952e-01 -6.92408058e-01 3.93924565e-02 9.84173571e+01] [ 6.91357354e-01 7.21506081e-01 3.81311482e-02 3.80577801e+01] [-5.48242112e-02 -2.36556760e-04 9.98495994e-01 -8.40603796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.653201008 meters 0.06350650504177119 Centerline is valid? [True, True] Translation: X:98.44, Y:38.08, Z:-8.41 [[ 7.20289472e-01 -6.92613688e-01 3.83321883e-02 9.84385233e+01] [ 6.91618010e-01 7.21308690e-01 3.71254902e-02 3.80766993e+01] [-5.33629632e-02 -2.29867984e-04 9.98575156e-01 -8.40607014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.683201008 meters 0.06334302473359824 Centerline is valid? [True, True] Translation: X:98.46, Y:38.09, Z:-8.41 [[ 7.18931583e-01 -6.94007716e-01 3.86091805e-02 9.84613107e+01] [ 6.92998530e-01 7.19967548e-01 3.74134737e-02 3.80944804e+01] [-5.37625964e-02 -1.41622599e-04 9.98553736e-01 -8.40594548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71320100799998 meters 0.06321713508573149 Centerline is valid? [True, True] Translation: X:98.49, Y:38.11, Z:-8.41 [[ 7.15027611e-01 -6.97989279e-01 3.93253432e-02 9.84852439e+01] [ 6.96947060e-01 7.16108195e-01 3.81293799e-02 3.81087117e+01] [-5.47750989e-02 1.44122906e-04 9.98498707e-01 -8.41086521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74320100799999 meters 0.0632805818036413 Centerline is valid? [True, True] Translation: X:98.51, Y:38.13, Z:-8.41 [[ 7.13467044e-01 -6.99578015e-01 3.94382734e-02 9.85060868e+01] [ 6.98531491e-01 7.14556180e-01 3.82520919e-02 3.81276027e+01] [-5.49411845e-02 2.57268994e-04 9.98489559e-01 -8.41111044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77320100799999 meters 0.06344455117426023 Centerline is valid? [True, True] Translation: X:98.53, Y:38.15, Z:-8.42 [[ 7.12677277e-01 -7.00403358e-01 3.90670580e-02 9.85260552e+01] [ 6.99376534e-01 7.13747185e-01 3.79133119e-02 3.81461680e+01] [-5.44386136e-02 3.02627736e-04 9.98517073e-01 -8.41538303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80320100799999 meters 0.0635334712001125 Centerline is valid? [True, True] Translation: X:98.55, Y:38.17, Z:-8.42 [[ 7.12186920e-01 -7.00926218e-01 3.86293654e-02 9.85464911e+01] [ 6.99922139e-01 7.13233714e-01 3.75055897e-02 3.81658435e+01] [-5.38404169e-02 3.26557605e-04 9.98549499e-01 -8.41797702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83320100799999 meters 0.06360481332912883 Centerline is valid? [True, True] Translation: X:98.57, Y:38.18, Z:-8.42 [[ 7.12444478e-01 -7.00665088e-01 3.86173531e-02 9.85659322e+01] [ 6.99660207e-01 7.13490258e-01 3.75132806e-02 3.81848315e+01] [-5.38373513e-02 2.92895693e-04 9.98549675e-01 -8.42048631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86320100799999 meters 0.06361122201994329 Centerline is valid? [True, True] Translation: X:98.59, Y:38.20, Z:-8.42 [[ 7.09948448e-01 -7.03172823e-01 3.90023368e-02 9.85893004e+01] [ 7.02150363e-01 7.11018817e-01 3.79092287e-02 3.82010239e+01] [-5.43881347e-02 4.71906828e-04 9.98519759e-01 -8.41917963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89320100799999 meters 0.06358219803028936 Centerline is valid? [True, True] Translation: X:98.61, Y:38.22, Z:-8.42 [[ 7.08506398e-01 -7.04596753e-01 3.95233958e-02 9.86108269e+01] [ 7.03547893e-01 7.09607698e-01 3.84353702e-02 3.82182832e+01] [-5.51275430e-02 5.74896163e-04 9.98479155e-01 -8.42021354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92320100799999 meters 0.06349181602416978 Centerline is valid? [True, True] Translation: X:98.63, Y:38.24, Z:-8.42 [[ 7.08079856e-01 -7.05056917e-01 3.89571702e-02 9.86313160e+01] [ 7.04037363e-01 7.09150478e-01 3.79076674e-02 3.82380693e+01] [-5.43535590e-02 5.85647680e-04 9.98521581e-01 -8.42190223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.953201008 meters 0.06381182488504396 Centerline is valid? [True, True] Translation: X:98.65, Y:38.26, Z:-8.43 [[ 7.07838056e-01 -7.05312916e-01 3.87166331e-02 9.86497845e+01] [ 7.04305290e-01 7.08895863e-01 3.76923538e-02 3.82574988e+01] [-5.40309650e-02 5.88247048e-04 9.98539087e-01 -8.42518595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.983201008 meters 0.06375815467255011 Centerline is valid? [True, True] Translation: X:98.67, Y:38.28, Z:-8.43 [[ 7.09397097e-01 -7.03815031e-01 3.74187278e-02 9.86658081e+01] [ 7.02870666e-01 7.10383140e-01 3.64502649e-02 3.82812170e+01] [-5.22358777e-02 4.42814009e-04 9.98634676e-01 -8.42990920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.013201008 meters 0.06374627824814624 Centerline is valid? [True, True] Translation: X:98.68, Y:38.30, Z:-8.43 [[ 7.11179138e-01 -7.02014730e-01 3.74105955e-02 9.86832996e+01] [ 7.01067265e-01 7.12162363e-01 3.64617379e-02 3.83039960e+01] [-5.22390952e-02 2.96516512e-04 9.98634562e-01 -8.43332810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.043201008 meters 0.06355541650580325 Centerline is valid? [True, True] Translation: X:98.70, Y:38.33, Z:-8.44 [[ 7.13668103e-01 -6.99464351e-01 3.77817604e-02 9.86990524e+01] [ 6.98493414e-01 7.14667484e-01 3.68420722e-02 3.83271447e+01] [-5.27711118e-02 9.72989919e-05 9.98606629e-01 -8.43516371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.073201008 meters 0.06359117729653972 Centerline is valid? [True, True] Translation: X:98.71, Y:38.35, Z:-8.44 [[ 7.15410292e-01 -6.97646253e-01 3.84424230e-02 9.87147068e+01] [ 6.96637206e-01 7.16442393e-01 3.75086802e-02 3.83492508e+01] [-5.37095717e-02 -5.36737220e-05 9.98556598e-01 -8.43768464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10320100799998 meters 0.06359281425308623 Centerline is valid? [True, True] Translation: X:98.73, Y:38.37, Z:-8.44 [[ 7.18151927e-01 -6.94795944e-01 3.89410559e-02 9.87297095e+01] [ 6.93754987e-01 7.19206863e-01 3.80197990e-02 3.83730566e+01] [-5.44226769e-02 -2.88440137e-04 9.98517946e-01 -8.43843253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13320100799999 meters 0.06360137762774179 Centerline is valid? [True, True] Translation: X:98.75, Y:38.39, Z:-8.44 [[ 7.18637229e-01 -6.94257638e-01 3.95836510e-02 9.87482438e+01] [ 6.93179866e-01 7.19726482e-01 3.86712462e-02 3.83946761e+01] [-5.53372099e-02 -3.52007351e-04 9.98467661e-01 -8.43901328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16320100799999 meters 0.06360137762774179 Centerline is valid? [True, True] Translation: X:98.77, Y:38.41, Z:-8.44 [[ 7.18455575e-01 -6.94446200e-01 3.95735166e-02 9.87678489e+01] [ 6.93368142e-01 7.19544545e-01 3.86816132e-02 3.84140971e+01] [-5.53372073e-02 -3.52004940e-04 9.98467661e-01 -8.44114090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19320100799999 meters 0.06369895428262803 Centerline is valid? [True, True] Translation: X:98.78, Y:38.44, Z:-8.44 [[ 7.18765109e-01 -6.94121909e-01 3.96420672e-02 9.87848786e+01] [ 6.93038511e-01 7.19857362e-01 3.87685508e-02 3.84359722e+01] [-5.54467344e-02 -3.92002444e-04 9.98461570e-01 -8.44433009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22320100799999 meters 0.06366353528371615 Centerline is valid? [True, True] Translation: X:98.81, Y:38.46, Z:-8.45 [[ 7.18621893e-01 -6.94262829e-01 3.97705716e-02 9.88052306e+01] [ 6.93171384e-01 7.19721450e-01 3.89161609e-02 3.84560590e+01] [-5.56417774e-02 -3.98183127e-04 9.98450717e-01 -8.44539445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25320100799999 meters 0.0635560429178441 Centerline is valid? [True, True] Translation: X:98.83, Y:38.47, Z:-8.45 [[ 7.18062567e-01 -6.94856362e-01 3.95067730e-02 9.88252848e+01] [ 6.93779006e-01 7.19148456e-01 3.86806012e-02 3.84747880e+01] [-5.52886966e-02 -3.66122081e-04 9.98470343e-01 -8.44759316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28320100799999 meters 0.06345131504052601 Centerline is valid? [True, True] Translation: X:98.85, Y:38.49, Z:-8.45 [[ 7.17043256e-01 -6.95916300e-01 3.93633479e-02 9.88466721e+01] [ 6.94847650e-01 7.18122844e-01 3.85528908e-02 3.84939120e+01] [-5.50973044e-02 -2.92560554e-04 9.98480947e-01 -8.44845166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.313201008 meters 0.0635305697799581 Centerline is valid? [True, True] Translation: X:98.87, Y:38.51, Z:-8.45 [[ 7.16427541e-01 -6.96556048e-01 3.92587609e-02 9.88665348e+01] [ 6.95492928e-01 7.17502339e-01 3.84705289e-02 3.85124852e+01] [-5.49651323e-02 -2.57155912e-04 9.98488241e-01 -8.45212322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.343201008 meters 0.06324745521364591 Centerline is valid? [True, True] Translation: X:98.89, Y:38.53, Z:-8.45 [[ 7.14835736e-01 -6.98201994e-01 3.90364832e-02 9.88887611e+01] [ 6.97152148e-01 7.15900800e-01 3.82743780e-02 3.85296724e+01] [-5.46694966e-02 -1.45525009e-04 9.98504494e-01 -8.45444855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.373201008 meters 0.06319244200129187 Centerline is valid? [True, True] Translation: X:98.91, Y:38.55, Z:-8.46 [[ 7.14510673e-01 -6.98537536e-01 3.89847136e-02 9.89091560e+01] [ 6.97489858e-01 7.15573401e-01 3.82440269e-02 3.85489302e+01] [-5.46113124e-02 -1.34323095e-04 9.98507680e-01 -8.45652484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.403201008 meters 0.06356933643656103 Centerline is valid? [True, True] Translation: X:98.93, Y:38.57, Z:-8.46 [[ 7.14565142e-01 -6.98502627e-01 3.86100677e-02 9.89279327e+01] [ 6.97473871e-01 7.15607474e-01 3.78964643e-02 3.85680507e+01] [-5.41004330e-02 -1.49979029e-04 9.98535488e-01 -8.46227777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.433201008 meters 0.063620565999806 Centerline is valid? [True, True] Translation: X:98.95, Y:38.59, Z:-8.46 [[ 7.14222824e-01 -6.98852466e-01 3.86133093e-02 9.89490573e+01] [ 6.97822806e-01 7.15265832e-01 3.79225520e-02 3.85861349e+01] [-5.41210498e-02 -1.39904322e-04 9.98534372e-01 -8.46460327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46320100799998 meters 0.06350820830098822 Centerline is valid? [True, True] Translation: X:98.97, Y:38.60, Z:-8.47 [[ 7.13340520e-01 -6.99756349e-01 3.85532769e-02 9.89713891e+01] [ 6.98730130e-01 7.14381582e-01 3.78835078e-02 3.86041839e+01] [-5.40509761e-02 -8.55049352e-05 9.98538174e-01 -8.46570101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49320100799999 meters 0.0633909000664975 Centerline is valid? [True, True] Translation: X:98.99, Y:38.62, Z:-8.47 [[ 7.12709826e-01 -7.00378047e-01 3.89268069e-02 9.89929353e+01] [ 6.99331633e-01 7.13772085e-01 3.82711053e-02 3.86224257e+01] [-5.45891101e-02 -5.34453175e-05 9.98508901e-01 -8.46712717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52320100799999 meters 0.06311083497069027 Centerline is valid? [True, True] Translation: X:99.01, Y:38.64, Z:-8.47 [[ 7.11898176e-01 -7.01171601e-01 3.94889031e-02 9.90149181e+01] [ 7.00094789e-01 7.12992557e-01 3.88445677e-02 3.86408724e+01] [-5.53920017e-02 -7.40161991e-06 9.98464684e-01 -8.46698756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55320100799999 meters 0.06315800702988636 Centerline is valid? [True, True] Translation: X:99.04, Y:38.66, Z:-8.47 [[ 7.11343100e-01 -7.01691924e-01 4.02422302e-02 9.90353574e+01] [ 7.00573214e-01 7.12480486e-01 3.96071932e-02 3.86606207e+01] [-5.64638514e-02 1.83249561e-05 9.98404644e-01 -8.46835491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58320100799999 meters 0.06312316044342298 Centerline is valid? [True, True] Translation: X:99.05, Y:38.68, Z:-8.47 [[ 7.10929889e-01 -7.02119577e-01 4.00848309e-02 9.90548354e+01] [ 7.01008964e-01 7.12059056e-01 3.94757252e-02 3.86796302e+01] [-5.62594463e-02 3.53528385e-05 9.98416182e-01 -8.47142023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61320100799999 meters 0.06324662620400273 Centerline is valid? [True, True] Translation: X:99.07, Y:38.70, Z:-8.47 [[ 7.10260105e-01 -7.02732632e-01 4.11999081e-02 9.90745136e+01] [ 7.01559497e-01 7.11454034e-01 4.05885451e-02 3.86984134e+01] [-5.78347359e-02 7.57625054e-05 9.98326168e-01 -8.47317550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64320100799999 meters 0.06315730762612562 Centerline is valid? [True, True] Translation: X:99.09, Y:38.72, Z:-8.48 [[ 7.09821335e-01 -7.03169862e-01 4.13015391e-02 9.90947559e+01] [ 7.01990420e-01 7.11021896e-01 4.07101166e-02 3.87171342e+01] [-5.79924257e-02 9.63754322e-05 9.98317018e-01 -8.47539131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67320100799999 meters 0.06327563336895653 Centerline is valid? [True, True] Translation: X:99.11, Y:38.74, Z:-8.48 [[ 7.09892043e-01 -7.03125771e-01 4.08342596e-02 9.91143987e+01] [ 7.01971534e-01 7.11065499e-01 4.02718421e-02 3.87373446e+01] [-5.73520032e-02 7.58276315e-05 9.98354016e-01 -8.47739811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.703201008 meters 0.06333799084466507 Centerline is valid? [True, True] Translation: X:99.13, Y:38.76, Z:-8.48 [[ 7.10189921e-01 -7.02836670e-01 4.06311581e-02 9.91325197e+01] [ 7.01692230e-01 7.11351259e-01 4.00924007e-02 3.87575779e+01] [-5.70814349e-02 3.73490429e-05 9.98369525e-01 -8.48027804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.733201008 meters 0.06370099600842255 Centerline is valid? [True, True] Translation: X:99.15, Y:38.78, Z:-8.49 [[ 7.11642553e-01 -7.01446009e-01 3.92220964e-02 9.91501902e+01] [ 7.00376341e-01 7.12722589e-01 3.87232845e-02 3.87794831e+01] [-5.51167674e-02 -8.69087303e-05 9.98479912e-01 -8.48507658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.763201008 meters 0.06386606184322186 Centerline is valid? [True, True] Translation: X:99.17, Y:38.80, Z:-8.49 [[ 7.12082677e-01 -7.01030705e-01 3.86550387e-02 9.91686845e+01] [ 6.99990103e-01 7.13131077e-01 3.81827556e-02 3.87996955e+01] [-5.43333935e-02 -1.31134274e-04 9.98522842e-01 -8.48958656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.793201008 meters 0.06377697032166549 Centerline is valid? [True, True] Translation: X:99.19, Y:38.82, Z:-8.49 [[ 7.11840088e-01 -7.01287242e-01 3.84693765e-02 9.91880889e+01] [ 7.00255867e-01 7.12878803e-01 3.80201675e-02 3.88194325e+01] [-5.40870615e-02 -1.25872773e-04 9.98536216e-01 -8.49178214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.823201008 meters 0.06375296694953564 Centerline is valid? [True, True] Translation: X:99.21, Y:38.84, Z:-8.49 [[ 7.11770022e-01 -7.01383915e-01 3.80005231e-02 9.92074930e+01] [ 7.00376483e-01 7.12783689e-01 3.75791891e-02 3.88389435e+01] [-5.34435918e-02 -1.33067490e-04 9.98570861e-01 -8.49436218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85320100799998 meters 0.06384852194256434 Centerline is valid? [True, True] Translation: X:99.23, Y:38.86, Z:-8.50 [[ 7.11192090e-01 -7.01984788e-01 3.77249140e-02 9.92259444e+01] [ 7.00991740e-01 7.12191932e-01 3.73260285e-02 3.88569750e+01] [-5.30696836e-02 -1.01123078e-04 9.98590806e-01 -8.49800484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88320100799999 meters 0.0638260994932465 Centerline is valid? [True, True] Translation: X:99.25, Y:38.87, Z:-8.50 [[ 7.08512545e-01 -7.04697995e-01 3.75594087e-02 9.92478469e+01] [ 7.03716221e-01 7.09507384e-01 3.71853659e-02 3.88736006e+01] [-5.28531306e-02 8.48668989e-05 9.98602293e-01 -8.50135892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91320100799999 meters 0.06386917996548265 Centerline is valid? [True, True] Translation: X:99.27, Y:38.89, Z:-8.50 [[ 7.05368542e-01 -7.07889050e-01 3.67193847e-02 9.92702475e+01] [ 7.06953947e-01 7.06323582e-01 3.63746436e-02 3.88906064e+01] [-5.16849792e-02 3.01384674e-04 9.98663393e-01 -8.50283064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94320100799999 meters 0.06404585456100902 Centerline is valid? [True, True] Translation: X:99.29, Y:38.91, Z:-8.51 [[ 7.04731376e-01 -7.08528627e-01 3.66179258e-02 9.92906402e+01] [ 7.07598547e-01 7.05681992e-01 3.62935704e-02 3.89102519e+01] [-5.15556444e-02 3.33573232e-04 9.98670068e-01 -8.50598314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97320100799999 meters 0.06415887325010602 Centerline is valid? [True, True] Translation: X:99.31, Y:38.93, Z:-8.51 [[ 7.04866329e-01 -7.08452067e-01 3.54841828e-02 9.93088898e+01] [ 7.07577767e-01 7.05758865e-01 3.51870404e-02 3.89296113e+01] [-4.99716081e-02 3.05658874e-04 9.98750592e-01 -8.50981905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00320100799999 meters 0.06428771663524974 Centerline is valid? [True, True] Translation: X:99.33, Y:38.95, Z:-8.51 [[ 7.05966883e-01 -7.07366734e-01 3.52571086e-02 9.93257512e+01] [ 7.06501340e-01 7.06846701e-01 3.49799686e-02 3.89498818e+01] [-4.96650370e-02 2.14495124e-04 9.98765908e-01 -8.51308591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03320100799999 meters 0.06385323938676181 Centerline is valid? [True, True] Translation: X:99.35, Y:38.97, Z:-8.51 [[ 7.06988937e-01 -7.06325852e-01 3.56431601e-02 9.93457259e+01] [ 7.05438871e-01 7.07886838e-01 3.53867706e-02 3.89700985e+01] [-5.02259148e-02 1.26015262e-04 9.98737874e-01 -8.51131498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.063201008 meters 0.06363065876929745 Centerline is valid? [True, True] Translation: X:99.37, Y:38.99, Z:-8.51 [[ 7.06909699e-01 -7.06358650e-01 3.65531696e-02 9.93667158e+01] [ 7.05424723e-01 7.07854112e-01 3.63113739e-02 3.89897284e+01] [-5.15231644e-02 1.16647127e-04 9.98671793e-01 -8.51116423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.093201008 meters 0.06345811098816208 Centerline is valid? [True, True] Translation: X:99.39, Y:39.01, Z:-8.51 [[ 7.06449946e-01 -7.06800323e-01 3.69022687e-02 9.93866689e+01] [ 7.05848103e-01 7.07413093e-01 3.66765796e-02 3.90091375e+01] [-5.20281663e-02 1.37228719e-04 9.98645608e-01 -8.51270253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.123201008 meters 0.06356005941382596 Centerline is valid? [True, True] Translation: X:99.40, Y:39.03, Z:-8.52 [[ 7.06364852e-01 -7.06862962e-01 3.73289242e-02 9.94045125e+01] [ 7.05887444e-01 7.07350505e-01 3.71238460e-02 3.90289733e+01] [-5.26461051e-02 1.27038918e-04 9.98613224e-01 -8.51602602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.153201008 meters 0.06365630806637429 Centerline is valid? [True, True] Translation: X:99.42, Y:39.05, Z:-8.52 [[ 7.05517400e-01 -7.07696873e-01 3.75544155e-02 9.94244938e+01] [ 7.06710031e-01 7.06516173e-01 3.73608008e-02 3.90491110e+01] [-5.29729238e-02 1.81387113e-04 9.98595933e-01 -8.51772001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.183201008 meters 0.06382926287338213 Centerline is valid? [True, True] Translation: X:99.44, Y:39.07, Z:-8.52 [[ 7.04788906e-01 -7.08413023e-01 3.77304518e-02 9.94447956e+01] [ 7.07416855e-01 7.05798087e-01 3.75560053e-02 3.90674536e+01] [-5.32352440e-02 2.22101652e-04 9.98581974e-01 -8.52116105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21320100799998 meters 0.06390023057135455 Centerline is valid? [True, True] Translation: X:99.46, Y:39.09, Z:-8.52 [[ 7.04357620e-01 -7.08857745e-01 3.74304606e-02 9.94646328e+01] [ 7.07876880e-01 7.05351430e-01 3.72784516e-02 3.90858888e+01] [-5.28267480e-02 2.38796198e-04 9.98603664e-01 -8.52413737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24320100799999 meters 0.06392573656473015 Centerline is valid? [True, True] Translation: X:99.49, Y:39.10, Z:-8.53 [[ 7.03587110e-01 -7.09650261e-01 3.69010233e-02 9.94860953e+01] [ 7.08696965e-01 7.04554064e-01 3.67720457e-02 3.91046397e+01] [-5.20940578e-02 2.79305804e-04 9.98642144e-01 -8.52589129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27320100799999 meters 0.06367665444475602 Centerline is valid? [True, True] Translation: X:99.51, Y:39.12, Z:-8.53 [[ 7.03200031e-01 -7.10062206e-01 3.63507789e-02 9.95070199e+01] [ 7.09136738e-01 7.04138891e-01 3.62423583e-02 3.91237680e+01] [-5.13303260e-02 2.92045283e-04 9.98681687e-01 -8.52715047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30320100799999 meters 0.06360842618417474 Centerline is valid? [True, True] Translation: X:99.53, Y:39.14, Z:-8.53 [[ 7.02664123e-01 -7.10581621e-01 3.65635065e-02 9.95280915e+01] [ 7.09644972e-01 7.03614709e-01 3.64740210e-02 3.91421765e+01] [-5.16443899e-02 3.18122577e-04 9.98665487e-01 -8.52800010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33320100799999 meters 0.06351412562130798 Centerline is valid? [True, True] Translation: X:99.55, Y:39.16, Z:-8.53 [[ 7.01662641e-01 -7.11550324e-01 3.69550446e-02 9.95480665e+01] [ 7.10593878e-01 7.02635035e-01 3.68829144e-02 3.91595196e+01] [-5.22099587e-02 3.80665318e-04 9.98636057e-01 -8.52978446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36320100799999 meters 0.0633842712361577 Centerline is valid? [True, True] Translation: X:99.57, Y:39.18, Z:-8.53 [[ 7.00954305e-01 -7.12176930e-01 3.83025137e-02 9.95672221e+01] [ 7.11148876e-01 7.01999887e-01 3.82548671e-02 3.91803848e+01] [-5.41325941e-02 4.23875843e-04 9.98533666e-01 -8.53109684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39320100799999 meters 0.06343820210176973 Centerline is valid? [True, True] Translation: X:99.59, Y:39.20, Z:-8.53 [[ 6.98369377e-01 -7.14653009e-01 3.93864231e-02 9.95870640e+01] [ 7.13568672e-01 6.99478874e-01 3.93580394e-02 3.91987841e+01] [-5.56773121e-02 6.18468167e-04 9.98448624e-01 -8.53180116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42320100799999 meters 0.06355182041262432 Centerline is valid? [True, True] Translation: X:99.61, Y:39.22, Z:-8.53 [[ 6.96697179e-01 -7.16258067e-01 3.98424591e-02 9.96068413e+01] [ 7.15149719e-01 6.97835107e-01 3.98377164e-02 3.92157292e+01] [-5.63375524e-02 7.38498770e-04 9.98411506e-01 -8.53409802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.453201008 meters 0.06374864346660804 Centerline is valid? [True, True] Translation: X:99.63, Y:39.23, Z:-8.53 [[ 6.94884039e-01 -7.17987485e-01 4.03750423e-02 9.96273481e+01] [ 7.16850690e-01 6.96055466e-01 4.03964946e-02 3.92337662e+01] [-5.71074465e-02 8.71997637e-04 9.98367657e-01 -8.53491029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.483201008 meters 0.06407336031438883 Centerline is valid? [True, True] Translation: X:99.65, Y:39.25, Z:-8.54 [[ 6.93242407e-01 -7.19584375e-01 4.01658035e-02 9.96464536e+01] [ 7.18460629e-01 6.94404323e-01 4.02114385e-02 3.92543457e+01] [-5.68268304e-02 9.81274083e-04 9.98383568e-01 -8.53683575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.513201008 meters 0.0642515670125405 Centerline is valid? [True, True] Translation: X:99.67, Y:39.28, Z:-8.54 [[ 6.92746751e-01 -7.20092843e-01 3.96009588e-02 9.96651406e+01] [ 7.19000180e-01 6.93877012e-01 3.96665139e-02 3.92757356e+01] [-5.60417677e-02 9.94247868e-04 9.98427930e-01 -8.53980628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.543201008 meters 0.06444166685945528 Centerline is valid? [True, True] Translation: X:99.68, Y:39.29, Z:-8.54 [[ 6.92688380e-01 -7.20144087e-01 3.96900806e-02 9.96834565e+01] [ 7.19045459e-01 6.93823840e-01 3.97757228e-02 3.92941932e+01] [-5.61821757e-02 9.86791181e-04 9.98420047e-01 -8.54389272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.573201008 meters 0.06427462997419345 Centerline is valid? [True, True] Translation: X:99.70, Y:39.32, Z:-8.54 [[ 6.93008759e-01 -7.19850715e-01 3.94183711e-02 9.97018332e+01] [ 7.18765163e-01 6.94128279e-01 3.95293875e-02 3.93152282e+01] [-5.58166639e-02 9.38340137e-04 9.98440594e-01 -8.54478001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60320100799998 meters 0.06381325699775021 Centerline is valid? [True, True] Translation: X:99.72, Y:39.34, Z:-8.55 [[ 6.94990256e-01 -7.18004310e-01 3.81884075e-02 9.97183230e+01] [ 7.16981632e-01 6.96038250e-01 3.83157077e-02 3.93376923e+01] [-5.40914357e-02 7.51343217e-04 9.98535704e-01 -8.54649440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63320100799999 meters 0.06368688179312071 Centerline is valid? [True, True] Translation: X:99.74, Y:39.36, Z:-8.55 [[ 6.95953171e-01 -7.17105289e-01 3.75391621e-02 9.97364048e+01] [ 7.16114588e-01 6.96964545e-01 3.76871331e-02 3.93588331e+01] [-5.31891075e-02 6.53861827e-04 9.98584243e-01 -8.54804250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66320100799999 meters 0.06348993492208711 Centerline is valid? [True, True] Translation: X:99.75, Y:39.38, Z:-8.55 [[ 6.97397028e-01 -7.15750667e-01 3.65837156e-02 9.97538693e+01] [ 7.14806965e-01 6.98355718e-01 3.67463512e-02 3.93806449e+01] [-5.18496723e-02 5.23498626e-04 9.98654764e-01 -8.54901290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69320100799999 meters 0.06358082529901721 Centerline is valid? [True, True] Translation: X:99.77, Y:39.40, Z:-8.55 [[ 6.98847184e-01 -7.14360776e-01 3.60734759e-02 9.97712118e+01] [ 7.13440409e-01 6.99777480e-01 3.62527374e-02 3.94009994e+01] [-5.11409397e-02 4.01151970e-04 9.98691365e-01 -8.55396920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72320100799999 meters 0.06363099085863644 Centerline is valid? [True, True] Translation: X:99.78, Y:39.43, Z:-8.56 [[ 7.01850153e-01 -7.11410574e-01 3.60743446e-02 9.97841778e+01] [ 7.10485128e-01 7.02776612e-01 3.62755638e-02 3.94280424e+01] [-5.11590253e-02 1.70275295e-04 9.98690505e-01 -8.55747008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75320100799999 meters 0.06405703032589696 Centerline is valid? [True, True] Translation: X:99.80, Y:39.45, Z:-8.56 [[ 7.03390352e-01 -7.09901211e-01 3.58089792e-02 9.98003153e+01] [ 7.08986423e-01 7.04301262e-01 3.60275580e-02 3.94517800e+01] [-5.07963163e-02 4.66433954e-05 9.98709033e-01 -8.56021494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78320100799999 meters 0.06421567392863559 Centerline is valid? [True, True] Translation: X:99.82, Y:39.47, Z:-8.56 [[ 7.04623668e-01 -7.08669478e-01 3.59591117e-02 9.98157941e+01] [ 7.07744423e-01 7.05540621e-01 3.61975505e-02 3.94738837e+01] [-5.10227132e-02 -5.57900652e-05 9.98697492e-01 -8.56445346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.813201008 meters 0.06428027271210672 Centerline is valid? [True, True] Translation: X:99.83, Y:39.50, Z:-8.56 [[ 7.07473371e-01 -7.05840425e-01 3.56472092e-02 9.98319071e+01] [ 7.04926708e-01 7.08370821e-01 3.59042747e-02 3.94977526e+01] [-5.05941314e-02 -2.72648399e-04 9.98719260e-01 -8.56364593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.843201008 meters 0.06428608973503083 Centerline is valid? [True, True] Translation: X:99.85, Y:39.52, Z:-8.56 [[ 7.08828163e-01 -7.04471132e-01 3.58198264e-02 9.98500276e+01] [ 7.03545816e-01 7.09732538e-01 3.60972170e-02 3.95192266e+01] [-5.08519436e-02 -3.85835014e-04 9.98706128e-01 -8.56302933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.873201008 meters 0.06476339106703563 Centerline is valid? [True, True] Translation: X:99.87, Y:39.54, Z:-8.57 [[ 7.10571097e-01 -7.02667921e-01 3.66947992e-02 9.98659884e+01] [ 7.01693370e-01 7.11517743e-01 3.69988593e-02 3.95417046e+01] [-5.21069123e-02 -5.41822682e-04 9.98641365e-01 -8.56583465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.903201008 meters 0.06461983190303333 Centerline is valid? [True, True] Translation: X:99.88, Y:39.56, Z:-8.56 [[ 7.11772763e-01 -7.01445079e-01 3.68012921e-02 9.98842151e+01] [ 7.00462098e-01 7.12723215e-01 3.71277348e-02 3.95633828e+01] [-5.22722020e-02 -6.48600143e-04 9.98632663e-01 -8.56488372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.933201008 meters 0.06533475910420708 Centerline is valid? [True, True] Translation: X:99.90, Y:39.59, Z:-8.57 [[ 7.13953192e-01 -6.99157949e-01 3.80657567e-02 9.98983051e+01] [ 6.98101815e-01 7.14966730e-01 3.84243611e-02 3.95874534e+01] [-5.40804470e-02 -8.59421454e-04 9.98536212e-01 -8.56744505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96320100799998 meters 0.0652323202205223 Centerline is valid? [True, True] Translation: X:99.92, Y:39.61, Z:-8.57 [[ 7.13222611e-01 -6.99880296e-01 3.84847754e-02 9.99176386e+01] [ 6.98800573e-01 7.14259674e-01 3.88699980e-02 3.96072093e+01] [-5.46924688e-02 -8.29778377e-04 9.98502902e-01 -8.56983114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99320100799999 meters 0.06499705435298794 Centerline is valid? [True, True] Translation: X:99.94, Y:39.63, Z:-8.57 [[ 7.11289237e-01 -7.01777368e-01 3.97007231e-02 9.99376916e+01] [ 7.00629973e-01 7.12395961e-01 4.01202553e-02 3.96262204e+01] [-5.64381219e-02 -7.21589264e-04 9.98405838e-01 -8.57163158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02320100799999 meters 0.06453094151385443 Centerline is valid? [True, True] Translation: X:99.96, Y:39.64, Z:-8.57 [[ 7.09163655e-01 -7.03935507e-01 3.95185063e-02 9.99593325e+01] [ 7.02800786e-01 7.10263673e-01 3.99570938e-02 3.96444018e+01] [-5.61957765e-02 -5.62481443e-04 9.98419610e-01 -8.57364567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05320100799999 meters 0.06453094151385443 Centerline is valid? [True, True] Translation: X:99.98, Y:39.66, Z:-8.58 [[ 7.08979436e-01 -7.04121637e-01 3.95079554e-02 9.99786032e+01] [ 7.02986624e-01 7.10079153e-01 3.99675223e-02 3.96641477e+01] [-5.61957728e-02 -5.62587229e-04 9.98419611e-01 -8.57577324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08320100799999 meters 0.06467157969522701 Centerline is valid? [True, True] Translation: X:100.00, Y:39.68, Z:-8.58 [[ 7.05918967e-01 -7.07321807e-01 3.70711883e-02 9.99995928e+01] [ 7.06326003e-01 7.06891625e-01 3.75207655e-02 3.96829253e+01] [-5.27445682e-02 -3.02275749e-04 9.98607991e-01 -8.58103384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11320100799999 meters 0.06500749265426373 Centerline is valid? [True, True] Translation: X:100.02, Y:39.70, Z:-8.59 [[ 7.05459233e-01 -7.07818341e-01 3.63382104e-02 1.00018248e+02] [ 7.06861321e-01 7.06394452e-01 3.67960803e-02 3.97033762e+01] [-5.17140508e-02 -2.72059141e-04 9.98661896e-01 -8.58523082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14320100799999 meters 0.0652825238728199 Centerline is valid? [True, True] Translation: X:100.04, Y:39.72, Z:-8.59 [[ 7.05981507e-01 -7.07368162e-01 3.49341505e-02 1.00037340e+02] [ 7.06482255e-01 7.06845237e-01 3.53925697e-02 3.97249644e+01] [-4.97286149e-02 -3.06142242e-04 9.98762720e-01 -8.58821715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17320100799999 meters 0.06589531062404919 Centerline is valid? [True, True] Translation: X:100.05, Y:39.75, Z:-8.59 [[ 7.08200593e-01 -7.05239303e-01 3.30067451e-02 1.00053941e+02] [ 7.04445257e-01 7.08969201e-01 3.34597084e-02 3.97461388e+01] [-4.69978671e-02 -4.44740345e-04 9.98894891e-01 -8.59204224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.203201008 meters 0.06610068635301014 Centerline is valid? [True, True] Translation: X:100.07, Y:39.77, Z:-8.59 [[ 7.09191989e-01 -7.04268416e-01 3.24456466e-02 1.00072614e+02] [ 7.03499926e-01 7.09933619e-01 3.28954347e-02 3.97672195e+01] [-4.62014710e-02 -5.03668822e-04 9.98932015e-01 -8.59376469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.233201008 meters 0.06635705884786802 Centerline is valid? [True, True] Translation: X:100.09, Y:39.79, Z:-8.60 [[ 7.10163171e-01 -7.03286323e-01 3.25056683e-02 1.00090600e+02] [ 7.02513076e-01 7.10906470e-01 3.29752693e-02 3.97876055e+01] [-4.62995459e-02 -5.82164795e-04 9.98927431e-01 -8.59601592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.263201008 meters 0.06672425302256997 Centerline is valid? [True, True] Translation: X:100.11, Y:39.81, Z:-8.60 [[ 7.10596006e-01 -7.02869417e-01 3.20608526e-02 1.00109444e+02] [ 7.02116355e-01 7.11318644e-01 3.25332154e-02 3.98084094e+01] [-4.56720844e-02 -6.07523986e-04 9.98956301e-01 -8.59848818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.293201008 meters 0.06674844489032711 Centerline is valid? [True, True] Translation: X:100.13, Y:39.83, Z:-8.60 [[ 7.10542245e-01 -7.02937891e-01 3.17496510e-02 1.00128763e+02] [ 7.02198708e-01 7.11250976e-01 3.22338838e-02 3.98288234e+01] [-4.52403886e-02 -6.08972178e-04 9.98975944e-01 -8.60080262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.323201008 meters 0.06739779549725049 Centerline is valid? [True, True] Translation: X:100.15, Y:39.85, Z:-8.61 [[ 7.10752281e-01 -7.02701485e-01 3.22772120e-02 1.00146364e+02] [ 7.01936461e-01 7.11484508e-01 3.27871894e-02 3.98488920e+01] [-4.60043430e-02 -6.47017660e-04 9.98941030e-01 -8.60545858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35320100799998 meters 0.06724721659921097 Centerline is valid? [True, True] Translation: X:100.17, Y:39.87, Z:-8.61 [[ 7.10814554e-01 -7.02641068e-01 3.22211105e-02 1.00167016e+02] [ 7.01877803e-01 7.11544159e-01 3.27484262e-02 3.98682774e+01] [-4.59371321e-02 -6.62775678e-04 9.98944113e-01 -8.60595531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38320100799999 meters 0.06724098086721951 Centerline is valid? [True, True] Translation: X:100.19, Y:39.89, Z:-8.61 [[ 7.10274659e-01 -7.03187121e-01 3.22146215e-02 1.00187794e+02] [ 7.02423919e-01 7.11004545e-01 3.27593498e-02 3.98874806e+01] [-4.59406952e-02 -6.39815356e-04 9.98943964e-01 -8.60719996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41320100799999 meters 0.06670269062973735 Centerline is valid? [True, True] Translation: X:100.21, Y:39.90, Z:-8.61 [[ 7.07426694e-01 -7.05996199e-01 3.34191369e-02 1.00211292e+02] [ 7.05176947e-01 7.08215452e-01 3.40051000e-02 3.99019087e+01] [-4.76754205e-02 -4.89710585e-04 9.98862761e-01 -8.60814222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44320100799999 meters 0.06584997868391664 Centerline is valid? [True, True] Translation: X:100.24, Y:39.92, Z:-8.61 [[ 7.04633429e-01 -7.08738684e-01 3.43687169e-02 1.00235740e+02] [ 7.07874624e-01 7.05471028e-01 3.49877717e-02 3.99178105e+01] [-4.90433213e-02 -3.24810989e-04 9.98796599e-01 -8.60596003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47320100799999 meters 0.06556007085233659 Centerline is valid? [True, True] Translation: X:100.26, Y:39.94, Z:-8.61 [[ 7.02588159e-01 -7.10722493e-01 3.52621153e-02 1.00257789e+02] [ 7.09814375e-01 7.03472456e-01 3.59173713e-02 3.99352406e+01] [-5.03332105e-02 -2.05563483e-04 9.98732460e-01 -8.60660194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50320100799999 meters 0.06575709743449407 Centerline is valid? [True, True] Translation: X:100.28, Y:39.95, Z:-8.61 [[ 7.00914159e-01 -7.12424593e-01 3.42131843e-02 1.00279220e+02] [ 7.11570870e-01 7.01748667e-01 3.48669709e-02 3.99536141e+01] [-4.88491440e-02 -9.36482497e-05 9.98806164e-01 -8.61124402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53320100799999 meters 0.06605706650853649 Centerline is valid? [True, True] Translation: X:100.30, Y:39.97, Z:-8.62 [[ 7.00124779e-01 -7.13215854e-01 3.38886192e-02 1.00297929e+02] [ 7.12378419e-01 7.00944465e-01 3.45520764e-02 3.99726553e+01] [-4.83971287e-02 -4.92439157e-05 9.98828171e-01 -8.61599877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.563201008 meters 0.06647784031287982 Centerline is valid? [True, True] Translation: X:100.32, Y:39.99, Z:-8.62 [[ 6.99709112e-01 -7.13683248e-01 3.26095148e-02 1.00316961e+02] [ 7.12907512e-01 7.00468573e-01 3.32664669e-02 3.99929053e+01] [-4.65836605e-02 -2.92819566e-05 9.98914392e-01 -8.62085095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.593201008 meters 0.06680352378721455 Centerline is valid? [True, True] Translation: X:100.34, Y:40.01, Z:-8.62 [[ 7.00020502e-01 -7.13394607e-01 3.22402257e-02 1.00335760e+02] [ 7.12635288e-01 7.00762536e-01 3.29061552e-02 4.00125579e+01] [-4.60678159e-02 -5.94607469e-05 9.98938313e-01 -8.62481382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.623201008 meters 0.06693285446161047 Centerline is valid? [True, True] Translation: X:100.36, Y:40.03, Z:-8.63 [[ 7.00511278e-01 -7.12944045e-01 3.15394657e-02 1.00355233e+02] [ 7.12216157e-01 7.01220920e-01 3.22081865e-02 4.00319931e+01] [-4.50787679e-02 -9.92808044e-05 9.98983431e-01 -8.62847642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.653201008 meters 0.06739456341684867 Centerline is valid? [True, True] Translation: X:100.38, Y:40.05, Z:-8.63 [[ 7.01669022e-01 -7.11893059e-01 2.94763695e-02 1.00375580e+02] [ 7.11255601e-01 7.02287864e-01 3.01201966e-02 4.00504371e+01] [-4.21432555e-02 -1.69175983e-04 9.99111564e-01 -8.62985236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.683201008 meters 0.06764047653090963 Centerline is valid? [True, True] Translation: X:100.40, Y:40.07, Z:-8.63 [[ 7.02325327e-01 -7.11269942e-01 2.88826067e-02 1.00395061e+02] [ 7.10657118e-01 7.02918933e-01 2.95200720e-02 4.00700248e+01] [-4.12988710e-02 -2.07064203e-04 9.99146816e-01 -8.63226273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71320100799998 meters 0.06772973750586081 Centerline is valid? [True, True] Translation: X:100.41, Y:40.09, Z:-8.63 [[ 7.02708677e-01 -7.10893781e-01 2.88192244e-02 1.00414214e+02] [ 7.10282606e-01 7.03299349e-01 2.94727951e-02 4.00902577e+01] [-4.12205685e-02 -2.40995113e-04 9.99150042e-01 -8.63426055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74320100799999 meters 0.06768790373835093 Centerline is valid? [True, True] Translation: X:100.43, Y:40.11, Z:-8.64 [[ 7.01725758e-01 -7.11846168e-01 2.92573788e-02 1.00434491e+02] [ 7.11216383e-01 7.02335386e-01 2.99376487e-02 4.01094360e+01] [-4.18594930e-02 -1.99692121e-04 9.99123487e-01 -8.63694298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77320100799999 meters 0.06815112822740685 Centerline is valid? [True, True] Translation: X:100.45, Y:40.13, Z:-8.64 [[ 7.01245645e-01 -7.12302649e-01 2.96560535e-02 1.00452567e+02] [ 7.11655289e-01 7.01872425e-01 3.03619606e-02 4.01293575e+01] [-4.24416712e-02 -1.86305293e-04 9.99098929e-01 -8.64253369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80320100799999 meters 0.06818069657367466 Centerline is valid? [True, True] Translation: X:100.47, Y:40.15, Z:-8.65 [[ 7.01064499e-01 -7.12461414e-01 3.01214553e-02 1.00471147e+02] [ 7.11792931e-01 7.01711263e-01 3.08565371e-02 4.01506427e+01] [-4.31206565e-02 -1.92183740e-04 9.99069853e-01 -8.64520465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83320100799999 meters 0.06823091533830787 Centerline is valid? [True, True] Translation: X:100.49, Y:40.17, Z:-8.65 [[ 7.01218897e-01 -7.12306252e-01 3.01970450e-02 1.00489998e+02] [ 7.11633570e-01 7.01868761e-01 3.09500361e-02 4.01712815e+01] [-4.32402668e-02 -2.13519293e-04 9.99064679e-01 -8.64657658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86320100799999 meters 0.06831868216583346 Centerline is valid? [True, True] Translation: X:100.51, Y:40.19, Z:-8.65 [[ 7.01608241e-01 -7.11899596e-01 3.07382517e-02 1.00507983e+02] [ 7.11201423e-01 7.02281211e-01 3.15219938e-02 4.01909985e+01] [-4.40273913e-02 -2.55002282e-04 9.99030292e-01 -8.65003345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89320100799999 meters 0.06820783074015599 Centerline is valid? [True, True] Translation: X:100.53, Y:40.21, Z:-8.65 [[ 7.03261625e-01 -7.10254325e-01 3.10142038e-02 1.00527390e+02] [ 7.09541137e-01 7.03945065e-01 3.18232633e-02 4.02120762e+01] [-4.44349061e-02 -3.74226455e-04 9.99012212e-01 -8.64886381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92320100799999 meters 0.06841290615248954 Centerline is valid? [True, True] Translation: X:100.54, Y:40.23, Z:-8.65 [[ 7.04097376e-01 -7.09411766e-01 3.13341981e-02 1.00544147e+02] [ 7.08682265e-01 7.04794119e-01 3.21666962e-02 4.02328678e+01] [-4.49035914e-02 -4.42495915e-04 9.98991227e-01 -8.65174009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.953201008 meters 0.0683243641785773 Centerline is valid? [True, True] Translation: X:100.56, Y:40.25, Z:-8.65 [[ 7.04618606e-01 -7.08876781e-01 3.17226893e-02 1.00561373e+02] [ 7.08127544e-01 7.05332164e-01 3.25871153e-02 4.02541335e+01] [-4.54752825e-02 -4.97777736e-04 9.98965340e-01 -8.65326011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.983201008 meters 0.06865734239984962 Centerline is valid? [True, True] Translation: X:100.58, Y:40.28, Z:-8.66 [[ 7.05519327e-01 -7.07979355e-01 3.17444959e-02 1.00577755e+02] [ 7.07227162e-01 7.06232898e-01 3.26317983e-02 4.02753328e+01] [-4.55216468e-02 -5.71794609e-04 9.98963189e-01 -8.65669057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.013201008 meters 0.06910726267460914 Centerline is valid? [True, True] Translation: X:100.59, Y:40.30, Z:-8.66 [[ 7.06886265e-01 -7.06560324e-01 3.29289683e-02 1.00592815e+02] [ 7.05748731e-01 7.07652472e-01 3.38630650e-02 4.02980326e+01] [-4.72285640e-02 -6.97757946e-04 9.98883865e-01 -8.65933058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.043201008 meters 0.0690996258352824 Centerline is valid? [True, True] Translation: X:100.61, Y:40.32, Z:-8.66 [[ 7.07111264e-01 -7.06316703e-01 3.33223077e-02 1.00611229e+02] [ 7.05484346e-01 7.07895594e-01 3.42879736e-02 4.03187625e+01] [-4.78068833e-02 -7.37045865e-04 9.98856325e-01 -8.66086298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.073201008 meters 0.06921417217269564 Centerline is valid? [True, True] Translation: X:100.63, Y:40.34, Z:-8.66 [[ 7.07378373e-01 -7.06040770e-01 3.35002734e-02 1.00630018e+02] [ 7.05198122e-01 7.08170763e-01 3.44931756e-02 4.03392657e+01] [-4.80775025e-02 -7.75396584e-04 9.98843307e-01 -8.66227708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10320100799998 meters 0.06964973954693558 Centerline is valid? [True, True] Translation: X:100.65, Y:40.36, Z:-8.67 [[ 7.07789579e-01 -7.05599826e-01 3.40998179e-02 1.00648488e+02] [ 7.04725293e-01 7.08610042e-01 3.51293231e-02 4.03595295e+01] [-4.89507176e-02 -8.33164647e-04 9.98800848e-01 -8.66560627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13320100799999 meters 0.06902226233015064 Centerline is valid? [True, True] Translation: X:100.67, Y:40.38, Z:-8.67 [[ 7.07173042e-01 -7.06187649e-01 3.47173298e-02 1.00670221e+02] [ 7.05280786e-01 7.08024243e-01 3.57866521e-02 4.03782077e+01] [-4.98528029e-02 -8.21889929e-04 9.98756238e-01 -8.66507229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16320100799999 meters 0.06864143870853785 Centerline is valid? [True, True] Translation: X:100.69, Y:40.40, Z:-8.67 [[ 7.06065658e-01 -7.07268972e-01 3.52404347e-02 1.00690836e+02] [ 7.06334879e-01 7.06944132e-01 3.63460029e-02 4.03980760e+01] [-5.06194186e-02 -7.71116260e-04 9.98717718e-01 -8.66708829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19320100799999 meters 0.06823083513393711 Centerline is valid? [True, True] Translation: X:100.71, Y:40.42, Z:-8.67 [[ 7.04880727e-01 -7.08423963e-01 3.57582106e-02 1.00711621e+02] [ 7.07462774e-01 7.05786783e-01 3.68977071e-02 4.04166645e+01] [-5.13768923e-02 -7.10879716e-04 9.98679082e-01 -8.66824572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22320100799999 meters 0.06777507532529188 Centerline is valid? [True, True] Translation: X:100.73, Y:40.43, Z:-8.67 [[ 7.01796487e-01 -7.11469228e-01 3.59614929e-02 1.00734626e+02] [ 7.10500021e-01 7.02717071e-01 3.71273233e-02 4.04335543e+01] [-5.16857031e-02 -5.05183622e-04 9.98663273e-01 -8.67157104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25320100799999 meters 0.06752929292103818 Centerline is valid? [True, True] Translation: X:100.76, Y:40.45, Z:-8.67 [[ 7.00693946e-01 -7.12575081e-01 3.55633037e-02 1.00755956e+02] [ 7.11627698e-01 7.01595730e-01 3.67348873e-02 4.04516263e+01] [-5.11274273e-02 -4.32081159e-04 9.98692044e-01 -8.67189295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28320100799999 meters 0.06749214093085314 Centerline is valid? [True, True] Translation: X:100.78, Y:40.47, Z:-8.67 [[ 6.99280244e-01 -7.13986497e-01 3.50773672e-02 1.00776719e+02] [ 7.13065640e-01 7.00159387e-01 3.62522402e-02 4.04705436e+01] [-5.04433580e-02 -3.38010062e-04 9.98726866e-01 -8.67491226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.313201008 meters 0.06753836412939088 Centerline is valid? [True, True] Translation: X:100.80, Y:40.49, Z:-8.68 [[ 6.98391526e-01 -7.14860918e-01 3.49734760e-02 1.00796436e+02] [ 7.13945651e-01 6.99266605e-01 3.61638344e-02 4.04885727e+01] [-5.03078957e-02 -2.87354421e-04 9.98733715e-01 -8.67857262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.343201008 meters 0.06726535917055676 Centerline is valid? [True, True] Translation: X:100.82, Y:40.50, Z:-8.68 [[ 6.97138699e-01 -7.16082978e-01 3.49685995e-02 1.00817422e+02] [ 7.15168346e-01 6.98015130e-01 3.61816946e-02 4.05049137e+01] [-5.03177072e-02 -2.15224034e-04 9.98733239e-01 -8.67977899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.373201008 meters 0.06745287093769563 Centerline is valid? [True, True] Translation: X:100.84, Y:40.52, Z:-8.69 [[ 6.97138911e-01 -7.16078381e-01 3.50583878e-02 1.00835437e+02] [ 7.15158346e-01 6.98019843e-01 3.62882876e-02 4.05239648e+01] [-5.04567086e-02 -2.25678691e-04 9.98726224e-01 -8.68504847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.403201008 meters 0.06712205144468607 Centerline is valid? [True, True] Translation: X:100.86, Y:40.54, Z:-8.68 [[ 6.96992620e-01 -7.16204183e-01 3.53956901e-02 1.00855727e+02] [ 7.15265258e-01 6.97890759e-01 3.66619426e-02 4.05439249e+01] [-5.09597617e-02 -2.35795994e-04 9.98700679e-01 -8.68349385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.433201008 meters 0.06702305339720208 Centerline is valid? [True, True] Translation: X:100.88, Y:40.56, Z:-8.68 [[ 6.96516337e-01 -7.16600503e-01 3.67248197e-02 1.00875433e+02] [ 7.15589102e-01 6.97483811e-01 3.80600871e-02 4.05646048e+01] [-5.28888448e-02 -2.29591731e-04 9.98600379e-01 -8.68409816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46320100799998 meters 0.06685849120437132 Centerline is valid? [True, True] Translation: X:100.90, Y:40.58, Z:-8.69 [[ 6.96254300e-01 -7.16822335e-01 3.73589337e-02 1.00895631e+02] [ 7.15774813e-01 6.97255826e-01 3.87392529e-02 4.05849727e+01] [-5.38178959e-02 -2.31787653e-04 9.98550740e-01 -8.68544223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49320100799999 meters 0.06673858081441572 Centerline is valid? [True, True] Translation: X:100.91, Y:40.60, Z:-8.69 [[ 6.95643462e-01 -7.17401542e-01 3.76191603e-02 1.00914494e+02] [ 7.16339251e-01 6.96659879e-01 3.90267968e-02 4.06035933e+01] [-5.42056439e-02 -2.00654938e-04 9.98529773e-01 -8.68707721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52320100799999 meters 0.06671264982487511 Centerline is valid? [True, True] Translation: X:100.93, Y:40.62, Z:-8.69 [[ 6.94971827e-01 -7.18043012e-01 3.77940919e-02 1.00933876e+02] [ 7.16970358e-01 6.95998710e-01 3.92339361e-02 4.06229722e+01] [-5.44762928e-02 -1.69236674e-04 9.98515050e-01 -8.68998067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55320100799999 meters 0.06689628276801438 Centerline is valid? [True, True] Translation: X:100.95, Y:40.64, Z:-8.69 [[ 6.94865416e-01 -7.18147916e-01 3.77574560e-02 1.00951037e+02] [ 7.17076243e-01 6.95890466e-01 3.92188893e-02 4.06427314e+01] [-5.44400173e-02 -1.76875072e-04 9.98517027e-01 -8.69435732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58320100799999 meters 0.06682789400482124 Centerline is valid? [True, True] Translation: X:100.97, Y:40.66, Z:-8.70 [[ 6.94617364e-01 -7.18381463e-01 3.78786372e-02 1.00969709e+02] [ 7.17301855e-01 6.95649368e-01 3.93701119e-02 4.06627890e+01] [-5.46330086e-02 -1.76746584e-04 9.98506486e-01 -8.69568430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61320100799999 meters 0.06680779868584297 Centerline is valid? [True, True] Translation: X:100.99, Y:40.68, Z:-8.70 [[ 6.94357156e-01 -7.18596103e-01 3.85717572e-02 1.00988338e+02] [ 7.17475576e-01 6.95427644e-01 4.01147079e-02 4.06815895e+01] [-5.56501390e-02 -1.79640735e-04 9.98450314e-01 -8.69807785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64320100799999 meters 0.0667023457544951 Centerline is valid? [True, True] Translation: X:101.01, Y:40.70, Z:-8.70 [[ 6.93917048e-01 -7.19016393e-01 3.86595031e-02 1.01008188e+02] [ 7.17889969e-01 6.94993093e-01 4.02317404e-02 4.07001255e+01] [-5.57953685e-02 -1.64221000e-04 9.98442212e-01 -8.69969706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67320100799999 meters 0.066504840153042 Centerline is valid? [True, True] Translation: X:101.03, Y:40.72, Z:-8.70 [[ 6.92872609e-01 -7.20010412e-01 3.88915668e-02 1.01028718e+02] [ 7.18870519e-01 6.93963253e-01 4.04991409e-02 4.07165040e+01] [-5.61491214e-02 -1.02744604e-04 9.98422388e-01 -8.70026145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.703201008 meters 0.0665932137048255 Centerline is valid? [True, True] Translation: X:101.05, Y:40.74, Z:-8.70 [[ 6.92907504e-01 -7.20008711e-01 3.82968252e-02 1.01048033e+02] [ 7.18902509e-01 6.93965016e-01 3.98966045e-02 4.07371001e+01] [-5.53025597e-02 -1.12972902e-04 9.98469636e-01 -8.70331174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.733201008 meters 0.0665132308550298 Centerline is valid? [True, True] Translation: X:101.07, Y:40.76, Z:-8.71 [[ 6.92839299e-01 -7.20040151e-01 3.89343821e-02 1.01066403e+02] [ 7.18895665e-01 6.93932392e-01 4.05814897e-02 4.07579319e+01] [-5.62381309e-02 -1.26692367e-04 9.98417376e-01 -8.70567090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.763201008 meters 0.06660105299037496 Centerline is valid? [True, True] Translation: X:101.08, Y:40.78, Z:-8.71 [[ 6.92683979e-01 -7.20194851e-01 3.88365897e-02 1.01084958e+02] [ 7.19055112e-01 6.93771835e-01 4.05016905e-02 4.07784812e+01] [-5.61128411e-02 -1.29223757e-04 9.98424425e-01 -8.70879588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.793201008 meters 0.06647370145266858 Centerline is valid? [True, True] Translation: X:101.10, Y:40.80, Z:-8.71 [[ 6.92629537e-01 -7.20231544e-01 3.91260594e-02 1.01104093e+02] [ 7.19073373e-01 6.93733740e-01 4.08286897e-02 4.07991079e+01] [-5.65491777e-02 -1.44648977e-04 9.98399804e-01 -8.70996248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.823201008 meters 0.06646789408677677 Centerline is valid? [True, True] Translation: X:101.12, Y:40.82, Z:-8.71 [[ 6.91794400e-01 -7.21060000e-01 3.86391480e-02 1.01122736e+02] [ 7.19930532e-01 6.92872620e-01 4.03430422e-02 4.08173927e+01] [-5.58617617e-02 -9.15883063e-05 9.98438508e-01 -8.71294126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85320100799998 meters 0.06657864720939925 Centerline is valid? [True, True] Translation: X:101.14, Y:40.84, Z:-8.72 [[ 6.90126848e-01 -7.22707231e-01 3.76721693e-02 1.01144667e+02] [ 7.21635160e-01 6.91154293e-01 3.93501962e-02 4.08358527e+01] [-5.44759529e-02 2.89350935e-05 9.98515082e-01 -8.71550250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88320100799999 meters 0.06655013895902805 Centerline is valid? [True, True] Translation: X:101.17, Y:40.85, Z:-8.72 [[ 6.88762537e-01 -7.23986360e-01 3.80777814e-02 1.01165127e+02] [ 7.22891886e-01 6.89814277e-01 3.97942842e-02 4.08539484e+01] [-5.50771162e-02 1.17307057e-04 9.98482097e-01 -8.71689339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91320100799999 meters 0.06640015390594915 Centerline is valid? [True, True] Translation: X:101.19, Y:40.87, Z:-8.72 [[ 6.87645044e-01 -7.25050410e-01 3.80288865e-02 1.01185864e+02] [ 7.23959058e-01 6.88695773e-01 3.97670004e-02 4.08721822e+01] [-5.50234133e-02 1.85776097e-04 9.98485047e-01 -8.71885197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94320100799999 meters 0.06636921824603638 Centerline is valid? [True, True] Translation: X:101.21, Y:40.89, Z:-8.72 [[ 6.86531720e-01 -7.26116023e-01 3.78116223e-02 1.01205446e+02] [ 7.25037457e-01 6.87572147e-01 3.95629710e-02 4.08906622e+01] [-5.47255254e-02 2.53607933e-04 9.98501403e-01 -8.72082720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97320100799999 meters 0.06636921824603638 Centerline is valid? [True, True] Translation: X:101.22, Y:40.91, Z:-8.72 [[ 6.86314993e-01 -7.26321489e-01 3.77998021e-02 1.01223794e+02] [ 7.25242613e-01 6.87355097e-01 3.95742598e-02 4.09101901e+01] [-5.47255219e-02 2.53619405e-04 9.98501404e-01 -8.72289021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00320100799999 meters 0.06644152857695211 Centerline is valid? [True, True] Translation: X:101.24, Y:40.93, Z:-8.73 [[ 6.85176780e-01 -7.27408732e-01 3.75408671e-02 1.01242885e+02] [ 7.26344982e-01 6.86204367e-01 3.93259992e-02 4.09280444e+01] [-5.43667821e-02 3.22358905e-04 9.98520981e-01 -8.72557540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03320100799999 meters 0.06658669840008197 Centerline is valid? [True, True] Translation: X:101.26, Y:40.95, Z:-8.73 [[ 6.83384948e-01 -7.29097525e-01 3.74407724e-02 1.01263204e+02] [ 7.28040572e-01 6.84409678e-01 3.92468850e-02 4.09460824e+01] [-5.42396338e-02 4.37670870e-04 9.98527852e-01 -8.72969789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.063201008 meters 0.0666362069369458 Centerline is valid? [True, True] Translation: X:101.28, Y:40.96, Z:-8.73 [[ 6.82457870e-01 -7.29948940e-01 3.77597780e-02 1.01281597e+02] [ 7.28874026e-01 6.83501499e-01 3.96024558e-02 4.09641408e+01] [-5.47166356e-02 4.95113801e-04 9.98501800e-01 -8.73234851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.093201008 meters 0.06641977399902052 Centerline is valid? [True, True] Translation: X:101.30, Y:40.98, Z:-8.73 [[ 6.81461392e-01 -7.30847063e-01 3.83789229e-02 1.01301375e+02] [ 7.29736524e-01 6.82541031e-01 4.02783658e-02 4.09848066e+01] [-5.56325149e-02 5.58350583e-04 9.98451156e-01 -8.73061258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.123201008 meters 0.06617400878808812 Centerline is valid? [True, True] Translation: X:101.32, Y:41.00, Z:-8.73 [[ 6.81667623e-01 -7.30645550e-01 3.85529706e-02 1.01320868e+02] [ 7.29523358e-01 6.82756765e-01 4.04829667e-02 4.10038985e+01] [-5.59010010e-02 5.29364850e-04 9.98436176e-01 -8.73252345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.153201008 meters 0.06623537138415575 Centerline is valid? [True, True] Translation: X:101.34, Y:41.02, Z:-8.74 [[ 6.81966712e-01 -7.30402758e-01 3.78578271e-02 1.01339455e+02] [ 7.29319165e-01 6.83016526e-01 3.97741316e-02 4.10223629e+01] [-5.49086570e-02 4.85805139e-04 9.98491264e-01 -8.73700614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.183201008 meters 0.0659614705199442 Centerline is valid? [True, True] Translation: X:101.36, Y:41.04, Z:-8.74 [[ 6.83587293e-01 -7.28863361e-01 3.82963977e-02 1.01355891e+02] [ 7.27750515e-01 6.84659098e-01 4.02629768e-02 4.10442601e+01] [-5.55661858e-02 3.46963821e-04 9.98454946e-01 -8.73836179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21320100799998 meters 0.06590797238051496 Centerline is valid? [True, True] Translation: X:101.37, Y:41.07, Z:-8.74 [[ 6.84129077e-01 -7.28355264e-01 3.82885778e-02 1.01372786e+02] [ 7.27241005e-01 6.85199623e-01 4.02740309e-02 4.10662406e+01] [-5.55691214e-02 2.92388206e-04 9.98454800e-01 -8.73992595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24320100799999 meters 0.06604185730726511 Centerline is valid? [True, True] Translation: X:101.39, Y:41.09, Z:-8.74 [[ 6.85128132e-01 -7.27407696e-01 3.84380871e-02 1.01388038e+02] [ 7.26281935e-01 6.86205511e-01 4.04542634e-02 4.10892243e+01] [-5.58031698e-02 2.00534360e-04 9.98441769e-01 -8.74269233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27320100799999 meters 0.06598763771411863 Centerline is valid? [True, True] Translation: X:101.41, Y:41.11, Z:-8.74 [[ 6.85554993e-01 -7.27043259e-01 3.77153841e-02 1.01405576e+02] [ 7.25957629e-01 6.86591637e-01 3.97170641e-02 4.11111457e+01] [-5.47710910e-02 1.51539155e-04 9.98498926e-01 -8.74355484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30320100799999 meters 0.06611762203796892 Centerline is valid? [True, True] Translation: X:101.42, Y:41.13, Z:-8.75 [[ 6.86618082e-01 -7.26039862e-01 3.77058114e-02 1.01423700e+02] [ 7.24952070e-01 6.87652613e-01 3.97288366e-02 4.11332800e+01] [-5.47732187e-02 5.63684107e-05 9.98498819e-01 -8.74609110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33320100799999 meters 0.06618581079397697 Centerline is valid? [True, True] Translation: X:101.44, Y:41.15, Z:-8.75 [[ 6.87278023e-01 -7.25448073e-01 3.70676634e-02 1.01441431e+02] [ 7.24394860e-01 6.88276901e-01 3.90767611e-02 4.11537636e+01] [-5.38609776e-02 -4.97429763e-06 9.98548444e-01 -8.75178322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36320100799999 meters 0.066053772594604 Centerline is valid? [True, True] Translation: X:101.46, Y:41.17, Z:-8.75 [[ 6.88460194e-01 -7.24312478e-01 3.73362455e-02 1.01459513e+02] [ 7.23241033e-01 6.89471843e-01 3.93825677e-02 4.11748913e+01] [-5.42675752e-02 -1.10225410e-04 9.98526423e-01 -8.75059899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39320100799999 meters 0.06590193796943192 Centerline is valid? [True, True] Translation: X:101.48, Y:41.20, Z:-8.75 [[ 6.90628421e-01 -7.22257425e-01 3.71025018e-02 1.01476653e+02] [ 7.21195064e-01 6.91624269e-01 3.91605588e-02 4.11979095e+01] [-5.39449950e-02 -2.87253748e-04 9.98543867e-01 -8.75128404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42320100799999 meters 0.066094585661873 Centerline is valid? [True, True] Translation: X:101.49, Y:41.22, Z:-8.75 [[ 6.91532903e-01 -7.21389252e-01 3.71455278e-02 1.01492448e+02] [ 7.20321962e-01 6.92529717e-01 3.92283249e-02 4.12185504e+01] [-5.40232738e-02 -3.70937935e-04 9.98539608e-01 -8.75396812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.453201008 meters 0.06624235878391745 Centerline is valid? [True, True] Translation: X:101.51, Y:41.24, Z:-8.76 [[ 6.92272331e-01 -7.20683438e-01 3.70729268e-02 1.01509108e+02] [ 7.19618468e-01 6.93264157e-01 3.91671950e-02 4.12391463e+01] [-5.39284801e-02 -4.36002577e-04 9.98544706e-01 -8.75722832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.483201008 meters 0.06620844098648601 Centerline is valid? [True, True] Translation: X:101.53, Y:41.26, Z:-8.76 [[ 6.92519962e-01 -7.20458145e-01 3.68261204e-02 1.01527132e+02] [ 7.19405685e-01 6.93498264e-01 3.89309400e-02 4.12596602e+01] [-5.35869634e-02 -4.67532746e-04 9.98563077e-01 -8.75883142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.513201008 meters 0.06637559148997617 Centerline is valid? [True, True] Translation: X:101.54, Y:41.28, Z:-8.76 [[ 6.92080973e-01 -7.20885915e-01 3.67072773e-02 1.01544813e+02] [ 7.19839620e-01 6.93053602e-01 3.88281639e-02 4.12792158e+01] [-5.34307873e-02 -4.48880932e-04 9.98571454e-01 -8.76255528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.543201008 meters 0.06612612926203075 Centerline is valid? [True, True] Translation: X:101.56, Y:41.30, Z:-8.76 [[ 6.91331221e-01 -7.21598330e-01 3.68373871e-02 1.01564175e+02] [ 7.20544247e-01 6.92311837e-01 3.89911242e-02 4.12986089e+01] [-5.36388892e-02 -4.12814166e-04 9.98560313e-01 -8.76398868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.573201008 meters 0.06597961828594912 Centerline is valid? [True, True] Translation: X:101.58, Y:41.32, Z:-8.77 [[ 6.90626292e-01 -7.22291004e-01 3.64832962e-02 1.01583591e+02] [ 7.21256871e-01 6.91589161e-01 3.86388143e-02 4.13163455e+01] [-5.31399202e-02 -3.71153017e-04 9.98587007e-01 -8.76709138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60320100799998 meters 0.0658041845706279 Centerline is valid? [True, True] Translation: X:101.60, Y:41.33, Z:-8.77 [[ 6.89119452e-01 -7.23732810e-01 3.64032878e-02 1.01603893e+02] [ 7.22703916e-01 6.90080244e-01 3.85785859e-02 4.13330686e+01] [-5.30417782e-02 -2.76455338e-04 9.98592256e-01 -8.77055960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63320100799999 meters 0.06526805952896521 Centerline is valid? [True, True] Translation: X:101.63, Y:41.35, Z:-8.77 [[ 6.87266006e-01 -7.25479465e-01 3.66740110e-02 1.01626111e+02] [ 7.24436340e-01 6.88243795e-01 3.88904718e-02 4.13494664e+01] [-5.34548992e-02 -1.60112932e-04 9.98570252e-01 -8.76999046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66320100799999 meters 0.06506502008783006 Centerline is valid? [True, True] Translation: X:101.65, Y:41.37, Z:-8.77 [[ 6.85678310e-01 -7.26985621e-01 3.65672288e-02 1.01647068e+02] [ 7.25949498e-01 6.86652681e-01 3.87997791e-02 4.13666625e+01] [-5.33158672e-02 -5.82056272e-05 9.98577696e-01 -8.77314796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69320100799999 meters 0.06500000303568722 Centerline is valid? [True, True] Translation: X:101.67, Y:41.38, Z:-8.78 [[ 6.82420039e-01 -7.30077915e-01 3.59044355e-02 1.01670055e+02] [ 7.29082120e-01 6.83363894e-01 3.81189152e-02 4.13841671e+01] [-5.23655730e-02 1.64170314e-04 9.98627969e-01 -8.77570518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72320100799999 meters 0.06499748175994453 Centerline is valid? [True, True] Translation: X:101.69, Y:41.40, Z:-8.78 [[ 6.80860324e-01 -7.31515254e-01 3.62581425e-02 1.01689785e+02] [ 7.30500705e-01 6.81825025e-01 3.85143633e-02 4.14023798e+01] [-5.28955531e-02 2.63696777e-04 9.98600015e-01 -8.77866027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75320100799999 meters 0.06508542991627196 Centerline is valid? [True, True] Translation: X:101.71, Y:41.42, Z:-8.78 [[ 6.79612369e-01 -7.32682882e-01 3.60946313e-02 1.01709222e+02] [ 7.31677941e-01 6.80570114e-01 3.83628910e-02 4.14199582e+01] [-5.26727608e-02 3.37750273e-04 9.98611770e-01 -8.78081062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78320100799999 meters 0.06503694597142845 Centerline is valid? [True, True] Translation: X:101.73, Y:41.44, Z:-8.78 [[ 6.78890162e-01 -7.33365455e-01 3.58225823e-02 1.01729102e+02] [ 7.32375287e-01 6.79834518e-01 3.80981102e-02 4.14387869e+01] [-5.22932659e-02 3.71141806e-04 9.98631702e-01 -8.78169677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.813201008 meters 0.06483134579200327 Centerline is valid? [True, True] Translation: X:101.75, Y:41.46, Z:-8.78 [[ 6.78828379e-01 -7.33430143e-01 3.56687028e-02 1.01747532e+02] [ 7.32447417e-01 6.79764735e-01 3.79563704e-02 4.14596994e+01] [-5.20846725e-02 3.59587843e-04 9.98642608e-01 -8.78202520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.843201008 meters 0.06495178307210986 Centerline is valid? [True, True] Translation: X:101.77, Y:41.48, Z:-8.79 [[ 6.78882815e-01 -7.33408130e-01 3.50804556e-02 1.01765543e+02] [ 7.32456335e-01 6.79788498e-01 3.73539245e-02 4.14809930e+01] [-5.12429622e-02 3.35964513e-04 9.98686160e-01 -8.78564837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.873201008 meters 0.06502750325557334 Centerline is valid? [True, True] Translation: X:101.78, Y:41.50, Z:-8.79 [[ 6.78524611e-01 -7.33743404e-01 3.49995663e-02 1.01783542e+02] [ 7.32795421e-01 6.79426594e-01 3.72877121e-02 4.15024054e+01] [-5.11392489e-02 3.46891602e-04 9.98691472e-01 -8.78817443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.903201008 meters 0.06511411931383636 Centerline is valid? [True, True] Translation: X:101.80, Y:41.52, Z:-8.79 [[ 6.77285414e-01 -7.34867786e-01 3.54091101e-02 1.01800037e+02] [ 7.33897852e-01 6.78210261e-01 3.77463122e-02 4.15224117e+01] [-5.17533707e-02 4.21643137e-04 9.98659807e-01 -8.79224433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.933201008 meters 0.06509272794608947 Centerline is valid? [True, True] Translation: X:101.82, Y:41.54, Z:-8.79 [[ 6.76375799e-01 -7.35715849e-01 3.51847595e-02 1.01818106e+02] [ 7.34758566e-01 6.77290163e-01 3.75217929e-02 4.15412486e+01] [-5.14356693e-02 4.73470767e-04 9.98676198e-01 -8.79379593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96320100799998 meters 0.06486429277968951 Centerline is valid? [True, True] Translation: X:101.84, Y:41.56, Z:-8.79 [[ 6.75792722e-01 -7.36234055e-01 3.55473250e-02 1.01837289e+02] [ 7.35256295e-01 6.76726802e-01 3.79343679e-02 4.15624507e+01] [-5.19844011e-02 5.00624667e-04 9.98647771e-01 -8.79423705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99320100799999 meters 0.06474860306673683 Centerline is valid? [True, True] Translation: X:101.86, Y:41.58, Z:-8.80 [[ 6.75889607e-01 -7.36158554e-01 3.52678615e-02 1.01855040e+02] [ 7.35194989e-01 6.76808950e-01 3.76559871e-02 4.15827581e+01] [-5.15903813e-02 4.77464663e-04 9.98668215e-01 -8.79519298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02320100799999 meters 0.0646339440296574 Centerline is valid? [True, True] Translation: X:101.87, Y:41.61, Z:-8.80 [[ 6.77460847e-01 -7.34651987e-01 3.65138087e-02 1.01869584e+02] [ 7.33615588e-01 6.78444050e-01 3.90107684e-02 4.16072541e+01] [-5.34319148e-02 3.58831046e-04 9.98571430e-01 -8.79669288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05320100799999 meters 0.06449988235756553 Centerline is valid? [True, True] Translation: X:101.89, Y:41.63, Z:-8.80 [[ 6.78755965e-01 -7.33465921e-01 3.63054143e-02 1.01886156e+02] [ 7.32438515e-01 6.79726181e-01 3.88090376e-02 4.16303755e+01] [-5.31428471e-02 2.49617891e-04 9.98586889e-01 -8.79810338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08320100799999 meters 0.06449843410923888 Centerline is valid? [True, True] Translation: X:101.90, Y:41.65, Z:-8.80 [[ 6.80664542e-01 -7.31691329e-01 3.63810442e-02 1.01902409e+02] [ 7.30655964e-01 6.81636113e-01 3.89110848e-02 4.16524393e+01] [-5.32695369e-02 9.66312196e-05 9.98580166e-01 -8.80115339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11320100799999 meters 0.06447617259220542 Centerline is valid? [True, True] Translation: X:101.92, Y:41.67, Z:-8.80 [[ 6.83083897e-01 -7.29436599e-01 3.63130476e-02 1.01917325e+02] [ 7.28400772e-01 6.84048419e-01 3.88596913e-02 4.16749826e+01] [-5.31855639e-02 -9.39774570e-05 9.98584642e-01 -8.80402799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14320100799999 meters 0.0649764895840964 Centerline is valid? [True, True] Translation: X:101.93, Y:41.70, Z:-8.81 [[ 6.87413575e-01 -7.25291339e-01 3.76171615e-02 1.01927188e+02] [ 7.24171838e-01 6.88441915e-01 4.02849775e-02 4.17012208e+01] [-5.51155759e-02 -4.51151405e-04 9.98479880e-01 -8.80548131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17320100799999 meters 0.06545318842070869 Centerline is valid? [True, True] Translation: X:101.94, Y:41.73, Z:-8.81 [[ 6.89870894e-01 -7.22958499e-01 3.75387600e-02 1.01942336e+02] [ 7.21839236e-01 6.90891155e-01 4.02185219e-02 4.17251640e+01] [-5.50115195e-02 -6.48637789e-04 9.98485509e-01 -8.80830798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.203201008 meters 0.06594099483888806 Centerline is valid? [True, True] Translation: X:101.96, Y:41.75, Z:-8.81 [[ 6.92080141e-01 -7.20830422e-01 3.77965767e-02 1.01958266e+02] [ 7.19691351e-01 6.93110957e-01 4.05161701e-02 4.17487400e+01] [-5.54025094e-02 -8.38567388e-04 9.98463749e-01 -8.81069211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.233201008 meters 0.06655573811709938 Centerline is valid? [True, True] Translation: X:101.97, Y:41.77, Z:-8.81 [[ 6.94782065e-01 -7.18235119e-01 3.76323783e-02 1.01973220e+02] [ 7.17100980e-01 6.95799683e-01 4.03606832e-02 4.17724695e+01] [-5.51730570e-02 -1.05566344e-03 9.98476249e-01 -8.81212320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.263201008 meters 0.06694157243125197 Centerline is valid? [True, True] Translation: X:101.99, Y:41.79, Z:-8.81 [[ 6.95538992e-01 -7.17516488e-01 3.73577280e-02 1.01990648e+02] [ 7.16396552e-01 6.96540619e-01 4.00892330e-02 4.17945958e+01] [-5.47858606e-02 -1.12067718e-03 9.98497498e-01 -8.81431234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.293201008 meters 0.06718770067438956 Centerline is valid? [True, True] Translation: X:102.01, Y:41.82, Z:-8.82 [[ 6.96036135e-01 -7.17068140e-01 3.67012292e-02 1.02007798e+02] [ 7.15985543e-01 6.97002124e-01 3.94048453e-02 4.18152322e+01] [-5.38367939e-02 -1.14964668e-03 9.98549086e-01 -8.81749826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.323201008 meters 0.06740745847989862 Centerline is valid? [True, True] Translation: X:102.03, Y:41.84, Z:-8.82 [[ 6.96192027e-01 -7.16927822e-01 3.64850605e-02 1.02025260e+02] [ 7.15856565e-01 6.97146421e-01 3.91949826e-02 4.18354722e+01] [-5.35354028e-02 -1.16916433e-03 9.98565268e-01 -8.82107926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35320100799998 meters 0.06734617514800337 Centerline is valid? [True, True] Translation: X:102.04, Y:41.85, Z:-8.82 [[ 6.95577479e-01 -7.17518584e-01 3.65930634e-02 1.02042751e+02] [ 7.16440646e-01 6.96538426e-01 3.93321997e-02 4.18544491e+01] [-5.37100590e-02 -1.14183429e-03 9.98555920e-01 -8.82426226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38320100799999 meters 0.06730079491352456 Centerline is valid? [True, True] Translation: X:102.06, Y:41.87, Z:-8.83 [[ 6.95362607e-01 -7.17749478e-01 3.61459719e-02 1.02060847e+02] [ 7.16696754e-01 6.96300521e-01 3.88760370e-02 4.18744339e+01] [-5.30717143e-02 -1.12724170e-03 9.98590067e-01 -8.82698414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41320100799999 meters 0.06698914200787881 Centerline is valid? [True, True] Translation: X:102.08, Y:41.89, Z:-8.83 [[ 6.94584191e-01 -7.18505133e-01 3.60995247e-02 1.02080231e+02] [ 7.17454946e-01 6.95520812e-01 3.88484245e-02 4.18941484e+01] [-5.30207631e-02 -1.08371899e-03 9.98592822e-01 -8.82801052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44320100799999 meters 0.06619962963414464 Centerline is valid? [True, True] Translation: X:102.10, Y:41.91, Z:-8.83 [[ 6.92412466e-01 -7.20623916e-01 3.55829897e-02 1.02102204e+02] [ 7.19605160e-01 6.93325549e-01 3.83157479e-02 4.19122369e+01] [-5.22818401e-02 -9.24598458e-04 9.98631941e-01 -8.82968953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47320100799999 meters 0.06608663827064086 Centerline is valid? [True, True] Translation: X:102.12, Y:41.93, Z:-8.83 [[ 6.90890196e-01 -7.22075425e-01 3.57465793e-02 1.02122664e+02] [ 7.21048111e-01 6.91813838e-01 3.85127948e-02 4.19308915e+01] [-5.25391208e-02 -8.33108870e-04 9.98618519e-01 -8.83206422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50320100799999 meters 0.06572795397834888 Centerline is valid? [True, True] Translation: X:102.14, Y:41.95, Z:-8.83 [[ 6.89111473e-01 -7.23785618e-01 3.54930675e-02 1.02143076e+02] [ 7.22774097e-01 6.90024546e-01 3.82587368e-02 4.19490010e+01] [-5.21822112e-02 -7.11064687e-04 9.98637327e-01 -8.83370930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53320100799999 meters 0.06538861092061933 Centerline is valid? [True, True] Translation: X:102.16, Y:41.97, Z:-8.83 [[ 6.87524451e-01 -7.25269940e-01 3.59672517e-02 1.02163604e+02] [ 7.24231904e-01 6.88464323e-01 3.87946416e-02 4.19680048e+01] [-5.28987570e-02 -6.23633450e-04 9.98599686e-01 -8.83492053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.563201008 meters 0.0652830413184438 Centerline is valid? [True, True] Translation: X:102.18, Y:41.99, Z:-8.84 [[ 6.85972493e-01 -7.26738335e-01 3.59601339e-02 1.02182681e+02] [ 7.25701565e-01 6.86914199e-01 3.88087886e-02 4.19862977e+01] [-5.29053610e-02 -5.25436002e-04 9.98599393e-01 -8.83822770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.593201008 meters 0.06463291846987913 Centerline is valid? [True, True] Translation: X:102.21, Y:42.00, Z:-8.84 [[ 6.82718721e-01 -7.29745201e-01 3.69741703e-02 1.02206228e+02] [ 7.28652496e-01 6.83719126e-01 3.99211291e-02 4.20029048e+01] [-5.44121998e-02 -3.13580719e-04 9.98518510e-01 -8.83763820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.623201008 meters 0.0643916873570412 Centerline is valid? [True, True] Translation: X:102.23, Y:42.02, Z:-8.84 [[ 6.80876601e-01 -7.31449279e-01 3.72693921e-02 1.02227133e+02] [ 7.30340444e-01 6.81895824e-01 4.02606573e-02 4.20216247e+01] [-5.48624716e-02 -1.93195107e-04 9.98493902e-01 -8.83720222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.653201008 meters 0.06428135176234018 Centerline is valid? [True, True] Translation: X:102.25, Y:42.04, Z:-8.84 [[ 6.79653298e-01 -7.32588298e-01 3.72260789e-02 1.02246132e+02] [ 7.31482560e-01 6.80672001e-01 4.02354605e-02 4.20397277e+01] [-5.48147771e-02 -1.15935948e-04 9.98496533e-01 -8.84028665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.683201008 meters 0.06437380204487947 Centerline is valid? [True, True] Translation: X:102.26, Y:42.06, Z:-8.84 [[ 6.78176764e-01 -7.33939875e-01 3.75304714e-02 1.02264920e+02] [ 7.32816587e-01 6.79214443e-01 4.05905171e-02 4.20589467e+01] [-5.52822372e-02 -2.45935928e-05 9.98470768e-01 -8.84241774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71320100799998 meters 0.06439860868764995 Centerline is valid? [True, True] Translation: X:102.28, Y:42.08, Z:-8.84 [[ 6.76601584e-01 -7.35414220e-01 3.70974568e-02 1.02284557e+02] [ 7.34317672e-01 6.77617826e-01 4.01452153e-02 4.20785637e+01] [-5.46612603e-02 7.90018220e-05 9.98504953e-01 -8.84450663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74320100799999 meters 0.06458851303333209 Centerline is valid? [True, True] Translation: X:102.31, Y:42.10, Z:-8.85 [[ 6.75342842e-01 -7.36619916e-01 3.60990894e-02 1.02305911e+02] [ 7.35582090e-01 6.76306938e-01 3.90885484e-02 4.20967433e+01] [-5.32074679e-02 1.55672250e-04 9.98583467e-01 -8.84660700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77320100799999 meters 0.06450672716738066 Centerline is valid? [True, True] Translation: X:102.32, Y:42.11, Z:-8.85 [[ 6.74666719e-01 -7.37238143e-01 3.61211554e-02 1.02324746e+02] [ 7.36198903e-01 6.75632950e-01 3.91317204e-02 4.21149639e+01] [-5.32540397e-02 1.91485558e-04 9.98580978e-01 -8.84849169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80320100799999 meters 0.06438598943824483 Centerline is valid? [True, True] Translation: X:102.34, Y:42.14, Z:-8.85 [[ 6.75098206e-01 -7.36887469e-01 3.52032732e-02 1.02344528e+02] [ 7.35898620e-01 6.76015413e-01 3.81625845e-02 4.21354082e+01] [-5.19194855e-02 1.42547850e-04 9.98651264e-01 -8.85113628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83320100799999 meters 0.06457894217185084 Centerline is valid? [True, True] Translation: X:102.36, Y:42.16, Z:-8.86 [[ 6.76345008e-01 -7.35781608e-01 3.43926618e-02 1.02361600e+02] [ 7.34835409e-01 6.77218888e-01 3.73028080e-02 4.21570954e+01] [-5.07380803e-02 4.33777069e-05 9.98711993e-01 -8.85522270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86320100799999 meters 0.06457894217185084 Centerline is valid? [True, True] Translation: X:102.38, Y:42.18, Z:-8.86 [[ 6.76126619e-01 -7.35982722e-01 3.43835403e-02 1.02379590e+02] [ 7.35036355e-01 6.77000318e-01 3.73112128e-02 4.21769510e+01] [-5.07380757e-02 4.60479729e-05 9.98711993e-01 -8.85728779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89320100799999 meters 0.0648752377053895 Centerline is valid? [True, True] Translation: X:102.40, Y:42.20, Z:-8.86 [[ 6.77683949e-01 -7.34605474e-01 3.31551321e-02 1.02395201e+02] [ 7.33722878e-01 6.78494505e-01 3.59992489e-02 4.21992188e+01] [-4.89408202e-02 -6.94342531e-05 9.98801678e-01 -8.86200626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92320100799999 meters 0.06516847346979836 Centerline is valid? [True, True] Translation: X:102.41, Y:42.22, Z:-8.87 [[ 6.79560427e-01 -7.32910960e-01 3.22358699e-02 1.02411530e+02] [ 7.32073816e-01 6.80324544e-01 3.50206133e-02 4.22216494e+01] [-4.75978448e-02 -1.99586580e-04 9.98866560e-01 -8.86635056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.953201008 meters 0.06601819896763163 Centerline is valid? [True, True] Translation: X:102.43, Y:42.24, Z:-8.87 [[ 6.82877301e-01 -7.29870480e-01 3.11074686e-02 1.02426663e+02] [ 7.29087046e-01 6.83585339e-01 3.38107025e-02 4.22445947e+01] [-4.59420432e-02 -4.08508836e-04 9.98944023e-01 -8.87155914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.983201008 meters 0.06623846220260787 Centerline is valid? [True, True] Translation: X:102.44, Y:42.26, Z:-8.87 [[ 6.83671235e-01 -7.29146411e-01 3.06456190e-02 1.02444405e+02] [ 7.28384527e-01 6.84357580e-01 3.33269329e-02 4.22644685e+01] [-4.52727752e-02 -4.62870717e-04 9.98974555e-01 -8.87430020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.013201008 meters 0.06577250194164493 Centerline is valid? [True, True] Translation: X:102.47, Y:42.28, Z:-8.87 [[ 6.82717611e-01 -7.30035925e-01 3.07280322e-02 1.02465324e+02] [ 7.29270057e-01 6.83408644e-01 3.34336512e-02 4.22830513e+01] [-4.54075693e-02 -4.16708679e-04 9.98968457e-01 -8.87187928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.043201008 meters 0.06561926904949392 Centerline is valid? [True, True] Translation: X:102.48, Y:42.30, Z:-8.87 [[ 6.82015204e-01 -7.30651139e-01 3.16887270e-02 1.02484696e+02] [ 7.29836020e-01 6.82750869e-01 3.45055852e-02 4.23024600e+01] [-4.68470510e-02 -4.05759391e-04 9.98901992e-01 -8.87308971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.073201008 meters 0.06556546860812766 Centerline is valid? [True, True] Translation: X:102.50, Y:42.32, Z:-8.87 [[ 6.81711106e-01 -7.30929453e-01 3.18135732e-02 1.02503739e+02] [ 7.30107763e-01 6.82452914e-01 3.46507493e-02 4.23220390e+01] [-4.70385190e-02 -3.94463800e-04 9.98892998e-01 -8.87352442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10320100799998 meters 0.06560191525030186 Centerline is valid? [True, True] Translation: X:102.52, Y:42.34, Z:-8.88 [[ 6.81215517e-01 -7.31399834e-01 3.16180570e-02 1.02522472e+02] [ 7.30587777e-01 6.81948783e-01 3.44580601e-02 4.23412128e+01] [-4.67645149e-02 -3.73599220e-04 9.98905872e-01 -8.87561697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13320100799999 meters 0.06561440722499841 Centerline is valid? [True, True] Translation: X:102.54, Y:42.36, Z:-8.88 [[ 6.80786310e-01 -7.31783921e-01 3.19733260e-02 1.02539987e+02] [ 7.30952950e-01 6.81536616e-01 3.48658132e-02 4.23610865e+01] [-4.73052340e-02 -3.65171305e-04 9.98880414e-01 -8.87816417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16320100799999 meters 0.0653702187453535 Centerline is valid? [True, True] Translation: X:102.56, Y:42.38, Z:-8.88 [[ 6.80727828e-01 -7.31807924e-01 3.26617007e-02 1.02558914e+02] [ 7.30939661e-01 6.81510831e-01 3.56398537e-02 4.23807078e+01] [-4.83408301e-02 -3.87307786e-04 9.98830824e-01 -8.87828745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19320100799999 meters 0.0656075556784333 Centerline is valid? [True, True] Translation: X:102.58, Y:42.40, Z:-8.88 [[ 6.81063676e-01 -7.31499076e-01 3.25786989e-02 1.02575668e+02] [ 7.30633796e-01 6.81842300e-01 3.55715231e-02 4.24002448e+01] [-4.82340713e-02 -4.23373796e-04 9.98835970e-01 -8.88076311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22320100799999 meters 0.06554497131644357 Centerline is valid? [True, True] Translation: X:102.59, Y:42.42, Z:-8.88 [[ 6.81103779e-01 -7.31466171e-01 3.24789536e-02 1.02594138e+02] [ 7.30605255e-01 6.81877591e-01 3.54811526e-02 4.24199783e+01] [-4.80999335e-02 -4.37052948e-04 9.98842433e-01 -8.88203833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25320100799999 meters 0.06546736457450862 Centerline is valid? [True, True] Translation: X:102.61, Y:42.44, Z:-8.88 [[ 6.81592236e-01 -7.30999150e-01 3.27454748e-02 1.02612058e+02] [ 7.30122455e-01 6.82378197e-01 3.57938131e-02 4.24401832e+01] [-4.85100451e-02 -4.88578654e-04 9.98822575e-01 -8.88235875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28320100799999 meters 0.06566470782987782 Centerline is valid? [True, True] Translation: X:102.63, Y:42.46, Z:-8.88 [[ 6.81984632e-01 -7.30610641e-01 3.32423468e-02 1.02629149e+02] [ 7.29705580e-01 6.82794113e-01 3.63588332e-02 4.24605492e+01] [-4.92618291e-02 -5.39039563e-04 9.98785754e-01 -8.88424014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.313201008 meters 0.06588048817820541 Centerline is valid? [True, True] Translation: X:102.65, Y:42.48, Z:-8.89 [[ 6.82201044e-01 -7.30440643e-01 3.25300363e-02 1.02646703e+02] [ 7.29572484e-01 6.82975956e-01 3.56066600e-02 4.24802333e+01] [-4.82257843e-02 -5.57881251e-04 9.98836304e-01 -8.88789049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.343201008 meters 0.06590543615682722 Centerline is valid? [True, True] Translation: X:102.67, Y:42.50, Z:-8.89 [[ 6.81457204e-01 -7.31154963e-01 3.20702316e-02 1.02665949e+02] [ 7.30311417e-01 6.82211230e-01 3.51151317e-02 4.24988028e+01] [-4.75532750e-02 -5.08203154e-04 9.98868574e-01 -8.89070281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.373201008 meters 0.06592414264853587 Centerline is valid? [True, True] Translation: X:102.68, Y:42.52, Z:-8.89 [[ 6.80271359e-01 -7.32280743e-01 3.15561843e-02 1.02684853e+02] [ 7.31464686e-01 6.81002737e-01 3.45642057e-02 4.25170599e+01] [-4.68005501e-02 -4.30804727e-04 9.98904161e-01 -8.89453593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.403201008 meters 0.06548209836365093 Centerline is valid? [True, True] Translation: X:102.71, Y:42.53, Z:-8.90 [[ 6.75326820e-01 -7.36867268e-01 3.09889368e-02 1.02710260e+02] [ 7.36084109e-01 6.76037434e-01 3.39642789e-02 4.25304501e+01] [-4.59768468e-02 -1.26524577e-04 9.98942498e-01 -8.89543361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.433201008 meters 0.064934979790064 Centerline is valid? [True, True] Translation: X:102.74, Y:42.55, Z:-8.89 [[ 6.70688623e-01 -7.41092613e-01 3.09598244e-02 1.02735188e+02] [ 7.40314501e-01 6.71402798e-01 3.39517687e-02 4.25454637e+01] [-4.59479177e-02 1.48941950e-04 9.98943826e-01 -8.89313532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46320100799998 meters 0.0654118475999422 Centerline is valid? [True, True] Translation: X:102.76, Y:42.56, Z:-8.90 [[ 6.66436797e-01 -7.44939220e-01 3.04557643e-02 1.02758148e+02] [ 7.44189316e-01 6.67132224e-01 3.34194317e-02 4.25610465e+01] [-4.52134671e-02 3.92915343e-04 9.98977271e-01 -8.89850445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49320100799999 meters 0.0659583339747285 Centerline is valid? [True, True] Translation: X:102.78, Y:42.58, Z:-8.90 [[ 6.63009226e-01 -7.48025474e-01 2.96084009e-02 1.02778952e+02] [ 7.47319034e-01 6.63669768e-01 3.25069396e-02 4.25793142e+01] [-4.39662195e-02 5.74520691e-04 9.99032853e-01 -8.90155892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52320100799999 meters 0.06665703137821605 Centerline is valid? [True, True] Translation: X:102.80, Y:42.60, Z:-8.91 [[ 6.60841817e-01 -7.50019131e-01 2.75571287e-02 1.02797950e+02] [ 7.49408365e-01 6.61415816e-01 3.02691363e-02 4.25991528e+01] [-4.09291521e-02 6.48431662e-04 9.99161841e-01 -8.90558730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55320100799999 meters 0.06793506709272311 Centerline is valid? [True, True] Translation: X:102.82, Y:42.62, Z:-8.91 [[ 6.59220120e-01 -7.51507275e-01 2.58001747e-02 1.02817053e+02] [ 7.50972487e-01 6.59724449e-01 2.83544468e-02 4.26173995e+01] [-3.83295791e-02 6.83399561e-04 9.99264918e-01 -8.91333840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58320100799999 meters 0.06801609649912091 Centerline is valid? [True, True] Translation: X:102.84, Y:42.64, Z:-8.92 [[ 6.59375635e-01 -7.51385234e-01 2.53772146e-02 1.02835607e+02] [ 7.50867249e-01 6.59863470e-01 2.79029516e-02 4.26371942e+01] [-3.77113627e-02 6.56392853e-04 9.99288458e-01 -8.91602293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61320100799999 meters 0.06752509902965427 Centerline is valid? [True, True] Translation: X:102.85, Y:42.66, Z:-8.92 [[ 6.59624767e-01 -7.51200761e-01 2.43430366e-02 1.02853662e+02] [ 7.50723461e-01 6.60073515e-01 2.67813218e-02 4.26586122e+01] [-3.61863431e-02 6.09265541e-04 9.99344874e-01 -8.91517135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64320100799999 meters 0.06761647928827955 Centerline is valid? [True, True] Translation: X:102.87, Y:42.68, Z:-8.92 [[ 6.60354057e-01 -7.50548107e-01 2.46993686e-02 1.02871814e+02] [ 7.50055709e-01 6.60815566e-01 2.71886056e-02 4.26783248e+01] [-3.67280837e-02 5.71796392e-04 9.99325133e-01 -8.91790823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67320100799999 meters 0.06718452172056084 Centerline is valid? [True, True] Translation: X:102.89, Y:42.70, Z:-8.92 [[ 6.62874838e-01 -7.48302669e-01 2.52995054e-02 1.02888496e+02] [ 7.47783841e-01 6.63357306e-01 2.78641690e-02 4.27006082e+01] [-3.76334437e-02 4.48104779e-04 9.99291511e-01 -8.91902123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.703201008 meters 0.06702599043757962 Centerline is valid? [True, True] Translation: X:102.90, Y:42.72, Z:-8.92 [[ 6.64826122e-01 -7.46567715e-01 2.53549694e-02 1.02904987e+02] [ 7.46044801e-01 6.65309349e-01 2.79396557e-02 4.27231178e+01] [-3.77277431e-02 3.40930181e-04 9.99287997e-01 -8.92155110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.733201008 meters 0.06672401340081932 Centerline is valid? [True, True] Translation: X:102.92, Y:42.75, Z:-8.92 [[ 6.66094522e-01 -7.45417307e-01 2.59061181e-02 1.02922937e+02] [ 7.44869851e-01 6.66598054e-01 2.85646544e-02 4.27451627e+01] [-3.85615557e-02 2.69926470e-04 9.99256190e-01 -8.92233687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.763201008 meters 0.06636233950007032 Centerline is valid? [True, True] Translation: X:102.94, Y:42.77, Z:-8.92 [[ 6.68418989e-01 -7.43308572e-01 2.66162106e-02 1.02938294e+02] [ 7.42728337e-01 6.68948688e-01 2.93644375e-02 4.27699487e+01] [-3.96317172e-02 1.40866239e-04 9.99214345e-01 -8.92296548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.793201008 meters 0.06639456093029515 Centerline is valid? [True, True] Translation: X:102.95, Y:42.79, Z:-8.93 [[ 6.69286146e-01 -7.42536588e-01 2.63717734e-02 1.02953619e+02] [ 7.41965767e-01 6.69805501e-01 2.91100086e-02 4.27916516e+01] [-3.92792053e-02 8.40275796e-05 9.99228271e-01 -8.92602523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.823201008 meters 0.06654168436693544 Centerline is valid? [True, True] Translation: X:102.97, Y:42.81, Z:-8.93 [[ 6.69864041e-01 -7.42006114e-01 2.66288121e-02 1.02970102e+02] [ 7.41423279e-01 6.70393112e-01 2.94040163e-02 4.28138883e+01] [-3.96697321e-02 4.65280058e-05 9.99212845e-01 -8.92870500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85320100799998 meters 0.06641751272192656 Centerline is valid? [True, True] Translation: X:102.99, Y:42.84, Z:-8.93 [[ 6.70443380e-01 -7.41486778e-01 2.65147620e-02 1.02986557e+02] [ 7.40907841e-01 6.70967479e-01 2.92952659e-02 4.28360551e+01] [-3.95125953e-02 4.17803990e-06 9.99219072e-01 -8.92981999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88320100799999 meters 0.06623945535946199 Centerline is valid? [True, True] Translation: X:103.00, Y:42.86, Z:-8.93 [[ 6.71313126e-01 -7.40630057e-01 2.83867162e-02 1.03002409e+02] [ 7.39964724e-01 6.71913026e-01 3.13861790e-02 4.28599345e+01] [-4.23189519e-02 -6.47853268e-05 9.99104150e-01 -8.92947600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91320100799999 meters 0.06621924292106134 Centerline is valid? [True, True] Translation: X:103.02, Y:42.88, Z:-8.93 [[ 6.71692179e-01 -7.40283202e-01 2.84674891e-02 1.03018996e+02] [ 7.39613083e-01 6.72295152e-01 3.14915335e-02 4.28822160e+01] [-4.24512082e-02 -9.76893563e-05 9.99098536e-01 -8.93167306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94320100799999 meters 0.06612222792239637 Centerline is valid? [True, True] Translation: X:103.04, Y:42.91, Z:-8.93 [[ 6.72387903e-01 -7.39616206e-01 2.93662412e-02 1.03035657e+02] [ 7.38901471e-01 6.73028857e-01 3.25080712e-02 4.29055538e+01] [-4.38078241e-02 -1.59275001e-04 9.99039964e-01 -8.93348481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97320100799999 meters 0.06617396439720313 Centerline is valid? [True, True] Translation: X:103.05, Y:42.93, Z:-8.94 [[ 6.72956757e-01 -7.39068479e-01 3.01162041e-02 1.03050900e+02] [ 7.38315473e-01 6.73630268e-01 3.33545221e-02 4.29272672e+01] [-4.49384626e-02 -2.10891577e-04 9.98989735e-01 -8.93593804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00320100799999 meters 0.06627792128506298 Centerline is valid? [True, True] Translation: X:103.06, Y:42.95, Z:-8.94 [[ 6.74845054e-01 -7.37296936e-01 3.12631038e-02 1.03064804e+02] [ 7.36482363e-01 6.75568723e-01 3.46501020e-02 4.29507725e+01] [-4.66677891e-02 -3.58725414e-04 9.98910401e-01 -8.93811318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03320100799999 meters 0.06641056703423619 Centerline is valid? [True, True] Translation: X:103.08, Y:42.97, Z:-8.94 [[ 6.76202680e-01 -7.36099343e-01 3.01279372e-02 1.03081814e+02] [ 7.35340958e-01 6.76873376e-01 3.34082078e-02 4.29731439e+01] [-4.49845584e-02 -4.36413409e-04 9.98987587e-01 -8.94064762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.063201008 meters 0.0661551209780566 Centerline is valid? [True, True] Translation: X:103.10, Y:42.99, Z:-8.94 [[ 6.77279200e-01 -7.35105396e-01 3.02149221e-02 1.03099025e+02] [ 7.34340930e-01 6.77952647e-01 3.35202522e-02 4.29942508e+01] [-4.51252047e-02 -5.14515619e-04 9.98981207e-01 -8.94059466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.093201008 meters 0.06607368604574546 Centerline is valid? [True, True] Translation: X:103.12, Y:43.02, Z:-8.94 [[ 6.78621374e-01 -7.33851305e-01 3.05825757e-02 1.03115952e+02] [ 7.33065883e-01 6.79309855e-01 3.39489725e-02 4.30162319e+01] [-4.56885428e-02 -6.19455568e-04 9.98955541e-01 -8.94122322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.123201008 meters 0.06608871459723142 Centerline is valid? [True, True] Translation: X:103.13, Y:43.04, Z:-8.94 [[ 6.78095159e-01 -7.34304738e-01 3.13609077e-02 1.03132619e+02] [ 7.33478175e-01 6.78819687e-01 3.48367526e-02 4.30370747e+01] [-4.68691941e-02 -6.20091927e-04 9.98900843e-01 -8.94389273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.153201008 meters 0.06602050188962277 Centerline is valid? [True, True] Translation: X:103.15, Y:43.06, Z:-8.95 [[ 6.77730127e-01 -7.34625723e-01 3.17320437e-02 1.03149872e+02] [ 7.33778993e-01 6.78472304e-01 3.52664381e-02 4.30578659e+01] [-4.74369454e-02 -6.16820502e-04 9.98874044e-01 -8.94559015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.183201008 meters 0.06571018953437173 Centerline is valid? [True, True] Translation: X:103.17, Y:43.08, Z:-8.95 [[ 6.76707512e-01 -7.35566350e-01 3.17661400e-02 1.03168577e+02] [ 7.34717822e-01 6.77452452e-01 3.53255922e-02 4.30778215e+01] [-4.75043663e-02 -5.65944400e-04 9.98870870e-01 -8.94689165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21320100799998 meters 0.06532094874015719 Centerline is valid? [True, True] Translation: X:103.19, Y:43.10, Z:-8.95 [[ 6.75035791e-01 -7.37095876e-01 3.18802522e-02 1.03188507e+02] [ 7.36241886e-01 6.75788017e-01 3.54745066e-02 4.30967428e+01] [-4.76924049e-02 -4.74984610e-04 9.98861957e-01 -8.94919124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24320100799999 meters 0.06506538982706224 Centerline is valid? [True, True] Translation: X:103.21, Y:43.12, Z:-8.95 [[ 6.73979649e-01 -7.38024816e-01 3.27231366e-02 1.03208133e+02] [ 7.37124935e-01 6.74773429e-01 3.64369212e-02 4.31166362e+01] [-4.89720552e-02 -4.36703457e-04 9.98800054e-01 -8.95038183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27320100799999 meters 0.06458178970425757 Centerline is valid? [True, True] Translation: X:103.23, Y:43.14, Z:-8.95 [[ 6.72534724e-01 -7.39303468e-01 3.35771897e-02 1.03228452e+02] [ 7.38356480e-01 6.73372295e-01 3.74093667e-02 4.31370100e+01] [-5.02668238e-02 -3.67162515e-04 9.98735757e-01 -8.95067276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30320100799999 meters 0.06378298194151202 Centerline is valid? [True, True] Translation: X:103.25, Y:43.16, Z:-8.95 [[ 6.69461028e-01 -7.42030730e-01 3.48184957e-02 1.03250370e+02] [ 7.41015009e-01 6.70365842e-01 3.88123000e-02 4.31550121e+01] [-5.21410495e-02 -1.82294358e-04 9.98639714e-01 -8.94966962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33320100799999 meters 0.0632604534655045 Centerline is valid? [True, True] Translation: X:103.27, Y:43.17, Z:-8.95 [[ 6.64931197e-01 -7.46050176e-01 3.57160865e-02 1.03272087e+02] [ 7.44985932e-01 6.65889721e-01 3.98351714e-02 4.31723224e+01] [-5.35020115e-02 1.20333810e-04 9.98567734e-01 -8.94881511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36320100799999 meters 0.06324081433763303 Centerline is valid? [True, True] Translation: X:103.29, Y:43.19, Z:-8.95 [[ 6.62702091e-01 -7.48033945e-01 3.56532793e-02 1.03291232e+02] [ 7.46975228e-01 6.63660415e-01 3.97852093e-02 4.31930547e+01] [-5.34223572e-02 2.66375023e-04 9.98571971e-01 -8.94895635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39320100799999 meters 0.0635727277551932 Centerline is valid? [True, True] Translation: X:103.31, Y:43.21, Z:-8.96 [[ 6.60944865e-01 -7.49604413e-01 3.52861008e-02 1.03309874e+02] [ 7.48568533e-01 6.61886004e-01 3.93963135e-02 4.32125465e+01] [-5.28870267e-02 3.75273595e-04 9.98600431e-01 -8.95519733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42320100799999 meters 0.06388065626623421 Centerline is valid? [True, True] Translation: X:103.33, Y:43.23, Z:-8.96 [[ 6.57934515e-01 -7.52294087e-01 3.42896537e-02 1.03327401e+02] [ 7.51318265e-01 6.58827212e-01 3.83088683e-02 4.32336913e+01] [-5.14104920e-02 5.57716400e-04 9.98677451e-01 -8.95758622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.453201008 meters 0.0643635807770491 Centerline is valid? [True, True] Translation: X:103.35, Y:43.25, Z:-8.96 [[ 6.56278098e-01 -7.53757575e-01 3.38906344e-02 1.03346516e+02] [ 7.52805712e-01 6.57152255e-01 3.78744441e-02 4.32523562e+01] [-5.08194560e-02 6.56895011e-04 9.98707641e-01 -8.96202013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.483201008 meters 0.0646757799180795 Centerline is valid? [True, True] Translation: X:103.37, Y:43.27, Z:-8.96 [[ 6.53712780e-01 -7.55970520e-01 3.41785735e-02 1.03366902e+02] [ 7.55004256e-01 6.54605148e-01 3.82187556e-02 4.32705296e+01] [-5.12657227e-02 8.20879548e-04 9.98684711e-01 -8.96461577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.513201008 meters 0.0644353688278311 Centerline is valid? [True, True] Translation: X:103.39, Y:43.29, Z:-8.96 [[ 6.51731979e-01 -7.57681853e-01 3.41121328e-02 1.03386364e+02] [ 7.56720590e-01 6.52623419e-01 3.81657052e-02 4.32910668e+01] [-5.11798390e-02 9.39542698e-04 9.98689011e-01 -8.96258837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.543201008 meters 0.0649667228438288 Centerline is valid? [True, True] Translation: X:103.41, Y:43.31, Z:-8.96 [[ 6.48974409e-01 -7.60051695e-01 3.39652382e-02 1.03407220e+02] [ 7.59100897e-01 6.49861673e-01 3.80214963e-02 4.33094115e+01] [-5.09710092e-02 1.10806466e-03 9.98699519e-01 -8.96424304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.573201008 meters 0.06547087165127156 Centerline is valid? [True, True] Translation: X:103.43, Y:43.33, Z:-8.96 [[ 6.44530958e-01 -7.63755511e-01 3.54593278e-02 1.03426474e+02] [ 7.62723534e-01 6.45504008e-01 3.97163085e-02 4.33306338e+01] [-5.32226877e-02 1.44727346e-03 9.98581620e-01 -8.96287453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60320100799998 meters 0.06579220002343918 Centerline is valid? [True, True] Translation: X:103.44, Y:43.35, Z:-8.97 [[ 6.42974618e-01 -7.65095445e-01 3.48224311e-02 1.03444411e+02] [ 7.64101106e-01 6.43915103e-01 3.90235832e-02 4.33525045e+01] [-5.22794550e-02 1.51668465e-03 9.98631343e-01 -8.96555276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63320100799999 meters 0.06616683854248159 Centerline is valid? [True, True] Translation: X:103.46, Y:43.37, Z:-8.97 [[ 6.41957810e-01 -7.65905431e-01 3.57636806e-02 1.03461816e+02] [ 7.64856686e-01 6.42951221e-01 4.00995914e-02 4.33731783e+01] [-5.37067969e-02 1.61184432e-03 9.98555448e-01 -8.96826350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66320100799999 meters 0.06620023090105367 Centerline is valid? [True, True] Translation: X:103.48, Y:43.39, Z:-8.97 [[ 6.41452492e-01 -7.66349650e-01 3.53116851e-02 1.03478498e+02] [ 7.65326606e-01 6.42421680e-01 3.96178038e-02 4.33940077e+01] [-5.30460822e-02 1.61203314e-03 9.98590764e-01 -8.96933593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69320100799999 meters 0.06606881536428298 Centerline is valid? [True, True] Translation: X:103.50, Y:43.42, Z:-8.97 [[ 6.41631171e-01 -7.66153380e-01 3.63103047e-02 1.03495624e+02] [ 7.65070531e-01 6.42655689e-01 4.07522795e-02 4.34169267e+01] [-5.45575206e-02 1.63201126e-03 9.98509296e-01 -8.96981807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72320100799999 meters 0.0654751808668803 Centerline is valid? [True, True] Translation: X:103.51, Y:43.44, Z:-8.97 [[ 6.42144310e-01 -7.65709021e-01 3.66111947e-02 1.03511273e+02] [ 7.64606226e-01 6.43185164e-01 4.11116084e-02 4.34414781e+01] [-5.50273067e-02 1.59356199e-03 9.98483578e-01 -8.96996815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75320100799999 meters 0.06568091367793398 Centerline is valid? [True, True] Translation: X:103.53, Y:43.46, Z:-8.97 [[ 6.42963318e-01 -7.65010328e-01 3.68424814e-02 1.03527055e+02] [ 7.63891161e-01 6.44016195e-01 4.13936591e-02 4.34639727e+01] [-5.53937314e-02 1.52904148e-03 9.98463418e-01 -8.97303257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78320100799999 meters 0.06568091367793398 Centerline is valid? [True, True] Translation: X:103.54, Y:43.48, Z:-8.98 [[ 6.42746577e-01 -7.65192744e-01 3.68361541e-02 1.03544725e+02] [ 7.64073553e-01 6.43799429e-01 4.13992889e-02 4.34841087e+01] [-5.53935304e-02 1.53627984e-03 9.98463418e-01 -8.97510150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.813201008 meters 0.06504157273922884 Centerline is valid? [True, True] Translation: X:103.56, Y:43.51, Z:-8.98 [[ 6.44410103e-01 -7.63792220e-01 3.68383504e-02 1.03558648e+02] [ 7.62669242e-01 6.45460677e-01 4.14263407e-02 4.35088368e+01] [-5.54188233e-02 1.39992428e-03 9.98462215e-01 -8.97737480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.843201008 meters 0.06459254216920066 Centerline is valid? [True, True] Translation: X:103.57, Y:43.54, Z:-8.98 [[ 6.49244867e-01 -7.59706904e-01 3.64214602e-02 1.03568639e+02] [ 7.58601629e-01 6.50264846e-01 4.09780133e-02 4.35357207e+01] [-5.48148748e-02 1.02461425e-03 9.98496009e-01 -8.98159060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.873201008 meters 0.06417083537282355 Centerline is valid? [True, True] Translation: X:103.58, Y:43.56, Z:-8.98 [[ 6.52248268e-01 -7.57128486e-01 3.64506856e-02 1.03582777e+02] [ 7.56016132e-01 6.53265510e-01 4.10338974e-02 4.35610810e+01] [-5.48799083e-02 7.93017821e-04 9.98492647e-01 -8.98425301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.903201008 meters 0.06366669278402562 Centerline is valid? [True, True] Translation: X:103.60, Y:43.59, Z:-8.99 [[ 6.55390405e-01 -7.54393528e-01 3.67943211e-02 1.03596383e+02] [ 7.53254655e-01 6.56422194e-01 4.14406570e-02 4.35867247e+01] [-5.54151724e-02 5.55684675e-04 9.98463244e-01 -8.98611047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.933201008 meters 0.0635501476002815 Centerline is valid? [True, True] Translation: X:103.61, Y:43.61, Z:-8.99 [[ 6.58398779e-01 -7.51748428e-01 3.72202876e-02 1.03609579e+02] [ 7.50577532e-01 6.59449921e-01 4.19424668e-02 4.36114546e+01] [-5.60750992e-02 3.21842710e-04 9.98426502e-01 -8.98907099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96320100799998 meters 0.06346094121020097 Centerline is valid? [True, True] Translation: X:103.62, Y:43.64, Z:-8.99 [[ 6.63743837e-01 -7.46978382e-01 3.83068586e-02 1.03618951e+02] [ 7.45728709e-01 6.64848319e-01 4.31903375e-02 4.36401585e+01] [-5.77304990e-02 -1.00796123e-04 9.98332199e-01 -8.98956969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99320100799999 meters 0.06358959662971335 Centerline is valid? [True, True] Translation: X:103.63, Y:43.66, Z:-8.99 [[ 6.66044251e-01 -7.44919621e-01 3.84683493e-02 1.03633588e+02] [ 7.43654657e-01 6.67154159e-01 4.33944601e-02 4.36640820e+01] [-5.79897039e-02 -2.95463573e-04 9.98317137e-01 -8.99146749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02320100799999 meters 0.06375656137478043 Centerline is valid? [True, True] Translation: X:103.65, Y:43.69, Z:-8.99 [[ 6.67916175e-01 -7.43259076e-01 3.81304184e-02 1.03649378e+02] [ 7.42012072e-01 6.69003543e-01 4.30388816e-02 4.36873798e+01] [-5.74984244e-02 -4.53134449e-04 9.98345494e-01 -8.99349279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05320100799999 meters 0.06381182081738551 Centerline is valid? [True, True] Translation: X:103.67, Y:43.71, Z:-9.00 [[ 6.69442017e-01 -7.41892288e-01 3.79897364e-02 1.03665293e+02] [ 7.40651124e-01 6.70518825e-01 4.29000957e-02 4.37103930e+01] [-5.73000835e-02 -5.81985611e-04 9.98356831e-01 -8.99515420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08320100799999 meters 0.06408524812839032 Centerline is valid? [True, True] Translation: X:103.68, Y:43.73, Z:-9.00 [[ 6.70562003e-01 -7.40894691e-01 3.77048564e-02 1.03681331e+02] [ 7.39669249e-01 6.71620873e-01 4.26005242e-02 4.37333420e+01] [-5.68858709e-02 -6.77170052e-04 9.98380458e-01 -8.99748049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11320100799999 meters 0.06455197982438607 Centerline is valid? [True, True] Translation: X:103.70, Y:43.76, Z:-9.00 [[ 6.71875905e-01 -7.39725982e-01 3.72590865e-02 1.03696132e+02] [ 7.38526333e-01 6.72907765e-01 4.21188142e-02 4.37575180e+01] [-5.62283099e-02 -7.81799888e-04 9.98417631e-01 -9.00274610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14320100799999 meters 0.0648163542326378 Centerline is valid? [True, True] Translation: X:103.71, Y:43.78, Z:-9.01 [[ 6.71987243e-01 -7.39663971e-01 3.64740484e-02 1.03713740e+02] [ 7.38513132e-01 6.72975925e-01 4.12523803e-02 4.37788604e+01] [-5.50590559e-02 -7.84509552e-04 9.98482792e-01 -9.00512838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17320100799999 meters 0.06495446278027449 Centerline is valid? [True, True] Translation: X:103.73, Y:43.80, Z:-9.01 [[ 6.72144992e-01 -7.39540897e-01 3.60606765e-02 1.03732675e+02] [ 7.38414684e-01 6.73111152e-01 4.08060369e-02 4.37991170e+01] [-5.44505766e-02 -7.99840295e-04 9.98516147e-01 -9.00754050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.203201008 meters 0.06489530181489107 Centerline is valid? [True, True] Translation: X:103.75, Y:43.82, Z:-9.01 [[ 6.71587110e-01 -7.40028505e-01 3.64494890e-02 1.03750958e+02] [ 7.38877370e-01 6.72575050e-01 4.12678255e-02 4.38194785e+01] [-5.50543841e-02 -7.83237098e-04 9.98483050e-01 -9.00954381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.233201008 meters 0.06439187793024992 Centerline is valid? [True, True] Translation: X:103.77, Y:43.84, Z:-9.01 [[ 6.70148241e-01 -7.41348664e-01 3.61039306e-02 1.03771732e+02] [ 7.40220002e-01 6.71119730e-01 4.08981221e-02 4.38383779e+01] [-5.45498283e-02 -6.82952993e-04 9.98510816e-01 -9.00984927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.263201008 meters 0.06427553069513407 Centerline is valid? [True, True] Translation: X:103.79, Y:43.86, Z:-9.01 [[ 6.68484470e-01 -7.42828725e-01 3.65239450e-02 1.03790956e+02] [ 7.41674411e-01 6.69481248e-01 4.13995949e-02 4.38581494e+01] [-5.52049046e-02 -5.86110864e-04 9.98474874e-01 -9.01269955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.293201008 meters 0.06416874154025431 Centerline is valid? [True, True] Translation: X:103.81, Y:43.88, Z:-9.02 [[ 6.66776239e-01 -7.44370227e-01 3.63649792e-02 1.03810315e+02] [ 7.43227569e-01 6.67766987e-01 4.12314460e-02 4.38769424e+01] [-5.49747934e-02 -4.64693461e-04 9.98487634e-01 -9.01535381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.323201008 meters 0.06340260611549293 Centerline is valid? [True, True] Translation: X:103.84, Y:43.89, Z:-9.01 [[ 6.62501868e-01 -7.48122911e-01 3.74617875e-02 1.03835402e+02] [ 7.46914780e-01 6.63560155e-01 4.24997904e-02 4.38931781e+01] [-5.66532165e-02 -1.75427759e-04 9.98393901e-01 -9.01397384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35320100799998 meters 0.06330056199182489 Centerline is valid? [True, True] Translation: X:103.86, Y:43.91, Z:-9.02 [[ 6.59907309e-01 -7.50412536e-01 3.74615789e-02 1.03857306e+02] [ 7.49206913e-01 6.60969762e-01 4.25202991e-02 4.39118711e+01] [-5.66687363e-02 7.01772156e-06 9.98393036e-01 -9.01599093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38320100799999 meters 0.06328134599253572 Centerline is valid? [True, True] Translation: X:103.88, Y:43.93, Z:-9.02 [[ 6.57090671e-01 -7.52900844e-01 3.70427884e-02 1.03878874e+02] [ 7.51724783e-01 6.58133935e-01 4.20663085e-02 4.39307180e+01] [-5.60508753e-02 2.04603156e-04 9.98427893e-01 -9.01877598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41320100799999 meters 0.06334142027708048 Centerline is valid? [True, True] Translation: X:103.90, Y:43.95, Z:-9.02 [[ 6.54387227e-01 -7.55273461e-01 3.65972230e-02 1.03898582e+02] [ 7.54128092e-01 6.55409680e-01 4.15809163e-02 4.39489494e+01] [-5.53911368e-02 3.88973448e-04 9.98464657e-01 -9.02232641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44320100799999 meters 0.06375577284451989 Centerline is valid? [True, True] Translation: X:103.92, Y:43.97, Z:-9.02 [[ 6.49913241e-01 -7.59095867e-01 3.72322923e-02 1.03919695e+02] [ 7.57915237e-01 6.50978463e-01 4.23265132e-02 4.39678521e+01] [-5.63673017e-02 7.10360298e-04 9.98409847e-01 -9.02460913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47320100799999 meters 0.06379806486141498 Centerline is valid? [True, True] Translation: X:103.94, Y:43.99, Z:-9.03 [[ 6.47762309e-01 -7.60918228e-01 3.75158811e-02 1.03939382e+02] [ 7.59721329e-01 6.48847216e-01 4.26707457e-02 4.39875962e+01] [-5.68110232e-02 8.61114256e-04 9.98384578e-01 -9.02571530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50320100799999 meters 0.06379194543043516 Centerline is valid? [True, True] Translation: X:103.96, Y:44.01, Z:-9.03 [[ 6.46522462e-01 -7.61972958e-01 3.74955562e-02 1.03958787e+02] [ 7.60777900e-01 6.47608160e-01 4.26691591e-02 4.40077505e+01] [-5.67951735e-02 9.39220716e-04 9.98385410e-01 -9.02551915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53320100799999 meters 0.06348855715453648 Centerline is valid? [True, True] Translation: X:103.98, Y:44.03, Z:-9.03 [[ 6.45956015e-01 -7.62480776e-01 3.69309140e-02 1.03975502e+02] [ 7.61321112e-01 6.47010165e-01 4.20477346e-02 4.40309494e+01] [-5.59552661e-02 9.55297377e-04 9.98432820e-01 -9.02640926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.563201008 meters 0.06355521016288754 Centerline is valid? [True, True] Translation: X:103.99, Y:44.05, Z:-9.03 [[ 6.46121574e-01 -7.62341937e-01 3.69009744e-02 1.03992473e+02] [ 7.61182804e-01 6.47173784e-01 4.20336970e-02 4.40519277e+01] [-5.59253932e-02 9.29508722e-04 9.98434518e-01 -9.03028543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.593201008 meters 0.06349033190703852 Centerline is valid? [True, True] Translation: X:104.01, Y:44.07, Z:-9.03 [[ 6.46323120e-01 -7.62154431e-01 3.72430945e-02 1.04009220e+02] [ 7.60972011e-01 6.47394626e-01 4.24475746e-02 4.40737619e+01] [-5.64625863e-02 9.06103655e-04 9.98404305e-01 -9.03303589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.623201008 meters 0.06314216892834071 Centerline is valid? [True, True] Translation: X:104.03, Y:44.10, Z:-9.03 [[ 6.46605501e-01 -7.61877001e-01 3.80100191e-02 1.04025032e+02] [ 7.60643513e-01 6.47721123e-01 4.33450510e-02 4.40971011e+01] [-5.76434897e-02 8.84925960e-04 9.98336839e-01 -9.03374045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.653201008 meters 0.0627239002344005 Centerline is valid? [True, True] Translation: X:104.04, Y:44.12, Z:-9.03 [[ 6.47692197e-01 -7.60949651e-01 3.80847363e-02 1.04040709e+02] [ 7.59708436e-01 6.48810454e-01 4.34521210e-02 4.41205343e+01] [-5.77746514e-02 7.89695778e-04 9.98329337e-01 -9.03360259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.683201008 meters 0.06267253804085791 Centerline is valid? [True, True] Translation: X:104.06, Y:44.14, Z:-9.04 [[ 6.48678614e-01 -7.60127827e-01 3.77059959e-02 1.04056993e+02] [ 7.58908537e-01 6.49773194e-01 4.30421880e-02 4.41420042e+01] [-5.72179103e-02 6.94855346e-04 9.98361472e-01 -9.03575478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71320100799998 meters 0.06243652340480067 Centerline is valid? [True, True] Translation: X:104.07, Y:44.17, Z:-9.04 [[ 6.50770303e-01 -7.58336889e-01 3.77250072e-02 1.04071343e+02] [ 7.57111936e-01 6.51862632e-01 4.30885733e-02 4.41667594e+01] [-5.72671771e-02 5.21289381e-04 9.98358753e-01 -9.03787546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74320100799999 meters 0.062253659856434426 Centerline is valid? [True, True] Translation: X:104.09, Y:44.19, Z:-9.04 [[ 6.52079409e-01 -7.57232907e-01 3.72930216e-02 1.04087106e+02] [ 7.56032896e-01 6.53144823e-01 4.26157335e-02 4.41894535e+01] [-5.66277798e-02 4.05908835e-04 9.98395277e-01 -9.04053585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77320100799999 meters 0.062229100167020816 Centerline is valid? [True, True] Translation: X:104.10, Y:44.21, Z:-9.04 [[ 6.52711523e-01 -7.56680303e-01 3.74511213e-02 1.04103689e+02] [ 7.55467766e-01 6.53784981e-01 4.28211730e-02 4.42129212e+01] [-5.68869188e-02 3.43241904e-04 9.98380569e-01 -9.04174890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80320100799999 meters 0.06244362158316341 Centerline is valid? [True, True] Translation: X:104.12, Y:44.24, Z:-9.05 [[ 6.53809447e-01 -7.55831873e-01 3.53749499e-02 1.04119304e+02] [ 7.54747810e-01 6.54765700e-01 4.04675430e-02 4.42368448e+01] [-5.37489627e-02 2.41104039e-04 9.98554451e-01 -9.04709605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83320100799999 meters 0.06256155784910016 Centerline is valid? [True, True] Translation: X:104.14, Y:44.26, Z:-9.05 [[ 6.53619393e-01 -7.56022970e-01 3.47988156e-02 1.04136678e+02] [ 7.54973194e-01 6.54545041e-01 3.98279431e-02 4.42584003e+01] [-5.28882321e-02 2.39856977e-04 9.98600409e-01 -9.05119192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86320100799999 meters 0.0626100527888951 Centerline is valid? [True, True] Translation: X:104.15, Y:44.28, Z:-9.05 [[ 6.53684902e-01 -7.56007378e-01 3.38953246e-02 1.04154081e+02] [ 7.55010378e-01 6.54563058e-01 3.88140723e-02 4.42793538e+01] [-5.15303523e-02 2.19148829e-04 9.98671405e-01 -9.05430198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89320100799999 meters 0.06277921111905065 Centerline is valid? [True, True] Translation: X:104.17, Y:44.30, Z:-9.06 [[ 6.53717636e-01 -7.55996986e-01 3.34934248e-02 1.04172528e+02] [ 7.55023070e-01 6.54575063e-01 3.83621029e-02 4.43008621e+01] [-5.09255948e-02 2.10325191e-04 9.98702428e-01 -9.05801001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92320100799999 meters 0.06277482682631723 Centerline is valid? [True, True] Translation: X:104.19, Y:44.32, Z:-9.06 [[ 6.53993586e-01 -7.55769368e-01 3.32423214e-02 1.04189654e+02] [ 7.54808766e-01 6.54837866e-01 3.80932668e-02 4.43217824e+01] [-5.05580549e-02 1.78843444e-04 9.98721108e-01 -9.05981584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.953201008 meters 0.06277421843184605 Centerline is valid? [True, True] Translation: X:104.21, Y:44.34, Z:-9.06 [[ 6.55302880e-01 -7.54633103e-01 3.32718368e-02 1.04205798e+02] [ 7.53668266e-01 6.56146991e-01 3.81480196e-02 4.43438759e+01] [-5.06189740e-02 7.74204063e-05 9.98718035e-01 -9.06239264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.983201008 meters 0.06258762388430808 Centerline is valid? [True, True] Translation: X:104.22, Y:44.37, Z:-9.06 [[ 6.56167579e-01 -7.53874507e-01 3.34265884e-02 1.04222615e+02] [ 7.52898595e-01 6.57018438e-01 3.83468098e-02 4.43663764e+01] [-5.08705672e-02 4.89802219e-06 9.98705255e-01 -9.06423740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.013201008 meters 0.06262542976131219 Centerline is valid? [True, True] Translation: X:104.24, Y:44.39, Z:-9.07 [[ 6.57445818e-01 -7.52721465e-01 3.42839891e-02 1.04239368e+02] [ 7.51692172e-01 6.58339111e-01 3.93509014e-02 4.43894905e+01] [-5.21907591e-02 -1.00079309e-04 9.98637129e-01 -9.06591180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.043201008 meters 0.06279088418450486 Centerline is valid? [True, True] Translation: X:104.25, Y:44.41, Z:-9.07 [[ 6.61744790e-01 -7.48891263e-01 3.54359749e-02 1.04252280e+02] [ 7.47784969e-01 6.62692757e-01 4.06933691e-02 4.44148794e+01] [-5.39580725e-02 -4.30135622e-04 9.98543109e-01 -9.06779101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.073201008 meters 0.06296661155383297 Centerline is valid? [True, True] Translation: X:104.27, Y:44.44, Z:-9.07 [[ 6.63994221e-01 -7.46880862e-01 3.57861905e-02 1.04268904e+02] [ 7.45748319e-01 6.64957591e-01 4.11199074e-02 4.44382900e+01] [-5.45079710e-02 -6.15889464e-04 9.98513146e-01 -9.06808245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10320100799998 meters 0.06341412154205332 Centerline is valid? [True, True] Translation: X:104.28, Y:44.46, Z:-9.07 [[ 6.66214899e-01 -7.44897208e-01 3.58588521e-02 1.04284589e+02] [ 7.43756051e-01 6.67178776e-01 4.12239847e-02 4.44617463e+01] [-5.46318962e-02 -7.93794575e-04 9.98506247e-01 -9.07049356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13320100799999 meters 0.06381939832450254 Centerline is valid? [True, True] Translation: X:104.30, Y:44.48, Z:-9.07 [[ 6.67567915e-01 -7.43671280e-01 3.61400966e-02 1.04300441e+02] [ 7.42509085e-01 6.68544828e-01 4.15700778e-02 4.44841724e+01] [-5.50757477e-02 -9.16500093e-04 9.98481759e-01 -9.07374683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16320100799999 meters 0.0641636235474243 Centerline is valid? [True, True] Translation: X:104.32, Y:44.51, Z:-9.08 [[ 6.68793625e-01 -7.42558461e-01 3.63595912e-02 1.04317867e+02] [ 7.41379833e-01 6.69780478e-01 4.18336548e-02 4.45066857e+01] [-5.54168787e-02 -1.02181396e-03 9.98462781e-01 -9.07641078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19320100799999 meters 0.06458266360622235 Centerline is valid? [True, True] Translation: X:104.34, Y:44.53, Z:-9.08 [[ 6.69639293e-01 -7.41775426e-01 3.67754595e-02 1.04335819e+02] [ 7.40567333e-01 6.70647433e-01 4.23325733e-02 4.45271847e+01] [-5.60646301e-02 -1.11285054e-03 9.98426521e-01 -9.07898653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22320100799999 meters 0.06462025884475113 Centerline is valid? [True, True] Translation: X:104.35, Y:44.55, Z:-9.08 [[ 6.69184782e-01 -7.42178574e-01 3.69146565e-02 1.04354473e+02] [ 7.40960566e-01 6.70201280e-01 4.25168637e-02 4.45464350e+01] [-5.62953553e-02 -1.09933344e-03 9.98413554e-01 -9.08140318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25320100799999 meters 0.06420020701467383 Centerline is valid? [True, True] Translation: X:104.38, Y:44.56, Z:-9.08 [[ 6.68361394e-01 -7.42956023e-01 3.61855673e-02 1.04376019e+02] [ 7.41786128e-01 6.69339453e-01 4.16897772e-02 4.45649670e+01] [-5.51940989e-02 -1.02188572e-03 9.98475121e-01 -9.08188685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28320100799999 meters 0.06376189376154626 Centerline is valid? [True, True] Translation: X:104.40, Y:44.58, Z:-9.08 [[ 6.66910231e-01 -7.44266260e-01 3.60343856e-02 1.04397854e+02] [ 7.43106842e-01 6.67882385e-01 4.15372256e-02 4.45832027e+01] [-5.49814870e-02 -9.24202239e-04 9.98486946e-01 -9.08302341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.313201008 meters 0.06351027663770957 Centerline is valid? [True, True] Translation: X:104.42, Y:44.60, Z:-9.09 [[ 6.63559256e-01 -7.47296986e-01 3.51614759e-02 1.04422808e+02] [ 7.46196162e-01 6.64489852e-01 4.05527380e-02 4.45989829e+01] [-5.36693828e-02 -6.71786226e-04 9.98558534e-01 -9.08551457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.343201008 meters 0.06350771033868649 Centerline is valid? [True, True] Translation: X:104.44, Y:44.62, Z:-9.09 [[ 6.61772454e-01 -7.48895700e-01 3.48202450e-02 1.04443295e+02] [ 7.47817115e-01 6.62687652e-01 4.01825486e-02 4.46162107e+01] [-5.31674843e-02 -5.52528623e-04 9.98585456e-01 -9.08938586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.373201008 meters 0.06342279982846234 Centerline is valid? [True, True] Translation: X:104.47, Y:44.63, Z:-9.09 [[ 6.59472568e-01 -7.50914807e-01 3.49697587e-02 1.04465523e+02] [ 7.49829018e-01 6.60398964e-01 4.03689414e-02 4.46342108e+01] [-5.34076283e-02 -4.00869624e-04 9.98572714e-01 -9.09256117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.403201008 meters 0.06338504766136921 Centerline is valid? [True, True] Translation: X:104.49, Y:44.65, Z:-9.10 [[ 6.57643021e-01 -7.52544162e-01 3.43939066e-02 1.04486202e+02] [ 7.51495046e-01 6.58541728e-01 3.97239155e-02 4.46514314e+01] [-5.25438233e-02 -2.77305400e-04 9.98618581e-01 -9.09548685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.433201008 meters 0.06361120153842231 Centerline is valid? [True, True] Translation: X:104.51, Y:44.67, Z:-9.10 [[ 6.54951076e-01 -7.54911538e-01 3.38771154e-02 1.04508819e+02] [ 7.53895845e-01 6.55826624e-01 3.91470800e-02 4.46667600e+01] [-5.17700966e-02 -9.96055920e-05 9.98659024e-01 -9.09985286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46320100799998 meters 0.06361914046270403 Centerline is valid? [True, True] Translation: X:104.53, Y:44.69, Z:-9.10 [[ 6.54394393e-01 -7.55438163e-01 3.28809867e-02 1.04528789e+02] [ 7.54480807e-01 6.55219945e-01 3.80202070e-02 4.46861465e+01] [-5.02661937e-02 -7.21369508e-05 9.98735853e-01 -9.10249012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49320100799999 meters 0.0637414463782314 Centerline is valid? [True, True] Translation: X:104.55, Y:44.71, Z:-9.10 [[ 6.54287939e-01 -7.55536724e-01 3.27345618e-02 1.04548256e+02] [ 7.54587075e-01 6.55106292e-01 3.78694100e-02 4.47053883e+01] [-5.00563474e-02 -7.64210403e-05 9.98746392e-01 -9.10476321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52320100799999 meters 0.06379654277753088 Centerline is valid? [True, True] Translation: X:104.57, Y:44.73, Z:-9.11 [[ 6.54584495e-01 -7.55290098e-01 3.24962550e-02 1.04568251e+02] [ 7.54352759e-01 6.55390613e-01 3.76172807e-02 4.47251771e+01] [-4.97097001e-02 -1.10049095e-04 9.98763703e-01 -9.10606483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55320100799999 meters 0.06374564305296501 Centerline is valid? [True, True] Translation: X:104.59, Y:44.75, Z:-9.11 [[ 6.55077110e-01 -7.54869575e-01 3.23404609e-02 1.04587700e+02] [ 7.53939715e-01 6.55874913e-01 3.74567038e-02 4.47450305e+01] [-4.94862230e-02 -1.54271389e-04 9.98774794e-01 -9.10755137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58320100799999 meters 0.06383323286704744 Centerline is valid? [True, True] Translation: X:104.61, Y:44.77, Z:-9.11 [[ 6.56548312e-01 -7.53549257e-01 3.32840994e-02 1.04606482e+02] [ 7.52561481e-01 6.57391391e-01 3.85717079e-02 4.47664038e+01] [-5.09463623e-02 -2.75858574e-04 9.98701353e-01 -9.10877550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61320100799999 meters 0.06408071958015768 Centerline is valid? [True, True] Translation: X:104.62, Y:44.79, Z:-9.11 [[ 6.57354348e-01 -7.52819392e-01 3.38854468e-02 1.04622787e+02] [ 7.51793474e-01 6.58227042e-01 3.92903832e-02 4.47874497e+01] [-5.18828798e-02 -3.52846518e-04 9.98653114e-01 -9.11209433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64320100799999 meters 0.06438028609056523 Centerline is valid? [True, True] Translation: X:104.64, Y:44.81, Z:-9.11 [[ 6.58747317e-01 -7.51578364e-01 3.43792831e-02 1.04639160e+02] [ 7.50519469e-01 6.59643647e-01 3.98846586e-02 4.48083742e+01] [-5.26545221e-02 -4.71590586e-04 9.98612677e-01 -9.11481550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67320100799999 meters 0.06438028609056523 Centerline is valid? [True, True] Translation: X:104.66, Y:44.83, Z:-9.12 [[ 6.58523852e-01 -7.51774762e-01 3.43663198e-02 1.04656480e+02] [ 7.50715551e-01 6.59419809e-01 3.98958235e-02 4.48288011e+01] [-5.26545052e-02 -4.73020662e-04 9.98612677e-01 -9.11687769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.703201008 meters 0.06465330342167956 Centerline is valid? [True, True] Translation: X:104.67, Y:44.85, Z:-9.12 [[ 6.59514008e-01 -7.50901709e-01 3.44658814e-02 1.04673149e+02] [ 7.49833873e-01 6.60413741e-01 4.00356417e-02 4.48501159e+01] [-5.28245734e-02 -5.60381135e-04 9.98603650e-01 -9.11922565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.733201008 meters 0.06527305967739094 Centerline is valid? [True, True] Translation: X:104.69, Y:44.87, Z:-9.12 [[ 6.62153855e-01 -7.48555277e-01 3.48893961e-02 1.04690020e+02] [ 7.47456359e-01 6.63071940e-01 4.05535843e-02 4.48726457e+01] [-5.34907791e-02 -7.74411193e-04 9.98568043e-01 -9.12135828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.763201008 meters 0.06568463536219728 Centerline is valid? [True, True] Translation: X:104.71, Y:44.89, Z:-9.12 [[ 6.63729879e-01 -7.47157339e-01 3.49078714e-02 1.04707913e+02] [ 7.46054157e-01 6.64646596e-01 4.05967564e-02 4.48946938e+01] [-5.35335624e-02 -9.02117590e-04 9.98565643e-01 -9.12402522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.793201008 meters 0.06610033904060512 Centerline is valid? [True, True] Translation: X:104.72, Y:44.91, Z:-9.13 [[ 6.64321021e-01 -7.46592363e-01 3.57410829e-02 1.04724078e+02] [ 7.45433859e-01 6.65281049e-01 4.15871123e-02 4.49148394e+01] [-5.48264856e-02 -9.84579610e-04 9.98495412e-01 -9.12599250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.823201008 meters 0.06630765559349946 Centerline is valid? [True, True] Translation: X:104.74, Y:44.94, Z:-9.13 [[ 6.65121589e-01 -7.45899023e-01 3.53258949e-02 1.04742766e+02] [ 7.44764833e-01 6.66058217e-01 4.11314364e-02 4.49357755e+01] [-5.42090009e-02 -1.04792213e-03 9.98529061e-01 -9.12771908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85320100799998 meters 0.0668424394124023 Centerline is valid? [True, True] Translation: X:104.76, Y:44.95, Z:-9.13 [[ 6.65448377e-01 -7.45605404e-01 3.53700339e-02 1.04760556e+02] [ 7.44466853e-01 6.66386825e-01 4.12031981e-02 4.49549677e+01] [-5.42914518e-02 -1.08678350e-03 9.98524540e-01 -9.13198632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88320100799999 meters 0.06684496346566735 Centerline is valid? [True, True] Translation: X:104.78, Y:44.97, Z:-9.13 [[ 6.64774300e-01 -7.46216908e-01 3.51490576e-02 1.04779109e+02] [ 7.45091977e-01 6.65702056e-01 4.09721678e-02 4.49742641e+01] [-5.39729243e-02 -1.04796335e-03 9.98541850e-01 -9.13497049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91320100799999 meters 0.0666210625858975 Centerline is valid? [True, True] Translation: X:104.80, Y:44.99, Z:-9.14 [[ 6.63790520e-01 -7.47087279e-01 3.52525467e-02 1.04798915e+02] [ 7.45955600e-01 6.64725209e-01 4.11173842e-02 4.49930853e+01] [-5.41515312e-02 -9.96495192e-04 9.98532232e-01 -9.13740375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94320100799999 meters 0.06548729390895891 Centerline is valid? [True, True] Translation: X:104.83, Y:45.00, Z:-9.14 [[ 6.56831292e-01 -7.53230230e-01 3.48837327e-02 1.04826648e+02] [ 7.52129297e-01 6.57756768e-01 4.07130669e-02 4.50038993e+01] [-5.36113240e-02 -5.04538981e-04 9.98561751e-01 -9.14145852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97320100799999 meters 0.06502146650666804 Centerline is valid? [True, True] Translation: X:104.85, Y:45.02, Z:-9.14 [[ 6.52745860e-01 -7.56778767e-01 3.47669361e-02 1.04850895e+02] [ 7.55689142e-01 6.53671054e-01 4.05964845e-02 4.50196902e+01] [-5.34486972e-02 -2.26191076e-04 9.98570571e-01 -9.14354906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00320100799999 meters 0.06475885215009228 Centerline is valid? [True, True] Translation: X:104.87, Y:45.04, Z:-9.14 [[ 6.48963328e-01 -7.60000102e-01 3.53050041e-02 1.04874357e+02] [ 7.58880147e-01 6.49922952e-01 4.12441303e-02 4.50355295e+01] [-5.42910757e-02 2.63386326e-05 9.98525152e-01 -9.14089483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03320100799999 meters 0.06473488053653052 Centerline is valid? [True, True] Translation: X:104.90, Y:45.05, Z:-9.14 [[ 6.45551188e-01 -7.62895963e-01 3.54035826e-02 1.04896305e+02] [ 7.61772677e-01 6.46521218e-01 4.13848161e-02 4.50520599e+01] [-5.44614765e-02 2.53464741e-04 9.98515840e-01 -9.14224957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.063201008 meters 0.06489303947458178 Centerline is valid? [True, True] Translation: X:104.92, Y:45.07, Z:-9.14 [[ 6.40902882e-01 -7.66745480e-01 3.66724045e-02 1.04920889e+02] [ 7.65544721e-01 6.41950958e-01 4.28981118e-02 4.50673266e+01] [-5.64338185e-02 5.80842204e-04 9.98406173e-01 -9.14216911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.093201008 meters 0.06480440629227052 Centerline is valid? [True, True] Translation: X:104.94, Y:45.09, Z:-9.15 [[ 6.40350989e-01 -7.67186210e-01 3.70935274e-02 1.04939146e+02] [ 7.65956883e-01 6.41424156e-01 4.34178102e-02 4.50863694e+01] [-5.71022297e-02 6.09404949e-04 9.98368151e-01 -9.14509934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.123201008 meters 0.06485703908204084 Centerline is valid? [True, True] Translation: X:104.96, Y:45.11, Z:-9.15 [[ 6.40189068e-01 -7.67320145e-01 3.71180979e-02 1.04956414e+02] [ 7.66087743e-01 6.41263933e-01 4.34757163e-02 4.51071665e+01] [-5.71622904e-02 6.03041569e-04 9.98364717e-01 -9.14693128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.153201008 meters 0.06483000455502763 Centerline is valid? [True, True] Translation: X:104.97, Y:45.13, Z:-9.15 [[ 6.39964659e-01 -7.67489235e-01 3.74901333e-02 1.04972622e+02] [ 7.66230715e-01 6.41061546e-01 4.39384169e-02 4.51288897e+01] [-5.77557447e-02 6.07057658e-04 9.98330559e-01 -9.14906495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.183201008 meters 0.06493508622419286 Centerline is valid? [True, True] Translation: X:104.99, Y:45.15, Z:-9.15 [[ 6.40085109e-01 -7.67404107e-01 3.71751353e-02 1.04988531e+02] [ 7.66165009e-01 6.41163477e-01 4.35955914e-02 4.51503010e+01] [-5.72907749e-02 5.77399000e-04 9.98357368e-01 -9.15301101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21320100799998 meters 0.06518324802699649 Centerline is valid? [True, True] Translation: X:105.00, Y:45.17, Z:-9.16 [[ 6.39886963e-01 -7.67577622e-01 3.70036321e-02 1.05004785e+02] [ 7.66348613e-01 6.40955745e-01 4.34227761e-02 4.51702974e+01] [-5.70480417e-02 5.72013798e-04 9.98371270e-01 -9.15752185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24320100799999 meters 0.06522401530538026 Centerline is valid? [True, True] Translation: X:105.02, Y:45.19, Z:-9.16 [[ 6.39551610e-01 -7.67900155e-01 3.60983357e-02 1.05022976e+02] [ 7.66729540e-01 6.40569301e-01 4.23884760e-02 4.51916376e+01] [-5.56736030e-02 5.68042282e-04 9.98448861e-01 -9.15953847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27320100799999 meters 0.06530491597349472 Centerline is valid? [True, True] Translation: X:105.04, Y:45.21, Z:-9.16 [[ 6.39103418e-01 -7.68285946e-01 3.58263223e-02 1.05040414e+02] [ 7.67132359e-01 6.40106526e-01 4.20901393e-02 4.52109650e+01] [-5.52699252e-02 5.83579210e-04 9.98471279e-01 -9.16229740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30320100799999 meters 0.06549475748279122 Centerline is valid? [True, True] Translation: X:105.06, Y:45.23, Z:-9.16 [[ 6.38290008e-01 -7.68962205e-01 3.58188897e-02 1.05058252e+02] [ 7.67808651e-01 6.39293936e-01 4.21086494e-02 4.52309408e+01] [-5.52787589e-02 6.24523240e-04 9.98470765e-01 -9.16387373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33320100799999 meters 0.06563730731647739 Centerline is valid? [True, True] Translation: X:105.07, Y:45.25, Z:-9.17 [[ 6.37710309e-01 -7.69456252e-01 3.55336253e-02 1.05074596e+02] [ 7.68320319e-01 6.38699194e-01 4.17998519e-02 4.52532478e+01] [-5.48584552e-02 6.45009796e-04 9.98493933e-01 -9.16663178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36320100799999 meters 0.06608248089001904 Centerline is valid? [True, True] Translation: X:105.09, Y:45.27, Z:-9.17 [[ 6.37776164e-01 -7.69432806e-01 3.48528515e-02 1.05091428e+02] [ 7.68338616e-01 6.38727468e-01 4.10242932e-02 4.52746455e+01] [-5.38269107e-02 6.14475322e-04 9.98550092e-01 -9.17189464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39320100799999 meters 0.06626220714266633 Centerline is valid? [True, True] Translation: X:105.11, Y:45.30, Z:-9.18 [[ 6.37621112e-01 -7.69582524e-01 3.43810350e-02 1.05108247e+02] [ 7.68516763e-01 6.38547081e-01 4.04921060e-02 4.52964318e+01] [-5.31159267e-02 6.03780036e-04 9.98588170e-01 -9.17570713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42320100799999 meters 0.06629117178625826 Centerline is valid? [True, True] Translation: X:105.12, Y:45.32, Z:-9.18 [[ 6.37668668e-01 -7.69540722e-01 3.44346756e-02 1.05124637e+02] [ 7.68470409e-01 6.38597473e-01 4.05770616e-02 4.53166061e+01] [-5.32155981e-02 5.87308432e-04 9.98582873e-01 -9.17843674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.453201008 meters 0.0656781538646449 Centerline is valid? [True, True] Translation: X:105.14, Y:45.34, Z:-9.18 [[ 6.38433346e-01 -7.68859950e-01 3.54575921e-02 1.05143278e+02] [ 7.67722405e-01 6.39416999e-01 4.18116036e-02 4.53377224e+01] [-5.48194546e-02 5.27665848e-04 9.98496144e-01 -9.17555648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.483201008 meters 0.06542510084096007 Centerline is valid? [True, True] Translation: X:105.16, Y:45.36, Z:-9.18 [[ 6.39104700e-01 -7.68274235e-01 3.60538783e-02 1.05159896e+02] [ 7.67096028e-01 6.40120673e-01 4.25347871e-02 4.53577906e+01] [-5.57572139e-02 4.72604504e-04 9.98444245e-01 -9.17613107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.513201008 meters 0.06515407238999821 Centerline is valid? [True, True] Translation: X:105.18, Y:45.38, Z:-9.18 [[ 6.39899021e-01 -7.67584935e-01 3.66416599e-02 1.05176478e+02] [ 7.66365179e-01 6.40947118e-01 4.32574244e-02 4.53801629e+01] [-5.66891136e-02 4.00508788e-04 9.98391799e-01 -9.17631052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.543201008 meters 0.06511634406226269 Centerline is valid? [True, True] Translation: X:105.19, Y:45.40, Z:-9.18 [[ 6.41114772e-01 -7.66569633e-01 3.66448902e-02 1.05192063e+02] [ 7.65346471e-01 6.42161126e-01 4.32881935e-02 4.54021250e+01] [-5.67153386e-02 2.93337099e-04 9.98390347e-01 -9.17858459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.573201008 meters 0.0652512615766573 Centerline is valid? [True, True] Translation: X:105.21, Y:45.42, Z:-9.18 [[ 6.42932786e-01 -7.65038282e-01 3.67948213e-02 1.05207006e+02] [ 7.63801035e-01 6.43984788e-01 4.34922020e-02 4.54247444e+01] [-5.69685047e-02 1.41359954e-04 9.98375966e-01 -9.18175524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60320100799998 meters 0.06558937578290462 Centerline is valid? [True, True] Translation: X:105.22, Y:45.45, Z:-9.19 [[ 6.46402534e-01 -7.62162777e-01 3.56604092e-02 1.05218554e+02] [ 7.60994905e-01 6.47385423e-01 4.21766348e-02 4.54502761e+01] [-5.52314902e-02 -1.25693942e-04 9.98473568e-01 -9.18820163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63320100799999 meters 0.06590248164511328 Centerline is valid? [True, True] Translation: X:105.23, Y:45.47, Z:-9.19 [[ 6.47718405e-01 -7.61072580e-01 3.50627416e-02 1.05232471e+02] [ 7.59940490e-01 6.48666690e-01 4.14967218e-02 4.54730119e+01] [-5.43260496e-02 -2.32593468e-04 9.98523223e-01 -9.19292712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66320100799999 meters 0.06598238132436374 Centerline is valid? [True, True] Translation: X:105.25, Y:45.50, Z:-9.19 [[ 6.49092555e-01 -7.59896194e-01 3.51657431e-02 1.05247524e+02] [ 7.58755082e-01 6.50044351e-01 4.16301199e-02 4.54957257e+01] [-5.44938623e-02 -3.39614531e-04 9.98514048e-01 -9.19260706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69320100799999 meters 0.06613899974026116 Centerline is valid? [True, True] Translation: X:105.26, Y:45.52, Z:-9.19 [[ 6.49914661e-01 -7.59197594e-01 3.50705986e-02 1.05262179e+02] [ 7.58060277e-01 6.50860079e-01 4.15424386e-02 4.55183958e+01] [-5.43649720e-02 -4.13412248e-04 9.98521046e-01 -9.19478347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72320100799999 meters 0.06650900390609359 Centerline is valid? [True, True] Translation: X:105.28, Y:45.54, Z:-9.20 [[ 6.51367340e-01 -7.57918663e-01 3.57755252e-02 1.05275637e+02] [ 7.56731460e-01 6.52348830e-01 4.24087419e-02 4.55413555e+01] [-5.54804990e-02 -5.51204019e-04 9.98459619e-01 -9.19789315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75320100799999 meters 0.06661558145844841 Centerline is valid? [True, True] Translation: X:105.29, Y:45.56, Z:-9.20 [[ 6.51551765e-01 -7.57764399e-01 3.56849057e-02 1.05291675e+02] [ 7.56581984e-01 6.52527996e-01 4.23192215e-02 4.55629328e+01] [-5.53533995e-02 -5.74606763e-04 9.98466660e-01 -9.20033554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78320100799999 meters 0.06662777806325235 Centerline is valid? [True, True] Translation: X:105.31, Y:45.58, Z:-9.20 [[ 6.51049677e-01 -7.58177148e-01 3.60795111e-02 1.05308839e+02] [ 7.56967584e-01 6.52048385e-01 4.28133180e-02 4.55839851e+01] [-5.59856663e-02 -5.62576551e-04 9.98431414e-01 -9.20147501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.813201008 meters 0.06623130198885284 Centerline is valid? [True, True] Translation: X:105.33, Y:45.60, Z:-9.20 [[ 6.49381572e-01 -7.59608416e-01 3.60364755e-02 1.05329072e+02] [ 7.58402517e-01 6.50380540e-01 4.27875614e-02 4.56026608e+01] [-5.59392141e-02 -4.55300169e-04 9.98434072e-01 -9.20197322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.843201008 meters 0.06592806105156197 Centerline is valid? [True, True] Translation: X:105.35, Y:45.62, Z:-9.20 [[ 6.48202631e-01 -7.60585915e-01 3.66389876e-02 1.05349165e+02] [ 7.59339301e-01 6.49237175e-01 4.35306445e-02 4.56228345e+01] [-5.68961879e-02 -3.95255076e-04 9.98380022e-01 -9.20226425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.873201008 meters 0.06581490653151784 Centerline is valid? [True, True] Translation: X:105.37, Y:45.64, Z:-9.21 [[ 6.46758274e-01 -7.61820043e-01 3.65233692e-02 1.05367489e+02] [ 7.60582014e-01 6.47788647e-01 4.34150642e-02 4.56421145e+01] [-5.67338900e-02 -3.00034321e-04 9.98389291e-01 -9.20612375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.903201008 meters 0.06573805740806397 Centerline is valid? [True, True] Translation: X:105.39, Y:45.66, Z:-9.21 [[ 6.45844516e-01 -7.62590509e-01 3.66138812e-02 1.05385846e+02] [ 7.61345956e-01 6.46881482e-01 4.35509257e-02 4.56622907e+01] [-5.68963644e-02 -2.51296116e-04 9.98380058e-01 -9.20861460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.933201008 meters 0.06573380287601521 Centerline is valid? [True, True] Translation: X:105.40, Y:45.68, Z:-9.21 [[ 6.45217280e-01 -7.63153366e-01 3.59388687e-02 1.05404348e+02] [ 7.61953770e-01 6.46217374e-01 4.27733260e-02 4.56835185e+01] [-5.58669291e-02 -2.14332585e-04 9.98438201e-01 -9.21152649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96320100799998 meters 0.06580913777420423 Centerline is valid? [True, True] Translation: X:105.42, Y:45.70, Z:-9.22 [[ 6.43432624e-01 -7.64684118e-01 3.53929075e-02 1.05422836e+02] [ 7.63521913e-01 6.44405301e-01 4.21437609e-02 4.57027932e+01] [-5.50340418e-02 -9.34102863e-05 9.98484474e-01 -9.21564636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99320100799999 meters 0.0658087257765325 Centerline is valid? [True, True] Translation: X:105.44, Y:45.72, Z:-9.22 [[ 6.42294422e-01 -7.65638549e-01 3.54328637e-02 1.05441590e+02] [ 7.64473634e-01 6.43271024e-01 4.22190884e-02 4.57227311e+01] [-5.51174962e-02 -2.95949147e-05 9.98479875e-01 -9.21697311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.023201008 meters 0.06594463439953696 Centerline is valid? [True, True] Translation: X:105.46, Y:45.74, Z:-9.22 [[ 6.41218561e-01 -7.66554757e-01 3.51078539e-02 1.05460253e+02] [ 7.65411152e-01 6.42178949e-01 4.18564813e-02 4.57417091e+01] [-5.46308096e-02 3.27901894e-05 9.98506622e-01 -9.22190386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.053201008 meters 0.06572965835402168 Centerline is valid? [True, True] Translation: X:105.48, Y:45.76, Z:-9.22 [[ 6.40492970e-01 -7.67184772e-01 3.45872993e-02 1.05480105e+02] [ 7.66074287e-01 6.41426162e-01 4.12633692e-02 4.57622102e+01] [-5.38418271e-02 6.75427817e-05 9.98549475e-01 -9.22233272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.083201008 meters 0.06557417966661686 Centerline is valid? [True, True] Translation: X:105.50, Y:45.78, Z:-9.22 [[ 6.39375065e-01 -7.68098694e-01 3.49845949e-02 1.05499000e+02] [ 7.66962745e-01 6.40331460e-01 4.17584708e-02 4.57816670e+01] [-5.44763636e-02 1.32555907e-04 9.98515052e-01 -9.22291891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.113201008 meters 0.0655167240611547 Centerline is valid? [True, True] Translation: X:105.52, Y:45.80, Z:-9.23 [[ 6.38877147e-01 -7.68503788e-01 3.51840742e-02 1.05516652e+02] [ 7.67353930e-01 6.39845219e-01 4.20243002e-02 4.58009910e+01] [-5.48081955e-02 1.50272592e-04 9.98496890e-01 -9.22502583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.143201008 meters 0.06557719596787136 Centerline is valid? [True, True] Translation: X:105.53, Y:45.82, Z:-9.23 [[ 6.38852957e-01 -7.68538664e-01 3.48600241e-02 1.05533460e+02] [ 7.67409054e-01 6.39803330e-01 4.16538349e-02 4.58226836e+01] [-5.43161422e-02 1.41222506e-04 9.98523779e-01 -9.22880701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.173201008 meters 0.06562395000124718 Centerline is valid? [True, True] Translation: X:105.55, Y:45.84, Z:-9.23 [[ 6.39449884e-01 -7.68044689e-01 3.48023180e-02 1.05548977e+02] [ 7.66916617e-01 6.40396244e-01 4.16119381e-02 4.58434351e+01] [-5.42471017e-02 8.17269647e-05 9.98527539e-01 -9.23227048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.203201008 meters 0.06557440809255023 Centerline is valid? [True, True] Translation: X:105.56, Y:45.87, Z:-9.23 [[ 6.41168727e-01 -7.66607633e-01 3.48625867e-02 1.05564996e+02] [ 7.65472609e-01 6.42115826e-01 4.17007330e-02 4.58652131e+01] [-5.43539189e-02 -5.08507432e-05 9.98521732e-01 -9.23205582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.233201008 meters 0.06595814172314264 Centerline is valid? [True, True] Translation: X:105.58, Y:45.89, Z:-9.24 [[ 6.45745266e-01 -7.62794148e-01 3.40314336e-02 1.05578122e+02] [ 7.61706010e-01 6.46641279e-01 4.07309622e-02 4.58892729e+01] [-5.30754693e-02 -3.79878576e-04 9.98590432e-01 -9.23501045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.263201008 meters 0.06595814172314264 Centerline is valid? [True, True] Translation: X:105.60, Y:45.91, Z:-9.24 [[ 6.45519207e-01 -7.62985959e-01 3.40202879e-02 1.05595118e+02] [ 7.61897596e-01 6.46414946e-01 4.07402683e-02 4.59099790e+01] [-5.30754752e-02 -3.78650096e-04 9.98590432e-01 -9.23707445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.293201008 meters 0.06645585525076003 Centerline is valid? [True, True] Translation: X:105.61, Y:45.93, Z:-9.24 [[ 6.47551458e-01 -7.61258704e-01 3.40924417e-02 1.05610537e+02] [ 7.60161934e-01 6.48448067e-01 4.08526414e-02 4.59339388e+01] [-5.32066068e-02 -5.38411060e-04 9.98583380e-01 -9.24010268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.323201008 meters 0.06705226604639594 Centerline is valid? [True, True] Translation: X:105.62, Y:45.96, Z:-9.24 [[ 6.50878119e-01 -7.58419360e-01 3.40257012e-02 1.05624403e+02] [ 7.57321862e-01 6.51766415e-01 4.07938388e-02 4.59582673e+01] [-5.31156464e-02 -7.83409626e-04 9.98588060e-01 -9.24364930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.353201008 meters 0.06695811272548631 Centerline is valid? [True, True] Translation: X:105.64, Y:45.98, Z:-9.25 [[ 6.50409958e-01 -7.58804455e-01 3.43901899e-02 1.05642636e+02] [ 7.57682555e-01 6.51318046e-01 4.12546701e-02 4.59793012e+01] [-5.37031788e-02 -7.75601269e-04 9.98556642e-01 -9.24515665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38320100800001 meters 0.06681164609899186 Centerline is valid? [True, True] Translation: X:105.66, Y:46.00, Z:-9.25 [[ 6.49778956e-01 -7.59330573e-01 3.47042957e-02 1.05660486e+02] [ 7.58187526e-01 6.50704627e-01 4.16553118e-02 4.60002661e+01] [-5.42123976e-02 -7.54380962e-04 9.98529142e-01 -9.24733878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41320100800002 meters 0.06684644849818987 Centerline is valid? [True, True] Translation: X:105.68, Y:46.02, Z:-9.25 [[ 6.48867743e-01 -7.60105806e-01 3.47824092e-02 1.05678302e+02] [ 7.58957325e-01 6.49798941e-01 4.17745878e-02 4.60204128e+01] [-5.43546794e-02 -7.07818263e-04 9.98521441e-01 -9.25062025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44320100800002 meters 0.06628975054635648 Centerline is valid? [True, True] Translation: X:105.70, Y:46.04, Z:-9.25 [[ 6.45498464e-01 -7.62991745e-01 3.42830904e-02 1.05700866e+02] [ 7.61878591e-01 6.46408052e-01 4.12024523e-02 4.60375407e+01] [-5.35979967e-02 -4.76567067e-04 9.98562481e-01 -9.25349927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47320100800002 meters 0.06620717594741862 Centerline is valid? [True, True] Translation: X:105.72, Y:46.06, Z:-9.26 [[ 6.44831862e-01 -7.63579256e-01 3.37429944e-02 1.05719079e+02] [ 7.62501038e-01 6.45713974e-01 4.05663810e-02 4.60572017e+01] [-5.27639700e-02 -4.29426780e-04 9.98606919e-01 -9.25622004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50320100800002 meters 0.06556642864296307 Centerline is valid? [True, True] Translation: X:105.74, Y:46.07, Z:-9.26 [[ 6.38672262e-01 -7.68759190e-01 3.32723501e-02 1.05743868e+02] [ 7.67716632e-01 6.39538355e-01 4.00233090e-02 4.60701741e+01] [-5.20472307e-02 -1.80407056e-05 9.98644624e-01 -9.25835343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.533201008 meters 0.06540037552507014 Centerline is valid? [True, True] Translation: X:105.76, Y:46.09, Z:-9.26 [[ 6.36505058e-01 -7.70548609e-01 3.34088571e-02 1.05764411e+02] [ 7.69498570e-01 6.37381227e-01 4.02134569e-02 4.60886290e+01] [-5.22806017e-02 1.11999042e-04 9.98632428e-01 -9.25773047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.563201008 meters 0.06538755984656025 Centerline is valid? [True, True] Translation: X:105.78, Y:46.11, Z:-9.26 [[ 6.35390578e-01 -7.71492101e-01 3.28443433e-02 1.05783713e+02] [ 7.70477312e-01 6.36238877e-01 3.95576005e-02 4.61085789e+01] [-5.14152244e-02 1.71294664e-04 9.98677348e-01 -9.25941296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.593201008 meters 0.06538755984656025 Centerline is valid? [True, True] Translation: X:105.80, Y:46.13, Z:-9.26 [[ 6.35164532e-01 -7.71678664e-01 3.28337788e-02 1.05800647e+02] [ 7.70663670e-01 6.36012586e-01 3.95663661e-02 4.61293410e+01] [-5.14152171e-02 1.72648123e-04 9.98677348e-01 -9.26147710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.623201008 meters 0.06558090261299647 Centerline is valid? [True, True] Translation: X:105.82, Y:46.15, Z:-9.26 [[ 6.34437948e-01 -7.72309008e-01 3.20513014e-02 1.05818649e+02] [ 7.71341460e-01 6.35247003e-01 3.86470834e-02 4.61512858e+01] [-5.02079838e-02 2.03321316e-04 9.98738763e-01 -9.26497524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.653201008 meters 0.06570713264110559 Centerline is valid? [True, True] Translation: X:105.83, Y:46.17, Z:-9.27 [[ 6.33667212e-01 -7.72930344e-01 3.23194630e-02 1.05834554e+02] [ 7.71946337e-01 6.34490839e-01 3.89901012e-02 4.61733167e+01] [-5.06430355e-02 2.42142301e-04 9.98716789e-01 -9.26949410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.683201008 meters 0.06581913448422705 Centerline is valid? [True, True] Translation: X:105.85, Y:46.20, Z:-9.27 [[ 6.34705579e-01 -7.72038751e-01 3.32414608e-02 1.05849489e+02] [ 7.70995201e-01 6.35575441e-01 4.01280291e-02 4.61975752e+01] [-5.21078496e-02 1.59522772e-04 9.98641450e-01 -9.27127588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.713201008 meters 0.06566332531733478 Centerline is valid? [True, True] Translation: X:105.87, Y:46.22, Z:-9.27 [[ 6.34698594e-01 -7.72036395e-01 3.34290383e-02 1.05866708e+02] [ 7.70979930e-01 6.35578307e-01 4.03752964e-02 4.62188260e+01] [-5.24179698e-02 1.46973751e-04 9.98625222e-01 -9.27263608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.743201008 meters 0.06557214518173504 Centerline is valid? [True, True] Translation: X:105.88, Y:46.24, Z:-9.28 [[ 6.35416365e-01 -7.71443970e-01 3.34700508e-02 1.05883940e+02] [ 7.70382822e-01 6.36297253e-01 4.04488980e-02 4.62391392e+01] [-5.25009598e-02 8.28604366e-05 9.98620870e-01 -9.27537505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.773201008 meters 0.06523907433392818 Centerline is valid? [True, True] Translation: X:105.90, Y:46.26, Z:-9.27 [[ 6.35685042e-01 -7.71185005e-01 3.43251500e-02 1.05902499e+02] [ 7.70066956e-01 6.36611095e-01 4.15114100e-02 4.62610872e+01] [-5.38647483e-02 4.44813282e-05 9.98548240e-01 -9.27240735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.803201008 meters 0.06457955457189966 Centerline is valid? [True, True] Translation: X:105.92, Y:46.28, Z:-9.27 [[ 6.36244032e-01 -7.70645692e-01 3.60381751e-02 1.05919673e+02] [ 7.69410833e-01 6.37263853e-01 4.36090861e-02 4.62821773e+01] [-5.65729806e-02 -1.78584969e-05 9.98398466e-01 -9.27002567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.833201008 meters 0.06446710438451196 Centerline is valid? [True, True] Translation: X:105.94, Y:46.30, Z:-9.27 [[ 6.35743688e-01 -7.71029503e-01 3.66533606e-02 1.05936022e+02] [ 7.69751415e-01 6.36799424e-01 4.43762673e-02 4.63037608e+01] [-5.75562502e-02 2.04433627e-06 9.98342265e-01 -9.27086494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.863201008 meters 0.06446633815982578 Centerline is valid? [True, True] Translation: X:105.95, Y:46.33, Z:-9.27 [[ 6.35331363e-01 -7.71356792e-01 3.69155468e-02 1.05952151e+02] [ 7.70059295e-01 6.36402937e-01 4.47211791e-02 4.63257086e+01] [-5.79891476e-02 1.43922338e-05 9.98317213e-01 -9.27397120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.893201008 meters 0.0645083701627112 Centerline is valid? [True, True] Translation: X:105.97, Y:46.35, Z:-9.28 [[ 6.34601518e-01 -7.71966392e-01 3.67260592e-02 1.05968540e+02] [ 7.70681676e-01 6.35663345e-01 4.45181696e-02 4.63475755e+01] [-5.77119403e-02 5.28027801e-05 9.98333276e-01 -9.27786402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.923201008 meters 0.06461100637812595 Centerline is valid? [True, True] Translation: X:105.98, Y:46.37, Z:-9.28 [[ 6.33694260e-01 -7.72726423e-01 3.64068632e-02 1.05984844e+02] [ 7.71463567e-01 6.34739210e-01 4.41599469e-02 4.63684336e+01] [-5.72324214e-02 1.02663619e-04 9.98360876e-01 -9.28244032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.953201008 meters 0.06490123521358089 Centerline is valid? [True, True] Translation: X:106.00, Y:46.39, Z:-9.29 [[ 6.30885887e-01 -7.75074220e-01 3.52555019e-02 1.06004339e+02] [ 7.73892693e-01 6.31870135e-01 4.27812145e-02 4.63874183e+01] [-5.54355152e-02 2.93910898e-04 9.98462226e-01 -9.28762132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.983201008 meters 0.06497716354692762 Centerline is valid? [True, True] Translation: X:106.02, Y:46.41, Z:-9.29 [[ 6.29581017e-01 -7.76162180e-01 3.46412032e-02 1.06023493e+02] [ 7.75021882e-01 6.30533214e-01 4.20588744e-02 4.64074082e+01] [-5.44869369e-02 3.68221529e-04 9.98514416e-01 -9.29004750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.013201008 meters 0.06493962541278049 Centerline is valid? [True, True] Translation: X:106.04, Y:46.43, Z:-9.29 [[ 6.28309952e-01 -7.77223296e-01 3.39197788e-02 1.06042335e+02] [ 7.76130375e-01 6.29224727e-01 4.12053862e-02 4.64284576e+01] [-5.33689496e-02 4.36416410e-04 9.98574767e-01 -9.29146490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.043201008 meters 0.06503807632447631 Centerline is valid? [True, True] Translation: X:106.06, Y:46.45, Z:-9.29 [[ 6.27344266e-01 -7.78007062e-01 3.38257943e-02 1.06059916e+02] [ 7.76920251e-01 6.28255341e-01 4.11114488e-02 4.64479467e+01] [-5.32362334e-02 4.88912924e-04 9.98581827e-01 -9.29304264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.073201008 meters 0.06505378384487093 Centerline is valid? [True, True] Translation: X:106.08, Y:46.47, Z:-9.30 [[ 6.27241655e-01 -7.78116674e-01 3.32016413e-02 1.06076768e+02] [ 7.77068399e-01 6.28119590e-01 4.03792544e-02 4.64694868e+01] [-5.22743724e-02 4.72395889e-04 9.98632649e-01 -9.29563393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.103201008 meters 0.06508680706550234 Centerline is valid? [True, True] Translation: X:106.09, Y:46.49, Z:-9.30 [[ 6.27479597e-01 -7.77950003e-01 3.26059382e-02 1.06093867e+02] [ 7.76937645e-01 6.28326032e-01 3.96773608e-02 4.64919331e+01] [-5.13541627e-02 4.36046506e-04 9.98680409e-01 -9.29797616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13320100800001 meters 0.065136510777619 Centerline is valid? [True, True] Translation: X:106.11, Y:46.51, Z:-9.30 [[ 6.28055005e-01 -7.77485065e-01 3.26172346e-02 1.06109835e+02] [ 7.76470378e-01 6.28901283e-01 3.97105546e-02 4.65143040e+01] [-5.13873839e-02 3.85903848e-04 9.98678721e-01 -9.30097332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16320100800002 meters 0.06489154508542751 Centerline is valid? [True, True] Translation: X:106.12, Y:46.54, Z:-9.30 [[ 6.29716580e-01 -7.76124242e-01 3.29877276e-02 1.06123688e+02] [ 7.75083215e-01 6.30579965e-01 4.01860405e-02 4.65389567e+01] [-5.19907603e-02 2.62417992e-04 9.98647531e-01 -9.30206887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19320100800002 meters 0.06486079966289147 Centerline is valid? [True, True] Translation: X:106.14, Y:46.56, Z:-9.30 [[ 6.30563514e-01 -7.75422215e-01 3.33173007e-02 1.06139400e+02] [ 7.74358075e-01 6.31443071e-01 4.06105873e-02 4.65620530e+01] [-5.25283302e-02 1.91966179e-04 9.98619416e-01 -9.30359709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22320100800002 meters 0.06503468821991787 Centerline is valid? [True, True] Translation: X:106.15, Y:46.58, Z:-9.31 [[ 6.31284886e-01 -7.74813656e-01 3.38111138e-02 1.06154126e+02] [ 7.73715443e-01 6.32189673e-01 4.12386953e-02 4.65832886e+01] [-5.33273413e-02 1.26815855e-04 9.98577077e-01 -9.30833275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25320100800002 meters 0.06478829073161228 Centerline is valid? [True, True] Translation: X:106.17, Y:46.61, Z:-9.31 [[ 6.32305222e-01 -7.73956497e-01 3.43721886e-02 1.06169299e+02] [ 7.72819255e-01 6.33238769e-01 4.19411456e-02 4.66058960e+01] [-5.42264245e-02 4.38838112e-05 9.98528664e-01 -9.30767474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.283201008 meters 0.06469424725682733 Centerline is valid? [True, True] Translation: X:106.19, Y:46.63, Z:-9.31 [[ 6.33505817e-01 -7.72950327e-01 3.49023332e-02 1.06185038e+02] [ 7.71774753e-01 6.34466539e-01 4.26138740e-02 4.66288113e+01] [-5.50827704e-02 -5.93975099e-05 9.98481790e-01 -9.30808715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.313201008 meters 0.0645696021248397 Centerline is valid? [True, True] Translation: X:106.20, Y:46.65, Z:-9.31 [[ 6.35954383e-01 -7.70900575e-01 3.56977064e-02 1.06200324e+02] [ 7.69666010e-01 6.36955443e-01 4.36118873e-02 4.66520958e+01] [-5.63582774e-02 -2.59859678e-04 9.98410575e-01 -9.30711060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.343201008 meters 0.06459967952851695 Centerline is valid? [True, True] Translation: X:106.22, Y:46.67, Z:-9.31 [[ 6.35214705e-01 -7.71515653e-01 3.55791471e-02 1.06217531e+02] [ 7.70288778e-01 6.36210302e-01 4.34931032e-02 4.66719698e+01] [-5.61914298e-02 -2.21240983e-04 9.98419989e-01 -9.31123979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.373201008 meters 0.06440752237914345 Centerline is valid? [True, True] Translation: X:106.24, Y:46.69, Z:-9.31 [[ 6.35117731e-01 -7.71615436e-01 3.51438047e-02 1.06235628e+02] [ 7.70417029e-01 6.36089276e-01 4.29887741e-02 4.66927252e+01] [-5.55253989e-02 -2.27547034e-04 9.98457249e-01 -9.31006970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.403201008 meters 0.06426680291214959 Centerline is valid? [True, True] Translation: X:106.25, Y:46.71, Z:-9.31 [[ 6.33716834e-01 -7.72757513e-01 3.53383630e-02 1.06254285e+02] [ 7.71546076e-01 6.34701351e-01 4.32532897e-02 4.67127450e+01] [-5.58536113e-02 -1.45162536e-04 9.98438958e-01 -9.31182530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.433201008 meters 0.06453732275759111 Centerline is valid? [True, True] Translation: X:106.27, Y:46.73, Z:-9.32 [[ 6.32024469e-01 -7.74186122e-01 3.43645085e-02 1.06271583e+02] [ 7.73041275e-01 6.32958014e-01 4.20872796e-02 4.67331287e+01] [-5.43346789e-02 -3.50070752e-05 9.98522780e-01 -9.31821565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.463201008 meters 0.06495469756586275 Centerline is valid? [True, True] Translation: X:106.29, Y:46.75, Z:-9.33 [[ 6.32209956e-01 -7.74101422e-01 3.28262155e-02 1.06286975e+02] [ 7.73055432e-01 6.33061597e-01 4.02282739e-02 4.67544674e+01] [-5.19217804e-02 -5.62310906e-05 9.98651153e-01 -9.32510196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.493201008 meters 0.0650122924672372 Centerline is valid? [True, True] Translation: X:106.30, Y:46.77, Z:-9.33 [[ 6.31403197e-01 -7.74771517e-01 3.25438218e-02 1.06304602e+02] [ 7.73743622e-01 6.32241328e-01 3.98962546e-02 4.67748722e+01] [-5.14860308e-02 -1.00481567e-05 9.98673715e-01 -9.32836268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.523201008 meters 0.0650939402516464 Centerline is valid? [True, True] Translation: X:106.32, Y:46.80, Z:-9.33 [[ 6.30819688e-01 -7.75258752e-01 3.22550668e-02 1.06321972e+02] [ 7.74248472e-01 6.31643782e-01 3.95655894e-02 4.67952054e+01] [-5.10472818e-02 1.46834320e-05 9.98696238e-01 -9.33129375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.553201008 meters 0.06492396672222771 Centerline is valid? [True, True] Translation: X:106.34, Y:46.81, Z:-9.33 [[ 6.29655916e-01 -7.76187487e-01 3.26559660e-02 1.06341748e+02] [ 7.75151923e-01 6.30502164e-01 4.00813805e-02 4.68143960e+01] [-5.17003233e-02 7.58565221e-05 9.98662641e-01 -9.33235087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.583201008 meters 0.06478862751558197 Centerline is valid? [True, True] Translation: X:106.36, Y:46.83, Z:-9.33 [[ 6.29038245e-01 -7.76683988e-01 3.27546692e-02 1.06360500e+02] [ 7.75641559e-01 6.29890444e-01 4.02268623e-02 4.68347889e+01] [-5.18754130e-02 1.01647759e-04 9.98653559e-01 -9.33309485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.613201008 meters 0.06480380959136221 Centerline is valid? [True, True] Translation: X:106.38, Y:46.85, Z:-9.34 [[ 6.28379182e-01 -7.77235302e-01 3.23247505e-02 1.06379084e+02] [ 7.76219557e-01 6.29210036e-01 3.97231762e-02 4.68545141e+01] [-5.12133123e-02 1.29886524e-04 9.98687729e-01 -9.33603898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.643201008 meters 0.06462415115398466 Centerline is valid? [True, True] Translation: X:106.40, Y:46.87, Z:-9.33 [[ 6.26869795e-01 -7.78462902e-01 3.20900407e-02 1.06397803e+02] [ 7.77462403e-01 6.27690580e-01 3.94556286e-02 4.68745469e+01] [-5.08573594e-02 2.15258365e-04 9.98705904e-01 -9.33471844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.673201008 meters 0.06479570629885728 Centerline is valid? [True, True] Translation: X:106.42, Y:46.89, Z:-9.34 [[ 6.25721591e-01 -7.79381427e-01 3.22037622e-02 1.06415139e+02] [ 7.78373798e-01 6.26549691e-01 3.96196220e-02 4.68939177e+01] [-5.10560548e-02 2.75711820e-04 9.98695751e-01 -9.33752521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.703201008 meters 0.0648589812000362 Centerline is valid? [True, True] Translation: X:106.43, Y:46.92, Z:-9.34 [[ 6.24194454e-01 -7.80614581e-01 3.19712310e-02 1.06434023e+02] [ 7.79621680e-01 6.25012599e-01 3.93609707e-02 4.69151881e+01] [-5.07081698e-02 3.56565168e-04 9.98713450e-01 -9.33998815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.733201008 meters 0.06510368429591423 Centerline is valid? [True, True] Translation: X:106.45, Y:46.94, Z:-9.34 [[ 6.22307084e-01 -7.82136501e-01 3.15655990e-02 1.06453323e+02] [ 7.81169557e-01 6.23106958e-01 3.88824168e-02 4.69361295e+01] [-5.00801018e-02 4.61281594e-04 9.98745098e-01 -9.34335324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.763201008 meters 0.06568071380019753 Centerline is valid? [True, True] Translation: X:106.47, Y:46.95, Z:-9.35 [[ 6.18895868e-01 -7.84849564e-01 3.12900481e-02 1.06474000e+02] [ 7.83901708e-01 6.19685991e-01 3.85666298e-02 4.69545201e+01] [-4.96590071e-02 6.59594319e-04 9.98766013e-01 -9.34640445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.793201008 meters 0.06573840826377816 Centerline is valid? [True, True] Translation: X:106.49, Y:46.98, Z:-9.35 [[ 6.16846263e-01 -7.86461014e-01 3.13011444e-02 1.06493718e+02] [ 7.85513960e-01 6.17639427e-01 3.85921958e-02 4.69754749e+01] [-4.96840784e-02 7.82034138e-04 9.98764677e-01 -9.34647865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.823201008 meters 0.06607137766072342 Centerline is valid? [True, True] Translation: X:106.51, Y:47.00, Z:-9.35 [[ 6.15094015e-01 -7.87850412e-01 3.08396073e-02 1.06513098e+02] [ 7.86931840e-01 6.15866036e-01 3.80434573e-02 4.69955400e+01] [-4.89656202e-02 8.68366066e-04 9.98800087e-01 -9.34936493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.853201008 meters 0.06600208565416706 Centerline is valid? [True, True] Translation: X:106.53, Y:47.02, Z:-9.35 [[ 6.13949863e-01 -7.88754978e-01 3.05147559e-02 1.06531443e+02] [ 7.87855815e-01 6.14707037e-01 3.76626306e-02 4.70168975e+01] [-4.84642226e-02 9.18260946e-04 9.98824497e-01 -9.35014366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88320100800001 meters 0.0668792277095335 Centerline is valid? [True, True] Translation: X:106.55, Y:47.04, Z:-9.36 [[ 6.12915231e-01 -7.89559533e-01 3.05067929e-02 1.06551069e+02] [ 7.88660860e-01 6.13673207e-01 3.76728415e-02 4.70352250e+01] [-4.84661526e-02 9.69255144e-04 9.98824355e-01 -9.35536453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91320100800002 meters 0.06671362025338017 Centerline is valid? [True, True] Translation: X:106.57, Y:47.06, Z:-9.36 [[ 6.13504789e-01 -7.89089243e-01 3.08227323e-02 1.06566801e+02] [ 7.88170153e-01 6.14277874e-01 3.80854828e-02 4.70577074e+01] [-4.89865672e-02 9.27931570e-04 9.98799006e-01 -9.35708144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94320100800002 meters 0.06590349071669073 Centerline is valid? [True, True] Translation: X:106.58, Y:47.08, Z:-9.36 [[ 6.14564102e-01 -7.88259366e-01 3.09537875e-02 1.06580923e+02] [ 7.87330247e-01 6.15342545e-01 3.82705502e-02 4.70822484e+01] [-4.92143020e-02 8.51146826e-04 9.98787879e-01 -9.35661326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97320100800002 meters 0.06517210967794532 Centerline is valid? [True, True] Translation: X:106.59, Y:47.11, Z:-9.36 [[ 6.17046402e-01 -7.86307742e-01 3.12069226e-02 1.06593638e+02] [ 7.85359843e-01 6.17834655e-01 3.86038303e-02 4.71087840e+01] [-4.96352089e-02 6.88309253e-04 9.98767176e-01 -9.35636085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00320100800002 meters 0.06536932174800228 Centerline is valid? [True, True] Translation: X:106.61, Y:47.13, Z:-9.36 [[ 6.18211892e-01 -7.85391656e-01 3.12090074e-02 1.06608311e+02] [ 7.84441495e-01 6.18998855e-01 3.86258842e-02 4.71298865e+01] [-4.96547870e-02 6.02659423e-04 9.98766258e-01 -9.36147647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.033201008 meters 0.0651441061369538 Centerline is valid? [True, True] Translation: X:106.62, Y:47.15, Z:-9.36 [[ 6.19682938e-01 -7.84234452e-01 3.11348707e-02 1.06622928e+02] [ 7.83286029e-01 6.20464408e-01 3.85605350e-02 4.71533322e+01] [-4.95585791e-02 4.92203658e-04 9.98771097e-01 -9.36334645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.063201008 meters 0.0650720578635869 Centerline is valid? [True, True] Translation: X:106.64, Y:47.18, Z:-9.37 [[ 6.21019946e-01 -7.83182661e-01 3.09700818e-02 1.06637960e+02] [ 7.82241795e-01 6.21791577e-01 3.83797991e-02 4.71762959e+01] [-4.93153292e-02 3.91471619e-04 9.98783182e-01 -9.36655978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.093201008 meters 0.06470365408343957 Centerline is valid? [True, True] Translation: X:106.65, Y:47.20, Z:-9.37 [[ 6.24465488e-01 -7.80452367e-01 3.06097511e-02 1.06650997e+02] [ 7.79528912e-01 6.25215224e-01 3.79552152e-02 4.72014905e+01] [-4.87599199e-02 1.59464028e-04 9.98810515e-01 -9.36638990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.123201008 meters 0.06470451359121294 Centerline is valid? [True, True] Translation: X:106.67, Y:47.22, Z:-9.37 [[ 6.25647000e-01 -7.79505919e-01 3.05999023e-02 1.06666554e+02] [ 7.78580766e-01 6.26394857e-01 3.79667434e-02 4.72245181e+01] [-4.87629227e-02 7.07162300e-05 9.98810379e-01 -9.36909043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.153201008 meters 0.06453891531019373 Centerline is valid? [True, True] Translation: X:106.68, Y:47.25, Z:-9.37 [[ 6.27211538e-01 -7.78219029e-01 3.13181993e-02 1.06682481e+02] [ 7.77247003e-01 6.27992947e-01 3.88838590e-02 4.72473907e+01] [-4.99277673e-02 -4.64284221e-05 9.98752830e-01 -9.37016221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.183201008 meters 0.06451497477156223 Centerline is valid? [True, True] Translation: X:106.70, Y:47.27, Z:-9.37 [[ 6.28011032e-01 -7.77581473e-01 3.11319370e-02 1.06698449e+02] [ 7.76619153e-01 6.28782189e-01 3.86736277e-02 4.72686980e+01] [-4.96471039e-02 -1.09806205e-04 9.98766816e-01 -9.37121620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.213201008 meters 0.06439524562147132 Centerline is valid? [True, True] Translation: X:106.71, Y:47.29, Z:-9.37 [[ 6.28975159e-01 -7.76771582e-01 3.18772606e-02 1.06714284e+02] [ 7.75760161e-01 6.29782401e-01 3.96270209e-02 4.72914887e+01] [-5.08568814e-02 -1.95302912e-04 9.98705932e-01 -9.37238000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.243201008 meters 0.06446419776351757 Centerline is valid? [True, True] Translation: X:106.73, Y:47.31, Z:-9.38 [[ 6.29487661e-01 -7.76372601e-01 3.14780733e-02 1.06730576e+02] [ 7.75384618e-01 6.30274168e-01 3.91556808e-02 4.73144485e+01] [-5.02392142e-02 -2.40404058e-04 9.98737184e-01 -9.37590284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.273201008 meters 0.06459154577243292 Centerline is valid? [True, True] Translation: X:106.75, Y:47.34, Z:-9.38 [[ 6.29372186e-01 -7.76493244e-01 3.08041165e-02 1.06746591e+02] [ 7.75546302e-01 6.30125531e-01 3.83372926e-02 4.73370886e+01] [-4.91791089e-02 -2.38407009e-04 9.98789947e-01 -9.37848283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.303201008 meters 0.06485109098626564 Centerline is valid? [True, True] Translation: X:106.76, Y:47.36, Z:-9.38 [[ 6.29411183e-01 -7.76465416e-01 3.07086487e-02 1.06762483e+02] [ 7.75523352e-01 6.30159817e-01 3.82378904e-02 4.73594895e+01] [-4.90417559e-02 -2.52081688e-04 9.98796697e-01 -9.38267588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.333201008 meters 0.06495074817896182 Centerline is valid? [True, True] Translation: X:106.78, Y:47.38, Z:-9.38 [[ 6.30305861e-01 -7.75756155e-01 3.02805192e-02 1.06778861e+02] [ 7.74838212e-01 6.31032715e-01 3.77287364e-02 4.73828259e+01] [-4.83762977e-02 -3.18140342e-04 9.98829131e-01 -9.38481550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.363201008 meters 0.06500572146123935 Centerline is valid? [True, True] Translation: X:106.79, Y:47.40, Z:-9.39 [[ 6.30148681e-01 -7.75891268e-01 3.00895411e-02 1.06794957e+02] [ 7.74984148e-01 6.30866579e-01 3.75090623e-02 4.74037459e+01] [-4.80854398e-02 -3.17368726e-04 9.98843176e-01 -9.38753184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.393201008 meters 0.06469943359034894 Centerline is valid? [True, True] Translation: X:106.81, Y:47.42, Z:-9.39 [[ 6.29454564e-01 -7.76454982e-01 3.00767952e-02 1.06813164e+02] [ 7.75548084e-01 6.30172657e-01 3.75178946e-02 4.74241021e+01] [-4.80845301e-02 -2.89809089e-04 9.98843228e-01 -9.38633014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.423201008 meters 0.06437902240165431 Centerline is valid? [True, True] Translation: X:106.83, Y:47.44, Z:-9.39 [[ 6.27454086e-01 -7.78040833e-01 3.08841549e-02 1.06832418e+02] [ 7.77085128e-01 6.28213678e-01 3.85522892e-02 4.74432747e+01] [-4.93971037e-02 -1.90173953e-04 9.98779200e-01 -9.38860744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.453201008 meters 0.06433227298600003 Centerline is valid? [True, True] Translation: X:106.85, Y:47.46, Z:-9.39 [[ 6.26256799e-01 -7.79007654e-01 3.08139162e-02 1.06850259e+02] [ 7.78056509e-01 6.27014402e-01 3.84838856e-02 4.74633934e+01] [-4.93000106e-02 -1.25826901e-04 9.98784007e-01 -9.39000937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.483201008 meters 0.0642783448169178 Centerline is valid? [True, True] Translation: X:106.87, Y:47.48, Z:-9.39 [[ 6.24298063e-01 -7.80548207e-01 3.15662043e-02 1.06869293e+02] [ 7.79550604e-01 6.25095590e-01 3.94507159e-02 4.74833843e+01] [-5.05250806e-02 -2.15519373e-05 9.98722792e-01 -9.39294303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.513201008 meters 0.0642783448169178 Centerline is valid? [True, True] Translation: X:106.89, Y:47.50, Z:-9.40 [[ 6.24067655e-01 -7.80732843e-01 3.15561518e-02 1.06885847e+02] [ 7.79735070e-01 6.24864968e-01 3.94587540e-02 4.75044477e+01] [-5.05250790e-02 -1.94938449e-05 9.98722792e-01 -9.39500769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.543201008 meters 0.0640075471654216 Centerline is valid? [True, True] Translation: X:106.90, Y:47.52, Z:-9.40 [[ 6.22225968e-01 -7.82210189e-01 3.13379028e-02 1.06904880e+02] [ 7.81226885e-01 6.23014616e-01 3.92089490e-02 4.75238648e+01] [-5.01936109e-02 8.51858923e-05 9.98739503e-01 -9.39524464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.573201008 meters 0.06403052308340282 Centerline is valid? [True, True] Translation: X:106.92, Y:47.54, Z:-9.40 [[ 6.20128045e-01 -7.83845943e-01 3.20428656e-02 1.06923550e+02] [ 7.82818563e-01 6.20955309e-01 4.01198482e-02 4.75422971e+01] [-5.13449677e-02 2.04306984e-04 9.98680956e-01 -9.39695633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.603201008 meters 0.06394785163028724 Centerline is valid? [True, True] Translation: X:106.95, Y:47.56, Z:-9.40 [[ 6.16621697e-01 -7.86594800e-01 3.23466211e-02 1.06945133e+02] [ 7.85550703e-01 6.17469383e-01 4.05173229e-02 4.75596494e+01] [-5.18437637e-02 4.26050568e-04 9.98655117e-01 -9.39768370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63320100800001 meters 0.06409327999363156 Centerline is valid? [True, True] Translation: X:106.96, Y:47.58, Z:-9.40 [[ 6.14961357e-01 -7.87890316e-01 3.24249813e-02 1.06963939e+02] [ 7.86841662e-01 6.15815377e-01 4.06401278e-02 4.75782864e+01] [-5.19877652e-02 5.21218037e-04 9.98647586e-01 -9.40071113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66320100800002 meters 0.06388327237776407 Centerline is valid? [True, True] Translation: X:106.98, Y:47.60, Z:-9.40 [[ 6.13763915e-01 -7.88827480e-01 3.23274511e-02 1.06980897e+02] [ 7.87785073e-01 6.14614405e-01 4.05439462e-02 4.75993785e+01] [-5.18510961e-02 5.82672228e-04 9.98654657e-01 -9.39976417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69320100800002 meters 0.06414370617302437 Centerline is valid? [True, True] Translation: X:107.00, Y:47.62, Z:-9.40 [[ 6.13078302e-01 -7.89382680e-01 3.17801898e-02 1.06997798e+02] [ 7.88374730e-01 6.13901149e-01 3.98831290e-02 4.76202331e+01] [-5.09929463e-02 6.03217584e-04 9.98698831e-01 -9.40453401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72320100800002 meters 0.06457754151014641 Centerline is valid? [True, True] Translation: X:107.01, Y:47.64, Z:-9.41 [[ 6.12379938e-01 -7.89968697e-01 3.06638033e-02 1.07013378e+02] [ 7.89029867e-01 6.13146867e-01 3.85069899e-02 4.76412475e+01] [-4.92207316e-02 6.13748539e-04 9.98787737e-01 -9.41124175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75320100800002 meters 0.06484322348516554 Centerline is valid? [True, True] Translation: X:107.03, Y:47.66, Z:-9.41 [[ 6.11592138e-01 -7.90594877e-01 3.02455990e-02 1.07031146e+02] [ 7.89681543e-01 6.12339222e-01 3.79965541e-02 4.76634467e+01] [-4.85604476e-02 6.45997535e-04 9.98820037e-01 -9.41473854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.783201008 meters 0.06478875383227774 Centerline is valid? [True, True] Translation: X:107.05, Y:47.69, Z:-9.41 [[ 6.10733523e-01 -7.91280466e-01 2.96612233e-02 1.07048180e+02] [ 7.90402007e-01 6.11452998e-01 3.72813435e-02 4.76855471e+01] [-4.76364427e-02 6.75324141e-04 9.98864512e-01 -9.41422626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.813201008 meters 0.06530938871315793 Centerline is valid? [True, True] Translation: X:107.07, Y:47.70, Z:-9.42 [[ 6.07985176e-01 -7.93416550e-01 2.90551905e-02 1.07067549e+02] [ 7.92575064e-01 6.08678502e-01 3.65410496e-02 4.77041202e+01] [-4.66775433e-02 8.12003069e-04 9.98909679e-01 -9.41732715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.843201008 meters 0.06532918806385857 Centerline is valid? [True, True] Translation: X:107.09, Y:47.73, Z:-9.42 [[ 6.06361702e-01 -7.94656117e-01 2.91057076e-02 1.07086107e+02] [ 7.93812406e-01 6.07059179e-01 3.66199058e-02 4.77259664e+01] [-4.67691191e-02 8.99563330e-04 9.98905321e-01 -9.41805788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.873201008 meters 0.06597991595306849 Centerline is valid? [True, True] Translation: X:107.10, Y:47.75, Z:-9.42 [[ 6.04694028e-01 -7.95915252e-01 2.93946357e-02 1.07104175e+02] [ 7.95055234e-01 6.05407237e-01 3.70034179e-02 4.77464950e+01] [-4.72473099e-02 9.94613169e-04 9.98882727e-01 -9.42278341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.903201008 meters 0.06558895679651831 Centerline is valid? [True, True] Translation: X:107.12, Y:47.77, Z:-9.42 [[ 6.03750865e-01 -7.96631097e-01 2.93902784e-02 1.07120246e+02] [ 7.95771138e-01 6.04464903e-01 3.70199458e-02 4.77698104e+01] [-4.72566319e-02 1.03711101e-03 9.98882243e-01 -9.42319885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.933201008 meters 0.06600853421721804 Centerline is valid? [True, True] Translation: X:107.14, Y:47.79, Z:-9.43 [[ 6.03255512e-01 -7.97018692e-01 2.90515451e-02 1.07136477e+02] [ 7.96178016e-01 6.03953736e-01 3.66121702e-02 4.77910966e+01] [-4.67263732e-02 1.04370807e-03 9.98907181e-01 -9.42676823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.963201008 meters 0.06593880130446317 Centerline is valid? [True, True] Translation: X:107.15, Y:47.81, Z:-9.43 [[ 6.03455316e-01 -7.96874467e-01 2.88576689e-02 1.07152468e+02] [ 7.96043867e-01 6.04144069e-01 3.63882497e-02 4.78137014e+01] [-4.64310567e-02 1.01328764e-03 9.98920983e-01 -9.42900234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.993201008 meters 0.06586110592148475 Centerline is valid? [True, True] Translation: X:107.17, Y:47.84, Z:-9.43 [[ 6.03853559e-01 -7.96560026e-01 2.92062157e-02 1.07167598e+02] [ 7.95707820e-01 6.04558640e-01 3.68499206e-02 4.78364435e+01] [-4.70100438e-02 9.87658519e-04 9.98893928e-01 -9.43080729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.023201008 meters 0.06559891481444814 Centerline is valid? [True, True] Translation: X:107.18, Y:47.86, Z:-9.43 [[ 6.04824921e-01 -7.95820756e-01 2.92598543e-02 1.07183351e+02] [ 7.94963444e-01 6.05531570e-01 3.69410408e-02 4.78602687e+01] [-4.71162125e-02 9.17652480e-04 9.98888993e-01 -9.43169263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.053201008 meters 0.06490325826875971 Centerline is valid? [True, True] Translation: X:107.20, Y:47.88, Z:-9.43 [[ 6.06838252e-01 -7.94222884e-01 3.09410213e-02 1.07196967e+02] [ 7.93261045e-01 6.07625977e-01 3.90843561e-02 4.78843029e+01] [-4.98422583e-02 8.26424576e-04 9.98756760e-01 -9.43079640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.083201008 meters 0.064437499243669 Centerline is valid? [True, True] Translation: X:107.21, Y:47.91, Z:-9.43 [[ 6.07959681e-01 -7.93332652e-01 3.17541993e-02 1.07212200e+02] [ 7.92317027e-01 6.08787918e-01 4.01372505e-02 4.79081791e+01] [-5.11737642e-02 7.57562752e-04 9.98689477e-01 -9.43096106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.113201008 meters 0.06431090656212571 Centerline is valid? [True, True] Translation: X:107.23, Y:47.93, Z:-9.43 [[ 6.09205146e-01 -7.92351218e-01 3.23826733e-02 1.07227461e+02] [ 7.91292397e-01 6.10064827e-01 4.09542434e-02 4.79311908e+01] [-5.22056746e-02 6.74627332e-04 9.98636126e-01 -9.43407860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.143201008 meters 0.06368543441726977 Centerline is valid? [True, True] Translation: X:107.24, Y:47.96, Z:-9.43 [[ 6.13516188e-01 -7.88996519e-01 3.28995411e-02 1.07237913e+02] [ 7.87897572e-01 6.14397549e-01 4.16301283e-02 4.79586342e+01] [-5.30594238e-02 3.80710940e-04 9.98591284e-01 -9.43309305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.173201008 meters 0.06353259088387703 Centerline is valid? [True, True] Translation: X:107.25, Y:47.98, Z:-9.44 [[ 6.16160740e-01 -7.86923829e-01 3.31184314e-02 1.07250418e+02] [ 7.85806041e-01 6.17050121e-01 4.19286765e-02 4.79820647e+01] [-5.34304068e-02 1.89859147e-04 9.98571558e-01 -9.43553828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.203201008 meters 0.06366276620110888 Centerline is valid? [True, True] Translation: X:107.26, Y:48.01, Z:-9.44 [[ 6.18706716e-01 -7.84924308e-01 3.31033249e-02 1.07262687e+02] [ 7.83803061e-01 6.19591664e-01 4.19396147e-02 4.80060750e+01] [-5.34299672e-02 -1.83387432e-06 9.98571599e-01 -9.43825519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.233201008 meters 0.06416262325777339 Centerline is valid? [True, True] Translation: X:107.27, Y:48.03, Z:-9.44 [[ 6.24086466e-01 -7.80669434e-01 3.27310051e-02 1.07273030e+02] [ 7.79566452e-01 6.24944074e-01 4.14855637e-02 4.80331402e+01] [-5.28415591e-02 -3.74585301e-04 9.98602839e-01 -9.44063015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.263201008 meters 0.06434523052375059 Centerline is valid? [True, True] Translation: X:107.29, Y:48.06, Z:-9.44 [[ 6.25220026e-01 -7.79740388e-01 3.32392354e-02 1.07287242e+02] [ 7.78600382e-01 6.26102789e-01 4.21514111e-02 4.80552715e+01] [-5.36783357e-02 -4.73824964e-04 9.98558166e-01 -9.44296711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.293201008 meters 0.0644849874145462 Centerline is valid? [True, True] Translation: X:107.30, Y:48.08, Z:-9.44 [[ 6.26572102e-01 -7.78650328e-01 3.33326783e-02 1.07302938e+02] [ 7.77500835e-01 6.27457825e-01 4.22980973e-02 4.80777229e+01] [-5.38502772e-02 -5.86622472e-04 9.98548849e-01 -9.44395952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.323201008 meters 0.06479313767073201 Centerline is valid? [True, True] Translation: X:107.32, Y:48.10, Z:-9.45 [[ 6.27198038e-01 -7.78157629e-01 3.30654555e-02 1.07318337e+02] [ 7.77024407e-01 6.28068701e-01 4.19854515e-02 4.80996799e+01] [-5.34386771e-02 -6.40526887e-04 9.98570928e-01 -9.44718795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.353201008 meters 0.06497159746504534 Centerline is valid? [True, True] Translation: X:107.33, Y:48.12, Z:-9.45 [[ 6.27191649e-01 -7.78177022e-01 3.27285587e-02 1.07333188e+02] [ 7.77065453e-01 6.28044666e-01 4.15834061e-02 4.81213035e+01] [-5.29142478e-02 -6.48532753e-04 9.98598849e-01 -9.45187502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38320100800001 meters 0.06494306802957293 Centerline is valid? [True, True] Translation: X:107.35, Y:48.14, Z:-9.45 [[ 6.26633687e-01 -7.78636743e-01 3.24814457e-02 1.07350163e+02] [ 7.77541640e-01 6.27474655e-01 4.12862510e-02 4.81423011e+01] [-5.25282760e-02 -6.15679086e-04 9.98619247e-01 -9.45459287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41320100800002 meters 0.06476497951200705 Centerline is valid? [True, True] Translation: X:107.37, Y:48.16, Z:-9.46 [[ 6.25267458e-01 -7.79760039e-01 3.18573020e-02 1.07368645e+02] [ 7.78706880e-01 6.26078274e-01 4.05165438e-02 4.81621718e+01] [-5.15383464e-02 -5.26176110e-04 9.98670878e-01 -9.45700306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44320100800002 meters 0.06457688600778864 Centerline is valid? [True, True] Translation: X:107.39, Y:48.18, Z:-9.46 [[ 6.23719045e-01 -7.81007439e-01 3.16533160e-02 1.07386563e+02] [ 7.79968106e-01 6.24521569e-01 4.02810659e-02 4.81819320e+01] [-5.12279907e-02 -4.35491053e-04 9.98686890e-01 -9.46000535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47320100800002 meters 0.06387647627194243 Centerline is valid? [True, True] Translation: X:107.41, Y:48.20, Z:-9.46 [[ 6.20114616e-01 -7.83857330e-01 3.20241811e-02 1.07409670e+02] [ 7.82795778e-01 6.20940929e-01 4.07815234e-02 4.82001175e+01] [-5.18520208e-02 -2.20825031e-04 9.98654755e-01 -9.45941446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50320100800002 meters 0.06384135472744834 Centerline is valid? [True, True] Translation: X:107.43, Y:48.22, Z:-9.46 [[ 6.18248685e-01 -7.85323086e-01 3.21902738e-02 1.07428719e+02] [ 7.84251338e-01 6.19086132e-01 4.10146449e-02 4.82202146e+01] [-5.21382996e-02 -1.11985009e-04 9.98639868e-01 -9.46123347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.533201008 meters 0.06382222865580033 Centerline is valid? [True, True] Translation: X:107.45, Y:48.24, Z:-9.46 [[ 6.16221476e-01 -7.86939321e-01 3.15847677e-02 1.07447981e+02] [ 7.85908361e-01 6.17030392e-01 4.02683872e-02 4.82397082e+01] [-5.11775389e-02 8.48799707e-06 9.98689571e-01 -9.46455214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.563201008 meters 0.06397229361000205 Centerline is valid? [True, True] Translation: X:107.47, Y:48.26, Z:-9.47 [[ 6.11507946e-01 -7.90653799e-01 3.04072625e-02 1.07472086e+02] [ 7.89701774e-01 6.12263411e-01 3.87894885e-02 4.82564891e+01] [-4.92863107e-02 2.92588654e-04 9.98784648e-01 -9.46649575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.593201008 meters 0.06417619627708657 Centerline is valid? [True, True] Translation: X:107.49, Y:48.28, Z:-9.47 [[ 6.08679225e-01 -7.92872449e-01 2.93748312e-02 1.07493388e+02] [ 7.91985654e-01 6.09387465e-01 3.74918895e-02 4.82752425e+01] [-4.76269402e-02 4.43910616e-04 9.98865095e-01 -9.47018799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.623201008 meters 0.06453577038434255 Centerline is valid? [True, True] Translation: X:107.51, Y:48.29, Z:-9.47 [[ 6.05211442e-01 -7.95549675e-01 2.86325912e-02 1.07514130e+02] [ 7.94709288e-01 6.05888044e-01 3.65626176e-02 4.82941895e+01] [-4.64355233e-02 6.26471642e-04 9.98921093e-01 -9.47165965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.653201008 meters 0.06527680330711727 Centerline is valid? [True, True] Translation: X:107.54, Y:48.31, Z:-9.48 [[ 6.01527682e-01 -7.98344833e-01 2.84600915e-02 1.07535278e+02] [ 7.97516682e-01 6.02200008e-01 3.63633266e-02 4.83119948e+01] [-4.61691412e-02 8.23850183e-04 9.98933297e-01 -9.47668277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.683201008 meters 0.06573874234435252 Centerline is valid? [True, True] Translation: X:107.56, Y:48.33, Z:-9.48 [[ 5.98272955e-01 -8.00783575e-01 2.85505931e-02 1.07555505e+02] [ 7.99951888e-01 5.98952972e-01 3.65008789e-02 4.83322112e+01] [-4.63297669e-02 1.00161216e-03 9.98925698e-01 -9.47945009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.713201008 meters 0.06596664234328214 Centerline is valid? [True, True] Translation: X:107.57, Y:48.35, Z:-9.48 [[ 5.95060311e-01 -8.03183488e-01 2.82756203e-02 1.07573186e+02] [ 8.02369579e-01 5.95730582e-01 3.61681010e-02 4.83539336e+01] [-4.58942732e-02 1.16529611e-03 9.98945623e-01 -9.48041636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.743201008 meters 0.06665499237458071 Centerline is valid? [True, True] Translation: X:107.59, Y:48.37, Z:-9.48 [[ 5.93342749e-01 -8.04466666e-01 2.78884642e-02 1.07591766e+02] [ 8.03675335e-01 5.93996516e-01 3.56944829e-02 4.83729799e+01] [-4.52806722e-02 1.23420820e-03 9.98973542e-01 -9.48293031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.773201008 meters 0.06640054946603224 Centerline is valid? [True, True] Translation: X:107.61, Y:48.40, Z:-9.48 [[ 5.91063829e-01 -8.06121754e-01 2.84827623e-02 1.07609845e+02] [ 8.05297549e-01 5.91748097e-01 3.64698000e-02 4.83951270e+01] [-4.62537195e-02 1.38111908e-03 9.98928769e-01 -9.48133953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.803201008 meters 0.0664694180251248 Centerline is valid? [True, True] Translation: X:107.63, Y:48.42, Z:-9.48 [[ 5.89578021e-01 -8.07194094e-01 2.89041929e-02 1.07627988e+02] [ 8.06345625e-01 5.90284271e-01 3.70298917e-02 4.84165692e+01] [-4.69520003e-02 1.47475928e-03 9.98896058e-01 -9.48202806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.833201008 meters 0.0686745890320783 Centerline is valid? [True, True] Translation: X:107.65, Y:48.43, Z:-9.49 [[ 5.87494036e-01 -8.08679810e-01 2.97946614e-02 1.07649601e+02] [ 8.07779047e-01 5.88246810e-01 3.81929471e-02 4.84338943e+01] [-4.84124797e-02 1.62937458e-03 9.98826099e-01 -9.48652632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.863201008 meters 0.06856041229278602 Centerline is valid? [True, True] Translation: X:107.66, Y:48.46, Z:-9.49 [[ 5.86547117e-01 -8.09373054e-01 2.96266624e-02 1.07664540e+02] [ 8.08482375e-01 5.87292504e-01 3.79969058e-02 4.84558074e+01] [-4.81531884e-02 1.66565887e-03 9.98838574e-01 -9.48800155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.893201008 meters 0.06689101452562031 Centerline is valid? [True, True] Translation: X:107.68, Y:48.48, Z:-9.49 [[ 5.86761317e-01 -8.09247170e-01 2.88127598e-02 1.07676459e+02] [ 8.08403560e-01 5.87466143e-01 3.69758568e-02 4.84817786e+01] [-4.68491283e-02 1.59633521e-03 9.98900701e-01 -9.48695673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.923201008 meters 0.06838848114652436 Centerline is valid? [True, True] Translation: X:107.69, Y:48.50, Z:-9.50 [[ 5.89076323e-01 -8.07549616e-01 2.92010768e-02 1.07690993e+02] [ 8.06679907e-01 5.89797817e-01 3.74974947e-02 4.85034363e+01] [-4.75038188e-02 1.46703558e-03 9.98869979e-01 -9.49644827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.953201008 meters 0.06805454666873179 Centerline is valid? [True, True] Translation: X:107.70, Y:48.53, Z:-9.50 [[ 5.91273154e-01 -8.05971789e-01 2.83819014e-02 1.07704619e+02] [ 8.05147656e-01 5.91952535e-01 3.64616027e-02 4.85272587e+01] [-4.61877617e-02 1.29285456e-03 9.98931939e-01 -9.50027574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.983201008 meters 0.06645201438921698 Centerline is valid? [True, True] Translation: X:107.72, Y:48.55, Z:-9.50 [[ 5.94066965e-01 -8.03923577e-01 2.81304509e-02 1.07716538e+02] [ 8.03110760e-01 5.94731576e-01 3.61588156e-02 4.85534179e+01] [-4.57989918e-02 1.11110993e-03 9.98950058e-01 -9.49887352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.013201008 meters 0.06520032109525976 Centerline is valid? [True, True] Translation: X:107.73, Y:48.58, Z:-9.50 [[ 5.97129985e-01 -8.01671347e-01 2.75469099e-02 1.07729988e+02] [ 8.00888457e-01 5.97764363e-01 3.54322631e-02 4.85795211e+01] [-4.48715911e-02 9.04335471e-04 9.98992354e-01 -9.49745959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.043201008 meters 0.06447924907474469 Centerline is valid? [True, True] Translation: X:107.74, Y:48.60, Z:-9.50 [[ 6.03295837e-01 -7.97022052e-01 2.81066197e-02 1.07740663e+02] [ 7.96201752e-01 6.03949939e-01 3.61558032e-02 4.86045752e+01] [-4.57919637e-02 5.65894294e-04 9.98950838e-01 -9.49976121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.073201008 meters 0.06420698330827952 Centerline is valid? [True, True] Translation: X:107.75, Y:48.63, Z:-9.50 [[ 6.06259712e-01 -7.94755297e-01 2.85162883e-02 1.07754304e+02] [ 7.93907171e-01 6.06929872e-01 3.67087665e-02 4.86299866e+01] [-4.64818738e-02 3.84239575e-04 9.98919060e-01 -9.50206080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.103201008 meters 0.06394291876075603 Centerline is valid? [True, True] Translation: X:107.77, Y:48.65, Z:-9.51 [[ 6.09210545e-01 -7.92501281e-01 2.83589567e-02 1.07767138e+02] [ 7.91659311e-01 6.09870214e-01 3.65220045e-02 4.86544904e+01] [-4.62390183e-02 2.01041838e-04 9.98930384e-01 -9.50521784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13320100800001 meters 0.06395209934688066 Centerline is valid? [True, True] Translation: X:107.78, Y:48.68, Z:-9.51 [[ 6.12068531e-01 -7.90292788e-01 2.84503526e-02 1.07779769e+02] [ 7.89441949e-01 6.12729393e-01 3.66619726e-02 4.86789580e+01] [-4.64060599e-02 2.02620836e-05 9.98922658e-01 -9.50779858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16320100800002 meters 0.06452266908348608 Centerline is valid? [True, True] Translation: X:107.79, Y:48.71, Z:-9.51 [[ 6.17480510e-01 -7.86075324e-01 2.83444061e-02 1.07790112e+02] [ 7.85225230e-01 6.18130640e-01 3.65492724e-02 4.87065389e+01] [-4.62510270e-02 -3.11720497e-04 9.98929800e-01 -9.51232056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19320100800002 meters 0.06486235716800186 Centerline is valid? [True, True] Translation: X:107.80, Y:48.73, Z:-9.52 [[ 6.19861274e-01 -7.84208564e-01 2.80878737e-02 1.07803230e+02] [ 7.83370845e-01 6.20497151e-01 3.62409177e-02 4.87298134e+01] [-4.58488836e-02 -4.61120094e-04 9.98948281e-01 -9.51539833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22320100800002 meters 0.06512332523718051 Centerline is valid? [True, True] Translation: X:107.82, Y:48.75, Z:-9.52 [[ 6.21704832e-01 -7.82771346e-01 2.74248337e-02 1.07818733e+02] [ 7.81970859e-01 6.22309172e-01 3.53958898e-02 4.87536993e+01] [-4.47736139e-02 -5.60374927e-04 9.98997002e-01 -9.51757151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25320100800002 meters 0.06556045602146741 Centerline is valid? [True, True] Translation: X:107.83, Y:48.78, Z:-9.52 [[ 6.23075107e-01 -7.81678340e-01 2.75024397e-02 1.07834039e+02] [ 7.80871379e-01 6.23681446e-01 3.55153935e-02 4.87773309e+01] [-4.49143752e-02 -6.52889610e-04 9.98990627e-01 -9.52038680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.283201008 meters 0.06609656829854488 Centerline is valid? [True, True] Translation: X:107.85, Y:48.80, Z:-9.52 [[ 6.26027157e-01 -7.79302423e-01 2.78878483e-02 1.07849621e+02] [ 7.78469371e-01 6.26647440e-01 3.60336448e-02 4.88008335e+01] [-4.55569555e-02 -8.48204519e-04 9.98961383e-01 -9.52093119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.313201008 meters 0.06623682251681766 Centerline is valid? [True, True] Translation: X:107.87, Y:48.82, Z:-9.52 [[ 6.26583425e-01 -7.78835835e-01 2.84245322e-02 1.07866562e+02] [ 7.77969130e-01 6.27227164e-01 3.67439577e-02 4.88225522e+01] [-4.64461497e-02 -9.09746227e-04 9.98920381e-01 -9.52253054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.343201008 meters 0.06626050156007336 Centerline is valid? [True, True] Translation: X:107.88, Y:48.84, Z:-9.52 [[ 6.26736314e-01 -7.78712937e-01 2.84210074e-02 1.07884118e+02] [ 7.77845271e-01 6.27379702e-01 3.67619749e-02 4.88438398e+01] [-4.64577886e-02 -9.32918399e-04 9.98919818e-01 -9.52367542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.373201008 meters 0.06591565215113274 Centerline is valid? [True, True] Translation: X:107.90, Y:48.86, Z:-9.53 [[ 6.24939136e-01 -7.80105324e-01 2.97785143e-02 1.07903340e+02] [ 7.79153014e-01 6.25647584e-01 3.85445407e-02 4.88633736e+01] [-4.86996569e-02 -8.85972837e-04 9.98813075e-01 -9.52524981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.403201008 meters 0.06591565215113274 Centerline is valid? [True, True] Translation: X:107.92, Y:48.88, Z:-9.53 [[ 6.24709420e-01 -7.80289667e-01 2.97687113e-02 1.07919528e+02] [ 7.79337206e-01 6.25417664e-01 3.85521091e-02 4.88847163e+01] [-4.86996903e-02 -8.84001484e-04 9.98813075e-01 -9.52731481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.433201008 meters 0.0656715569185615 Centerline is valid? [True, True] Translation: X:107.94, Y:48.90, Z:-9.53 [[ 6.23113104e-01 -7.81566239e-01 2.97367410e-02 1.07939325e+02] [ 7.80616053e-01 6.23821749e-01 3.85357390e-02 4.89044247e+01] [-4.86686584e-02 -7.99146574e-04 9.98814659e-01 -9.52965284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.463201008 meters 0.06519715390899297 Centerline is valid? [True, True] Translation: X:107.96, Y:48.92, Z:-9.53 [[ 6.21344424e-01 -7.82981757e-01 2.95072028e-02 1.07959987e+02] [ 7.82046881e-01 6.22044280e-01 3.82568977e-02 4.89235712e+01] [-4.83092397e-02 -6.94694122e-04 9.98832185e-01 -9.53104363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.493201008 meters 0.06511824636977799 Centerline is valid? [True, True] Translation: X:107.98, Y:48.94, Z:-9.54 [[ 6.18134333e-01 -7.85562014e-01 2.83243567e-02 1.07982537e+02] [ 7.84702369e-01 6.18782745e-01 3.67438057e-02 4.89392906e+01] [-4.63911612e-02 -4.86418007e-04 9.98923232e-01 -9.53507955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.523201008 meters 0.06467953996579227 Centerline is valid? [True, True] Translation: X:108.00, Y:48.96, Z:-9.54 [[ 6.15754505e-01 -7.87443502e-01 2.79127349e-02 1.08003193e+02] [ 7.86609517e-01 6.16386734e-01 3.62334479e-02 4.89576013e+01] [-4.57368326e-02 -3.54485834e-04 9.98953461e-01 -9.53596149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.553201008 meters 0.06471567423811146 Centerline is valid? [True, True] Translation: X:108.02, Y:48.98, Z:-9.54 [[ 6.13453711e-01 -7.89241422e-01 2.77942803e-02 1.08022904e+02] [ 7.88415363e-01 6.14082994e-01 3.61011386e-02 4.89759981e+01] [-4.55605089e-02 -2.32939861e-04 9.98961554e-01 -9.53933411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.583201008 meters 0.06415651248458014 Centerline is valid? [True, True] Translation: X:108.05, Y:48.99, Z:-9.54 [[ 6.08136520e-01 -7.93359574e-01 2.73963366e-02 1.08049240e+02] [ 7.92560085e-01 6.08753302e-01 3.56079845e-02 4.89899669e+01] [-4.49275458e-02 5.87271241e-05 9.98990246e-01 -9.53891978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.613201008 meters 0.06441656637895224 Centerline is valid? [True, True] Translation: X:108.07, Y:49.01, Z:-9.54 [[ 6.04671792e-01 -7.95999293e-01 2.75163471e-02 1.08070234e+02] [ 7.95194495e-01 6.05297503e-01 3.57861578e-02 4.90080632e+01] [-4.51413325e-02 2.41967565e-04 9.98980581e-01 -9.54157931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.643201008 meters 0.06468273153679129 Centerline is valid? [True, True] Translation: X:108.09, Y:49.03, Z:-9.54 [[ 6.01303153e-01 -7.98560542e-01 2.71215801e-02 1.08091030e+02] [ 7.97780343e-01 6.01914354e-01 3.52935477e-02 4.90261141e+01] [-4.45089029e-02 4.14941972e-04 9.99008902e-01 -9.54438726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.673201008 meters 0.06487707792074057 Centerline is valid? [True, True] Translation: X:108.11, Y:49.05, Z:-9.55 [[ 5.98961819e-01 -8.00322120e-01 2.70044999e-02 1.08110026e+02] [ 7.99549493e-01 5.99570031e-01 3.51622751e-02 4.90454739e+01] [-4.43322354e-02 5.30574007e-04 9.99016702e-01 -9.54633426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.703201008 meters 0.06473839279282723 Centerline is valid? [True, True] Translation: X:108.13, Y:49.07, Z:-9.55 [[ 5.98296601e-01 -8.00825053e-01 2.68404682e-02 1.08126471e+02] [ 8.00061393e-01 5.98898096e-01 3.49690968e-02 4.90675520e+01] [-4.40788341e-02 5.52130568e-04 9.99027903e-01 -9.54704810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.733201008 meters 0.06554121091967091 Centerline is valid? [True, True] Translation: X:108.15, Y:49.09, Z:-9.55 [[ 5.96277435e-01 -8.02351229e-01 2.61863606e-02 1.08145899e+02] [ 8.01624765e-01 5.96851827e-01 3.41413772e-02 4.90859542e+01] [-4.30227531e-02 6.33902318e-04 9.99073892e-01 -9.55173998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.763201008 meters 0.06492083206377905 Centerline is valid? [True, True] Translation: X:108.16, Y:49.11, Z:-9.55 [[ 5.94928638e-01 -8.03368523e-01 2.56696779e-02 1.08162704e+02] [ 8.02670916e-01 5.95481776e-01 3.34791897e-02 4.91091497e+01] [-4.21819525e-02 6.86575145e-04 9.99109709e-01 -9.54914562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.793201008 meters 0.06575895813483407 Centerline is valid? [True, True] Translation: X:108.18, Y:49.13, Z:-9.55 [[ 5.93910179e-01 -8.04113981e-01 2.59114704e-02 1.08180558e+02] [ 8.03402962e-01 5.94474698e-01 3.38158804e-02 4.91281578e+01] [-4.25955358e-02 7.33756454e-04 9.99092129e-01 -9.55451942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.823201008 meters 0.06544615461292855 Centerline is valid? [True, True] Translation: X:108.20, Y:49.15, Z:-9.55 [[ 5.92728107e-01 -8.04996726e-01 2.55668369e-02 1.08197197e+02] [ 8.04304734e-01 5.93278742e-01 3.33800798e-02 4.91507420e+01] [-4.20391158e-02 7.78216419e-04 9.99115663e-01 -9.55318797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.853201008 meters 0.06692835192093653 Centerline is valid? [True, True] Translation: X:108.22, Y:49.17, Z:-9.56 [[ 5.92316914e-01 -8.05306478e-01 2.53406722e-02 1.08216499e+02] [ 8.04626028e-01 5.92858220e-01 3.31071916e-02 4.91694446e+01] [-4.16848617e-02 7.79814821e-04 9.99130504e-01 -9.56247321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88320100800001 meters 0.06538787214164749 Centerline is valid? [True, True] Translation: X:108.23, Y:49.19, Z:-9.56 [[ 5.91897486e-01 -8.05615465e-01 2.53197305e-02 1.08230556e+02] [ 8.04936140e-01 5.92438256e-01 3.30866051e-02 4.91934720e+01] [-4.16554577e-02 7.96887736e-04 9.99131717e-01 -9.55598936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91320100800002 meters 0.06561933803179511 Centerline is valid? [True, True] Translation: X:108.25, Y:49.21, Z:-9.56 [[ 5.91570016e-01 -8.05847289e-01 2.55941798e-02 1.08246787e+02] [ 8.05152490e-01 5.92122868e-01 3.34660614e-02 4.92139573e+01] [-4.21234340e-02 8.09699140e-04 9.99112086e-01 -9.55853776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94320100800002 meters 0.06565216794682184 Centerline is valid? [True, True] Translation: X:108.26, Y:49.24, Z:-9.56 [[ 5.92767384e-01 -8.04960443e-01 2.57975462e-02 1.08262303e+02] [ 8.04252600e-01 5.93328023e-01 3.37581581e-02 4.92365655e+01] [-4.24803890e-02 7.37008512e-04 9.99097029e-01 -9.56150825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97320100800002 meters 0.06513334199310439 Centerline is valid? [True, True] Translation: X:108.28, Y:49.26, Z:-9.56 [[ 5.93238459e-01 -8.04604675e-01 2.60662180e-02 1.08277069e+02] [ 8.03880854e-01 5.93810421e-01 3.41285388e-02 4.92611812e+01] [-4.29383738e-02 7.07771839e-04 9.99077472e-01 -9.56080174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00320100800002 meters 0.06554623931003245 Centerline is valid? [True, True] Translation: X:108.29, Y:49.28, Z:-9.57 [[ 5.93539663e-01 -8.04370183e-01 2.64438557e-02 1.08292582e+02] [ 8.03624233e-01 5.94128043e-01 3.46404433e-02 4.92823888e+01] [-4.35747759e-02 6.90446228e-04 9.99049930e-01 -9.56519442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.033201008 meters 0.06530045801163091 Centerline is valid? [True, True] Translation: X:108.31, Y:49.30, Z:-9.57 [[ 5.93881219e-01 -8.04112457e-01 2.66130417e-02 1.08307509e+02] [ 8.03355703e-01 5.94476843e-01 3.48840685e-02 4.93042621e+01] [-4.38715511e-02 6.62745745e-04 9.99036960e-01 -9.56693130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.063201008 meters 0.06485492929568706 Centerline is valid? [True, True] Translation: X:108.32, Y:49.33, Z:-9.57 [[ 5.94643849e-01 -8.03523645e-01 2.73577403e-02 1.08321480e+02] [ 8.02722142e-01 5.95272515e-01 3.58858718e-02 4.93263031e+01] [-4.51204574e-02 6.21350985e-04 9.98981360e-01 -9.56774206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.093201008 meters 0.06473195742666232 Centerline is valid? [True, True] Translation: X:108.34, Y:49.35, Z:-9.57 [[ 5.94221816e-01 -8.03813738e-01 2.79983385e-02 1.08336974e+02] [ 8.02973432e-01 5.94880710e-01 3.67506328e-02 4.93493277e+01] [-4.61963350e-02 6.43894223e-04 9.98932172e-01 -9.56887224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.123201008 meters 0.06412981595160162 Centerline is valid? [True, True] Translation: X:108.35, Y:49.37, Z:-9.57 [[ 5.94109346e-01 -8.03890350e-01 2.81849211e-02 1.08351393e+02] [ 8.03037892e-01 5.94777180e-01 3.70168983e-02 4.93731071e+01] [-4.65212753e-02 6.41474373e-04 9.98917093e-01 -9.56755534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.153201008 meters 0.06366868169774886 Centerline is valid? [True, True] Translation: X:108.37, Y:49.40, Z:-9.57 [[ 5.93947303e-01 -8.03981048e-01 2.90013130e-02 1.08365526e+02] [ 8.03077339e-01 5.94654563e-01 3.81147992e-02 4.93978530e+01] [-4.78893393e-02 6.52115050e-04 9.98852435e-01 -9.56710892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.183201008 meters 0.06369445063052612 Centerline is valid? [True, True] Translation: X:108.38, Y:49.42, Z:-9.57 [[ 5.93752732e-01 -8.04106583e-01 2.95007807e-02 1.08380761e+02] [ 8.03170397e-01 5.94484793e-01 3.87961866e-02 4.94210640e+01] [-4.87340345e-02 6.58811939e-04 9.98811574e-01 -9.56885716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.213201008 meters 0.06349590937805014 Centerline is valid? [True, True] Translation: X:108.40, Y:49.44, Z:-9.57 [[ 5.93918368e-01 -8.03998079e-01 2.91214880e-02 1.08395834e+02] [ 8.03085118e-01 5.94631555e-01 3.83093623e-02 4.94441501e+01] [-4.81172094e-02 6.34399740e-04 9.98841495e-01 -9.57060162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.243201008 meters 0.0632813234916267 Centerline is valid? [True, True] Translation: X:108.41, Y:49.47, Z:-9.57 [[ 5.95999532e-01 -8.02446054e-01 2.94089933e-02 1.08408718e+02] [ 8.01511797e-01 5.96724461e-01 3.87137798e-02 4.94689218e+01] [-4.86147855e-02 4.98260467e-04 9.98817478e-01 -9.57254464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.273201008 meters 0.06303211149685972 Centerline is valid? [True, True] Translation: X:108.42, Y:49.49, Z:-9.57 [[ 5.97408578e-01 -8.01394414e-01 2.94954958e-02 1.08422049e+02] [ 8.00452404e-01 5.98136132e-01 3.88473517e-02 4.94930237e+01] [-4.87743724e-02 4.01999386e-04 9.98809741e-01 -9.57353367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.303201008 meters 0.06299432492078418 Centerline is valid? [True, True] Translation: X:108.44, Y:49.52, Z:-9.58 [[ 5.98429408e-01 -8.00611250e-01 3.00644378e-02 1.08436220e+02] [ 7.99630174e-01 5.99184044e-01 3.96240681e-02 4.95177606e+01] [-4.97376061e-02 3.28224056e-04 9.98762265e-01 -9.57619232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.333201008 meters 0.06300625537841736 Centerline is valid? [True, True] Translation: X:108.45, Y:49.54, Z:-9.58 [[ 6.00345581e-01 -7.99189333e-01 2.96916325e-02 1.08448285e+02] [ 7.98229779e-01 6.01079339e-01 3.91516142e-02 4.95409476e+01] [-4.91365793e-02 1.96246657e-04 9.98792049e-01 -9.57899052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.363201008 meters 0.06274169686052448 Centerline is valid? [True, True] Translation: X:108.46, Y:49.57, Z:-9.58 [[ 6.02125477e-01 -7.97827440e-01 3.02701994e-02 1.08461442e+02] [ 7.96826949e-01 6.02885869e-01 3.99430000e-02 4.95658362e+01] [-5.01170969e-02 6.94126705e-05 9.98743346e-01 -9.58060725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.393201008 meters 0.06281434487527518 Centerline is valid? [True, True] Translation: X:108.47, Y:49.59, Z:-9.58 [[ 6.06291089e-01 -7.94634636e-01 3.10952005e-02 1.08470433e+02] [ 7.93573362e-01 6.07087926e-01 4.10556989e-02 4.95931914e+01] [-5.15018011e-02 -2.15381555e-04 9.98672878e-01 -9.58211779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.423201008 meters 0.0630905279151047 Centerline is valid? [True, True] Translation: X:108.48, Y:49.62, Z:-9.59 [[ 6.08127654e-01 -7.93214775e-01 3.14813802e-02 1.08482669e+02] [ 7.92123716e-01 6.08941864e-01 4.15911513e-02 4.96164216e+01] [-5.21610461e-02 -3.55581405e-04 9.98638623e-01 -9.58529355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.453201008 meters 0.06381143904758217 Centerline is valid? [True, True] Translation: X:108.49, Y:49.64, Z:-9.59 [[ 6.12888616e-01 -7.89564266e-01 3.09162561e-02 1.08492949e+02] [ 7.88505941e-01 6.13667514e-01 4.08725202e-02 4.96437350e+01] [-5.12437835e-02 -6.72650676e-04 9.98685948e-01 -9.58949512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.483201008 meters 0.06420819888588723 Centerline is valid? [True, True] Translation: X:108.51, Y:49.67, Z:-9.59 [[ 6.14774466e-01 -7.88068233e-01 3.16356750e-02 1.08506582e+02] [ 7.86956893e-01 6.15587339e-01 4.18458711e-02 4.96671814e+01] [-5.24519227e-02 -8.29860599e-04 9.98623106e-01 -9.59083078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.513201008 meters 0.06488491518237537 Centerline is valid? [True, True] Translation: X:108.52, Y:49.69, Z:-9.59 [[ 6.16400392e-01 -7.86814767e-01 3.11942077e-02 1.08520638e+02] [ 7.85731278e-01 6.17188495e-01 4.12882587e-02 4.96912867e+01] [-5.17389178e-02 -9.39834153e-04 9.98660203e-01 -9.59333389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.543201008 meters 0.06544334281349852 Centerline is valid? [True, True] Translation: X:108.54, Y:49.71, Z:-9.60 [[ 6.17941547e-01 -7.85628662e-01 3.05916631e-02 1.08535238e+02] [ 7.84584098e-01 6.18697454e-01 4.05123840e-02 4.97148718e+01] [-5.07546741e-02 -1.03255286e-03 9.98710617e-01 -9.59715087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.573201008 meters 0.06536813026522997 Centerline is valid? [True, True] Translation: X:108.55, Y:49.74, Z:-9.60 [[ 6.17406137e-01 -7.86053522e-01 3.04880621e-02 1.08552877e+02] [ 7.85015529e-01 6.18157623e-01 4.03952050e-02 4.97359570e+01] [-5.05992212e-02 -1.00664534e-03 9.98718532e-01 -9.59826135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.603201008 meters 0.06549623902790819 Centerline is valid? [True, True] Translation: X:108.57, Y:49.76, Z:-9.60 [[ 6.15666078e-01 -7.87419322e-01 3.04317537e-02 1.08569516e+02] [ 7.86385458e-01 6.16417053e-01 4.03475934e-02 4.97570093e+01] [-5.05291266e-02 -9.09555968e-04 9.98722174e-01 -9.60239866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63320100800001 meters 0.06474742768923523 Centerline is valid? [True, True] Translation: X:108.59, Y:49.78, Z:-9.60 [[ 6.13429296e-01 -7.89174730e-01 3.01287979e-02 1.08589365e+02] [ 7.88162449e-01 6.14168260e-01 3.99662635e-02 4.97761903e+01] [-5.00445166e-02 -7.70089682e-04 9.98746691e-01 -9.60175247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66320100800002 meters 0.06480181642226841 Centerline is valid? [True, True] Translation: X:108.61, Y:49.80, Z:-9.61 [[ 6.10585152e-01 -7.91403294e-01 2.94380532e-02 1.08606730e+02] [ 7.90438343e-01 6.11294102e-01 3.90735937e-02 4.97958067e+01] [-4.89182791e-02 -5.88790131e-04 9.98802611e-01 -9.60682537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69320100800002 meters 0.06469715552297521 Centerline is valid? [True, True] Translation: X:108.63, Y:49.81, Z:-9.61 [[ 6.07777484e-01 -7.93584146e-01 2.88224399e-02 1.08625454e+02] [ 7.92660389e-01 6.08460374e-01 3.82815953e-02 4.98147398e+01] [-4.79169797e-02 -4.20285282e-04 9.98851233e-01 -9.61169693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72320100800002 meters 0.06463879488904592 Centerline is valid? [True, True] Translation: X:108.65, Y:49.83, Z:-9.62 [[ 6.00715377e-01 -7.98990545e-01 2.74798993e-02 1.08651215e+02] [ 7.98155341e-01 6.01343586e-01 3.65231843e-02 4.98303658e+01] [-4.57065401e-02 -6.80999932e-06 9.98954910e-01 -9.61531133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75320100800002 meters 0.06452214602666168 Centerline is valid? [True, True] Translation: X:108.67, Y:49.85, Z:-9.61 [[ 5.96672341e-01 -8.02004581e-01 2.77627455e-02 1.08672778e+02] [ 8.01154450e-01 5.97317844e-01 3.69180140e-02 4.98482911e+01] [-4.61915996e-02 2.14289243e-04 9.98932575e-01 -9.61486776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.783201008 meters 0.06438269031187947 Centerline is valid? [True, True] Translation: X:108.70, Y:49.86, Z:-9.61 [[ 5.89207100e-01 -8.07423290e-01 3.00437006e-02 1.08698889e+02] [ 8.06433127e-01 5.89972186e-01 3.99803933e-02 4.98647736e+01] [-5.00060484e-02 6.71503800e-04 9.98748689e-01 -9.61068282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.813201008 meters 0.06477012218025321 Centerline is valid? [True, True] Translation: X:108.72, Y:49.88, Z:-9.61 [[ 5.86713527e-01 -8.09219303e-01 3.05181531e-02 1.08717638e+02] [ 8.08198629e-01 5.87506124e-01 4.06390283e-02 4.98842683e+01] [-5.08154880e-02 8.21261861e-04 9.98707721e-01 -9.61184451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.843201008 meters 0.06509835077705398 Centerline is valid? [True, True] Translation: X:108.74, Y:49.90, Z:-9.61 [[ 5.84097855e-01 -8.11065432e-01 3.16632327e-02 1.08736221e+02] [ 8.09968609e-01 5.84954566e-01 4.21782850e-02 4.99045338e+01] [-5.27309015e-02 1.00997880e-03 9.98608248e-01 -9.61372881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.873201008 meters 0.0657270173853116 Centerline is valid? [True, True] Translation: X:108.75, Y:49.92, Z:-9.62 [[ 5.82149551e-01 -8.12430852e-01 3.25270857e-02 1.08754751e+02] [ 8.11273802e-01 5.83056426e-01 4.33592214e-02 4.99227859e+01] [-5.41914955e-02 1.14682125e-03 9.98529903e-01 -9.61624057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.903201008 meters 0.06647261688162188 Centerline is valid? [True, True] Translation: X:108.77, Y:49.94, Z:-9.62 [[ 5.79182179e-01 -8.14475037e-01 3.43280894e-02 1.08774198e+02] [ 8.13188372e-01 5.80196915e-01 4.57844023e-02 4.99425080e+01] [-5.72073044e-02 1.39769324e-03 9.98361343e-01 -9.61637208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.933201008 meters 0.06628312211992392 Centerline is valid? [True, True] Translation: X:108.79, Y:49.97, Z:-9.62 [[ 5.78632487e-01 -8.14861673e-01 3.44223662e-02 1.08789409e+02] [ 8.13567040e-01 5.79653712e-01 4.59374013e-02 4.99650209e+01] [-5.73856801e-02 1.42402986e-03 9.98351068e-01 -9.61742290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.963201008 meters 0.06616252454855612 Centerline is valid? [True, True] Translation: X:108.80, Y:49.99, Z:-9.62 [[ 5.78319792e-01 -8.15089040e-01 3.42939369e-02 1.08804648e+02] [ 8.13802843e-01 5.79333950e-01 4.57941706e-02 4.99878778e+01] [-5.71939685e-02 1.42482811e-03 9.98362069e-01 -9.61862360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.993201008 meters 0.06590339610773108 Centerline is valid? [True, True] Translation: X:108.82, Y:50.01, Z:-9.62 [[ 5.78047802e-01 -8.15275139e-01 3.44555710e-02 1.08819199e+02] [ 8.13975478e-01 5.79072010e-01 4.60383467e-02 5.00111430e+01] [-5.74861763e-02 1.43362473e-03 9.98345273e-01 -9.61961303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.023201008 meters 0.06613610897798604 Centerline is valid? [True, True] Translation: X:108.83, Y:50.03, Z:-9.62 [[ 5.78702433e-01 -8.14840317e-01 3.37453948e-02 1.08833063e+02] [ 8.13591480e-01 5.79683918e-01 4.51160606e-02 5.00329909e+01] [-5.63240478e-02 1.34619168e-03 9.98411633e-01 -9.62327387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.053201008 meters 0.06621480016173756 Centerline is valid? [True, True] Translation: X:108.85, Y:50.06, Z:-9.63 [[ 5.79107265e-01 -8.14589043e-01 3.28552484e-02 1.08847457e+02] [ 8.13403309e-01 5.80037135e-01 4.39542889e-02 5.00561218e+01] [-5.48619463e-02 1.27031967e-03 9.98493141e-01 -9.62561077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.083201008 meters 0.06651752020273358 Centerline is valid? [True, True] Translation: X:108.86, Y:50.08, Z:-9.63 [[ 5.78922781e-01 -8.14708706e-01 3.31381589e-02 1.08862603e+02] [ 8.13501072e-01 5.79869033e-01 4.43611302e-02 5.00789616e+01] [-5.53571911e-02 1.27625897e-03 9.98465799e-01 -9.62979384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.113201008 meters 0.06661937210562695 Centerline is valid? [True, True] Translation: X:108.88, Y:50.10, Z:-9.63 [[ 5.78456132e-01 -8.15041487e-01 3.31040600e-02 1.08876105e+02] [ 8.13835529e-01 5.79401160e-01 4.43399034e-02 5.01014361e+01] [-5.53193916e-02 1.29257115e-03 9.98467873e-01 -9.63232092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.143201008 meters 0.06673637051106562 Centerline is valid? [True, True] Translation: X:108.89, Y:50.12, Z:-9.63 [[ 5.78033783e-01 -8.15342549e-01 3.30676949e-02 1.08891616e+02] [ 8.14138097e-01 5.78977400e-01 4.43207541e-02 5.01236896e+01] [-5.52820447e-02 1.30277708e-03 9.98469929e-01 -9.63364211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.173201008 meters 0.06622731565966886 Centerline is valid? [True, True] Translation: X:108.91, Y:50.15, Z:-9.63 [[ 5.78019752e-01 -8.15335320e-01 3.34885309e-02 1.08905747e+02] [ 8.14098469e-01 5.78987580e-01 4.49117545e-02 5.01470614e+01] [-5.60075831e-02 1.30308048e-03 9.98429493e-01 -9.63358770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.203201008 meters 0.06624559153854474 Centerline is valid? [True, True] Translation: X:108.92, Y:50.17, Z:-9.63 [[ 5.77703475e-01 -8.15513872e-01 3.45806225e-02 1.08920581e+02] [ 8.14193506e-01 5.78735962e-01 4.64071248e-02 5.01693706e+01] [-5.78587039e-02 1.34576099e-03 9.98323875e-01 -9.63498300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.233201008 meters 0.06606946296508295 Centerline is valid? [True, True] Translation: X:108.93, Y:50.19, Z:-9.64 [[ 5.79000443e-01 -8.14574578e-01 3.50249178e-02 1.08933634e+02] [ 8.13216779e-01 5.80057487e-01 4.70295848e-02 5.01941187e+01] [-5.86255700e-02 1.25270044e-03 9.98279256e-01 -9.63664060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.263201008 meters 0.06564355856372017 Centerline is valid? [True, True] Translation: X:108.95, Y:50.22, Z:-9.64 [[ 5.79372792e-01 -8.14287757e-01 3.55333290e-02 1.08947431e+02] [ 8.12888287e-01 5.80460112e-01 4.77356434e-02 5.02189161e+01] [-5.94962301e-02 1.22789394e-03 9.98227775e-01 -9.63788990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.293201008 meters 0.0657746118196931 Centerline is valid? [True, True] Translation: X:108.96, Y:50.24, Z:-9.64 [[ 5.80319456e-01 -8.13608812e-01 3.56374676e-02 1.08962161e+02] [ 8.12198282e-01 5.81411546e-01 4.79016184e-02 5.02418917e+01] [-5.96932140e-02 1.14644881e-03 9.98216112e-01 -9.64142467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.323201008 meters 0.0657746118196931 Centerline is valid? [True, True] Translation: X:108.98, Y:50.26, Z:-9.64 [[ 5.80089565e-01 -8.13773265e-01 3.56254076e-02 1.08977987e+02] [ 8.12362494e-01 5.81181343e-01 4.79105853e-02 5.02634935e+01] [-5.96931757e-02 1.14831438e-03 9.98216112e-01 -9.64348909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.353201008 meters 0.06535029247855581 Centerline is valid? [True, True] Translation: X:108.99, Y:50.29, Z:-9.65 [[ 5.84509807e-01 -8.10634698e-01 3.49238033e-02 1.08986420e+02] [ 8.09271687e-01 5.85551669e-01 4.69955297e-02 5.02902251e+01] [-5.85458983e-02 7.93497200e-04 9.98284402e-01 -9.64779312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38320100800001 meters 0.06507060524705226 Centerline is valid? [True, True] Translation: X:109.00, Y:50.32, Z:-9.65 [[ 5.87708793e-01 -8.08364790e-01 3.38340155e-02 1.08997957e+02] [ 8.07080626e-01 5.88681644e-01 4.55498144e-02 5.03159808e+01] [-5.67383301e-02 5.36751989e-04 9.98388939e-01 -9.65120517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41320100800002 meters 0.06469050750625871 Centerline is valid? [True, True] Translation: X:109.01, Y:50.34, Z:-9.65 [[ 5.90760579e-01 -8.06128696e-01 3.40362282e-02 1.09009871e+02] [ 8.04823915e-01 5.91740172e-01 4.58479476e-02 5.03421844e+01] [-5.70999497e-02 3.08010360e-04 9.98368419e-01 -9.65340140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44320100800002 meters 0.06438602873337361 Centerline is valid? [True, True] Translation: X:109.02, Y:50.37, Z:-9.65 [[ 5.96683880e-01 -8.01734080e-01 3.45081423e-02 1.09016889e+02] [ 8.00384044e-01 5.97680891e-01 4.65073600e-02 5.03707190e+01] [-5.79113927e-02 -1.30425525e-04 9.98321718e-01 -9.65384313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47320100800002 meters 0.06438602873337361 Centerline is valid? [True, True] Translation: X:109.03, Y:50.39, Z:-9.66 [[ 5.96450595e-01 -8.01908234e-01 3.44945178e-02 1.09032679e+02] [ 8.00557904e-01 5.97447209e-01 4.65174620e-02 5.03923388e+01] [-5.79113892e-02 -1.30509022e-04 9.98321719e-01 -9.65590589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50320100800002 meters 0.06475458477280199 Centerline is valid? [True, True] Translation: X:109.04, Y:50.42, Z:-9.66 [[ 6.02080271e-01 -7.97663624e-01 3.51011390e-02 1.09040690e+02] [ 7.96256274e-01 6.03102329e-01 4.73658748e-02 5.04208524e+01] [-5.89516140e-02 -5.68556525e-04 9.98260679e-01 -9.65837714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.533201008 meters 0.06512273569675651 Centerline is valid? [True, True] Translation: X:109.05, Y:50.45, Z:-9.66 [[ 6.04591722e-01 -7.95756799e-01 3.52131449e-02 1.09053862e+02] [ 7.94335622e-01 6.05615817e-01 4.75436812e-02 5.04457170e+01] [-5.91588451e-02 -7.73460761e-04 9.98248282e-01 -9.66135532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.563201008 meters 0.06553855470187363 Centerline is valid? [True, True] Translation: X:109.07, Y:50.47, Z:-9.66 [[ 6.06586182e-01 -7.94225119e-01 3.54917525e-02 1.09066355e+02] [ 7.92777225e-01 6.07622882e-01 4.79448076e-02 5.04696037e+01] [-5.96445714e-02 -9.45604712e-04 9.98219230e-01 -9.66444971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.593201008 meters 0.06599517550378933 Centerline is valid? [True, True] Translation: X:109.08, Y:50.49, Z:-9.67 [[ 6.09639824e-01 -7.91876725e-01 3.56445896e-02 1.09080351e+02] [ 7.90410492e-01 6.10679796e-01 4.81813309e-02 5.04946119e+01] [-5.99211052e-02 -1.19940046e-03 9.98202396e-01 -9.66676883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.623201008 meters 0.06647139223830141 Centerline is valid? [True, True] Translation: X:109.10, Y:50.52, Z:-9.67 [[ 6.10490162e-01 -7.91198155e-01 3.61557834e-02 1.09095149e+02] [ 7.89686706e-01 6.11558490e-01 4.88990768e-02 5.05168031e+01] [-6.08002357e-02 -1.30066385e-03 9.98149107e-01 -9.66878743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.653201008 meters 0.06636900039616743 Centerline is valid? [True, True] Translation: X:109.11, Y:50.54, Z:-9.67 [[ 6.10540824e-01 -7.91141532e-01 3.65373659e-02 1.09112232e+02] [ 7.89595776e-01 6.11631653e-01 4.94492943e-02 5.05380346e+01] [-6.14687999e-02 -1.34106308e-03 9.98108104e-01 -9.66930982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.683201008 meters 0.06624937623920978 Centerline is valid? [True, True] Translation: X:109.13, Y:50.56, Z:-9.67 [[ 6.10160139e-01 -7.91412336e-01 3.70286179e-02 1.09128706e+02] [ 7.89823172e-01 6.11281185e-01 5.01464814e-02 5.05592397e+01] [-6.23214415e-02 -1.35132361e-03 9.98055215e-01 -9.67054103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.713201008 meters 0.06572251657645663 Centerline is valid? [True, True] Translation: X:109.15, Y:50.58, Z:-9.67 [[ 6.08998880e-01 -7.92249917e-01 3.82156169e-02 1.09147336e+02] [ 7.90556546e-01 6.10195302e-01 5.17884246e-02 5.05805895e+01] [-6.43483650e-02 -1.32748643e-03 9.97926613e-01 -9.67054082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.743201008 meters 0.06592635217084594 Centerline is valid? [True, True] Translation: X:109.16, Y:50.60, Z:-9.67 [[ 6.07976309e-01 -7.93048848e-01 3.79253624e-02 1.09162842e+02] [ 7.91380914e-01 6.09156763e-01 5.14226327e-02 5.06018729e+01] [-6.38831506e-02 -1.25033447e-03 9.97956602e-01 -9.67487305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.773201008 meters 0.06569099789990673 Centerline is valid? [True, True] Translation: X:109.18, Y:50.62, Z:-9.68 [[ 6.06915222e-01 -7.93906497e-01 3.69646836e-02 1.09180706e+02] [ 7.92321614e-01 6.08038774e-01 5.01528623e-02 5.06220481e+01] [-6.22926441e-02 -1.15061775e-03 9.98057264e-01 -9.67857961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.803201008 meters 0.06546627151798522 Centerline is valid? [True, True] Translation: X:109.20, Y:50.64, Z:-9.68 [[ 6.05429961e-01 -7.95079545e-01 3.60981893e-02 1.09198820e+02] [ 7.93568455e-01 6.06504302e-01 4.90065200e-02 5.06420285e+01] [-6.08577887e-02 -1.02363119e-03 9.98145922e-01 -9.68325935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.833201008 meters 0.06536299012691323 Centerline is valid? [True, True] Translation: X:109.22, Y:50.66, Z:-9.69 [[ 6.02693063e-01 -7.97198188e-01 3.51585030e-02 1.09217879e+02] [ 7.95766734e-01 6.03717152e-01 4.77588265e-02 5.06606574e+01] [-5.92990413e-02 -8.05946338e-04 9.98239938e-01 -9.68832131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.863201008 meters 0.06504820515569293 Centerline is valid? [True, True] Translation: X:109.24, Y:50.68, Z:-9.69 [[ 6.01311376e-01 -7.98258998e-01 3.47447957e-02 1.09237199e+02] [ 7.96861035e-01 6.02313926e-01 4.72273818e-02 5.06806512e+01] [-5.86269568e-02 -7.11588087e-04 9.98279707e-01 -9.68963358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.893201008 meters 0.06490894691319664 Centerline is valid? [True, True] Translation: X:109.26, Y:50.70, Z:-9.69 [[ 5.99680432e-01 -7.99491925e-01 3.45838258e-02 1.09256037e+02] [ 7.98107231e-01 6.00676531e-01 4.70377862e-02 5.07004571e+01] [-5.83800228e-02 -6.06038500e-04 9.98294248e-01 -9.69148628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.923201008 meters 0.06450254573485963 Centerline is valid? [True, True] Translation: X:109.28, Y:50.72, Z:-9.69 [[ 5.95219600e-01 -8.02824163e-01 3.44527278e-02 1.09279398e+02] [ 8.01453648e-01 5.96215794e-01 4.68911072e-02 5.07173720e+01] [-5.81865744e-02 -2.98241621e-04 9.98305681e-01 -9.69276300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.953201008 meters 0.06438632683834972 Centerline is valid? [True, True] Translation: X:109.30, Y:50.74, Z:-9.69 [[ 5.93321746e-01 -8.04247804e-01 3.39819882e-02 1.09298024e+02] [ 8.02916019e-01 5.94294071e-01 4.62647118e-02 5.07374865e+01] [-5.74035870e-02 -1.65176918e-04 9.98351041e-01 -9.69390832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.983201008 meters 0.06446106127471182 Centerline is valid? [True, True] Translation: X:109.32, Y:50.76, Z:-9.70 [[ 5.89140397e-01 -8.07293803e-01 3.45008501e-02 1.09317238e+02] [ 8.05924447e-01 5.90149729e-01 4.70008874e-02 5.07565181e+01] [-5.83041925e-02 1.14957080e-04 9.98298857e-01 -9.69746585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.013201008 meters 0.0646679295184472 Centerline is valid? [True, True] Translation: X:109.34, Y:50.78, Z:-9.70 [[ 5.87976825e-01 -8.08162510e-01 3.40089757e-02 1.09335048e+02] [ 8.06831677e-01 5.88959527e-01 4.63607673e-02 5.07762107e+01] [-5.74969443e-02 1.80462101e-04 9.98345666e-01 -9.70302665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.043201008 meters 0.06459798205096867 Centerline is valid? [True, True] Translation: X:109.35, Y:50.80, Z:-9.70 [[ 5.87161935e-01 -8.08774900e-01 3.35264581e-02 1.09353325e+02] [ 8.07480983e-01 5.88118281e-01 4.57312691e-02 5.07977582e+01] [-5.67038255e-02 2.20316902e-04 9.98391019e-01 -9.70306336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.073201008 meters 0.06446225732546708 Centerline is valid? [True, True] Translation: X:109.37, Y:50.82, Z:-9.70 [[ 5.86516880e-01 -8.09233153e-01 3.37587564e-02 1.09370755e+02] [ 8.07920587e-01 5.87487566e-01 4.60725961e-02 5.08186350e+01] [-5.71163219e-02 2.52039020e-04 9.98367499e-01 -9.70364126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.103201008 meters 0.06430176820868405 Centerline is valid? [True, True] Translation: X:109.39, Y:50.84, Z:-9.71 [[ 5.86910661e-01 -8.08947108e-01 3.37705917e-02 1.09387220e+02] [ 8.07631478e-01 5.87881395e-01 4.61179072e-02 5.08409543e+01] [-5.71600502e-02 2.07101477e-04 9.98365006e-01 -9.70565094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13320100800001 meters 0.06413365738704563 Centerline is valid? [True, True] Translation: X:109.40, Y:50.86, Z:-9.71 [[ 5.87513976e-01 -8.08513879e-01 3.36546316e-02 1.09402526e+02] [ 8.07204930e-01 5.88477090e-01 4.59882184e-02 5.08640204e+01] [-5.69870925e-02 1.47463460e-04 9.98374904e-01 -9.70661842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16320100800002 meters 0.06415358926721468 Centerline is valid? [True, True] Translation: X:109.42, Y:50.89, Z:-9.71 [[ 5.88030195e-01 -8.08138383e-01 3.36577422e-02 1.09418299e+02] [ 8.06826875e-01 5.88992652e-01 4.60222756e-02 5.08868259e+01] [-5.70165302e-02 9.34832382e-05 9.98373230e-01 -9.70908878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19320100800002 meters 0.06419820355591138 Centerline is valid? [True, True] Translation: X:109.43, Y:50.91, Z:-9.71 [[ 5.89215047e-01 -8.07243705e-01 3.43981055e-02 1.09432421e+02] [ 8.05870512e-01 5.90218265e-01 4.70650273e-02 5.09084634e+01] [-5.82953372e-02 -1.10033713e-05 9.98299381e-01 -9.71323791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22320100800002 meters 0.06409269827497709 Centerline is valid? [True, True] Translation: X:109.45, Y:50.93, Z:-9.72 [[ 5.89274329e-01 -8.07190529e-01 3.46296768e-02 1.09448275e+02] [ 8.05796738e-01 5.90290986e-01 4.74148534e-02 5.09310488e+01] [-5.87144066e-02 -3.58753190e-05 9.98274820e-01 -9.71510443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25320100800002 meters 0.06407343300655703 Centerline is valid? [True, True] Translation: X:109.46, Y:50.95, Z:-9.72 [[ 5.89432594e-01 -8.07073174e-01 3.46714457e-02 1.09463793e+02] [ 8.05674118e-01 5.90451427e-01 4.75008158e-02 5.09529875e+01] [-5.88084388e-02 -6.46426738e-05 9.98269284e-01 -9.71659454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.283201008 meters 0.06400293366235456 Centerline is valid? [True, True] Translation: X:109.48, Y:50.98, Z:-9.72 [[ 5.89676474e-01 -8.06903125e-01 3.44819251e-02 1.09480187e+02] [ 8.05517368e-01 5.90683789e-01 4.72697698e-02 5.09752525e+01] [-5.85100391e-02 -9.80816308e-05 9.98286815e-01 -9.71770251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.313201008 meters 0.06374863429882088 Centerline is valid? [True, True] Translation: X:109.50, Y:51.00, Z:-9.72 [[ 5.89477059e-01 -8.07041427e-01 3.46544523e-02 1.09497572e+02] [ 8.05640310e-01 5.90494813e-01 4.75348942e-02 5.09963761e+01] [-5.88259032e-02 -1.01705925e-04 9.98268252e-01 -9.71585403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.343201008 meters 0.0636632832121584 Centerline is valid? [True, True] Translation: X:109.51, Y:51.02, Z:-9.72 [[ 5.88722074e-01 -8.07586113e-01 3.47992836e-02 1.09514450e+02] [ 8.06172373e-01 5.89749664e-01 4.77644120e-02 5.10171930e+01] [-5.90967416e-02 -6.57426570e-05 9.98252258e-01 -9.71790671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.373201008 meters 0.0635762709955572 Centerline is valid? [True, True] Translation: X:109.53, Y:51.04, Z:-9.72 [[ 5.86338605e-01 -8.09325757e-01 3.46245360e-02 1.09533245e+02] [ 8.07927267e-01 5.87360035e-01 4.75575495e-02 5.10377807e+01] [-5.88266184e-02 8.92795329e-05 9.98268211e-01 -9.71958153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.403201008 meters 0.06358058626816639 Centerline is valid? [True, True] Translation: X:109.55, Y:51.06, Z:-9.72 [[ 5.84615999e-01 -8.10566712e-01 3.47237622e-02 1.09549851e+02] [ 8.09160606e-01 5.85646281e-01 4.77236521e-02 5.10592642e+01] [-5.90190460e-02 1.97089871e-04 9.98256837e-01 -9.72152156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.433201008 meters 0.06372418169537818 Centerline is valid? [True, True] Translation: X:109.57, Y:51.08, Z:-9.73 [[ 5.82766813e-01 -8.11870248e-01 3.53488620e-02 1.09566431e+02] [ 8.10413483e-01 5.83837820e-01 4.86146767e-02 5.10800491e+01] [-6.01068122e-02 3.16174148e-04 9.98191901e-01 -9.72549544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.463201008 meters 0.0636449957887758 Centerline is valid? [True, True] Translation: X:109.58, Y:51.10, Z:-9.73 [[ 5.81628492e-01 -8.12665581e-01 3.58182970e-02 1.09582783e+02] [ 8.11169210e-01 5.82730217e-01 4.92950992e-02 5.11022551e+01] [-6.09328344e-02 3.83265439e-04 9.98141795e-01 -9.72616523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.493201008 meters 0.06373711014181407 Centerline is valid? [True, True] Translation: X:109.60, Y:51.12, Z:-9.73 [[ 5.79066185e-01 -8.14463289e-01 3.64952515e-02 1.09599629e+02] [ 8.12911302e-01 5.80214815e-01 5.02591646e-02 5.11223179e+01] [-6.21093301e-02 5.64019616e-04 9.98069192e-01 -9.72633321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.523201008 meters 0.06368111142699051 Centerline is valid? [True, True] Translation: X:109.62, Y:51.14, Z:-9.73 [[ 5.78062836e-01 -8.15159118e-01 3.68642198e-02 1.09616221e+02] [ 8.13574778e-01 5.79236758e-01 5.08021475e-02 5.11442315e+01] [-6.27649449e-02 6.24966059e-04 9.98028141e-01 -9.72728600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.553201008 meters 0.0637059997161504 Centerline is valid? [True, True] Translation: X:109.63, Y:51.17, Z:-9.73 [[ 5.76855573e-01 -8.15977457e-01 3.76621468e-02 1.09632659e+02] [ 8.14323333e-01 5.78083286e-01 5.19348088e-02 5.11657681e+01] [-6.41494908e-02 7.10280955e-04 9.97940047e-01 -9.72812211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.583201008 meters 0.06363442475646106 Centerline is valid? [True, True] Translation: X:109.65, Y:51.19, Z:-9.73 [[ 5.76469943e-01 -8.16274640e-01 3.71230000e-02 1.09647351e+02] [ 8.14666118e-01 5.77663573e-01 5.12241471e-02 5.11870883e+01] [-6.32575771e-02 7.13669120e-04 9.97996979e-01 -9.72956200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.613201008 meters 0.06375150554013202 Centerline is valid? [True, True] Translation: X:109.66, Y:51.21, Z:-9.73 [[ 5.75289726e-01 -8.17114505e-01 3.69542679e-02 1.09661710e+02] [ 8.15520816e-01 5.76474860e-01 5.10150361e-02 5.12108629e+01] [-6.29883324e-02 7.88548578e-04 9.98013952e-01 -9.73328008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.643201008 meters 0.06390660013219358 Centerline is valid? [True, True] Translation: X:109.68, Y:51.23, Z:-9.74 [[ 5.74848472e-01 -8.17444887e-01 3.65115051e-02 1.09676295e+02] [ 8.15888249e-01 5.76006264e-01 5.04296407e-02 5.12326545e+01] [-6.22543076e-02 7.99906037e-04 9.98059999e-01 -9.73825041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.673201008 meters 0.0638256236690198 Centerline is valid? [True, True] Translation: X:109.69, Y:51.26, Z:-9.74 [[ 5.74726783e-01 -8.17573705e-01 3.55297454e-02 1.09690331e+02] [ 8.16098066e-01 5.75823444e-01 4.91050748e-02 5.12572155e+01] [-6.06058783e-02 7.73754806e-04 9.98161474e-01 -9.74063028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.703201008 meters 0.06400940327801083 Centerline is valid? [True, True] Translation: X:109.70, Y:51.28, Z:-9.75 [[ 5.75025924e-01 -8.17452842e-01 3.34071456e-02 1.09703021e+02] [ 8.16146875e-01 5.75995102e-01 4.61943703e-02 5.12816236e+01] [-5.70040715e-02 7.02177010e-04 9.98373699e-01 -9.74767312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.733201008 meters 0.06395885325403508 Centerline is valid? [True, True] Translation: X:109.72, Y:51.30, Z:-9.75 [[ 5.74999387e-01 -8.17494817e-01 3.28318243e-02 1.09717488e+02] [ 8.16232122e-01 5.75935554e-01 4.54242237e-02 5.13047334e+01] [-5.60430823e-02 6.79488830e-04 9.98428120e-01 -9.74945947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.763201008 meters 0.06398678320984776 Centerline is valid? [True, True] Translation: X:109.73, Y:51.33, Z:-9.75 [[ 5.74839712e-01 -8.17622758e-01 3.24396442e-02 1.09731728e+02] [ 8.16388746e-01 5.75753923e-01 4.49091898e-02 5.13275093e+01] [-5.53960281e-02 6.67774745e-04 9.98464238e-01 -9.75273302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.793201008 meters 0.06410129389131707 Centerline is valid? [True, True] Translation: X:109.75, Y:51.35, Z:-9.76 [[ 5.74642174e-01 -8.17779275e-01 3.19910788e-02 1.09746010e+02] [ 8.16577922e-01 5.75531602e-01 4.43155951e-02 5.13501090e+01] [-5.46522521e-02 6.57598698e-04 9.98505232e-01 -9.75605669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.823201008 meters 0.06397437344625073 Centerline is valid? [True, True] Translation: X:109.76, Y:51.37, Z:-9.76 [[ 5.74734171e-01 -8.17725425e-01 3.17137560e-02 1.09759134e+02] [ 8.16543450e-01 5.75608138e-01 4.39552783e-02 5.13728247e+01] [-5.41980447e-02 6.33059331e-04 9.98530005e-01 -9.75734562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.853201008 meters 0.06378791006028266 Centerline is valid? [True, True] Translation: X:109.77, Y:51.40, Z:-9.76 [[ 5.73933575e-01 -8.18304215e-01 3.12803935e-02 1.09774367e+02] [ 8.17153652e-01 5.74784981e-01 4.33835747e-02 5.13968793e+01] [-5.34804624e-02 6.61597607e-04 9.98568677e-01 -9.75848706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88320100800001 meters 0.06355308951283287 Centerline is valid? [True, True] Translation: X:109.79, Y:51.42, Z:-9.76 [[ 5.72476626e-01 -8.19326688e-01 3.12136353e-02 1.09787500e+02] [ 8.18181315e-01 5.73326458e-01 4.33140624e-02 5.14226304e+01] [-5.33839703e-02 7.42124835e-04 9.98573783e-01 -9.75990818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91320100800002 meters 0.06388356704313845 Centerline is valid? [True, True] Translation: X:109.80, Y:51.45, Z:-9.76 [[ 5.71165050e-01 -8.20256956e-01 3.08060296e-02 1.09801842e+02] [ 8.19141464e-01 5.71994648e-01 4.27713078e-02 5.14452064e+01] [-5.27043468e-02 8.05020041e-04 9.98609836e-01 -9.76291411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94320100800002 meters 0.06400135817559857 Centerline is valid? [True, True] Translation: X:109.82, Y:51.47, Z:-9.76 [[ 5.69934427e-01 -8.21100943e-01 3.11125397e-02 1.09816731e+02] [ 8.19963069e-01 5.70782332e-01 4.32214561e-02 5.14672215e+01] [-5.32476663e-02 8.77737730e-04 9.98580951e-01 -9.76480709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97320100800002 meters 0.06386291565039878 Centerline is valid? [True, True] Translation: X:109.83, Y:51.49, Z:-9.76 [[ 5.69004120e-01 -8.21731789e-01 3.14829721e-02 1.09832035e+02] [ 8.20566004e-01 5.69873670e-01 4.37656665e-02 5.14903898e+01] [-5.39049563e-02 9.31012068e-04 9.98545637e-01 -9.76459622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00320100800002 meters 0.06363950194206812 Centerline is valid? [True, True] Translation: X:109.85, Y:51.52, Z:-9.76 [[ 5.68110854e-01 -8.22297728e-01 3.28101291e-02 1.09846722e+02] [ 8.21030490e-01 5.69056618e-01 4.56453721e-02 5.15152159e+01] [-5.62049068e-02 1.00648510e-03 9.98418748e-01 -9.76408107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.033201008 meters 0.06371090083195352 Centerline is valid? [True, True] Translation: X:109.86, Y:51.54, Z:-9.77 [[ 5.68801498e-01 -8.21823211e-01 3.27332584e-02 1.09860688e+02] [ 8.20560543e-01 5.69741788e-01 4.55487590e-02 5.15374974e+01] [-5.60825325e-02 9.51417963e-04 9.98425683e-01 -9.76626698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.063201008 meters 0.06337525637860204 Centerline is valid? [True, True] Translation: X:109.87, Y:51.56, Z:-9.77 [[ 5.69962145e-01 -8.21012356e-01 3.28917156e-02 1.09873997e+02] [ 8.19734281e-01 5.70909779e-01 4.58010144e-02 5.15628837e+01] [-5.63814008e-02 8.57622468e-04 9.98408935e-01 -9.76753209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.093201008 meters 0.06322192554700252 Centerline is valid? [True, True] Translation: X:109.89, Y:51.59, Z:-9.77 [[ 5.71052600e-01 -8.20250213e-01 3.29926838e-02 1.09886734e+02] [ 8.18961687e-01 5.72004365e-01 4.59647774e-02 5.15860591e+01] [-5.65745776e-02 7.71438326e-04 9.98398078e-01 -9.77090821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.123201008 meters 0.06295151834497499 Centerline is valid? [True, True] Translation: X:109.89, Y:51.61, Z:-9.78 [[ 5.74967673e-01 -8.17531379e-01 3.24749196e-02 1.09894606e+02] [ 8.16276894e-01 5.75883858e-01 4.52748791e-02 5.16126181e+01] [-5.57154163e-02 4.76934640e-04 9.98446576e-01 -9.77530765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.153201008 meters 0.06264525028912674 Centerline is valid? [True, True] Translation: X:109.91, Y:51.64, Z:-9.78 [[ 5.77536402e-01 -8.15728509e-01 3.22289340e-02 1.09905624e+02] [ 8.14489170e-01 5.78434885e-01 4.49497141e-02 5.16388473e+01] [-5.53091030e-02 2.90021542e-04 9.98469238e-01 -9.77719760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.183201008 meters 0.06269736147609148 Centerline is valid? [True, True] Translation: X:109.92, Y:51.66, Z:-9.78 [[ 5.80485427e-01 -8.13644900e-01 3.19162431e-02 1.09917066e+02] [ 8.12424850e-01 5.81362169e-01 4.45408911e-02 5.16646411e+01] [-5.47953652e-02 7.42108902e-05 9.98497603e-01 -9.78057934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.213201008 meters 0.06269736147609148 Centerline is valid? [True, True] Translation: X:109.93, Y:51.69, Z:-9.78 [[ 5.80247665e-01 -8.13814941e-01 3.19043566e-02 1.09932509e+02] [ 8.12594681e-01 5.81124114e-01 4.45494028e-02 5.16865045e+01] [-5.47953605e-02 7.56234979e-05 9.98497603e-01 -9.78264322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.243201008 meters 0.0633177917451006 Centerline is valid? [True, True] Translation: X:109.94, Y:51.72, Z:-9.79 [[ 5.87310984e-01 -8.08765346e-01 3.10551583e-02 1.09938728e+02] [ 8.07600634e-01 5.88131322e-01 4.33908298e-02 5.17154401e+01] [-5.33575108e-02 -4.03745387e-04 9.98575392e-01 -9.78834089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.273201008 meters 0.06370858475867582 Centerline is valid? [True, True] Translation: X:109.95, Y:51.74, Z:-9.79 [[ 5.90979604e-01 -8.06124839e-01 3.00973833e-02 1.09951082e+02] [ 8.05026365e-01 5.91745165e-01 4.20738842e-02 5.17404353e+01] [-5.17267842e-02 -6.35620305e-04 9.98661072e-01 -9.78986285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.303201008 meters 0.06431558362086852 Centerline is valid? [True, True] Translation: X:109.96, Y:51.77, Z:-9.79 [[ 5.94257693e-01 -8.03710777e-01 3.01128176e-02 1.09964223e+02] [ 8.02606724e-01 5.95019533e-01 4.21212742e-02 5.17657310e+01] [-5.17710367e-02 -8.62141397e-04 9.98658609e-01 -9.79190544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.333201008 meters 0.06482218791706743 Centerline is valid? [True, True] Translation: X:109.98, Y:51.79, Z:-9.79 [[ 5.96696422e-01 -8.01910787e-01 2.98742366e-02 1.09977785e+02] [ 8.00820907e-01 5.97442922e-01 4.18070521e-02 5.17898597e+01] [-5.13736773e-02 -1.02220510e-03 9.98678978e-01 -9.79389406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.363201008 meters 0.06580060564699643 Centerline is valid? [True, True] Translation: X:109.99, Y:51.81, Z:-9.80 [[ 6.00156738e-01 -7.99304438e-01 3.04023949e-02 1.09989877e+02] [ 7.98170935e-01 6.00924927e-01 4.25721848e-02 5.18140476e+01] [-5.22976932e-02 -1.28367559e-03 9.98630714e-01 -9.79664639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.393201008 meters 0.06622262786933811 Centerline is valid? [True, True] Translation: X:110.01, Y:51.84, Z:-9.80 [[ 6.00774676e-01 -7.98827517e-01 3.07308729e-02 1.10005408e+02] [ 7.97667402e-01 6.01558611e-01 4.30575640e-02 5.18364090e+01] [-5.28819881e-02 -1.35487854e-03 9.98599850e-01 -9.79983070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.423201008 meters 0.06630943407264756 Centerline is valid? [True, True] Translation: X:110.02, Y:51.86, Z:-9.80 [[ 6.00677172e-01 -7.98916884e-01 3.03108504e-02 1.10023272e+02] [ 7.97786970e-01 6.01439942e-01 4.24964343e-02 5.18586970e+01] [-5.21812750e-02 -1.34503650e-03 9.98636723e-01 -9.80177954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.453201008 meters 0.06663278859659613 Centerline is valid? [True, True] Translation: X:110.04, Y:51.88, Z:-9.81 [[ 5.99927908e-01 -7.99466690e-01 3.06515337e-02 1.10039933e+02] [ 7.98310652e-01 6.00708958e-01 4.29982684e-02 5.18796023e+01] [-5.27883342e-02 -1.32641536e-03 9.98604843e-01 -9.80529205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.483201008 meters 0.06546086581602388 Centerline is valid? [True, True] Translation: X:110.06, Y:51.90, Z:-9.80 [[ 5.98103599e-01 -8.00823765e-01 3.08768981e-02 1.10064277e+02] [ 7.99651173e-01 5.98898810e-01 4.33384012e-02 5.18969448e+01] [-5.31985591e-02 -1.23010592e-03 9.98583196e-01 -9.80438080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.513201008 meters 0.06607167158256246 Centerline is valid? [True, True] Translation: X:110.08, Y:51.92, Z:-9.81 [[ 5.97170161e-01 -8.01527600e-01 3.06806989e-02 1.10079808e+02] [ 8.00369584e-01 5.97956628e-01 4.30859675e-02 5.19174048e+01] [-5.28803194e-02 -1.17375594e-03 9.98600167e-01 -9.80966891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.543201008 meters 0.06553641221121344 Centerline is valid? [True, True] Translation: X:110.10, Y:51.94, Z:-9.81 [[ 5.95714633e-01 -8.02623243e-01 3.03316113e-02 1.10101046e+02] [ 8.01491456e-01 5.96485342e-01 4.26225576e-02 5.19352020e+01] [-5.23022169e-02 -1.08035394e-03 9.98630718e-01 -9.81155089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.573201008 meters 0.065577157723684 Centerline is valid? [True, True] Translation: X:110.12, Y:51.95, Z:-9.81 [[ 5.94605194e-01 -8.03451195e-01 3.01801393e-02 1.10118438e+02] [ 8.02330389e-01 5.95369751e-01 4.24359090e-02 5.19546971e+01] [-5.20635238e-02 -1.01816898e-03 9.98643256e-01 -9.81456109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.603201008 meters 0.06534605638538278 Centerline is valid? [True, True] Translation: X:110.14, Y:51.97, Z:-9.82 [[ 5.93300397e-01 -8.04426506e-01 2.98770071e-02 1.10137553e+02] [ 8.03327874e-01 5.94051439e-01 4.20382472e-02 5.19744849e+01] [-5.15651594e-02 -9.40276187e-04 9.98669190e-01 -9.81682831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63320100800001 meters 0.06491945866938141 Centerline is valid? [True, True] Translation: X:110.16, Y:51.99, Z:-9.82 [[ 5.91555150e-01 -8.05711081e-01 2.98690300e-02 1.10157734e+02] [ 8.04613249e-01 5.92308147e-01 4.20544802e-02 5.19945632e+01] [-5.15754305e-02 -8.44527085e-04 9.98668745e-01 -9.81854156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66320100800002 meters 0.06450392864015099 Centerline is valid? [True, True] Translation: X:110.18, Y:52.01, Z:-9.82 [[ 5.88893717e-01 -8.07649253e-01 3.01143473e-02 1.10177442e+02] [ 8.06534554e-01 5.89662786e-01 4.24241953e-02 5.20139318e+01] [-5.20211796e-02 -6.95080357e-04 9.98645740e-01 -9.82034109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69320100800002 meters 0.06369185177679043 Centerline is valid? [True, True] Translation: X:110.20, Y:52.03, Z:-9.82 [[ 5.83023243e-01 -8.11909597e-01 2.97775799e-02 1.10203303e+02] [ 8.10824081e-01 5.83783093e-01 4.19715437e-02 5.20296061e+01] [-5.14607468e-02 -3.26006685e-04 9.98674965e-01 -9.82428230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72320100800002 meters 0.06336789378209576 Centerline is valid? [True, True] Translation: X:110.22, Y:52.05, Z:-9.82 [[ 5.79862942e-01 -8.14169629e-01 2.97789069e-02 1.10224329e+02] [ 8.13085882e-01 5.80627071e-01 4.19946740e-02 5.20479175e+01] [-5.14812276e-02 -1.38346427e-04 9.98673953e-01 -9.82450545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75320100800002 meters 0.06342696658148798 Centerline is valid? [True, True] Translation: X:110.24, Y:52.07, Z:-9.83 [[ 5.76577000e-01 -8.16482948e-01 3.02416771e-02 1.10244372e+02] [ 8.15366991e-01 5.77369547e-01 4.26740743e-02 5.20659389e+01] [-5.23032774e-02 5.31755487e-05 9.98631245e-01 -9.82893807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.783201008 meters 0.06322800373217748 Centerline is valid? [True, True] Translation: X:110.26, Y:52.09, Z:-9.83 [[ 5.74118137e-01 -8.18191741e-01 3.08324619e-02 1.10264542e+02] [ 8.17032584e-01 5.74945421e-01 4.35375688e-02 5.20855936e+01] [-5.33490620e-02 1.95418134e-04 9.98575906e-01 -9.82919219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.813201008 meters 0.06333154969642245 Centerline is valid? [True, True] Translation: X:110.29, Y:52.10, Z:-9.83 [[ 5.71158859e-01 -8.20246338e-01 3.12009968e-02 1.10285834e+02] [ 8.19060705e-01 5.72010318e-01 4.40880530e-02 5.21030380e+01] [-5.40103562e-02 3.74228445e-04 9.98540305e-01 -9.83042608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.843201008 meters 0.06324880872637954 Centerline is valid? [True, True] Translation: X:110.30, Y:52.12, Z:-9.83 [[ 5.71010263e-01 -8.20345249e-01 3.13201494e-02 1.10303292e+02] [ 8.19149677e-01 5.71868457e-01 4.42750005e-02 5.21245241e+01] [-5.42317919e-02 3.74410580e-04 9.98528303e-01 -9.83260976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.873201008 meters 0.06309329434695127 Centerline is valid? [True, True] Translation: X:110.32, Y:52.15, Z:-9.83 [[ 5.71202394e-01 -8.20205077e-01 3.14874093e-02 1.10319679e+02] [ 8.18994985e-01 5.72069498e-01 4.45387822e-02 5.21464066e+01] [-5.45439218e-02 3.47371327e-04 9.98511312e-01 -9.83439119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.903201008 meters 0.063097196284469 Centerline is valid? [True, True] Translation: X:110.34, Y:52.17, Z:-9.84 [[ 5.72198159e-01 -8.19503746e-01 3.16682351e-02 1.10335048e+02] [ 8.18277109e-01 5.73073764e-01 4.48222440e-02 5.21692058e+01] [-5.48802316e-02 2.66186402e-04 9.98492909e-01 -9.83623180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.933201008 meters 0.06302426908292359 Centerline is valid? [True, True] Translation: X:110.35, Y:52.19, Z:-9.84 [[ 5.73432471e-01 -8.18650717e-01 3.14038913e-02 1.10349459e+02] [ 8.17441761e-01 5.74291716e-01 4.44746215e-02 5.21920566e+01] [-5.44441754e-02 1.67660150e-04 9.98516802e-01 -9.83797210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.963201008 meters 0.06334308915863936 Centerline is valid? [True, True] Translation: X:110.36, Y:52.22, Z:-9.84 [[ 5.75957167e-01 -8.16920724e-01 3.02303180e-02 1.10364394e+02] [ 8.15796704e-01 5.76749972e-01 4.28393150e-02 5.22155997e+01] [-5.24316593e-02 -1.18167589e-05 9.98624515e-01 -9.84240985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.993201008 meters 0.06334062089046195 Centerline is valid? [True, True] Translation: X:110.38, Y:52.24, Z:-9.84 [[ 5.76634699e-01 -8.16445899e-01 3.01416339e-02 1.10380265e+02] [ 8.15326668e-01 5.77421934e-01 4.27356471e-02 5.22382852e+01] [-5.22957843e-02 -6.75790940e-05 9.98631637e-01 -9.84446733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.023201008 meters 0.06340278819758276 Centerline is valid? [True, True] Translation: X:110.40, Y:52.26, Z:-9.85 [[ 5.77279819e-01 -8.15981961e-01 3.03553790e-02 1.10396212e+02] [ 8.14844700e-01 5.78077350e-01 4.30661339e-02 5.22609089e+01] [-5.26889455e-02 -1.26290259e-04 9.98610965e-01 -9.84580729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.053201008 meters 0.06366034938063214 Centerline is valid? [True, True] Translation: X:110.41, Y:52.28, Z:-9.85 [[ 5.77697293e-01 -8.15680782e-01 3.05073776e-02 1.10412042e+02] [ 8.14530025e-01 5.78502232e-01 4.33128728e-02 5.22817062e+01] [-5.29780639e-02 -1.72554344e-04 9.98595661e-01 -9.84972730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.083201008 meters 0.06358442292807541 Centerline is valid? [True, True] Translation: X:110.43, Y:52.30, Z:-9.85 [[ 5.77307271e-01 -8.15950540e-01 3.06762339e-02 1.10428403e+02] [ 8.14786365e-01 5.78121692e-01 4.35716444e-02 5.23033923e+01] [-5.32869030e-02 -1.59649988e-04 9.98579231e-01 -9.85175426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.113201008 meters 0.06365710897833345 Centerline is valid? [True, True] Translation: X:110.45, Y:52.32, Z:-9.85 [[ 5.77759284e-01 -8.15612379e-01 3.11553702e-02 1.10446780e+02] [ 8.14409467e-01 5.78598655e-01 4.42811096e-02 5.23238462e+01] [-5.41426764e-02 -2.10593794e-04 9.98533187e-01 -9.85193803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.143201008 meters 0.0635589467556087 Centerline is valid? [True, True] Translation: X:110.46, Y:52.35, Z:-9.85 [[ 5.78161995e-01 -8.15309149e-01 3.16180311e-02 1.10463096e+02] [ 8.14068159e-01 5.79025841e-01 4.49678549e-02 5.23459172e+01] [-5.49703606e-02 -2.59472309e-04 9.98487953e-01 -9.85164329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.173201008 meters 0.0634919005818927 Centerline is valid? [True, True] Translation: X:110.48, Y:52.37, Z:-9.85 [[ 5.78390842e-01 -8.15122478e-01 3.22394012e-02 1.10479375e+02] [ 8.13830227e-01 5.79288577e-01 4.58814400e-02 5.23684398e+01] [-5.60749099e-02 -3.00005481e-04 9.98426519e-01 -9.85167127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.203201008 meters 0.06359607775926948 Centerline is valid? [True, True] Translation: X:110.49, Y:52.39, Z:-9.85 [[ 5.78953380e-01 -8.14700635e-01 3.28003018e-02 1.10493174e+02] [ 8.13360580e-01 5.79881663e-01 4.67099917e-02 5.23904796e+01] [-5.70749535e-02 -3.64435086e-04 9.98369830e-01 -9.85417930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.233201008 meters 0.06368626266505231 Centerline is valid? [True, True] Translation: X:110.51, Y:52.41, Z:-9.86 [[ 5.79159328e-01 -8.14555636e-01 3.27656625e-02 1.10508041e+02] [ 8.13216347e-01 5.80085303e-01 4.66927682e-02 5.24133002e+01] [-5.70407367e-02 -3.96979846e-04 9.98371773e-01 -9.85671776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.263201008 meters 0.06393528751424465 Centerline is valid? [True, True] Translation: X:110.52, Y:52.44, Z:-9.86 [[ 5.79534972e-01 -8.14282934e-01 3.29016584e-02 1.10521998e+02] [ 8.12930348e-01 5.80468007e-01 4.69163269e-02 5.24359205e+01] [-5.73015244e-02 -4.42895557e-04 9.98356820e-01 -9.86101362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.293201008 meters 0.06407550170040126 Centerline is valid? [True, True] Translation: X:110.54, Y:52.46, Z:-9.86 [[ 5.79301398e-01 -8.14453959e-01 3.27816849e-02 1.10539749e+02] [ 8.13109688e-01 5.80228018e-01 4.67769551e-02 5.24567311e+01] [-5.71185283e-02 -4.42849880e-04 9.98367306e-01 -9.86307132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.323201008 meters 0.06386743888047784 Centerline is valid? [True, True] Translation: X:110.56, Y:52.48, Z:-9.86 [[ 5.77846994e-01 -8.15487213e-01 3.27636376e-02 1.10557265e+02] [ 8.14144392e-01 5.78774980e-01 4.67806751e-02 5.24767878e+01] [-5.71118160e-02 -3.57740687e-04 9.98367724e-01 -9.86486876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.353201008 meters 0.063649553477872 Centerline is valid? [True, True] Translation: X:110.57, Y:52.50, Z:-9.87 [[ 5.76541810e-01 -8.16388225e-01 3.33137660e-02 1.10574514e+02] [ 8.14999469e-01 5.77503403e-01 4.75992080e-02 5.24969422e+01] [-5.80982462e-02 -2.92231891e-04 9.98310828e-01 -9.86673183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38320100800001 meters 0.06361366813002946 Centerline is valid? [True, True] Translation: X:110.59, Y:52.52, Z:-9.87 [[ 5.75668461e-01 -8.17020498e-01 3.29139615e-02 1.10590853e+02] [ 8.15664091e-01 5.76608573e-01 4.70600132e-02 5.25168779e+01] [-5.74274678e-02 -2.44228913e-04 9.98349651e-01 -9.86954336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41320100800002 meters 0.06373176015444322 Centerline is valid? [True, True] Translation: X:110.61, Y:52.54, Z:-9.87 [[ 5.74150303e-01 -8.18116060e-01 3.22109098e-02 1.10609898e+02] [ 8.16817267e-01 5.75053121e-01 4.60810328e-02 5.25383945e+01] [-5.62226172e-02 -1.47011608e-04 9.98418247e-01 -9.87183445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44320100800002 meters 0.06370019565540867 Centerline is valid? [True, True] Translation: X:110.63, Y:52.56, Z:-9.87 [[ 5.73435977e-01 -8.18627437e-01 3.19421425e-02 1.10626319e+02] [ 8.17349666e-01 5.74324915e-01 4.57210656e-02 5.25596630e+01] [-5.57736870e-02 -1.10204349e-04 9.98443430e-01 -9.87469695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47320100800002 meters 0.06384477937669157 Centerline is valid? [True, True] Translation: X:110.64, Y:52.58, Z:-9.88 [[ 5.70776612e-01 -8.20518171e-01 3.10481962e-02 1.10644697e+02] [ 8.19312283e-01 5.71620440e-01 4.44685823e-02 5.25781602e+01] [-5.42350634e-02 5.65417952e-05 9.98528194e-01 -9.87969941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50320100800002 meters 0.06376939015942616 Centerline is valid? [True, True] Translation: X:110.66, Y:52.60, Z:-9.88 [[ 5.69029605e-01 -8.21739560e-01 3.08124021e-02 1.10662203e+02] [ 8.20552078e-01 5.69863205e-01 4.41612393e-02 5.25993163e+01] [-5.38478915e-02 1.54128020e-04 9.98549138e-01 -9.88123309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.533201008 meters 0.06394674260452156 Centerline is valid? [True, True] Translation: X:110.68, Y:52.62, Z:-9.89 [[ 5.67742517e-01 -8.22643863e-01 3.04221669e-02 1.10678702e+02] [ 8.21486161e-01 5.68556967e-01 4.36286858e-02 5.26198849e+01] [-5.31876056e-02 2.21529160e-04 9.98584513e-01 -9.88513491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.563201008 meters 0.06411608930307594 Centerline is valid? [True, True] Translation: X:110.70, Y:52.64, Z:-9.89 [[ 5.66548090e-01 -8.23491764e-01 2.97418289e-02 1.10695281e+02] [ 8.22384970e-01 5.67328156e-01 4.26816535e-02 5.26409887e+01] [-5.20213671e-02 2.78023818e-04 9.98645933e-01 -9.88823990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.593201008 meters 0.06420612004798987 Centerline is valid? [True, True] Translation: X:110.71, Y:52.66, Z:-9.89 [[ 5.65784559e-01 -8.24036396e-01 2.91864718e-02 1.10711419e+02] [ 8.22969868e-01 5.66536781e-01 4.19126816e-02 5.26611235e+01] [-5.10727849e-02 3.06038776e-04 9.98694887e-01 -9.89036998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.623201008 meters 0.0641620206156248 Centerline is valid? [True, True] Translation: X:110.73, Y:52.68, Z:-9.89 [[ 5.66415714e-01 -8.23607606e-01 2.90473883e-02 1.10725515e+02] [ 8.22549736e-01 5.67159983e-01 4.17311018e-02 5.26835245e+01] [-5.08445691e-02 2.55769759e-04 9.98706546e-01 -9.89258120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.653201008 meters 0.06401843849361816 Centerline is valid? [True, True] Translation: X:110.74, Y:52.71, Z:-9.89 [[ 5.66855452e-01 -8.23291512e-01 2.94275919e-02 1.10739746e+02] [ 8.22203749e-01 5.67618746e-01 4.23078511e-02 5.27075262e+01] [-5.15353475e-02 2.13040321e-04 9.98671148e-01 -9.89243646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.683201008 meters 0.06409064360680736 Centerline is valid? [True, True] Translation: X:110.75, Y:52.73, Z:-9.89 [[ 5.67498367e-01 -8.22855447e-01 2.92321160e-02 1.10753679e+02] [ 8.21780145e-01 5.68250727e-01 4.20535958e-02 5.27316263e+01] [-5.12152015e-02 1.57025571e-04 9.98687628e-01 -9.89455163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.713201008 meters 0.06414823872455747 Centerline is valid? [True, True] Translation: X:110.76, Y:52.76, Z:-9.90 [[ 5.69820738e-01 -8.21231489e-01 2.97181613e-02 1.10764138e+02] [ 8.20116451e-01 5.70595165e-01 4.27804346e-02 5.27563949e+01] [-5.20896791e-02 -4.82581933e-06 9.98642411e-01 -9.89741430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.743201008 meters 0.06421531535032793 Centerline is valid? [True, True] Translation: X:110.78, Y:52.78, Z:-9.90 [[ 5.71076390e-01 -8.20356000e-01 2.97958162e-02 1.10776601e+02] [ 8.19232378e-01 5.71853148e-01 4.29218834e-02 5.27807329e+01] [-5.22500559e-02 -1.01976829e-04 9.98634028e-01 -9.90000946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.773201008 meters 0.06407237433832147 Centerline is valid? [True, True] Translation: X:110.79, Y:52.80, Z:-9.90 [[ 5.71754535e-01 -8.19846391e-01 3.08001227e-02 1.10790125e+02] [ 8.18643358e-01 5.72583502e-01 4.43980281e-02 5.28048997e+01] [-5.40352052e-02 -1.70457996e-04 9.98539017e-01 -9.90130050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.803201008 meters 0.06417602481084475 Centerline is valid? [True, True] Translation: X:110.80, Y:52.83, Z:-9.90 [[ 5.74441790e-01 -8.17969789e-01 3.06928925e-02 1.10802605e+02] [ 8.16770860e-01 5.75261064e-01 4.42726694e-02 5.28307217e+01] [-5.38701321e-02 -3.63011262e-04 9.98547884e-01 -9.90162732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.833201008 meters 0.06455554979416404 Centerline is valid? [True, True] Translation: X:110.82, Y:52.85, Z:-9.91 [[ 5.75441714e-01 -8.17284823e-01 3.02051796e-02 1.10815826e+02] [ 8.16121499e-01 5.76233746e-01 4.35932145e-02 5.28546630e+01] [-5.30333164e-02 -4.34257640e-04 9.98592649e-01 -9.90604359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.863201008 meters 0.06466159477612153 Centerline is valid? [True, True] Translation: X:110.83, Y:52.88, Z:-9.91 [[ 5.76125710e-01 -8.16801917e-01 3.02290490e-02 1.10829900e+02] [ 8.15634716e-01 5.76918005e-01 4.36534659e-02 5.28782764e+01] [-5.30959172e-02 -4.94022220e-04 9.98589295e-01 -9.90772707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.893201008 meters 0.06487902997930088 Centerline is valid? [True, True] Translation: X:110.84, Y:52.90, Z:-9.91 [[ 5.76275460e-01 -8.16714622e-01 2.97291082e-02 1.10843930e+02] [ 8.15584146e-01 5.77041563e-01 4.29597047e-02 5.29016710e+01] [-5.22407500e-02 -5.10034262e-04 9.98634390e-01 -9.91214419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.923201008 meters 0.06494083183433316 Centerline is valid? [True, True] Translation: X:110.86, Y:52.92, Z:-9.91 [[ 5.75447672e-01 -8.17320049e-01 2.91189771e-02 1.10860544e+02] [ 8.16234986e-01 5.76183761e-01 4.21036947e-02 5.29245746e+01] [-5.11900756e-02 -4.60545233e-04 9.98688822e-01 -9.91448000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.953201008 meters 0.06484591813205055 Centerline is valid? [True, True] Translation: X:110.88, Y:52.94, Z:-9.92 [[ 5.73605119e-01 -8.18622179e-01 2.88945590e-02 1.10877838e+02] [ 8.17554329e-01 5.74332310e-01 4.18009117e-02 5.29449379e+01] [-5.08142322e-02 -3.54345156e-04 9.98708060e-01 -9.91751315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.983201008 meters 0.0645256325241102 Centerline is valid? [True, True] Translation: X:110.90, Y:52.97, Z:-9.92 [[ 5.70831138e-01 -8.20554588e-01 2.90169044e-02 1.10896902e+02] [ 8.19478632e-01 5.71568131e-01 4.20076529e-02 5.29655558e+01] [-5.10547101e-02 -2.00543184e-04 9.98695838e-01 -9.91822307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.013201008 meters 0.06437497839335508 Centerline is valid? [True, True] Translation: X:110.92, Y:52.99, Z:-9.92 [[ 5.68296125e-01 -8.22320356e-01 2.87879650e-02 1.10915230e+02] [ 8.21262254e-01 5.69024806e-01 4.17022963e-02 5.29862084e+01] [-5.06737133e-02 -5.67843289e-05 9.98715261e-01 -9.91958266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.043201008 meters 0.06442057321665333 Centerline is valid? [True, True] Translation: X:110.93, Y:53.00, Z:-9.92 [[ 5.63573649e-01 -8.25570868e-01 2.85916883e-02 1.10934727e+02] [ 8.24530013e-01 5.64298410e-01 4.14434884e-02 5.30043079e+01] [-5.03487809e-02 2.18247175e-04 9.98731672e-01 -9.92232454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.073201008 meters 0.0645472042634561 Centerline is valid? [True, True] Translation: X:110.95, Y:53.02, Z:-9.93 [[ 5.62109453e-01 -8.26575199e-01 2.83972575e-02 1.10951028e+02] [ 8.25548442e-01 5.62826222e-01 4.11875507e-02 5.30241207e+01] [-5.00273291e-02 2.91400100e-04 9.98747807e-01 -9.92511301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.103201008 meters 0.06466006308236544 Centerline is valid? [True, True] Translation: X:110.97, Y:53.05, Z:-9.93 [[ 5.60796882e-01 -8.27472664e-01 2.82107788e-02 1.10967499e+02] [ 8.26458967e-01 5.61505893e-01 4.09476369e-02 5.30452930e+01] [-4.97235687e-02 3.51743994e-04 9.98762956e-01 -9.92699009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13320100800001 meters 0.06466006308236544 Centerline is valid? [True, True] Translation: X:110.98, Y:53.07, Z:-9.93 [[ 5.60529897e-01 -8.27653993e-01 2.81975590e-02 1.10982011e+02] [ 8.26640068e-01 5.61238580e-01 4.09567367e-02 5.30668484e+01] [-4.97235646e-02 3.51756714e-04 9.98762957e-01 -9.92898875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16320100800002 meters 0.06472469521646985 Centerline is valid? [True, True] Translation: X:111.00, Y:53.09, Z:-9.93 [[ 5.59865301e-01 -8.28096095e-01 2.84201060e-02 1.10997127e+02] [ 8.27065049e-01 5.60586047e-01 4.13120966e-02 5.30876475e+01] [-5.01423007e-02 3.76066971e-04 9.98742013e-01 -9.93099523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19320100800002 meters 0.0647473953032748 Centerline is valid? [True, True] Translation: X:111.01, Y:53.11, Z:-9.93 [[ 5.58915318e-01 -8.28735016e-01 2.84945774e-02 1.11012216e+02] [ 8.27698397e-01 5.59641041e-01 4.14399376e-02 5.31096846e+01] [-5.02894623e-02 4.23500169e-04 9.98734595e-01 -9.93214352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22320100800002 meters 0.06461151966469128 Centerline is valid? [True, True] Translation: X:111.03, Y:53.13, Z:-9.93 [[ 5.58177513e-01 -8.29222028e-01 2.87870169e-02 1.11027455e+02] [ 8.28163081e-01 5.58919154e-01 4.18961805e-02 5.31329353e+01] [-5.08308509e-02 4.54838809e-04 9.98707173e-01 -9.93283787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25320100800002 meters 0.06452620516947014 Centerline is valid? [True, True] Translation: X:111.04, Y:53.16, Z:-9.93 [[ 5.58325978e-01 -8.29108482e-01 2.91757914e-02 1.11041943e+02] [ 8.28019135e-01 5.59087592e-01 4.24897303e-02 5.31560839e+01] [-5.15404188e-02 4.34993305e-04 9.98670815e-01 -9.93456787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.283201008 meters 0.06453553518195793 Centerline is valid? [True, True] Translation: X:111.06, Y:53.18, Z:-9.94 [[ 5.58200768e-01 -8.29179180e-01 2.95599313e-02 1.11056100e+02] [ 8.28059585e-01 5.58982737e-01 4.30769426e-02 5.31782965e+01] [-5.22419952e-02 4.31802029e-04 9.98634361e-01 -9.93635404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.313201008 meters 0.06458832560873884 Centerline is valid? [True, True] Translation: X:111.07, Y:53.20, Z:-9.94 [[ 5.58413396e-01 -8.29012736e-01 3.02053530e-02 1.11069783e+02] [ 8.27841778e-01 5.59229575e-01 4.40485268e-02 5.32007703e+01] [-5.34085164e-02 4.07965698e-04 9.98572663e-01 -9.93876540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.343201008 meters 0.06438199662877529 Centerline is valid? [True, True] Translation: X:111.09, Y:53.22, Z:-9.94 [[ 5.58177811e-01 -8.29172784e-01 3.01666303e-02 1.11085124e+02] [ 8.28003453e-01 5.58992245e-01 4.40221792e-02 5.32238307e+01] [-5.33649053e-02 4.05870396e-04 9.98574996e-01 -9.93906785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.373201008 meters 0.0644323178823035 Centerline is valid? [True, True] Translation: X:111.10, Y:53.25, Z:-9.94 [[ 5.57603139e-01 -8.29542490e-01 3.06267477e-02 1.11101159e+02] [ 8.28336149e-01 5.58443436e-01 4.47230721e-02 5.32464212e+01] [-5.42029949e-02 4.31516859e-04 9.98529844e-01 -9.94064651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.403201008 meters 0.06453470581556793 Centerline is valid? [True, True] Translation: X:111.12, Y:53.27, Z:-9.94 [[ 5.56800382e-01 -8.30073503e-01 3.08433826e-02 1.11116620e+02] [ 8.28849355e-01 5.57653797e-01 4.50665017e-02 5.32671979e+01] [-5.46084383e-02 4.71472448e-04 9.98507735e-01 -9.94341603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.433201008 meters 0.06468923047540351 Centerline is valid? [True, True] Translation: X:111.13, Y:53.29, Z:-9.94 [[ 5.54233599e-01 -8.31771550e-01 3.13242193e-02 1.11132179e+02] [ 8.30509649e-01 5.55117730e-01 4.58042515e-02 5.32890428e+01] [-5.54873028e-02 6.28811191e-04 9.98459195e-01 -9.94456633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.463201008 meters 0.06493147434565866 Centerline is valid? [True, True] Translation: X:111.15, Y:53.31, Z:-9.95 [[ 5.53084027e-01 -8.32531810e-01 3.14459165e-02 1.11147537e+02] [ 8.31259486e-01 5.53976814e-01 4.60147492e-02 5.33108814e+01] [-5.57290510e-02 6.89693546e-04 9.98445691e-01 -9.94670419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.493201008 meters 0.06497379839229149 Centerline is valid? [True, True] Translation: X:111.16, Y:53.33, Z:-9.95 [[ 5.52941094e-01 -8.32644175e-01 3.09810366e-02 1.11162041e+02] [ 8.31407544e-01 5.53807933e-01 4.53681466e-02 5.33315867e+01] [-5.49330668e-02 6.71955004e-04 9.98489813e-01 -9.95007942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.523201008 meters 0.06483261534685643 Centerline is valid? [True, True] Translation: X:111.18, Y:53.35, Z:-9.95 [[ 5.52756913e-01 -8.32781964e-01 3.05613351e-02 1.11176969e+02] [ 8.31577611e-01 5.53600722e-01 4.47762935e-02 5.33548965e+01] [-5.42076668e-02 6.63716232e-04 9.98529463e-01 -9.95113754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.553201008 meters 0.06492445983748374 Centerline is valid? [True, True] Translation: X:111.19, Y:53.38, Z:-9.96 [[ 5.53829699e-01 -8.32100918e-01 2.96770485e-02 1.11190399e+02] [ 8.30962939e-01 5.54623965e-01 4.35069044e-02 5.33768339e+01] [-5.26617374e-02 5.65111658e-04 9.98612248e-01 -9.95532051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.583201008 meters 0.06499743656227344 Centerline is valid? [True, True] Translation: X:111.20, Y:53.40, Z:-9.96 [[ 5.54644587e-01 -8.31579252e-01 2.90745443e-02 1.11203193e+02] [ 8.30484905e-01 5.55405894e-01 4.26510850e-02 5.34001988e+01] [-5.16159306e-02 4.89776740e-04 9.98666889e-01 -9.95818550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.613201008 meters 0.0649064203858306 Centerline is valid? [True, True] Translation: X:111.22, Y:53.42, Z:-9.96 [[ 5.55425367e-01 -8.31069340e-01 2.87474190e-02 1.11215763e+02] [ 8.29997274e-01 5.56168658e-01 4.22013069e-02 5.34240458e+01] [-5.10606256e-02 4.20602990e-04 9.98695467e-01 -9.96051758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.643201008 meters 0.06513980275947688 Centerline is valid? [True, True] Translation: X:111.23, Y:53.45, Z:-9.97 [[ 5.56333770e-01 -8.30472186e-01 2.84373809e-02 1.11228672e+02] [ 8.29421045e-01 5.57059986e-01 4.17720221e-02 5.34464972e+01] [-5.05318296e-02 3.47375652e-04 9.98722391e-01 -9.96609023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.673201008 meters 0.06514946271485249 Centerline is valid? [True, True] Translation: X:111.24, Y:53.47, Z:-9.97 [[ 5.57531737e-01 -8.29691946e-01 2.77423213e-02 1.11241775e+02] [ 8.28689242e-01 5.58221470e-01 4.07790436e-02 5.34704473e+01] [-4.93204035e-02 2.54152183e-04 9.98782976e-01 -9.96921734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.703201008 meters 0.0649133018599188 Centerline is valid? [True, True] Translation: X:111.26, Y:53.49, Z:-9.97 [[ 5.58565913e-01 -8.28987919e-01 2.79848408e-02 1.11255804e+02] [ 8.27965439e-01 5.59266483e-01 4.11610544e-02 5.34939085e+01] [-4.97730003e-02 1.79319050e-04 9.98760540e-01 -9.96759131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.733201008 meters 0.06475780163959212 Centerline is valid? [True, True] Translation: X:111.27, Y:53.52, Z:-9.97 [[ 5.59003680e-01 -8.28687056e-01 2.81540190e-02 1.11269684e+02] [ 8.27650279e-01 5.59712198e-01 4.14399678e-02 5.35158207e+01] [-5.00989128e-02 1.36587240e-04 9.98744252e-01 -9.96915523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.763201008 meters 0.06480037125276476 Centerline is valid? [True, True] Translation: X:111.28, Y:53.54, Z:-9.97 [[ 5.59292184e-01 -8.28491440e-01 2.81813155e-02 1.11283149e+02] [ 8.27451610e-01 5.60001715e-01 4.14959377e-02 5.35381435e+01] [-5.01606142e-02 1.10321233e-04 9.98741158e-01 -9.97095281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.793201008 meters 0.06462065706139287 Centerline is valid? [True, True] Translation: X:111.30, Y:53.56, Z:-9.97 [[ 5.59311329e-01 -8.28434835e-01 2.94374296e-02 1.11297762e+02] [ 8.27298308e-01 5.60085455e-01 4.33796393e-02 5.35616469e+01] [-5.24246805e-02 9.08119409e-05 9.98624877e-01 -9.97221578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.823201008 meters 0.06463063033165885 Centerline is valid? [True, True] Translation: X:111.31, Y:53.59, Z:-9.97 [[ 5.58875386e-01 -8.28702771e-01 3.01665484e-02 1.11311963e+02] [ 8.27508027e-01 5.59688938e-01 4.44832268e-02 5.35852137e+01] [-5.37472568e-02 1.02480390e-04 9.98554566e-01 -9.97329370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.853201008 meters 0.06463829575108682 Centerline is valid? [True, True] Translation: X:111.33, Y:53.61, Z:-9.98 [[ 5.58945786e-01 -8.28657549e-01 3.01044025e-02 1.11326496e+02] [ 8.27466158e-01 5.59755894e-01 4.44195487e-02 5.36086057e+01] [-5.36597110e-02 8.22546960e-05 9.98559276e-01 -9.97512503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88320100800001 meters 0.06449657858290217 Centerline is valid? [True, True] Translation: X:111.34, Y:53.63, Z:-9.98 [[ 5.58803916e-01 -8.28717477e-01 3.10729248e-02 1.11340718e+02] [ 8.27446548e-01 5.59667167e-01 4.58788880e-02 5.36320764e+01] [-5.54111321e-02 7.38820399e-05 9.98463620e-01 -9.97580678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91320100800002 meters 0.06437424324144042 Centerline is valid? [True, True] Translation: X:111.35, Y:53.66, Z:-9.98 [[ 5.58905485e-01 -8.28641641e-01 3.12680211e-02 1.11354432e+02] [ 8.27352916e-01 5.59779446e-01 4.61965775e-02 5.36555804e+01] [-5.57836033e-02 5.01678779e-05 9.98442881e-01 -9.97756216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94320100800002 meters 0.06435428942928081 Centerline is valid? [True, True] Translation: X:111.37, Y:53.68, Z:-9.98 [[ 5.60240084e-01 -8.27726556e-01 3.16195700e-02 1.11366186e+02] [ 8.26405342e-01 5.61131665e-01 4.67489729e-02 5.36788989e+01] [-5.64381083e-02 -6.00669019e-05 9.98406098e-01 -9.97910819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97320100800002 meters 0.0642834410061946 Centerline is valid? [True, True] Translation: X:111.38, Y:53.70, Z:-9.98 [[ 5.61205239e-01 -8.27068036e-01 3.17355152e-02 1.11380198e+02] [ 8.25734667e-01 5.62101809e-01 4.69448267e-02 5.37028374e+01] [-5.66651561e-02 -1.40567636e-04 9.98393229e-01 -9.98169984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.003201008 meters 0.06437657835765839 Centerline is valid? [True, True] Translation: X:111.39, Y:53.73, Z:-9.98 [[ 5.61764983e-01 -8.26696538e-01 3.15109104e-02 1.11394210e+02] [ 8.25380436e-01 5.62648024e-01 4.66297815e-02 5.37266771e+01] [-5.62782304e-02 -1.86489440e-04 9.98415107e-01 -9.98390472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.033201008 meters 0.06446416153703294 Centerline is valid? [True, True] Translation: X:111.41, Y:53.75, Z:-9.99 [[ 5.62801681e-01 -8.25997769e-01 3.13361257e-02 1.11408040e+02] [ 8.24693525e-01 5.63673320e-01 4.64001958e-02 5.37507248e+01] [-5.59897962e-02 -2.71408199e-04 9.98431304e-01 -9.98515380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.063201008 meters 0.06468864603814353 Centerline is valid? [True, True] Translation: X:111.42, Y:53.78, Z:-9.99 [[ 5.64812154e-01 -8.24645899e-01 3.07631380e-02 1.11419580e+02] [ 8.23385359e-01 5.65649157e-01 4.55804973e-02 5.37762186e+01] [-5.49889133e-02 -4.14501417e-04 9.98486879e-01 -9.98786420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.093201008 meters 0.06505790643900485 Centerline is valid? [True, True] Translation: X:111.43, Y:53.80, Z:-9.99 [[ 5.65379263e-01 -8.24265212e-01 3.05474904e-02 1.11431862e+02] [ 8.23020218e-01 5.66203713e-01 4.52888146e-02 5.38005956e+01] [-5.46260968e-02 -4.64154447e-04 9.98506772e-01 -9.99304122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.123201008 meters 0.06521504952729022 Centerline is valid? [True, True] Translation: X:111.45, Y:53.82, Z:-10.00 [[ 5.65907092e-01 -8.23913307e-01 3.02659394e-02 1.11445007e+02] [ 8.22689238e-01 5.66715630e-01 4.48978102e-02 5.38248571e+01] [-5.41440841e-02 -5.08526596e-04 9.98533004e-01 -9.99614221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.153201008 meters 0.06544778840772993 Centerline is valid? [True, True] Translation: X:111.46, Y:53.85, Z:-10.00 [[ 5.66032591e-01 -8.23840506e-01 2.98986003e-02 1.11457913e+02] [ 8.22644410e-01 5.66821440e-01 4.43805168e-02 5.38477197e+01] [-5.35096352e-02 -5.24902524e-04 9.98567195e-01 -1.00002152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.183201008 meters 0.06546362854060311 Centerline is valid? [True, True] Translation: X:111.47, Y:53.87, Z:-10.00 [[ 5.65810634e-01 -8.24006379e-01 2.95264938e-02 1.11473007e+02] [ 8.22838567e-01 5.66580283e-01 4.38574359e-02 5.38698473e+01] [-5.28679362e-02 -5.19465689e-04 9.98601378e-01 -1.00023427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.213201008 meters 0.06537717865056848 Centerline is valid? [True, True] Translation: X:111.49, Y:53.89, Z:-10.00 [[ 5.65065829e-01 -8.24545712e-01 2.87224422e-02 1.11488506e+02] [ 8.23439940e-01 5.65795145e-01 4.26909692e-02 5.38905888e+01] [-5.14516740e-02 -4.72001767e-04 9.98675374e-01 -1.00048445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.243201008 meters 0.06519837255625352 Centerline is valid? [True, True] Translation: X:111.50, Y:53.91, Z:-10.01 [[ 5.64045344e-01 -8.25249885e-01 2.85565798e-02 1.11504845e+02] [ 8.24156264e-01 5.64767607e-01 4.24735472e-02 5.39128503e+01] [-5.11791212e-02 -4.21922430e-04 9.98689401e-01 -1.00069733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.273201008 meters 0.06501147178493845 Centerline is valid? [True, True] Translation: X:111.52, Y:53.94, Z:-10.01 [[ 5.63183161e-01 -8.25839980e-01 2.85141119e-02 1.11520970e+02] [ 8.24749001e-01 5.63904407e-01 4.24370658e-02 5.39352162e+01] [-5.11254589e-02 -3.82855550e-04 9.98692165e-01 -1.00081336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.303201008 meters 0.06512064502227136 Centerline is valid? [True, True] Translation: X:111.54, Y:53.96, Z:-10.01 [[ 5.62310785e-01 -8.26449842e-01 2.80577985e-02 1.11536227e+02] [ 8.25392987e-01 5.63010253e-01 4.17836368e-02 5.39570017e+01] [-5.03289083e-02 -3.36679516e-04 9.98732641e-01 -1.00106486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.333201008 meters 0.06475930091999117 Centerline is valid? [True, True] Translation: X:111.55, Y:53.98, Z:-10.01 [[ 5.61026816e-01 -8.27295343e-01 2.88327529e-02 1.11553301e+02] [ 8.26178772e-01 5.61767153e-01 4.29686237e-02 5.39788468e+01] [-5.17450358e-02 -2.85541762e-04 9.98660287e-01 -1.00099474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.363201008 meters 0.06466617570606502 Centerline is valid? [True, True] Translation: X:111.57, Y:54.00, Z:-10.01 [[ 5.60025194e-01 -8.27960570e-01 2.92074607e-02 1.11568173e+02] [ 8.26814195e-01 5.60786265e-01 4.35551568e-02 5.40007670e+01] [-5.24410953e-02 -2.42842043e-04 9.98623990e-01 -1.00137376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.393201008 meters 0.06486527945727988 Centerline is valid? [True, True] Translation: X:111.58, Y:54.02, Z:-10.02 [[ 5.59714867e-01 -8.28168270e-01 2.92674531e-02 1.11582127e+02] [ 8.27015951e-01 5.60479490e-01 4.36733058e-02 5.40216257e+01] [-5.25726533e-02 -2.39947931e-04 9.98617073e-01 -1.00166800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.423201008 meters 0.06479315011551219 Centerline is valid? [True, True] Translation: X:111.60, Y:54.04, Z:-10.02 [[ 5.60676012e-01 -8.27507834e-01 2.95498595e-02 1.11596409e+02] [ 8.26330461e-01 5.61454077e-01 4.41280906e-02 5.40440115e+01] [-5.31072298e-02 -3.23612792e-04 9.98588763e-01 -1.00173860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.453201008 meters 0.06511908895045432 Centerline is valid? [True, True] Translation: X:111.61, Y:54.07, Z:-10.02 [[ 5.61706775e-01 -8.26829809e-01 2.89476287e-02 1.11609793e+02] [ 8.25697535e-01 5.62452051e-01 4.32581831e-02 5.40670156e+01] [-5.20488084e-02 -3.96428854e-04 9.98644463e-01 -1.00202374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.483201008 meters 0.06500637086680075 Centerline is valid? [True, True] Translation: X:111.62, Y:54.09, Z:-10.02 [[ 5.63136085e-01 -8.25857414e-01 2.89358297e-02 1.11624826e+02] [ 8.24723338e-01 5.63878782e-01 4.32681842e-02 5.40904385e+01] [-5.20496511e-02 -5.01821790e-04 9.98644372e-01 -1.00189706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.513201008 meters 0.06523892574237472 Centerline is valid? [True, True] Translation: X:111.64, Y:54.11, Z:-10.02 [[ 5.64732022e-01 -8.24760281e-01 2.91242510e-02 1.11637625e+02] [ 8.23608439e-01 5.65482176e-01 4.35780784e-02 5.41138154e+01] [-5.24107130e-02 -6.22957501e-04 9.98625420e-01 -1.00208358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.543201008 meters 0.06482896820571732 Centerline is valid? [True, True] Translation: X:111.65, Y:54.14, Z:-10.02 [[ 5.63406005e-01 -8.25655545e-01 2.94379807e-02 1.11654719e+02] [ 8.24478279e-01 5.64174267e-01 4.40790591e-02 5.41354980e+01] [-5.30022707e-02 -5.63430853e-04 9.98594233e-01 -1.00203021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.573201008 meters 0.06455103365389692 Centerline is valid? [True, True] Translation: X:111.67, Y:54.16, Z:-10.02 [[ 5.61640135e-01 -8.26857803e-01 2.94369339e-02 1.11671590e+02] [ 8.25680741e-01 5.62410843e-01 4.41062132e-02 5.41573027e+01] [-5.30252173e-02 -4.66310149e-04 9.98593065e-01 -1.00228058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.603201008 meters 0.06435121716087705 Centerline is valid? [True, True] Translation: X:111.69, Y:54.18, Z:-10.02 [[ 5.60158353e-01 -8.27857856e-01 2.95633246e-02 1.11687943e+02] [ 8.26670502e-01 5.60937803e-01 4.43245117e-02 5.41794039e+01] [-5.32775816e-02 -3.89617088e-04 9.98579665e-01 -1.00244788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63320100800001 meters 0.06428962302022265 Centerline is valid? [True, True] Translation: X:111.71, Y:54.20, Z:-10.03 [[ 5.57535077e-01 -8.29659228e-01 2.86391892e-02 1.11705417e+02] [ 8.28545978e-01 5.58270108e-01 4.29656708e-02 5.42004018e+01] [-5.16352686e-02 -2.25983558e-04 9.98665984e-01 -1.00290390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66320100800002 meters 0.06410155332367082 Centerline is valid? [True, True] Translation: X:111.72, Y:54.22, Z:-10.03 [[ 5.56340703e-01 -8.30464835e-01 2.85163232e-02 1.11721051e+02] [ 8.29360804e-01 5.57071028e-01 4.28080098e-02 5.42210012e+01] [-5.14361643e-02 -1.65517508e-04 9.98676271e-01 -1.00313785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69320100800002 meters 0.06405261630823111 Centerline is valid? [True, True] Translation: X:111.74, Y:54.24, Z:-10.03 [[ 5.55544922e-01 -8.31009839e-01 2.81511594e-02 1.11737706e+02] [ 8.29933166e-01 5.56257702e-01 4.22884020e-02 5.42429677e+01] [-5.08013774e-02 -1.29526146e-04 9.98708768e-01 -1.00330813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72320100800002 meters 0.06392990903594198 Centerline is valid? [True, True] Translation: X:111.75, Y:54.27, Z:-10.03 [[ 5.55727711e-01 -8.30905895e-01 2.76062621e-02 1.11754430e+02] [ 8.29869035e-01 5.56412950e-01 4.14971564e-02 5.42655794e+01] [-4.98407136e-02 -1.51537626e-04 9.98757168e-01 -1.00318229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.753201008 meters 0.06396892137519146 Centerline is valid? [True, True] Translation: X:111.77, Y:54.29, Z:-10.04 [[ 5.55275715e-01 -8.31227775e-01 2.70049273e-02 1.11769444e+02] [ 8.30234868e-01 5.55931981e-01 4.06164425e-02 5.42877873e+01] [-4.87744179e-02 -1.32891880e-04 9.98809811e-01 -1.00363920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.783201008 meters 0.06378838566465905 Centerline is valid? [True, True] Translation: X:111.79, Y:54.31, Z:-10.04 [[ 5.54568030e-01 -8.31695050e-01 2.71595876e-02 1.11785653e+02] [ 8.30690006e-01 5.55232683e-01 4.08751981e-02 5.43104477e+01] [-4.90755906e-02 -1.06880094e-04 9.98795062e-01 -1.00368404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.813201008 meters 0.06380355637074536 Centerline is valid? [True, True] Translation: X:111.80, Y:54.33, Z:-10.04 [[ 5.54551216e-01 -8.31715180e-01 2.68850719e-02 1.11799783e+02] [ 8.30729092e-01 5.55202526e-01 4.04886499e-02 5.43334238e+01] [-4.86016846e-02 -1.18818627e-04 9.98818233e-01 -1.00392160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.843201008 meters 0.06388028996599213 Centerline is valid? [True, True] Translation: X:111.81, Y:54.36, Z:-10.04 [[ 5.54476606e-01 -8.31781870e-01 2.63555158e-02 1.11814277e+02] [ 8.30833032e-01 5.55102607e-01 3.97186122e-02 5.43573354e+01] [-4.76672370e-02 -1.26008186e-04 9.98863263e-01 -1.00423948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.873201008 meters 0.06418336338959595 Centerline is valid? [True, True] Translation: X:111.83, Y:54.38, Z:-10.05 [[ 5.53123310e-01 -8.32703047e-01 2.56951122e-02 1.11829338e+02] [ 8.31800969e-01 5.53719813e-01 3.87494181e-02 5.43789033e+01] [-4.64946513e-02 -5.99872374e-05 9.98918537e-01 -1.00476976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.903201008 meters 0.06423603997061478 Centerline is valid? [True, True] Translation: X:111.85, Y:54.40, Z:-10.05 [[ 5.52013712e-01 -8.33451721e-01 2.52802309e-02 1.11846364e+02] [ 8.32578803e-01 5.52592280e-01 3.81354116e-02 5.44015711e+01] [-4.57536849e-02 -3.48571128e-06 9.98952752e-01 -1.00492410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.933201008 meters 0.06408712869231736 Centerline is valid? [True, True] Translation: X:111.86, Y:54.42, Z:-10.05 [[ 5.49999673e-01 -8.34783236e-01 2.52449567e-02 1.11863783e+02] [ 8.33913225e-01 5.50578731e-01 3.81024164e-02 5.44228477e+01] [-4.57065947e-02 9.57867413e-05 9.98954903e-01 -1.00519469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.963201008 meters 0.06415081182000061 Centerline is valid? [True, True] Translation: X:111.88, Y:54.44, Z:-10.05 [[ 5.48068066e-01 -8.36071611e-01 2.46100591e-02 1.11881135e+02] [ 8.35244910e-01 5.48620294e-01 3.71714094e-02 5.44434203e+01] [-4.45795380e-02 1.82964129e-04 9.99005821e-01 -1.00540056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.993201008 meters 0.06429217033743366 Centerline is valid? [True, True] Translation: X:111.90, Y:54.46, Z:-10.06 [[ 5.44688719e-01 -8.38295013e-01 2.39931349e-02 1.11900908e+02] [ 8.37510808e-01 5.45216792e-01 3.62532199e-02 5.44627709e+01] [-4.34723535e-02 3.47789912e-04 9.99054570e-01 -1.00554912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.023201008 meters 0.06429217033743366 Centerline is valid? [True, True] Translation: X:111.92, Y:54.49, Z:-10.06 [[ 5.44438636e-01 -8.38457763e-01 2.39823125e-02 1.11915514e+02] [ 8.37673401e-01 5.44966475e-01 3.62603760e-02 5.44852444e+01] [-4.34723500e-02 3.47795619e-04 9.99054570e-01 -1.00575549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.053201008 meters 0.06442115078045357 Centerline is valid? [True, True] Translation: X:111.93, Y:54.51, Z:-10.06 [[ 5.42806531e-01 -8.39513189e-01 2.40556757e-02 1.11932308e+02] [ 8.38724052e-01 5.43339147e-01 3.63941820e-02 5.45051890e+01] [-4.36237861e-02 4.21074058e-04 9.99047941e-01 -1.00595777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.083201008 meters 0.06446414026564505 Centerline is valid? [True, True] Translation: X:111.95, Y:54.53, Z:-10.06 [[ 5.42009158e-01 -8.40030751e-01 2.39668517e-02 1.11948778e+02] [ 8.39246824e-01 5.42538605e-01 3.62854044e-02 5.45269325e+01] [-4.34837978e-02 4.47082674e-04 9.99054032e-01 -1.00619394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.113201008 meters 0.0644105241919554 Centerline is valid? [True, True] Translation: X:111.96, Y:54.55, Z:-10.06 [[ 5.42234902e-01 -8.39885110e-01 2.39648497e-02 1.11962858e+02] [ 8.39100285e-01 5.42764058e-01 3.63027386e-02 5.45481721e+01] [-4.34973887e-02 4.24300384e-04 9.99053451e-01 -1.00633745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.143201008 meters 0.06433469281138675 Centerline is valid? [True, True] Translation: X:111.98, Y:54.57, Z:-10.06 [[ 5.42546601e-01 -8.39674894e-01 2.42746427e-02 1.11976457e+02] [ 8.38868065e-01 5.43089234e-01 3.68028940e-02 5.45715800e+01] [-4.40857632e-02 3.95937480e-04 9.99027672e-01 -1.00639449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.173201008 meters 0.06412358688703165 Centerline is valid? [True, True] Translation: X:111.99, Y:54.60, Z:-10.07 [[ 5.44879681e-01 -8.38159834e-01 2.43767550e-02 1.11988677e+02] [ 8.37343605e-01 5.45424628e-01 3.69819263e-02 5.45961395e+01] [-4.42924477e-02 2.61019650e-04 9.99018574e-01 -1.00650909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.203201008 meters 0.06425362051428504 Centerline is valid? [True, True] Translation: X:112.00, Y:54.62, Z:-10.07 [[ 5.45674219e-01 -8.37642384e-01 2.43902385e-02 1.12001875e+02] [ 8.36823702e-01 5.46218999e-01 3.70256215e-02 5.46187955e+01] [-4.43366415e-02 2.06402573e-04 9.99016626e-01 -1.00676408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.233201008 meters 0.06403146963708584 Centerline is valid? [True, True] Translation: X:112.02, Y:54.64, Z:-10.07 [[ 5.46747153e-01 -8.36930288e-01 2.48041223e-02 1.12015314e+02] [ 8.36081582e-01 5.47309488e-01 3.76817228e-02 5.46424696e+01] [-4.51125066e-02 1.35895174e-04 9.98981903e-01 -1.00684156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.263201008 meters 0.06407469623291867 Centerline is valid? [True, True] Translation: X:112.03, Y:54.67, Z:-10.07 [[ 5.47784916e-01 -8.36254379e-01 2.47042581e-02 1.12028122e+02] [ 8.35410747e-01 5.48341691e-01 3.75536148e-02 5.46670821e+01] [-4.49507494e-02 6.68989675e-05 9.98989202e-01 -1.00683247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.293201008 meters 0.0641696754580052 Centerline is valid? [True, True] Translation: X:112.04, Y:54.69, Z:-10.07 [[ 5.48780796e-01 -8.35594507e-01 2.49290627e-02 1.12040672e+02] [ 8.34733553e-01 5.49346721e-01 3.79219643e-02 5.46895994e+01] [-4.53820840e-02 -1.72067337e-06 9.98969702e-01 -1.00718813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.323201008 meters 0.06412791455376636 Centerline is valid? [True, True] Translation: X:112.05, Y:54.71, Z:-10.07 [[ 5.49255598e-01 -8.35283651e-01 2.48899627e-02 1.12054223e+02] [ 8.34424277e-01 5.49819262e-01 3.78801362e-02 5.47129604e+01] [-4.53256394e-02 -3.70877029e-05 9.98972264e-01 -1.00727189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.353201008 meters 0.06411452084581185 Centerline is valid? [True, True] Translation: X:112.07, Y:54.74, Z:-10.08 [[ 5.49126565e-01 -8.35387123e-01 2.42563403e-02 1.12068766e+02] [ 8.34569874e-01 5.49662035e-01 3.69428248e-02 5.47364071e+01] [-4.41943495e-02 -4.26756317e-05 9.99022952e-01 -1.00751705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38320100800001 meters 0.06400917075622967 Centerline is valid? [True, True] Translation: X:112.08, Y:54.76, Z:-10.07 [[ 5.48212279e-01 -8.36003056e-01 2.37104811e-02 1.12084630e+02] [ 8.35221843e-01 5.48724785e-01 3.61328522e-02 5.47586046e+01] [-4.32177035e-02 -4.96150216e-06 9.99065679e-01 -1.00744298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41320100800002 meters 0.06444954786003466 Centerline is valid? [True, True] Translation: X:112.10, Y:54.78, Z:-10.08 [[ 5.46648283e-01 -8.37022242e-01 2.38625608e-02 1.12099990e+02] [ 8.36230924e-01 5.47168861e-01 3.63878965e-02 5.47794274e+01] [-4.35143290e-02 6.32301476e-05 9.99052801e-01 -1.00807145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44320100800002 meters 0.06445393237567777 Centerline is valid? [True, True] Translation: X:112.12, Y:54.80, Z:-10.08 [[ 5.45069618e-01 -8.38063553e-01 2.34220698e-02 1.12116448e+02] [ 8.37301054e-01 5.45572603e-01 3.57418518e-02 5.48016651e+01] [-4.27323829e-02 1.29526270e-04 9.99086546e-01 -1.00816768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47320100800002 meters 0.06475841831395232 Centerline is valid? [True, True] Translation: X:112.13, Y:54.82, Z:-10.09 [[ 5.43047338e-01 -8.39378991e-01 2.32915958e-02 1.12132236e+02] [ 8.38625366e-01 5.43546558e-01 3.55617072e-02 5.48218326e+01] [-4.25098166e-02 2.21232636e-04 9.99096025e-01 -1.00859977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.503201008 meters 0.06504632441988822 Centerline is valid? [True, True] Translation: X:112.15, Y:54.84, Z:-10.09 [[ 5.40976864e-01 -8.40734051e-01 2.25895743e-02 1.12148425e+02] [ 8.40025314e-01 5.41448210e-01 3.45153190e-02 5.48424406e+01] [-4.12492885e-02 3.03825208e-04 9.99148840e-01 -1.00892550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.533201008 meters 0.06487295395273379 Centerline is valid? [True, True] Translation: X:112.16, Y:54.87, Z:-10.09 [[ 5.38534135e-01 -8.42323188e-01 2.17401302e-02 1.12164246e+02] [ 8.41667295e-01 5.38972623e-01 3.32366740e-02 5.48652188e+01] [-3.97133562e-02 3.98873149e-04 9.99211034e-01 -1.00876790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.563201008 meters 0.06494865916377263 Centerline is valid? [True, True] Translation: X:112.18, Y:54.89, Z:-10.09 [[ 5.37732180e-01 -8.42841392e-01 2.15055863e-02 1.12178626e+02] [ 8.42199232e-01 5.38161880e-01 3.28974926e-02 5.48867799e+01] [-3.93008552e-02 4.21947882e-04 9.99227334e-01 -1.00887962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.593201008 meters 0.06501988108758687 Centerline is valid? [True, True] Translation: X:112.19, Y:54.91, Z:-10.09 [[ 5.36885596e-01 -8.43386224e-01 2.12963367e-02 1.12194204e+02] [ 8.42756047e-01 5.37307620e-01 3.26001005e-02 5.49089194e+01] [-3.89371597e-02 4.45092207e-04 9.99241562e-01 -1.00912362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.623201008 meters 0.06506725049547168 Centerline is valid? [True, True] Translation: X:112.21, Y:54.93, Z:-10.09 [[ 5.36518732e-01 -8.43622721e-01 2.11743904e-02 1.12208829e+02] [ 8.42999288e-01 5.36936217e-01 3.24298995e-02 5.49301690e+01] [-3.87278972e-02 4.50747518e-04 9.99249692e-01 -1.00933861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.653201008 meters 0.06509566873003308 Centerline is valid? [True, True] Translation: X:112.22, Y:54.95, Z:-10.10 [[ 5.36697455e-01 -8.43522098e-01 2.06473411e-02 1.12222335e+02] [ 8.42928349e-01 5.37094307e-01 3.16465329e-02 5.49525914e+01] [-3.77841192e-02 4.19615426e-04 9.99285837e-01 -1.00962954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.683201008 meters 0.06438118123323552 Centerline is valid? [True, True] Translation: X:112.23, Y:54.98, Z:-10.09 [[ 5.37306627e-01 -8.43130677e-01 2.07906223e-02 1.12234491e+02] [ 8.42527610e-01 5.37708577e-01 3.18859246e-02 5.49772163e+01] [-3.80632971e-02 3.84154702e-04 9.99275256e-01 -1.00941623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.713201008 meters 0.06439357553267337 Centerline is valid? [True, True] Translation: X:112.25, Y:55.00, Z:-10.10 [[ 5.37961286e-01 -8.42700385e-01 2.13006120e-02 1.12246848e+02] [ 8.42066059e-01 5.38382707e-01 3.26927111e-02 5.50014012e+01] [-3.90180414e-02 3.49109519e-04 9.99238445e-01 -1.00960202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.743201008 meters 0.06431504054740235 Centerline is valid? [True, True] Translation: X:112.26, Y:55.02, Z:-10.10 [[ 5.39305238e-01 -8.41837085e-01 2.14518534e-02 1.12258967e+02] [ 8.41192283e-01 5.39731641e-01 3.29438670e-02 5.50246823e+01] [-3.93116130e-02 2.78333489e-04 9.99226961e-01 -1.00977283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.773201008 meters 0.06425273087949271 Centerline is valid? [True, True] Translation: X:112.27, Y:55.05, Z:-10.10 [[ 5.41383578e-01 -8.40493656e-01 2.17769433e-02 1.12271229e+02] [ 8.39827001e-01 5.41821360e-01 3.34697188e-02 5.50487439e+01] [-3.99302993e-02 1.68908830e-04 9.99202453e-01 -1.00978639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.803201008 meters 0.06378639213786667 Centerline is valid? [True, True] Translation: X:112.28, Y:55.07, Z:-10.10 [[ 5.42484925e-01 -8.39786435e-01 2.16529300e-02 1.12284730e+02] [ 8.39126004e-01 5.42916874e-01 3.32989082e-02 5.50729614e+01] [-3.97197125e-02 1.05380882e-04 9.99210855e-01 -1.00957186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.833201008 meters 0.0637633719021055 Centerline is valid? [True, True] Translation: X:112.30, Y:55.10, Z:-10.10 [[ 5.43468439e-01 -8.39136481e-01 2.21815913e-02 1.12298270e+02] [ 8.38441793e-01 5.43920918e-01 3.41378855e-02 5.50979051e+01] [-4.07113766e-02 4.51098172e-05 9.99170947e-01 -1.00982835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.863201008 meters 0.06418710309504128 Centerline is valid? [True, True] Translation: X:112.31, Y:55.12, Z:-10.10 [[ 5.46680059e-01 -8.37044823e-01 2.22907575e-02 1.12306165e+02] [ 8.36340838e-01 5.47134307e-01 3.43227831e-02 5.51234526e+01] [-4.09257460e-02 -1.20910255e-04 9.99162183e-01 -1.01028557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.893201008 meters 0.06450011384968106 Centerline is valid? [True, True] Translation: X:112.32, Y:55.15, Z:-10.11 [[ 5.48104936e-01 -8.36117349e-01 2.21078616e-02 1.12317588e+02] [ 8.35423131e-01 5.48550579e-01 3.40654442e-02 5.51477439e+01] [-4.06099892e-02 -2.02019216e-04 9.99175054e-01 -1.01070904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.923201008 meters 0.06480892048987978 Centerline is valid? [True, True] Translation: X:112.33, Y:55.17, Z:-10.11 [[ 5.49670976e-01 -8.35090703e-01 2.20303454e-02 1.12330174e+02] [ 8.34399634e-01 5.50112202e-01 3.39678693e-02 5.51723734e+01] [-4.04854137e-02 -2.89039737e-04 9.99180088e-01 -1.01101222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.953201008 meters 0.06531521649408033 Centerline is valid? [True, True] Translation: X:112.34, Y:55.20, Z:-10.11 [[ 5.53669558e-01 -8.32447317e-01 2.19427745e-02 1.12341558e+02] [ 8.31758685e-01 5.54103980e-01 3.38565933e-02 5.51984284e+01] [-4.03424089e-02 -4.94271727e-04 9.99185791e-01 -1.01102831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.983201008 meters 0.06608324373588971 Centerline is valid? [True, True] Translation: X:112.35, Y:55.22, Z:-10.11 [[ 5.55612691e-01 -8.31155346e-01 2.18020166e-02 1.12352774e+02] [ 8.30473768e-01 5.56039959e-01 3.36583473e-02 5.52231455e+01] [-4.00981077e-02 -5.95002099e-04 9.99195570e-01 -1.01147093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.013201008 meters 0.06634838722721326 Centerline is valid? [True, True] Translation: X:112.37, Y:55.25, Z:-10.11 [[ 5.58071114e-01 -8.29520692e-01 2.12615424e-02 1.12365429e+02] [ 8.28870546e-01 5.58475535e-01 3.28434983e-02 5.52479887e+01] [-3.91184127e-02 -7.05941479e-04 9.99234333e-01 -1.01149537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.043201008 meters 0.06752251014310949 Centerline is valid? [True, True] Translation: X:112.38, Y:55.27, Z:-10.12 [[ 5.60061287e-01 -8.28179179e-01 2.12274092e-02 1.12376337e+02] [ 8.27529348e-01 5.60462837e-01 3.28113883e-02 5.52728279e+01] [-3.90708826e-02 -8.10084247e-04 9.99236113e-01 -1.01193685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.073201008 meters 0.06814650707399784 Centerline is valid? [True, True] Translation: X:112.39, Y:55.30, Z:-10.12 [[ 5.61735742e-01 -8.27046289e-01 2.11516583e-02 1.12388839e+02] [ 8.26399517e-01 5.62133109e-01 3.27139947e-02 5.52974134e+01] [-3.89460353e-02 -8.96899832e-04 9.99240913e-01 -1.01225160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.103201008 meters 0.06933073005468428 Centerline is valid? [True, True] Translation: X:112.40, Y:55.32, Z:-10.13 [[ 5.64852763e-01 -8.24934630e-01 2.05964097e-02 1.12401505e+02] [ 8.24319248e-01 5.65227213e-01 3.18743738e-02 5.53218694e+01] [-3.79359260e-02 -1.02631116e-03 9.99279647e-01 -1.01250802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13320100800001 meters 0.069416761855335 Centerline is valid? [True, True] Translation: X:112.42, Y:55.35, Z:-10.13 [[ 5.65363212e-01 -8.24572564e-01 2.10837492e-02 1.12415893e+02] [ 8.23926599e-01 5.65755161e-01 3.26505224e-02 5.53451875e+01] [-3.88509649e-02 -1.08794248e-03 9.99244424e-01 -1.01266508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16320100800002 meters 0.06945516978328464 Centerline is valid? [True, True] Translation: X:112.43, Y:55.37, Z:-10.13 [[ 5.65386656e-01 -8.24543061e-01 2.16025551e-02 1.12430990e+02] [ 8.23863727e-01 5.65798071e-01 3.34828600e-02 5.53684838e+01] [-3.98307438e-02 -1.13320065e-03 9.99205798e-01 -1.01287720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19320100800002 meters 0.06874360010423343 Centerline is valid? [True, True] Translation: X:112.45, Y:55.39, Z:-10.13 [[ 5.64891809e-01 -8.24870005e-01 2.20616890e-02 1.12449564e+02] [ 8.24161186e-01 5.65321299e-01 3.42077105e-02 5.53907543e+01] [-4.06888570e-02 -1.14126766e-03 9.99171214e-01 -1.01287464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22320100800002 meters 0.06896088026026086 Centerline is valid? [True, True] Translation: X:112.47, Y:55.41, Z:-10.13 [[ 5.63681790e-01 -8.25687040e-01 2.24444158e-02 1.12465684e+02] [ 8.24953235e-01 5.64127357e-01 3.48207567e-02 5.54124543e+01] [-4.14125565e-02 -1.11223301e-03 9.99141513e-01 -1.01311989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.253201008 meters 0.0685986007908129 Centerline is valid? [True, True] Translation: X:112.48, Y:55.43, Z:-10.13 [[ 5.62235847e-01 -8.26663304e-01 2.27735240e-02 1.12483609e+02] [ 8.25907842e-01 5.62695873e-01 3.53495469e-02 5.54336154e+01] [-4.20367412e-02 -1.06595036e-03 9.99115497e-01 -1.01337021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.283201008 meters 0.06768090801020904 Centerline is valid? [True, True] Translation: X:112.50, Y:55.45, Z:-10.13 [[ 5.60763666e-01 -8.27671609e-01 2.24459048e-02 1.12502600e+02] [ 8.26937643e-01 5.61211842e-01 3.48626326e-02 5.54539324e+01] [-4.14517188e-02 -9.88334033e-04 9.99140019e-01 -1.01330866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.313201008 meters 0.06731585142270524 Centerline is valid? [True, True] Translation: X:112.52, Y:55.47, Z:-10.13 [[ 5.58668684e-01 -8.29079399e-01 2.27299730e-02 1.12519635e+02] [ 8.28326917e-01 5.59130150e-01 3.53269447e-02 5.54744850e+01] [-4.19978553e-02 -9.08209243e-04 9.99117288e-01 -1.01349820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.343201008 meters 0.06626072355871723 Centerline is valid? [True, True] Translation: X:112.54, Y:55.49, Z:-10.14 [[ 5.53898019e-01 -8.32268987e-01 2.29197859e-02 1.12540646e+02] [ 8.31505212e-01 5.54371586e-01 3.56542765e-02 5.54935659e+01] [-4.23800267e-02 -6.90911676e-04 9.99101324e-01 -1.01380738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.373201008 meters 0.0661172992436792 Centerline is valid? [True, True] Translation: X:112.56, Y:55.51, Z:-10.14 [[ 5.51316917e-01 -8.33979869e-01 2.29615955e-02 1.12557902e+02] [ 8.33214367e-01 5.51794579e-01 3.57289989e-02 5.55139812e+01] [-4.24673498e-02 -5.66070272e-04 9.99097695e-01 -1.01418392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.403201008 meters 0.06575289937423535 Centerline is valid? [True, True] Translation: X:112.58, Y:55.53, Z:-10.14 [[ 5.48429146e-01 -8.35881792e-01 2.29587010e-02 1.12576757e+02] [ 8.35117008e-01 5.48909320e-01 3.57510909e-02 5.55346315e+01] [-4.24859309e-02 -4.33738550e-04 9.99096971e-01 -1.01445687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.433201008 meters 0.06525713617882706 Centerline is valid? [True, True] Translation: X:112.60, Y:55.55, Z:-10.15 [[ 5.45247130e-01 -8.37960081e-01 2.29884752e-02 1.12596188e+02] [ 8.37194154e-01 5.45731455e-01 3.58207734e-02 5.55547123e+01] [-4.25619122e-02 -2.85356788e-04 9.99093791e-01 -1.01458402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.463201008 meters 0.06541079085357511 Centerline is valid? [True, True] Translation: X:112.61, Y:55.57, Z:-10.15 [[ 5.42238605e-01 -8.39896576e-01 2.34741677e-02 1.12614058e+02] [ 8.39098688e-01 5.42746459e-01 3.66015392e-02 5.55737199e+01] [-4.34820288e-02 -1.49624268e-04 9.99054198e-01 -1.01513548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.493201008 meters 0.06432421975677025 Centerline is valid? [True, True] Translation: X:112.64, Y:55.59, Z:-10.15 [[ 5.36017145e-01 -8.43854358e-01 2.44016800e-02 1.12638086e+02] [ 8.42994910e-01 5.36572265e-01 3.80760565e-02 5.55918815e+01] [-4.52239110e-02 1.61072888e-04 9.98976863e-01 -1.01455577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.523201008 meters 0.06437943240570784 Centerline is valid? [True, True] Translation: X:112.66, Y:55.61, Z:-10.15 [[ 5.32528984e-01 -8.46044264e-01 2.49396179e-02 1.12656728e+02] [ 8.45147627e-01 5.33112547e-01 3.89422856e-02 5.56126542e+01] [-4.62425206e-02 3.39763068e-04 9.98930185e-01 -1.01471172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.553201008 meters 0.06452312838932696 Centerline is valid? [True, True] Translation: X:112.67, Y:55.63, Z:-10.15 [[ 5.29687659e-01 -8.47824004e-01 2.50088505e-02 1.12674511e+02] [ 8.46923182e-01 5.30277499e-01 3.90755410e-02 5.56326396e+01] [-4.63908122e-02 4.82743384e-04 9.98923250e-01 -1.01499401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.583201008 meters 0.06447471250416412 Centerline is valid? [True, True] Translation: X:112.69, Y:55.65, Z:-10.15 [[ 5.26904483e-01 -8.49555739e-01 2.50342000e-02 1.12692034e+02] [ 8.48653745e-01 5.27498493e-01 3.91428292e-02 5.56534782e+01] [-4.64595180e-02 6.20835397e-04 9.98919981e-01 -1.01500181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.613201008 meters 0.06515269922120341 Centerline is valid? [True, True] Translation: X:112.71, Y:55.67, Z:-10.15 [[ 5.21596230e-01 -8.52822941e-01 2.51078536e-02 1.12711685e+02] [ 8.51918086e-01 5.22199410e-01 3.92855101e-02 5.56715706e+01] [-4.66148906e-02 8.98660587e-04 9.98912531e-01 -1.01529633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.643201008 meters 0.06557007412127502 Centerline is valid? [True, True] Translation: X:112.73, Y:55.69, Z:-10.16 [[ 5.20378752e-01 -8.53583433e-01 2.45209407e-02 1.12727630e+02] [ 8.52720021e-01 5.20955331e-01 3.83941316e-02 5.56935927e+01] [-4.55469095e-02 9.30006747e-04 9.98961768e-01 -1.01553316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.673201008 meters 0.06513096789640584 Centerline is valid? [True, True] Translation: X:112.74, Y:55.72, Z:-10.15 [[ 5.19253456e-01 -8.54264995e-01 2.46407574e-02 1.12741128e+02] [ 8.53392782e-01 5.19836853e-01 3.86057739e-02 5.57173359e+01] [-4.57887351e-02 9.82063027e-04 9.98950663e-01 -1.01542827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.703201008 meters 0.06622612143390655 Centerline is valid? [True, True] Translation: X:112.76, Y:55.74, Z:-10.16 [[ 5.18536591e-01 -8.54698935e-01 2.46887245e-02 1.12756759e+02] [ 8.53822651e-01 5.19123021e-01 3.87061967e-02 5.57377283e+01] [-4.58986304e-02 1.00921287e-03 9.98945593e-01 -1.01612122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.733201008 meters 0.06549821691373402 Centerline is valid? [True, True] Translation: X:112.77, Y:55.76, Z:-10.16 [[ 5.18708695e-01 -8.54594253e-01 2.46972073e-02 1.12768542e+02] [ 8.53716035e-01 5.19295377e-01 3.87458613e-02 5.57623083e+01] [-4.59371361e-02 9.86586756e-04 9.98943845e-01 -1.01599836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.763201008 meters 0.06634530603008097 Centerline is valid? [True, True] Translation: X:112.78, Y:55.78, Z:-10.17 [[ 5.18674786e-01 -8.54616455e-01 2.46410370e-02 1.12782722e+02] [ 8.53741007e-01 5.19258865e-01 3.86849373e-02 5.57834938e+01] [-4.58558609e-02 9.72162136e-04 9.98947594e-01 -1.01657315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.793201008 meters 0.06584279221285681 Centerline is valid? [True, True] Translation: X:112.79, Y:55.81, Z:-10.17 [[ 5.19054587e-01 -8.54394684e-01 2.43322869e-02 1.12794425e+02] [ 8.53539462e-01 5.19623776e-01 3.82298153e-02 5.58080554e+01] [-4.53069857e-02 9.25206078e-04 9.98972683e-01 -1.01657312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.823201008 meters 0.0660846249659314 Centerline is valid? [True, True] Translation: X:112.81, Y:55.83, Z:-10.17 [[ 5.19339623e-01 -8.54184052e-01 2.56117511e-02 1.12807509e+02] [ 8.53234695e-01 5.19969928e-01 4.02719366e-02 5.58305094e+01] [-4.77169863e-02 9.38022303e-04 9.98860455e-01 -1.01697246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.853201008 meters 0.06569453192698912 Centerline is valid? [True, True] Translation: X:112.82, Y:55.86, Z:-10.17 [[ 5.22029639e-01 -8.52510905e-01 2.66498277e-02 1.12815798e+02] [ 8.51479337e-01 5.22708824e-01 4.19335550e-02 5.58557839e+01] [-4.96789130e-02 8.01219071e-04 9.98764919e-01 -1.01719791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88320100800001 meters 0.06459480118718545 Centerline is valid? [True, True] Translation: X:112.83, Y:55.88, Z:-10.17 [[ 5.24192458e-01 -8.51177912e-01 2.68035137e-02 1.12825007e+02] [ 8.50131324e-01 5.24876862e-01 4.22020418e-02 5.58828434e+01] [-4.99899900e-02 6.64514490e-04 9.98749498e-01 -1.01686368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91320100800002 meters 0.06438673947643951 Centerline is valid? [True, True] Translation: X:112.84, Y:55.91, Z:-10.17 [[ 5.26344575e-01 -8.49833647e-01 2.72793226e-02 1.12835764e+02] [ 8.48746286e-01 5.27050748e-01 4.29796535e-02 5.59069041e+01] [-5.09031430e-02 5.31116302e-04 9.98703453e-01 -1.01714961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94320100800002 meters 0.06438673947643951 Centerline is valid? [True, True] Translation: X:112.85, Y:55.93, Z:-10.17 [[ 5.26069804e-01 -8.50004191e-01 2.72660422e-02 1.12849467e+02] [ 8.48916623e-01 5.26775657e-01 4.29880754e-02 5.59289856e+01] [-5.09031315e-02 5.31868065e-04 9.98703454e-01 -1.01734953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97320100800002 meters 0.06387654351383246 Centerline is valid? [True, True] Translation: X:112.86, Y:55.96, Z:-10.17 [[ 5.28646856e-01 -8.48403072e-01 2.72897191e-02 1.12859304e+02] [ 8.47309852e-01 5.29350637e-01 4.30571420e-02 5.59555239e+01] [-5.09756418e-02 3.60825145e-04 9.98699832e-01 -1.01731422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.003201008 meters 0.06352867422415959 Centerline is valid? [True, True] Translation: X:112.87, Y:55.98, Z:-10.17 [[ 5.32553095e-01 -8.45882591e-01 2.94931157e-02 1.12866512e+02] [ 8.44599521e-01 5.33369132e-01 4.65727094e-02 5.59836653e+01] [-5.51257616e-02 1.07430886e-04 9.98479413e-01 -1.01746151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.033201008 meters 0.0635290950210745 Centerline is valid? [True, True] Translation: X:112.88, Y:56.01, Z:-10.18 [[ 5.33901565e-01 -8.44988629e-01 3.07137551e-02 1.12877832e+02] [ 8.43594337e-01 5.34784271e-01 4.85219395e-02 5.60090424e+01] [-5.74257203e-02 4.01040078e-06 9.98349782e-01 -1.01776924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.063201008 meters 0.06333091869068992 Centerline is valid? [True, True] Translation: X:112.89, Y:56.03, Z:-10.18 [[ 5.35012320e-01 -8.44246782e-01 3.17677345e-02 1.12888991e+02] [ 8.42751953e-01 5.35954627e-01 5.02173549e-02 5.60341027e+01] [-5.94219046e-02 -9.45832904e-05 9.98232953e-01 -1.01776289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.093201008 meters 0.063359391135552 Centerline is valid? [True, True] Translation: X:112.90, Y:56.06, Z:-10.18 [[ 5.36172296e-01 -8.43476373e-01 3.26630856e-02 1.12899122e+02] [ 8.41892444e-01 5.37166238e-01 5.16676515e-02 5.60584020e+01] [-6.11259501e-02 -2.03958400e-04 9.98130040e-01 -1.01806727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.123201008 meters 0.06348018030483016 Centerline is valid? [True, True] Translation: X:112.91, Y:56.09, Z:-10.18 [[ 5.38466610e-01 -8.41984453e-01 3.34049533e-02 1.12908773e+02] [ 8.40322395e-01 5.39501639e-01 5.28796174e-02 5.60850389e+01] [-6.25458428e-02 -4.02977929e-04 9.98042011e-01 -1.01831300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.153201008 meters 0.0635433515092044 Centerline is valid? [True, True] Translation: X:112.92, Y:56.11, Z:-10.18 [[ 5.39447522e-01 -8.41335027e-01 3.39373600e-02 1.12920778e+02] [ 8.39615958e-01 5.40513754e-01 5.37580239e-02 5.61085331e+01] [-6.35721183e-02 -5.05283789e-04 9.97977119e-01 -1.01847452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.183201008 meters 0.06373455406958321 Centerline is valid? [True, True] Translation: X:112.93, Y:56.13, Z:-10.19 [[ 5.40501107e-01 -8.40641713e-01 3.43520414e-02 1.12933814e+02] [ 8.38876454e-01 5.41591296e-01 5.44533123e-02 5.61331642e+01] [-6.43804924e-02 -6.14956872e-04 9.97925235e-01 -1.01858793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.213201008 meters 0.06393844514183734 Centerline is valid? [True, True] Translation: X:112.95, Y:56.16, Z:-10.19 [[ 5.41444861e-01 -8.40029497e-01 3.44660365e-02 1.12945571e+02] [ 8.38249028e-01 5.42540268e-01 5.46683195e-02 5.61561437e+01] [-6.46222136e-02 -7.08759076e-04 9.97909549e-01 -1.01881939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.243201008 meters 0.06398679411302653 Centerline is valid? [True, True] Translation: X:112.96, Y:56.18, Z:-10.19 [[ 5.41618591e-01 -8.39917126e-01 3.44749850e-02 1.12958046e+02] [ 8.38132819e-01 5.42714167e-01 5.47239408e-02 5.61796311e+01] [-6.46736379e-02 -7.44887289e-04 9.97906191e-01 -1.01913537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.273201008 meters 0.06454709686666393 Centerline is valid? [True, True] Translation: X:112.97, Y:56.20, Z:-10.20 [[ 5.43553040e-01 -8.38665571e-01 3.44985949e-02 1.12967694e+02] [ 8.36873714e-01 5.44645959e-01 5.48011526e-02 5.62045659e+01] [-6.47493603e-02 -9.16365874e-04 9.97901138e-01 -1.01972789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.303201008 meters 0.06483340083309898 Centerline is valid? [True, True] Translation: X:112.98, Y:56.23, Z:-10.20 [[ 5.44053971e-01 -8.38343036e-01 3.44417009e-02 1.12980926e+02] [ 8.36554084e-01 5.45142190e-01 5.47472018e-02 5.62275783e+01] [-6.46725596e-02 -9.73087028e-04 9.97906064e-01 -1.02004702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.333201008 meters 0.06476737764083845 Centerline is valid? [True, True] Translation: X:113.00, Y:56.25, Z:-10.20 [[ 5.44004032e-01 -8.38362509e-01 3.47550954e-02 1.12996089e+02] [ 8.36538098e-01 5.45112189e-01 5.52875421e-02 5.62507585e+01] [-6.52964286e-02 -1.00268440e-03 9.97865407e-01 -1.02027902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.363201008 meters 0.06487760295949221 Centerline is valid? [True, True] Translation: X:113.01, Y:56.27, Z:-10.20 [[ 5.44390110e-01 -8.38102389e-01 3.49827708e-02 1.13010339e+02] [ 8.36251907e-01 5.45511940e-01 5.56729028e-02 5.62735432e+01] [-6.57431120e-02 -1.05336890e-03 9.97836025e-01 -1.02045873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.393201008 meters 0.06487929990276779 Centerline is valid? [True, True] Translation: X:113.02, Y:56.30, Z:-10.20 [[ 5.45590156e-01 -8.37277253e-01 3.60303072e-02 1.13024905e+02] [ 8.35309385e-01 5.46777224e-01 5.73837763e-02 5.62969085e+01] [-6.77466819e-02 -1.21156968e-03 9.97701819e-01 -1.02045399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.423201008 meters 0.06517927130485622 Centerline is valid? [True, True] Translation: X:113.04, Y:56.32, Z:-10.21 [[ 5.46498290e-01 -8.36643911e-01 3.69673579e-02 1.13037502e+02] [ 8.34567964e-01 5.47745521e-01 5.89165297e-02 5.63200978e+01] [-6.95408605e-02 -1.34601016e-03 9.97578196e-01 -1.02063734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.453201008 meters 0.06539996145160058 Centerline is valid? [True, True] Translation: X:113.05, Y:56.34, Z:-10.21 [[ 5.47196506e-01 -8.36172225e-01 3.73094311e-02 1.13051016e+02] [ 8.34053551e-01 5.48465067e-01 5.95041611e-02 5.63436615e+01] [-7.02186464e-02 -1.44240561e-03 9.97530582e-01 -1.02083648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.483201008 meters 0.06638316898460388 Centerline is valid? [True, True] Translation: X:113.06, Y:56.37, Z:-10.21 [[ 5.49470411e-01 -8.34677779e-01 3.73533459e-02 1.13063771e+02] [ 8.32547877e-01 5.50736105e-01 5.96135511e-02 5.63672784e+01] [-7.03299427e-02 -1.65743360e-03 9.97522407e-01 -1.02109306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.513201008 meters 0.06629320375793943 Centerline is valid? [True, True] Translation: X:113.08, Y:56.39, Z:-10.21 [[ 5.49078538e-01 -8.34940535e-01 3.72432701e-02 1.13078151e+02] [ 8.32820889e-01 5.50337721e-01 5.94790657e-02 5.63892211e+01] [-7.01578593e-02 -1.64170508e-03 9.97534551e-01 -1.02137784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.543201008 meters 0.0658850065403615 Centerline is valid? [True, True] Translation: X:113.09, Y:56.41, Z:-10.22 [[ 5.47392936e-01 -8.36028444e-01 3.76485690e-02 1.13093356e+02] [ 8.33861702e-01 5.48683933e-01 6.01714487e-02 5.64115152e+01] [-7.09622075e-02 -1.54372619e-03 9.97477810e-01 -1.02164252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.573201008 meters 0.06576690254979081 Centerline is valid? [True, True] Translation: X:113.11, Y:56.43, Z:-10.22 [[ 5.46285189e-01 -8.36747372e-01 3.77667539e-02 1.13108579e+02] [ 8.34565883e-01 5.47587120e-01 6.03997732e-02 5.64337212e+01] [-7.12199396e-02 -1.47665716e-03 9.97459543e-01 -1.02184021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.603201008 meters 0.06525585633713693 Centerline is valid? [True, True] Translation: X:113.13, Y:56.46, Z:-10.22 [[ 5.44171983e-01 -8.38165030e-01 3.68271021e-02 1.13125126e+02] [ 8.36091173e-01 5.45415198e-01 5.89390513e-02 5.64553622e+01] [-6.94867129e-02 -1.28216542e-03 9.97582053e-01 -1.02234700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63320100800001 meters 0.06495151733906611 Centerline is valid? [True, True] Translation: X:113.14, Y:56.48, Z:-10.23 [[ 5.42426482e-01 -8.39323090e-01 3.61975499e-02 1.13140519e+02] [ 8.37319675e-01 5.43631736e-01 5.79680701e-02 5.64763663e+01] [-6.83320766e-02 -1.13449568e-03 9.97661987e-01 -1.02271479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66320100800002 meters 0.06462221525271573 Centerline is valid? [True, True] Translation: X:113.16, Y:56.50, Z:-10.23 [[ 5.40813557e-01 -8.40376562e-01 3.58877400e-02 1.13157205e+02] [ 8.38406860e-01 5.42002032e-01 5.75128980e-02 5.64972932e+01] [-6.77837195e-02 -1.01522751e-03 9.97699522e-01 -1.02297450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69320100800002 meters 0.0643339806606519 Centerline is valid? [True, True] Translation: X:113.17, Y:56.52, Z:-10.23 [[ 5.39526065e-01 -8.41226371e-01 3.53527748e-02 1.13172993e+02] [ 8.39314131e-01 5.40682303e-01 5.66960037e-02 5.65189599e+01] [-6.68087931e-02 -9.16888269e-04 9.97765375e-01 -1.02314533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72320100800002 meters 0.06411303221306915 Centerline is valid? [True, True] Translation: X:113.19, Y:56.54, Z:-10.23 [[ 5.38928522e-01 -8.41621839e-01 3.50532229e-02 1.13188324e+02] [ 8.39740054e-01 5.40066571e-01 5.62560266e-02 5.65403614e+01] [-6.62773744e-02 -8.82381962e-04 9.97800847e-01 -1.02338579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.753201008 meters 0.06440116447224106 Centerline is valid? [True, True] Translation: X:113.20, Y:56.56, Z:-10.24 [[ 5.39162482e-01 -8.41500526e-01 3.43610558e-02 1.13202171e+02] [ 8.39689525e-01 5.40255543e-01 5.51855989e-02 5.65623583e+01] [-6.50024614e-02 -9.01385857e-04 9.97884697e-01 -1.02374984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.783201008 meters 0.06446389778795913 Centerline is valid? [True, True] Translation: X:113.21, Y:56.58, Z:-10.24 [[ 5.38536944e-01 -8.41902402e-01 3.43264534e-02 1.13214702e+02] [ 8.40093396e-01 5.39629117e-01 5.51679476e-02 5.65845516e+01] [-6.49695814e-02 -8.72551143e-04 9.97886863e-01 -1.02410272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.813201008 meters 0.06391522314546944 Centerline is valid? [True, True] Translation: X:113.23, Y:56.61, Z:-10.24 [[ 5.37958053e-01 -8.42256288e-01 3.47199989e-02 1.13231831e+02] [ 8.40403403e-01 5.39076619e-01 5.58437063e-02 5.66065438e+01] [-6.57514524e-02 -8.62766313e-04 9.97835659e-01 -1.02409602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.843201008 meters 0.0640419498696247 Centerline is valid? [True, True] Translation: X:113.25, Y:56.63, Z:-10.24 [[ 5.36957316e-01 -8.42894001e-01 3.47353425e-02 1.13246663e+02] [ 8.41038313e-01 5.38079041e-01 5.59061887e-02 5.66288109e+01] [-6.58133509e-02 -8.05483225e-04 9.97831626e-01 -1.02434849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.873201008 meters 0.06395240972525462 Centerline is valid? [True, True] Translation: X:113.26, Y:56.65, Z:-10.25 [[ 5.35812733e-01 -8.43627169e-01 3.46109120e-02 1.13262615e+02] [ 8.41783874e-01 5.36928918e-01 5.57426803e-02 5.66504744e+01] [-6.56096391e-02 -7.32730268e-04 9.97845097e-01 -1.02460719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.903201008 meters 0.06335526042072018 Centerline is valid? [True, True] Translation: X:113.28, Y:56.67, Z:-10.25 [[ 5.30136350e-01 -8.47196239e-01 3.48422640e-02 1.13284713e+02] [ 8.45333029e-01 5.31279994e-01 5.61572706e-02 5.66693022e+01] [-6.60872262e-02 -3.17693921e-04 9.97813799e-01 -1.02477432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.933201008 meters 0.06293995218360826 Centerline is valid? [True, True] Translation: X:113.30, Y:56.69, Z:-10.25 [[ 5.26410297e-01 -8.49488802e-01 3.55101969e-02 1.13302828e+02] [ 8.47556007e-01 5.27606645e-01 5.72716569e-02 5.66885229e+01] [-6.73870471e-02 -5.15091572e-05 9.97726908e-01 -1.02494089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.963201008 meters 0.06282661625194887 Centerline is valid? [True, True] Translation: X:113.32, Y:56.71, Z:-10.25 [[ 5.23615555e-01 -8.51198200e-01 3.58939412e-02 1.13320687e+02] [ 8.49224249e-01 5.24844361e-01 5.79359361e-02 5.67085416e+01] [-6.81536971e-02 1.45847927e-04 9.97674823e-01 -1.02491872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.993201008 meters 0.06278121045920403 Centerline is valid? [True, True] Translation: X:113.34, Y:56.73, Z:-10.25 [[ 5.20932201e-01 -8.52824407e-01 3.63341889e-02 1.13338215e+02] [ 8.50802620e-01 5.22197679e-01 5.86897520e-02 5.67293605e+01] [-6.90256821e-02 3.39841420e-04 9.97614825e-01 -1.02500870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.023201008 meters 0.06275280049770722 Centerline is valid? [True, True] Translation: X:113.36, Y:56.75, Z:-10.25 [[ 5.17877391e-01 -8.54638236e-01 3.73696895e-02 1.13357918e+02] [ 8.52500869e-01 5.19223610e-01 6.04078793e-02 5.67481846e+01] [-7.10301085e-02 5.73817843e-04 9.97474007e-01 -1.02486781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.053201008 meters 0.06273534249867367 Centerline is valid? [True, True] Translation: X:113.37, Y:56.77, Z:-10.25 [[ 5.16932710e-01 -8.55195639e-01 3.76960473e-02 1.13372776e+02] [ 8.53019009e-01 5.18304947e-01 6.09799257e-02 5.67701544e+01] [-7.16878143e-02 6.32926641e-04 9.97426918e-01 -1.02494728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.083201008 meters 0.06276816205859376 Centerline is valid? [True, True] Translation: X:113.39, Y:56.79, Z:-10.25 [[ 5.16453412e-01 -8.55485736e-01 3.76832643e-02 1.13386450e+02] [ 8.53308146e-01 5.17825968e-01 6.10038895e-02 5.67911088e+01] [-7.17013301e-02 6.49769543e-04 9.97425936e-01 -1.02516561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.113201008 meters 0.06281117335108558 Centerline is valid? [True, True] Translation: X:113.40, Y:56.81, Z:-10.26 [[ 5.16420083e-01 -8.55541244e-01 3.68710863e-02 1.13400211e+02] [ 8.53453604e-01 5.17734290e-01 5.97340037e-02 5.68127521e+01] [-7.01943295e-02 6.19922355e-04 9.97533143e-01 -1.02551946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.143201008 meters 0.0626913867612006 Centerline is valid? [True, True] Translation: X:113.41, Y:56.83, Z:-10.26 [[ 5.17023364e-01 -8.55204298e-01 3.62277357e-02 1.13413220e+02] [ 8.53185031e-01 5.18290764e-01 5.87365971e-02 5.68341478e+01] [-6.90082912e-02 5.40768760e-04 9.97615940e-01 -1.02582908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.173201008 meters 0.06272343427901504 Centerline is valid? [True, True] Translation: X:113.43, Y:56.86, Z:-10.26 [[ 5.17181699e-01 -8.55099788e-01 3.64340846e-02 1.13426868e+02] [ 8.53054862e-01 5.18463199e-01 5.91042622e-02 5.68572188e+01] [-6.94297742e-02 5.12630284e-04 9.97586710e-01 -1.02606474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.203201008 meters 0.06272101186043794 Centerline is valid? [True, True] Translation: X:113.44, Y:56.88, Z:-10.26 [[ 5.17501883e-01 -8.54930596e-01 3.58535611e-02 1.13440416e+02] [ 8.52947212e-01 5.18742194e-01 5.82030054e-02 5.68801729e+01] [-6.83582851e-02 4.61030080e-04 9.97660730e-01 -1.02634229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.233201008 meters 0.06250319873441385 Centerline is valid? [True, True] Translation: X:113.45, Y:56.90, Z:-10.26 [[ 5.18713922e-01 -8.54201370e-01 3.57195484e-02 1.13452921e+02] [ 8.52228285e-01 5.19942210e-01 5.80262784e-02 5.69032776e+01] [-6.81382275e-02 3.42171069e-04 9.97675832e-01 -1.02646396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.263201008 meters 0.062372634982458146 Centerline is valid? [True, True] Translation: X:113.46, Y:56.93, Z:-10.27 [[ 5.20305813e-01 -8.53254333e-01 3.51980750e-02 1.13463661e+02] [ 8.51333684e-01 5.21494972e-01 5.72184722e-02 5.69272808e+01] [-6.71775284e-02 1.94203222e-04 9.97741019e-01 -1.02659456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.293201008 meters 0.06238665065197216 Centerline is valid? [True, True] Translation: X:113.48, Y:56.95, Z:-10.27 [[ 5.20750943e-01 -8.52987088e-01 3.50924850e-02 1.13476225e+02] [ 8.51074524e-01 5.21931996e-01 5.70889261e-02 5.69503251e+01] [-6.70120076e-02 1.37207865e-04 9.97752160e-01 -1.02677324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.323201008 meters 0.06236461297009898 Centerline is valid? [True, True] Translation: X:113.49, Y:56.97, Z:-10.27 [[ 5.21001162e-01 -8.52848502e-01 3.47450921e-02 1.13488961e+02] [ 8.50970620e-01 5.22158427e-01 5.65648384e-02 5.69741191e+01] [-6.63836803e-02 9.67059701e-05 9.97794166e-01 -1.02701003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.353201008 meters 0.06240399728788852 Centerline is valid? [True, True] Translation: X:113.50, Y:57.00, Z:-10.27 [[ 5.20639777e-01 -8.53071002e-01 3.46999615e-02 1.13501661e+02] [ 8.51195676e-01 5.21794839e-01 5.65337653e-02 5.69970875e+01] [-6.63335766e-02 1.02730221e-04 9.97797498e-01 -1.02729390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38320100800001 meters 0.06233108868410675 Centerline is valid? [True, True] Translation: X:113.51, Y:57.02, Z:-10.27 [[ 5.20225428e-01 -8.53334867e-01 3.44254036e-02 1.13514284e+02] [ 8.51486954e-01 5.21363205e-01 5.61282094e-02 5.70208905e+01] [-6.58442969e-02 1.13460301e-04 9.97829903e-01 -1.02746631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41320100800002 meters 0.062241753386178905 Centerline is valid? [True, True] Translation: X:113.53, Y:57.04, Z:-10.28 [[ 5.19461514e-01 -8.53804066e-01 3.43271369e-02 1.13527021e+02] [ 8.51964990e-01 5.20594463e-01 5.60094786e-02 5.70424419e+01] [-6.56916379e-02 1.50750252e-04 9.97839960e-01 -1.02764813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44320100800002 meters 0.062278497898608697 Centerline is valid? [True, True] Translation: X:113.54, Y:57.07, Z:-10.28 [[ 5.18372600e-01 -8.54472753e-01 3.41491325e-02 1.13541326e+02] [ 8.52651323e-01 5.19496170e-01 5.57624486e-02 5.70653394e+01] [-6.53878365e-02 2.11577516e-04 9.97859903e-01 -1.02780884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47320100800002 meters 0.06219492435548807 Centerline is valid? [True, True] Translation: X:113.55, Y:57.09, Z:-10.28 [[ 5.17731319e-01 -8.54860463e-01 3.41741165e-02 1.13554909e+02] [ 8.53034413e-01 5.18857911e-01 5.58458498e-02 5.70868654e+01] [-6.54719197e-02 2.38551918e-04 9.97854384e-01 -1.02794049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.503201008 meters 0.06219316251104209 Centerline is valid? [True, True] Translation: X:113.57, Y:57.11, Z:-10.28 [[ 5.16631292e-01 -8.55505911e-01 3.46661894e-02 1.13569227e+02] [ 8.53626125e-01 5.17792952e-01 5.66824339e-02 5.71090395e+01] [-6.64420658e-02 3.08045849e-04 9.97790237e-01 -1.02797994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.533201008 meters 0.062105572337364225 Centerline is valid? [True, True] Translation: X:113.58, Y:57.13, Z:-10.28 [[ 5.15395210e-01 -8.56266626e-01 3.42818185e-02 1.13582821e+02] [ 8.54427377e-01 5.16533949e-01 5.60939947e-02 5.71307138e+01] [-6.57391387e-02 3.80748072e-04 9.97836771e-01 -1.02822382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.563201008 meters 0.06240204063326539 Centerline is valid? [True, True] Translation: X:113.60, Y:57.15, Z:-10.29 [[ 5.13115114e-01 -8.57674207e-01 3.32841513e-02 1.13595206e+02] [ 8.55940876e-01 5.14193233e-01 5.45026226e-02 5.71549099e+01] [-6.38599790e-02 5.23146230e-04 9.97958731e-01 -1.02867583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.593201008 meters 0.06248133245583869 Centerline is valid? [True, True] Translation: X:113.61, Y:57.18, Z:-10.29 [[ 5.11929701e-01 -8.58414446e-01 3.24441031e-02 1.13608204e+02] [ 8.56766933e-01 5.12956430e-01 5.31613019e-02 5.71785635e+01] [-6.22768409e-02 5.82185301e-04 9.98058744e-01 -1.02909167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.623201008 meters 0.0627564155336456 Centerline is valid? [True, True] Translation: X:113.62, Y:57.20, Z:-10.29 [[ 5.11069396e-01 -8.58944222e-01 3.19827378e-02 1.13621373e+02] [ 8.57342204e-01 5.12068784e-01 5.24395481e-02 5.72026628e+01] [-6.14200084e-02 6.19902715e-04 9.98111817e-01 -1.02946530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.653201008 meters 0.06298166666570275 Centerline is valid? [True, True] Translation: X:113.63, Y:57.23, Z:-10.30 [[ 5.09383712e-01 -8.59966449e-01 3.13996886e-02 1.13634299e+02] [ 8.58422298e-01 5.10350075e-01 5.15165918e-02 5.72270105e+01] [-6.03273739e-02 7.12480098e-04 9.98178391e-01 -1.02964396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.683201008 meters 0.06310671238239524 Centerline is valid? [True, True] Translation: X:113.65, Y:57.25, Z:-10.30 [[ 5.08097624e-01 -8.60739833e-01 3.10442360e-02 1.13649047e+02] [ 8.59229915e-01 5.09044531e-01 5.09668325e-02 5.72487424e+01] [-5.96720814e-02 7.78009839e-04 9.98217730e-01 -1.02987138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.713201008 meters 0.06303445348659031 Centerline is valid? [True, True] Translation: X:113.66, Y:57.27, Z:-10.30 [[ 5.07129184e-01 -8.61321781e-01 3.07372899e-02 1.13663140e+02] [ 8.59840380e-01 5.08059170e-01 5.05014862e-02 5.72725814e+01] [-5.91143920e-02 8.18385545e-04 9.98250880e-01 -1.02992821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.743201008 meters 0.06312031076593186 Centerline is valid? [True, True] Translation: X:113.68, Y:57.29, Z:-10.30 [[ 5.06353655e-01 -8.61783267e-01 3.05871987e-02 1.13676966e+02] [ 8.60315833e-01 5.07275928e-01 5.02772296e-02 5.72935486e+01] [-5.88442248e-02 8.56592393e-04 9.98266810e-01 -1.03020336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.773201008 meters 0.06342627727442432 Centerline is valid? [True, True] Translation: X:113.69, Y:57.32, Z:-10.31 [[ 5.05314844e-01 -8.62419907e-01 2.98129679e-02 1.13687922e+02] [ 8.61025386e-01 5.06192757e-01 4.90324040e-02 5.73170188e+01] [-5.73776297e-02 8.92920619e-04 9.98352147e-01 -1.03073895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.803201008 meters 0.06313223139073301 Centerline is valid? [True, True] Translation: X:113.70, Y:57.34, Z:-10.31 [[ 5.05045154e-01 -8.62592814e-01 2.93773726e-02 1.13698511e+02] [ 8.61237232e-01 5.05898071e-01 4.83484502e-02 5.73424310e+01] [-5.65669819e-02 8.82736586e-04 9.98398416e-01 -1.03085193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.833201008 meters 0.06313223139073301 Centerline is valid? [True, True] Translation: X:113.71, Y:57.36, Z:-10.31 [[ 5.04768007e-01 -8.62755481e-01 2.93639287e-02 1.13711787e+02] [ 8.61399699e-01 5.05620606e-01 4.83566130e-02 5.73647652e+01] [-5.65669403e-02 8.85208244e-04 9.98398416e-01 -1.03105196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.863201008 meters 0.06324283279664997 Centerline is valid? [True, True] Translation: X:113.72, Y:57.39, Z:-10.31 [[ 5.04971895e-01 -8.62639489e-01 2.92659575e-02 1.13722556e+02] [ 8.61290433e-01 5.05818533e-01 4.82327858e-02 5.73873313e+01] [-5.64107694e-02 8.50287934e-04 9.98407283e-01 -1.03140240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.893201008 meters 0.06267001121712253 Centerline is valid? [True, True] Translation: X:113.73, Y:57.41, Z:-10.31 [[ 5.05441475e-01 -8.62388885e-01 2.85364034e-02 1.13733386e+02] [ 8.61104495e-01 5.06245779e-01 4.70559279e-02 5.74133435e+01] [-5.50269430e-02 7.88807598e-04 9.98484558e-01 -1.03134825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.923201008 meters 0.0630181655502395 Centerline is valid? [True, True] Translation: X:113.75, Y:57.44, Z:-10.32 [[ 5.05578715e-01 -8.62327263e-01 2.79616466e-02 1.13748098e+02] [ 8.61092367e-01 5.06350795e-01 4.61390074e-02 5.74354983e+01] [-5.39453260e-02 7.50660325e-04 9.98543609e-01 -1.03181638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.953201008 meters 0.0629704325989747 Centerline is valid? [True, True] Translation: X:113.76, Y:57.46, Z:-10.32 [[ 5.05785727e-01 -8.62215960e-01 2.76484478e-02 1.13761400e+02] [ 8.61007684e-01 5.06540339e-01 4.56360872e-02 5.74576755e+01] [-5.33532168e-02 7.23444451e-04 9.98575441e-01 -1.03198135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.983201008 meters 0.062418033381772396 Centerline is valid? [True, True] Translation: X:113.77, Y:57.48, Z:-10.32 [[ 5.06348665e-01 -8.61890002e-01 2.75073517e-02 1.13772192e+02] [ 8.60691662e-01 5.07094843e-01 4.54387875e-02 5.74834974e+01] [-5.31120729e-02 6.67478857e-04 9.98588335e-01 -1.03173722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.013201008 meters 0.06246350234057559 Centerline is valid? [True, True] Translation: X:113.78, Y:57.51, Z:-10.32 [[ 5.06832918e-01 -8.61607322e-01 2.74447796e-02 1.13784533e+02] [ 8.60412422e-01 5.07575056e-01 4.53654791e-02 5.75061409e+01] [-5.30175145e-02 6.21111129e-04 9.98593389e-01 -1.03212193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.043201008 meters 0.061951487625142534 Centerline is valid? [True, True] Translation: X:113.79, Y:57.53, Z:-10.32 [[ 5.09792862e-01 -8.59853308e-01 2.76320005e-02 1.13793152e+02] [ 8.58637812e-01 5.10540996e-01 4.57055641e-02 5.75332240e+01] [-5.34073495e-02 4.25510178e-04 9.98572718e-01 -1.03224974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.073201008 meters 0.06210975269033076 Centerline is valid? [True, True] Translation: X:113.80, Y:57.56, Z:-10.33 [[ 5.11194384e-01 -8.59018258e-01 2.77116251e-02 1.13803973e+02] [ 8.57792817e-01 5.11944849e-01 4.58688953e-02 5.75579822e+01] [-5.35890422e-02 3.22911277e-04 9.98563023e-01 -1.03250658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.103201008 meters 0.061896849011660975 Centerline is valid? [True, True] Translation: X:113.82, Y:57.58, Z:-10.33 [[ 5.12425045e-01 -8.58276896e-01 2.79524998e-02 1.13815140e+02] [ 8.57027397e-01 5.13186823e-01 4.62960739e-02 5.75831742e+01] [-5.40797052e-02 2.32790401e-04 9.98536595e-01 -1.03259439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13320100800001 meters 0.06189296531485163 Centerline is valid? [True, True] Translation: X:113.83, Y:57.61, Z:-10.33 [[ 5.14014598e-01 -8.57333314e-01 2.77232939e-02 1.13826400e+02] [ 8.56101221e-01 5.14761668e-01 4.59469758e-02 5.76068166e+01] [-5.36627620e-02 1.16529419e-04 9.98559109e-01 -1.03284241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16320100800002 meters 0.06163930428690304 Centerline is valid? [True, True] Translation: X:113.84, Y:57.63, Z:-10.33 [[ 5.13981463e-01 -8.57318774e-01 2.87676039e-02 1.13840412e+02] [ 8.55989997e-01 5.14785887e-01 4.77138887e-02 5.76295315e+01] [-5.57151691e-02 1.00726811e-04 9.98446699e-01 -1.03286263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19320100800002 meters 0.06128651903980022 Centerline is valid? [True, True] Translation: X:113.85, Y:57.65, Z:-10.33 [[ 5.14044471e-01 -8.57258565e-01 2.94284613e-02 1.13852922e+02] [ 8.55865808e-01 5.14886149e-01 4.88464173e-02 5.76540134e+01] [-5.70263167e-02 7.75830558e-05 9.98372673e-01 -1.03264582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22320100800002 meters 0.06133462957028837 Centerline is valid? [True, True] Translation: X:113.86, Y:57.68, Z:-10.33 [[ 5.14458203e-01 -8.57039914e-01 2.85541998e-02 1.13864964e+02] [ 8.55726719e-01 5.15250021e-01 4.74257228e-02 5.76785280e+01] [-5.53582894e-02 3.60395298e-05 9.98466554e-01 -1.03291789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.253201008 meters 0.061431595367931253 Centerline is valid? [True, True] Translation: X:113.88, Y:57.70, Z:-10.33 [[ 5.14811107e-01 -8.56851021e-01 2.78541324e-02 1.13876493e+02] [ 8.55599598e-01 5.15564087e-01 4.62925383e-02 5.77027483e+01] [-5.40263991e-02 7.16142248e-08 9.98539508e-01 -1.03336765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.283201008 meters 0.061525274736992396 Centerline is valid? [True, True] Translation: X:113.89, Y:57.73, Z:-10.34 [[ 5.15499850e-01 -8.56451948e-01 2.73855106e-02 1.13887453e+02] [ 8.55240217e-01 5.16226751e-01 4.55424433e-02 5.77269637e+01] [-5.31420474e-02 -5.59326106e-05 9.98586962e-01 -1.03380515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.313201008 meters 0.061708933861376755 Centerline is valid? [True, True] Translation: X:113.90, Y:57.75, Z:-10.34 [[ 5.16043753e-01 -8.56130663e-01 2.71869815e-02 1.13897898e+02] [ 8.54934399e-01 5.16759399e-01 4.52426493e-02 5.77512104e+01] [-5.27827476e-02 -1.04100904e-04 9.98606014e-01 -1.03415211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.343201008 meters 0.06183894140632038 Centerline is valid? [True, True] Translation: X:113.91, Y:57.78, Z:-10.34 [[ 5.17394168e-01 -8.55301325e-01 2.76209915e-02 1.13906259e+02] [ 8.54063334e-01 5.18130871e-01 4.60024051e-02 5.77761758e+01] [-5.36572064e-02 -2.11299996e-04 9.98559392e-01 -1.03446988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.373201008 meters 0.06192385765789739 Centerline is valid? [True, True] Translation: X:113.92, Y:57.80, Z:-10.35 [[ 5.17603940e-01 -8.55174985e-01 2.76026578e-02 1.13918603e+02] [ 8.53937180e-01 5.18339357e-01 4.59956883e-02 5.77993200e+01] [-5.36419059e-02 -2.36613712e-04 9.98560208e-01 -1.03455829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.403201008 meters 0.061863736775916965 Centerline is valid? [True, True] Translation: X:113.93, Y:57.82, Z:-10.35 [[ 5.18078856e-01 -8.54892494e-01 2.74430703e-02 1.13931486e+02] [ 8.53666798e-01 5.18805112e-01 4.57630170e-02 5.78227262e+01] [-5.33600650e-02 -2.81613556e-04 9.98575297e-01 -1.03469842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.433201008 meters 0.061756137855382885 Centerline is valid? [True, True] Translation: X:113.95, Y:57.85, Z:-10.35 [[ 5.18605334e-01 -8.54573825e-01 2.74241681e-02 1.13945164e+02] [ 8.53347667e-01 5.19329826e-01 4.57634227e-02 5.78466376e+01] [-5.33504116e-02 -3.30805237e-04 9.98575798e-01 -1.03473997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.463201008 meters 0.0617825000611999 Centerline is valid? [True, True] Translation: X:113.96, Y:57.87, Z:-10.35 [[ 5.18779655e-01 -8.54480462e-01 2.70334778e-02 1.13957920e+02] [ 8.53287159e-01 5.19483412e-01 4.51443162e-02 5.78701889e+01] [-5.26183794e-02 -3.52633351e-04 9.98614631e-01 -1.03491438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.493201008 meters 0.06191960514590753 Centerline is valid? [True, True] Translation: X:113.97, Y:57.89, Z:-10.35 [[ 5.19071642e-01 -8.54322318e-01 2.64198417e-02 1.13968969e+02] [ 8.53181236e-01 5.19743436e-01 4.41422618e-02 5.78933533e+01] [-5.14432587e-02 -3.72083125e-04 9.98675850e-01 -1.03535230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.523201008 meters 0.06196819112605164 Centerline is valid? [True, True] Translation: X:113.98, Y:57.92, Z:-10.36 [[ 5.19454020e-01 -8.54084084e-01 2.66063526e-02 1.13981187e+02] [ 8.52925472e-01 5.20134799e-01 4.44739266e-02 5.79177258e+01] [-5.18233628e-02 -4.08924092e-04 9.98656183e-01 -1.03555406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.553201008 meters 0.062260864870307055 Centerline is valid? [True, True] Translation: X:113.99, Y:57.94, Z:-10.36 [[ 5.20120819e-01 -8.53692083e-01 2.61564627e-02 1.13991404e+02] [ 8.52570422e-01 5.20777899e-01 4.37499159e-02 5.79423331e+01] [-5.09706645e-02 -4.55015673e-04 9.98700047e-01 -1.03596645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.583201008 meters 0.062214534983700144 Centerline is valid? [True, True] Translation: X:114.01, Y:57.97, Z:-10.36 [[ 5.19554733e-01 -8.54045512e-01 2.58678011e-02 1.14005182e+02] [ 8.52947451e-01 5.20198114e-01 4.32962872e-02 5.79652922e+01] [-5.04333811e-02 -4.30915919e-04 9.98727334e-01 -1.03628021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.613201008 meters 0.06232071008678216 Centerline is valid? [True, True] Translation: X:114.02, Y:57.99, Z:-10.36 [[ 5.19441557e-01 -8.54124291e-01 2.55375149e-02 1.14019927e+02] [ 8.53052595e-01 5.20068752e-01 4.27757420e-02 5.79887454e+01] [-4.98170638e-02 -4.34654606e-04 9.98758265e-01 -1.03643402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.643201008 meters 0.06211968395455907 Centerline is valid? [True, True] Translation: X:114.04, Y:58.01, Z:-10.36 [[ 5.18447573e-01 -8.54737479e-01 2.52181467e-02 1.14035123e+02] [ 8.53691821e-01 5.19060394e-01 4.22679718e-02 5.80115824e+01] [-4.92177608e-02 -3.85201778e-04 9.98787997e-01 -1.03649619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.673201008 meters 0.06209211377620794 Centerline is valid? [True, True] Translation: X:114.05, Y:58.03, Z:-10.37 [[ 5.17579055e-01 -8.55254626e-01 2.55234442e-02 1.14049703e+02] [ 8.54182645e-01 5.18207871e-01 4.28090111e-02 5.80349060e+01] [-4.98390544e-02 -3.55364416e-04 9.98757199e-01 -1.03669272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.703201008 meters 0.06224086424481986 Centerline is valid? [True, True] Translation: X:114.06, Y:58.06, Z:-10.37 [[ 5.15454726e-01 -8.56546559e-01 2.51876626e-02 1.14062217e+02] [ 8.55502915e-01 5.16069700e-01 4.22708877e-02 5.80565739e+01] [-4.92055728e-02 -2.40610087e-04 9.98788643e-01 -1.03725046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.733201008 meters 0.062127047351941106 Centerline is valid? [True, True] Translation: X:114.08, Y:58.08, Z:-10.38 [[ 5.14245237e-01 -8.57277923e-01 2.50279683e-02 1.14075739e+02] [ 8.56246696e-01 5.14853890e-01 4.20364971e-02 5.80786713e+01] [-4.89227078e-02 -1.86953225e-04 9.98802550e-01 -1.03754332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.763201008 meters 0.062097039833577616 Centerline is valid? [True, True] Translation: X:114.09, Y:58.10, Z:-10.38 [[ 5.13856799e-01 -8.57495423e-01 2.55497684e-02 1.14090016e+02] [ 8.56419240e-01 5.14491560e-01 4.29478722e-02 5.81016611e+01] [-4.99727441e-02 -1.87742907e-04 9.98750564e-01 -1.03757464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.793201008 meters 0.06160418262118598 Centerline is valid? [True, True] Translation: X:114.10, Y:58.13, Z:-10.38 [[ 5.13341052e-01 -8.57783472e-01 2.62388944e-02 1.14104087e+02] [ 8.56647533e-01 5.14011171e-01 4.41307057e-02 5.81250432e+01] [-5.13416748e-02 -1.76618704e-04 9.98681131e-01 -1.03755523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.823201008 meters 0.0613624009430544 Centerline is valid? [True, True] Translation: X:114.12, Y:58.15, Z:-10.38 [[ 5.13265340e-01 -8.57816518e-01 2.66366726e-02 1.14117061e+02] [ 8.56644280e-01 5.13956014e-01 4.48307133e-02 5.81487325e+01] [-5.21466044e-02 -1.91897998e-04 9.98639422e-01 -1.03770424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.853201008 meters 0.06147142586651748 Centerline is valid? [True, True] Translation: X:114.13, Y:58.17, Z:-10.38 [[ 5.13159429e-01 -8.57871575e-01 2.69027924e-02 1.14129614e+02] [ 8.56674213e-01 5.13864105e-01 4.53097614e-02 5.81723865e+01] [-5.26943357e-02 -2.04202780e-04 9.98610668e-01 -1.03791150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88320100800001 meters 0.06133732947685243 Centerline is valid? [True, True] Translation: X:114.14, Y:58.20, Z:-10.38 [[ 5.13460441e-01 -8.57677190e-01 2.73534753e-02 1.14142079e+02] [ 8.56437452e-01 5.14188465e-01 4.60989558e-02 5.81961881e+01] [-5.36028644e-02 -2.43449538e-04 9.98562303e-01 -1.03796951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91320100800002 meters 0.06123596469647929 Centerline is valid? [True, True] Translation: X:114.15, Y:58.22, Z:-10.38 [[ 5.15271373e-01 -8.56551364e-01 2.85512225e-02 1.14153856e+02] [ 8.55196680e-01 5.16061627e-01 4.81563732e-02 5.82214756e+01] [-5.59825975e-02 -3.96689855e-04 9.98431666e-01 -1.03779639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94320100800002 meters 0.06131480768797864 Centerline is valid? [True, True] Translation: X:114.17, Y:58.25, Z:-10.38 [[ 5.15673011e-01 -8.56297817e-01 2.89031880e-02 1.14165916e+02] [ 8.54907038e-01 5.16482185e-01 4.87863530e-02 5.82452883e+01] [-5.67036293e-02 -4.48266707e-04 9.98390954e-01 -1.03806432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97320100800002 meters 0.061208747351035 Centerline is valid? [True, True] Translation: X:114.18, Y:58.27, Z:-10.38 [[ 5.15852456e-01 -8.56187757e-01 2.89615096e-02 1.14178882e+02] [ 8.54789855e-01 5.16664592e-01 4.89080983e-02 5.82695088e+01] [-5.68379015e-02 -4.73358015e-04 9.98383308e-01 -1.03816819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.003201008 meters 0.06121449425953093 Centerline is valid? [True, True] Translation: X:114.19, Y:58.29, Z:-10.38 [[ 5.15173200e-01 -8.56591349e-01 2.91176078e-02 1.14191293e+02] [ 8.55177060e-01 5.15995213e-01 4.92050340e-02 5.82933780e+01] [-5.71731527e-02 -4.48404568e-04 9.98364177e-01 -1.03842664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.033201008 meters 0.061568270766473684 Centerline is valid? [True, True] Translation: X:114.20, Y:58.32, Z:-10.39 [[ 5.15685554e-01 -8.56307011e-01 2.84026735e-02 1.14202234e+02] [ 8.54959048e-01 5.16466908e-01 4.80308131e-02 5.83169509e+01] [-5.57981630e-02 -4.85673758e-04 9.98441951e-01 -1.03874445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.063201008 meters 0.06178072307786922 Centerline is valid? [True, True] Translation: X:114.21, Y:58.34, Z:-10.39 [[ 5.15431020e-01 -8.56460972e-01 2.83807469e-02 1.14213162e+02] [ 8.55114156e-01 5.16211558e-01 4.80146501e-02 5.83412526e+01] [-5.57731435e-02 -4.79461662e-04 9.98443352e-01 -1.03914857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.093201008 meters 0.06195803940020818 Centerline is valid? [True, True] Translation: X:114.23, Y:58.36, Z:-10.39 [[ 5.15489178e-01 -8.56439880e-01 2.79578212e-02 1.14225923e+02] [ 8.55130997e-01 5.16246540e-01 4.73337968e-02 5.83641881e+01] [-5.49716797e-02 -4.92460510e-04 9.98487793e-01 -1.03947119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.123201008 meters 0.061672018928595584 Centerline is valid? [True, True] Translation: X:114.24, Y:58.39, Z:-10.40 [[ 5.14694195e-01 -8.56918027e-01 2.79531821e-02 1.14240450e+02] [ 8.55608455e-01 5.15452505e-01 4.73591395e-02 5.83870594e+01] [-5.49914381e-02 -4.58495227e-04 9.98486721e-01 -1.03961206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.153201008 meters 0.06189727564187537 Centerline is valid? [True, True] Translation: X:114.25, Y:58.41, Z:-10.40 [[ 5.14072016e-01 -8.57327948e-01 2.68095313e-02 1.14253732e+02] [ 8.56122323e-01 5.14770451e-01 4.54527358e-02 5.84090563e+01] [-5.27686553e-02 -4.13741371e-04 9.98606678e-01 -1.04000017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.183201008 meters 0.06190808161053232 Centerline is valid? [True, True] Translation: X:114.27, Y:58.43, Z:-10.40 [[ 5.13520660e-01 -8.57682388e-01 2.60279266e-02 1.14267406e+02] [ 8.56545456e-01 5.14179714e-01 4.41486522e-02 5.84321518e+01] [-5.12485533e-02 -3.77142770e-04 9.98685858e-01 -1.04027967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.213201008 meters 0.062020873411986234 Centerline is valid? [True, True] Translation: X:114.28, Y:58.45, Z:-10.41 [[ 5.13052452e-01 -8.57957891e-01 2.61808789e-02 1.14279874e+02] [ 8.56806492e-01 5.13719887e-01 4.44354954e-02 5.84543284e+01] [-5.15734221e-02 -3.65792823e-04 9.98669139e-01 -1.04067433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.243201008 meters 0.061910684282867466 Centerline is valid? [True, True] Translation: X:114.29, Y:58.48, Z:-10.41 [[ 5.12362543e-01 -8.58376035e-01 2.59847387e-02 1.14294430e+02] [ 8.57240565e-01 5.13020922e-01 4.41378198e-02 5.84778849e+01] [-5.12175614e-02 -3.39393492e-04 9.98687462e-01 -1.04079980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.273201008 meters 0.06179706016471372 Centerline is valid? [True, True] Translation: X:114.31, Y:58.50, Z:-10.41 [[ 5.12055240e-01 -8.58548988e-01 2.63261605e-02 1.14308260e+02] [ 8.57382121e-01 5.12731429e-01 4.47479567e-02 5.85011323e+01] [-5.19165628e-02 -3.41846377e-04 9.98651367e-01 -1.04096572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.303201008 meters 0.06181068531539456 Centerline is valid? [True, True] Translation: X:114.32, Y:58.52, Z:-10.41 [[ 5.11926394e-01 -8.58625781e-01 2.63274629e-02 1.14321507e+02] [ 8.57457298e-01 5.12602814e-01 4.47809930e-02 5.85246269e+01] [-5.19456467e-02 -3.49897043e-04 9.98649852e-01 -1.04125508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.333201008 meters 0.06178146110990052 Centerline is valid? [True, True] Translation: X:114.33, Y:58.55, Z:-10.41 [[ 5.11490340e-01 -8.58874117e-01 2.66998649e-02 1.14334180e+02] [ 8.57671014e-01 5.12186618e-01 4.54455806e-02 5.85470901e+01] [-5.27073465e-02 -3.45275322e-04 9.98609942e-01 -1.04148856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.363201008 meters 0.06169159590126 Centerline is valid? [True, True] Translation: X:114.35, Y:58.57, Z:-10.42 [[ 5.11266852e-01 -8.58982814e-01 2.74723590e-02 1.14348057e+02] [ 8.57707020e-01 5.12004289e-01 4.68003908e-02 5.85708524e+01] [-5.42666971e-02 -3.64253326e-04 9.98526411e-01 -1.04157894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.393201008 meters 0.06175882374311286 Centerline is valid? [True, True] Translation: X:114.36, Y:58.59, Z:-10.41 [[ 5.11809813e-01 -8.58641778e-01 2.80180581e-02 1.14362548e+02] [ 8.57313201e-01 5.12575967e-01 4.77488656e-02 5.85944521e+01] [-5.53605541e-02 -4.18086916e-04 9.98466341e-01 -1.04147892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.423201008 meters 0.06190302992796772 Centerline is valid? [True, True] Translation: X:114.38, Y:58.62, Z:-10.42 [[ 5.11636197e-01 -8.58752127e-01 2.78062283e-02 1.14376559e+02] [ 8.57441945e-01 5.12391070e-01 4.74204920e-02 5.86178408e+01] [-5.49701114e-02 -4.19813677e-04 9.98487912e-01 -1.04165526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.453201008 meters 0.06185339274781941 Centerline is valid? [True, True] Translation: X:114.39, Y:58.64, Z:-10.42 [[ 5.10986985e-01 -8.59120432e-01 2.83616726e-02 1.14390925e+02] [ 8.57755974e-01 5.11773308e-01 4.84021660e-02 5.86413426e+01] [-5.60980368e-02 -4.05482771e-04 9.98425183e-01 -1.04187393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.483201008 meters 0.062239282068288396 Centerline is valid? [True, True] Translation: X:114.40, Y:58.66, Z:-10.42 [[ 5.10778311e-01 -8.59239041e-01 2.85269726e-02 1.14404318e+02] [ 8.57856899e-01 5.11574141e-01 4.87179538e-02 5.86632106e+01] [-5.64540294e-02 -4.12013887e-04 9.98405115e-01 -1.04228803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.513201008 meters 0.06238242938698137 Centerline is valid? [True, True] Translation: X:114.42, Y:58.69, Z:-10.43 [[ 5.10474574e-01 -8.59432986e-01 2.81185181e-02 1.14417705e+02] [ 8.58088540e-01 5.11248256e-01 4.80549389e-02 5.86854911e+01] [-5.56755430e-02 -4.02646284e-04 9.98448833e-01 -1.04259028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.543201008 meters 0.06254662510358037 Centerline is valid? [True, True] Translation: X:114.43, Y:58.71, Z:-10.43 [[ 5.10697412e-01 -8.59306753e-01 2.79295319e-02 1.14430328e+02] [ 8.57978331e-01 5.11460379e-01 4.77646750e-02 5.87085748e+01] [-5.53293567e-02 -4.30362725e-04 9.98468065e-01 -1.04288126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.573201008 meters 0.06258504371429578 Centerline is valid? [True, True] Translation: X:114.44, Y:58.73, Z:-10.43 [[ 5.11835639e-01 -8.58641954e-01 2.75367771e-02 1.14442456e+02] [ 8.57347823e-01 5.12575587e-01 4.71272482e-02 5.87324458e+01] [-5.45801121e-02 -5.12809320e-04 9.98509263e-01 -1.04311161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.603201008 meters 0.063802037038612 Centerline is valid? [True, True] Translation: X:114.45, Y:58.76, Z:-10.44 [[ 5.15326326e-01 -8.56577068e-01 2.67302177e-02 1.14452191e+02] [ 8.55353031e-01 5.16018600e-01 4.57820535e-02 5.87568506e+01] [-5.30091466e-02 -7.28924715e-04 9.98593761e-01 -1.04370156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63320100800001 meters 0.06385953406166153 Centerline is valid? [True, True] Translation: X:114.47, Y:58.78, Z:-10.44 [[ 5.16729279e-01 -8.55752278e-01 2.60555341e-02 1.14466817e+02] [ 8.54587210e-01 5.17385150e-01 4.46464698e-02 5.87813361e+01] [-5.16870646e-02 -8.03411978e-04 9.98663007e-01 -1.04377508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66320100800002 meters 0.06494726731143373 Centerline is valid? [True, True] Translation: X:114.48, Y:58.81, Z:-10.44 [[ 5.18404728e-01 -8.54749353e-01 2.56920433e-02 1.14476758e+02] [ 8.53613751e-01 5.19040191e-01 4.40550122e-02 5.88065088e+01] [-5.09911962e-02 -9.07245174e-04 9.98698691e-01 -1.04445740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69320100800002 meters 0.06509645797305631 Centerline is valid? [True, True] Translation: X:114.49, Y:58.83, Z:-10.45 [[ 5.19562406e-01 -8.54038574e-01 2.59426357e-02 1.14489502e+02] [ 8.52879002e-01 5.20208732e-01 4.45003831e-02 5.88311491e+01] [-5.15006293e-02 -9.94796886e-04 9.98672467e-01 -1.04463095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72320100800002 meters 0.06592039237216797 Centerline is valid? [True, True] Translation: X:114.50, Y:58.85, Z:-10.45 [[ 5.21517310e-01 -8.52840737e-01 2.61222721e-02 1.14501386e+02] [ 8.51661725e-01 5.22169877e-01 4.48433540e-02 5.88539300e+01] [-5.18845026e-02 -1.13924605e-03 9.98652442e-01 -1.04505064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.753201008 meters 0.06592039237216797 Centerline is valid? [True, True] Translation: X:114.51, Y:58.88, Z:-10.45 [[ 5.21240917e-01 -8.53009952e-01 2.61137706e-02 1.14514219e+02] [ 8.51830904e-01 5.21893419e-01 4.48483038e-02 5.88765044e+01] [-5.18846545e-02 -1.13225413e-03 9.98652442e-01 -1.04525100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.783201008 meters 0.06592534577857664 Centerline is valid? [True, True] Translation: X:114.53, Y:58.90, Z:-10.45 [[ 5.21654501e-01 -8.52753626e-01 2.62265943e-02 1.14529226e+02] [ 8.51562197e-01 5.22312031e-01 4.50773365e-02 5.88993021e+01] [-5.21383279e-02 -1.18121925e-03 9.98639174e-01 -1.04531653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.813201008 meters 0.06561215712591945 Centerline is valid? [True, True] Translation: X:114.54, Y:58.92, Z:-10.45 [[ 5.21680793e-01 -8.52736656e-01 2.62553891e-02 1.14544672e+02] [ 8.51540982e-01 5.22339693e-01 4.51575081e-02 5.89220044e+01] [-5.22216943e-02 -1.20026477e-03 9.98634795e-01 -1.04543064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.843201008 meters 0.06574633479777105 Centerline is valid? [True, True] Translation: X:114.56, Y:58.95, Z:-10.46 [[ 5.21149378e-01 -8.53059344e-01 2.63264428e-02 1.14558690e+02] [ 8.51855929e-01 5.21812557e-01 4.53114914e-02 5.89453610e+01] [-5.23908596e-02 -1.18771919e-03 9.98625950e-01 -1.04568698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.873201008 meters 0.06555196199936002 Centerline is valid? [True, True] Translation: X:114.57, Y:58.97, Z:-10.46 [[ 5.20637719e-01 -8.53378286e-01 2.61125695e-02 1.14573267e+02] [ 8.52193158e-01 5.21290850e-01 4.49741188e-02 5.89683582e+01] [-5.19921800e-02 -1.16226954e-03 9.98646816e-01 -1.04602814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.903201008 meters 0.06524559372015311 Centerline is valid? [True, True] Translation: X:114.59, Y:58.99, Z:-10.46 [[ 5.17628479e-01 -8.55184636e-01 2.68327408e-02 1.14588724e+02] [ 8.53933803e-01 5.18322472e-01 4.62479782e-02 5.89899030e+01] [-5.34585730e-02 -1.02588619e-03 9.98569541e-01 -1.04635501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.933201008 meters 0.06476258137093732 Centerline is valid? [True, True] Translation: X:114.61, Y:59.01, Z:-10.46 [[ 5.15366076e-01 -8.56536945e-01 2.72446215e-02 1.14605506e+02] [ 8.55247383e-01 5.16084896e-01 4.69924918e-02 5.90120580e+01] [-5.43113430e-02 -9.17444900e-04 9.98523628e-01 -1.04634901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.963201008 meters 0.0642273106479425 Centerline is valid? [True, True] Translation: X:114.62, Y:59.03, Z:-10.46 [[ 5.12700779e-01 -8.58113256e-01 2.79204510e-02 1.14623027e+02] [ 8.56759230e-01 5.13459852e-01 4.81933785e-02 5.90341027e+01] [-5.56914076e-02 -7.87678662e-04 9.98447719e-01 -1.04640776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.993201008 meters 0.06372224109221265 Centerline is valid? [True, True] Translation: X:114.64, Y:59.05, Z:-10.47 [[ 5.07428037e-01 -8.61245680e-01 2.77968621e-02 1.14643287e+02] [ 8.59906597e-01 5.08188614e-01 4.80101766e-02 5.90526191e+01] [-5.54746060e-02 -4.59004578e-04 9.98459993e-01 -1.04660065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.023201008 meters 0.06355779247644708 Centerline is valid? [True, True] Translation: X:114.66, Y:59.07, Z:-10.47 [[ 5.04503846e-01 -8.62968864e-01 2.75791486e-02 1.14659402e+02] [ 8.61651362e-01 5.05257023e-01 4.76683433e-02 5.90734591e+01] [-5.50708546e-02 -2.85251649e-04 9.98482408e-01 -1.04682420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.053201008 meters 0.06345930565372622 Centerline is valid? [True, True] Translation: X:114.68, Y:59.10, Z:-10.47 [[ 5.01295111e-01 -8.64830973e-01 2.77596874e-02 1.14675807e+02] [ 8.63496919e-01 5.02063122e-01 4.80176279e-02 5.90951340e+01] [-5.54642472e-02 -1.00597592e-04 9.98460669e-01 -1.04697848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.083201008 meters 0.06343196531699566 Centerline is valid? [True, True] Translation: X:114.69, Y:59.12, Z:-10.47 [[ 4.98688093e-01 -8.66345817e-01 2.74792813e-02 1.14691918e+02] [ 8.65039023e-01 4.99444614e-01 4.75664339e-02 5.91171063e+01] [-5.49333601e-02 4.98364215e-05 9.98490022e-01 -1.04710407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.113201008 meters 0.06349323196760466 Centerline is valid? [True, True] Translation: X:114.71, Y:59.14, Z:-10.48 [[ 4.96691476e-01 -8.67496681e-01 2.73328686e-02 1.14706912e+02] [ 8.66203764e-01 4.97442944e-01 4.73450938e-02 5.91387407e+01] [-5.46682544e-02 1.59929127e-04 9.98504560e-01 -1.04750437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.143201008 meters 0.0640027645471181 Centerline is valid? [True, True] Translation: X:114.72, Y:59.16, Z:-10.48 [[ 4.93910401e-01 -8.69097000e-01 2.68871821e-02 1.14723162e+02] [ 8.67846437e-01 4.94641593e-01 4.66074646e-02 5.91608700e+01] [-5.38059263e-02 3.14033680e-04 9.98551363e-01 -1.04779429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.173201008 meters 0.06395606958140444 Centerline is valid? [True, True] Translation: X:114.74, Y:59.18, Z:-10.48 [[ 4.93309344e-01 -8.69429048e-01 2.71849641e-02 1.14736858e+02] [ 8.68149434e-01 4.94057705e-01 4.71544676e-02 5.91840194e+01] [-5.44284048e-02 3.38871694e-04 9.98517618e-01 -1.04788338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.203201008 meters 0.0640446925236467 Centerline is valid? [True, True] Translation: X:114.75, Y:59.21, Z:-10.48 [[ 4.92701444e-01 -8.69775146e-01 2.71382099e-02 1.14749636e+02] [ 8.68498479e-01 4.93448140e-01 4.71097169e-02 5.92079905e+01] [-5.43661600e-02 3.58468486e-04 9.98521002e-01 -1.04796635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.233201008 meters 0.06419714399935877 Centerline is valid? [True, True] Translation: X:114.76, Y:59.23, Z:-10.48 [[ 4.93606720e-01 -8.69266998e-01 2.69683434e-02 1.14760014e+02] [ 8.68003808e-01 4.94342800e-01 4.68463991e-02 5.92320936e+01] [-5.40536352e-02 2.84927387e-04 9.98537993e-01 -1.04835233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.263201008 meters 0.06405795934829973 Centerline is valid? [True, True] Translation: X:114.77, Y:59.26, Z:-10.48 [[ 4.94851098e-01 -8.68553694e-01 2.71453807e-02 1.14771839e+02] [ 8.67270854e-01 4.95595041e-01 4.71892115e-02 5.92573166e+01] [-5.44394800e-02 1.90764371e-04 9.98517054e-01 -1.04845927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.293201008 meters 0.06418798804355354 Centerline is valid? [True, True] Translation: X:114.78, Y:59.28, Z:-10.49 [[ 4.95831873e-01 -8.67995780e-01 2.70938959e-02 1.14783199e+02] [ 8.66715009e-01 4.96571559e-01 4.71357647e-02 5.92813399e+01] [-5.43677030e-02 1.11271792e-04 9.98520977e-01 -1.04894135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.323201008 meters 0.0643681851167936 Centerline is valid? [True, True] Translation: X:114.79, Y:59.31, Z:-10.49 [[ 4.99088734e-01 -8.66148987e-01 2.63887969e-02 1.14791468e+02] [ 8.64930328e-01 4.99785877e-01 4.59304245e-02 5.93078781e+01] [-5.29713387e-02 -9.88866909e-05 9.98596028e-01 -1.04904830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.353201008 meters 0.06448370400969636 Centerline is valid? [True, True] Translation: X:114.80, Y:59.33, Z:-10.49 [[ 5.00030948e-01 -8.65597621e-01 2.66422609e-02 1.14803228e+02] [ 8.64352943e-01 5.00740180e-01 4.64032436e-02 5.93330453e+01] [-5.35073878e-02 -1.74741191e-04 9.98567438e-01 -1.04919055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38320100800001 meters 0.06466274609004691 Centerline is valid? [True, True] Translation: X:114.81, Y:59.36, Z:-10.49 [[ 5.01870864e-01 -8.64541980e-01 2.63210868e-02 1.14814812e+02] [ 8.63323997e-01 5.02560518e-01 4.58759394e-02 5.93589064e+01] [-5.28896145e-02 -3.00171499e-04 9.98600320e-01 -1.04927889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41320100800002 meters 0.0652478467675731 Centerline is valid? [True, True] Translation: X:114.82, Y:59.38, Z:-10.50 [[ 5.03942059e-01 -8.63306058e-01 2.72956308e-02 1.14821668e+02] [ 8.61992721e-01 5.04680530e-01 4.76036929e-02 5.93847768e+01] [-5.48721299e-02 -4.60867885e-04 9.98493283e-01 -1.04984951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44320100800002 meters 0.0652234724340224 Centerline is valid? [True, True] Translation: X:114.83, Y:59.41, Z:-10.50 [[ 5.05070745e-01 -8.62636857e-01 2.75897634e-02 1.14833709e+02] [ 8.61291984e-01 5.05823429e-01 4.81536815e-02 5.94094381e+01] [-5.54946892e-02 -5.58173762e-04 9.98458826e-01 -1.04970500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47320100800002 meters 0.06552573626346103 Centerline is valid? [True, True] Translation: X:114.84, Y:59.43, Z:-10.50 [[ 5.05846144e-01 -8.62199391e-01 2.70534473e-02 1.14843985e+02] [ 8.60904010e-01 5.06568691e-01 4.72487821e-02 5.94338493e+01] [-5.44423005e-02 -6.10193003e-04 9.98516732e-01 -1.05014221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.503201008 meters 0.06564928890096278 Centerline is valid? [True, True] Translation: X:114.86, Y:59.46, Z:-10.50 [[ 5.06655734e-01 -8.61719677e-01 2.71876068e-02 1.14856573e+02] [ 8.60408771e-01 5.07384205e-01 4.75185781e-02 5.94581643e+01] [-5.47422561e-02 -6.83104677e-04 9.98500285e-01 -1.05027502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.533201008 meters 0.06565623520255753 Centerline is valid? [True, True] Translation: X:114.87, Y:59.48, Z:-10.51 [[ 5.06819657e-01 -8.61625254e-01 2.71248396e-02 1.14869184e+02] [ 8.60318477e-01 5.07544501e-01 4.74415183e-02 5.94828488e+01] [-5.46438735e-02 -7.08293342e-04 9.98505656e-01 -1.05054553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.563201008 meters 0.06575647323964266 Centerline is valid? [True, True] Translation: X:114.88, Y:59.51, Z:-10.51 [[ 5.07550369e-01 -8.61186021e-01 2.74091355e-02 1.14880755e+02] [ 8.59849199e-01 5.08289316e-01 4.79721491e-02 5.95073444e+01] [-5.52447150e-02 -7.80558759e-04 9.98472540e-01 -1.05068086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.593201008 meters 0.065714991345189 Centerline is valid? [True, True] Translation: X:114.89, Y:59.53, Z:-10.51 [[ 5.07169490e-01 -8.61391392e-01 2.79996069e-02 1.14893235e+02] [ 8.59994587e-01 5.07941179e-01 4.90415053e-02 5.95299277e+01] [-5.64660838e-02 -7.92844886e-04 9.98404203e-01 -1.05083544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.623201008 meters 0.0658735164718293 Centerline is valid? [True, True] Translation: X:114.91, Y:59.55, Z:-10.51 [[ 5.06900651e-01 -8.61563688e-01 2.75634123e-02 1.14906028e+02] [ 8.60208877e-01 5.07648905e-01 4.83040073e-02 5.95533132e+01] [-5.56095147e-02 -7.75040754e-04 9.98452293e-01 -1.05105968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.653201008 meters 0.06584998941386712 Centerline is valid? [True, True] Translation: X:114.92, Y:59.58, Z:-10.51 [[ 5.06162174e-01 -8.62007523e-01 2.72558871e-02 1.14919479e+02] [ 8.60681634e-01 5.06894949e-01 4.77978536e-02 5.95754962e+01] [-5.50179809e-02 -7.34824062e-04 9.98485093e-01 -1.05133871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.683201008 meters 0.06556884569836585 Centerline is valid? [True, True] Translation: X:114.93, Y:59.60, Z:-10.52 [[ 5.04370059e-01 -8.63066634e-01 2.69597517e-02 1.14934620e+02] [ 8.61769036e-01 5.05089683e-01 4.73132238e-02 5.95967731e+01] [-5.44515573e-02 -6.30294259e-04 9.98516215e-01 -1.05157024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.713201008 meters 0.06534240550282597 Centerline is valid? [True, True] Translation: X:114.95, Y:59.62, Z:-10.52 [[ 5.03326990e-01 -8.63682479e-01 2.67304462e-02 1.14948295e+02] [ 8.62405894e-01 5.04035955e-01 4.69449692e-02 5.96191721e+01] [-5.40186534e-02 -5.76175735e-04 9.98539760e-01 -1.05178764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.743201008 meters 0.06544591510189894 Centerline is valid? [True, True] Translation: X:114.96, Y:59.64, Z:-10.52 [[ 5.02356309e-01 -8.64247639e-01 2.67237039e-02 1.14960390e+02] [ 8.62970651e-01 5.03066332e-01 4.69672339e-02 5.96409999e+01] [-5.40351167e-02 -5.32514149e-04 9.98538894e-01 -1.05218567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.773201008 meters 0.0654431267907759 Centerline is valid? [True, True] Translation: X:114.97, Y:59.66, Z:-10.52 [[ 5.00957947e-01 -8.65069496e-01 2.63799475e-02 1.14974216e+02] [ 8.63824354e-01 5.01651830e-01 4.63996559e-02 5.96631066e+01] [-5.33724759e-02 -4.56635270e-04 9.98574569e-01 -1.05249991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.803201008 meters 0.06485131717052628 Centerline is valid? [True, True] Translation: X:114.99, Y:59.68, Z:-10.52 [[ 4.99415248e-01 -8.65975791e-01 2.58909044e-02 1.14990550e+02] [ 8.64775930e-01 5.00085785e-01 4.55719005e-02 5.96848906e+01] [-5.24118359e-02 -3.69471078e-04 9.98625487e-01 -1.05248571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.833201008 meters 0.06501258635507426 Centerline is valid? [True, True] Translation: X:115.00, Y:59.71, Z:-10.53 [[ 4.98724253e-01 -8.66381212e-01 2.56459553e-02 1.15003445e+02] [ 8.65202933e-01 4.99383100e-01 4.51708372e-02 5.97080287e+01] [-5.19423213e-02 -3.38836326e-04 9.98650029e-01 -1.05276291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.863201008 meters 0.06523088015909764 Centerline is valid? [True, True] Translation: X:115.02, Y:59.73, Z:-10.53 [[ 4.98165164e-01 -8.66721162e-01 2.50179378e-02 1.15015906e+02] [ 8.65598764e-01 4.98792874e-01 4.40959000e-02 5.97306431e+01] [-5.06976187e-02 -3.11545245e-04 9.98714000e-01 -1.05347790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.893201008 meters 0.06512334244197372 Centerline is valid? [True, True] Translation: X:115.03, Y:59.75, Z:-10.53 [[ 4.97778962e-01 -8.66954088e-01 2.46315664e-02 1.15030299e+02] [ 8.65864845e-01 4.98387921e-01 4.34459463e-02 5.97541536e+01] [-4.99417160e-02 -2.98870651e-04 9.98752089e-01 -1.05344116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.923201008 meters 0.06559474655675591 Centerline is valid? [True, True] Translation: X:115.04, Y:59.78, Z:-10.54 [[ 4.97982177e-01 -8.66870786e-01 2.34263186e-02 1.15040299e+02] [ 8.65884316e-01 4.98532796e-01 4.13449278e-02 5.97774144e+01] [-4.75194981e-02 -3.04555272e-04 9.98870264e-01 -1.05435766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.953201008 meters 0.0653064644094637 Centerline is valid? [True, True] Translation: X:115.05, Y:59.80, Z:-10.54 [[ 4.98437163e-01 -8.66624317e-01 2.28623558e-02 1.15053666e+02] [ 8.65683260e-01 4.98961102e-01 4.03771270e-02 5.98011358e+01] [-4.63992263e-02 -3.33901894e-04 9.98922920e-01 -1.05417635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.983201008 meters 0.06556377969252945 Centerline is valid? [True, True] Translation: X:115.07, Y:59.82, Z:-10.55 [[ 4.98790080e-01 -8.66432949e-01 2.24142833e-02 1.15065352e+02] [ 8.65527092e-01 4.99293317e-01 3.96110688e-02 5.98241714e+01] [-4.55116370e-02 -3.57438760e-04 9.98963745e-01 -1.05454205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.013201008 meters 0.06571928299309962 Centerline is valid? [True, True] Translation: X:115.08, Y:59.85, Z:-10.55 [[ 4.99843632e-01 -8.65824667e-01 2.24497220e-02 1.15077436e+02] [ 8.64914059e-01 5.00347343e-01 3.97014748e-02 5.98479969e+01] [-4.56071750e-02 -4.27449179e-04 9.98959360e-01 -1.05467450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.043201008 meters 0.06598989945841385 Centerline is valid? [True, True] Translation: X:115.09, Y:59.87, Z:-10.55 [[ 5.01985653e-01 -8.64581165e-01 2.25790566e-02 1.15086622e+02] [ 8.63657213e-01 5.02492880e-01 3.99640235e-02 5.98736201e+01] [-4.58979572e-02 -5.60801279e-04 9.98945976e-01 -1.05497872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.073201008 meters 0.06595326543770183 Centerline is valid? [True, True] Translation: X:115.10, Y:59.90, Z:-10.55 [[ 5.02531145e-01 -8.64268750e-01 2.24048209e-02 1.15098859e+02] [ 8.63357650e-01 5.03029992e-01 3.96786672e-02 5.98983634e+01] [-4.55633290e-02 -5.96392519e-04 9.98961274e-01 -1.05498952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.103201008 meters 0.06611515712261917 Centerline is valid? [True, True] Translation: X:115.11, Y:59.92, Z:-10.55 [[ 5.03394047e-01 -8.63758083e-01 2.27246065e-02 1.15110079e+02] [ 8.62819082e-01 5.03906274e-01 4.02703188e-02 5.99214446e+01] [-4.62348852e-02 -6.64614637e-04 9.98930375e-01 -1.05522765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13320100800001 meters 0.06631860084095022 Centerline is valid? [True, True] Translation: X:115.12, Y:59.95, Z:-10.55 [[ 5.04036361e-01 -8.63377166e-01 2.29611937e-02 1.15122457e+02] [ 8.62416510e-01 5.04558564e-01 4.07236788e-02 5.99453373e+01] [-4.67451614e-02 -7.24102339e-04 9.98906585e-01 -1.05539802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16320100800002 meters 0.06645927094651687 Centerline is valid? [True, True] Translation: X:115.13, Y:59.97, Z:-10.55 [[ 5.06064331e-01 -8.62183799e-01 2.31946056e-02 1.15134010e+02] [ 8.61200682e-01 5.06594865e-01 4.11707252e-02 5.99686790e+01] [-4.72470003e-02 -8.59825297e-04 9.98882867e-01 -1.05540114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19320100800002 meters 0.06651015104158021 Centerline is valid? [True, True] Translation: X:115.15, Y:59.99, Z:-10.56 [[ 5.06388635e-01 -8.61983052e-01 2.35747545e-02 1.15146020e+02] [ 8.60965753e-01 5.06936282e-01 4.18757538e-02 5.99926798e+01] [-4.80470884e-02 -9.08349513e-04 9.98844659e-01 -1.05554578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22320100800002 meters 0.06673577303773831 Centerline is valid? [True, True] Translation: X:115.16, Y:60.02, Z:-10.56 [[ 5.07151251e-01 -8.61538036e-01 2.34482552e-02 1.15158566e+02] [ 8.60529567e-01 5.07692117e-01 4.16842734e-02 6.00168638e+01] [-4.78170813e-02 -9.62314536e-04 9.98855646e-01 -1.05571844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.253201008 meters 0.06667839032536023 Centerline is valid? [True, True] Translation: X:115.17, Y:60.04, Z:-10.56 [[ 5.07564792e-01 -8.61295325e-01 2.34167774e-02 1.15170530e+02] [ 8.60288005e-01 5.08103698e-01 4.16555015e-02 6.00400348e+01] [-4.77758399e-02 -9.97693194e-04 9.98857584e-01 -1.05584899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.283201008 meters 0.06664455779282426 Centerline is valid? [True, True] Translation: X:115.18, Y:60.06, Z:-10.56 [[ 5.07369685e-01 -8.61412778e-01 2.33244213e-02 1.15183585e+02] [ 8.60412160e-01 5.07904549e-01 4.15196677e-02 6.00630753e+01] [-4.76121520e-02 -9.97205039e-04 9.98865401e-01 -1.05609422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.313201008 meters 0.06639850076590295 Centerline is valid? [True, True] Translation: X:115.20, Y:60.09, Z:-10.56 [[ 5.06911099e-01 -8.61684168e-01 2.32708442e-02 1.15197860e+02] [ 8.60686979e-01 5.07444011e-01 4.14547867e-02 6.00858913e+01] [-4.75295839e-02 -9.84978882e-04 9.98869345e-01 -1.05621232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.343201008 meters 0.06659487942236963 Centerline is valid? [True, True] Translation: X:115.21, Y:60.11, Z:-10.57 [[ 5.06296971e-01 -8.62052520e-01 2.29963206e-02 1.15210129e+02] [ 8.61077735e-01 5.06818057e-01 4.09950092e-02 6.01083177e+01] [-4.69948015e-02 -9.54029331e-04 9.98894678e-01 -1.05657863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.373201008 meters 0.0655509704071116 Centerline is valid? [True, True] Translation: X:115.23, Y:60.13, Z:-10.57 [[ 5.04970954e-01 -8.62849428e-01 2.22531033e-02 1.15228563e+02] [ 8.61936009e-01 5.05460298e-01 3.97014273e-02 6.01296738e+01] [-4.55044141e-02 -8.67316637e-04 9.98963761e-01 -1.05650531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.403201008 meters 0.06573175817948912 Centerline is valid? [True, True] Translation: X:115.24, Y:60.15, Z:-10.57 [[ 5.03843540e-01 -8.63520463e-01 2.17737580e-02 1.15241536e+02] [ 8.62645483e-01 5.04313163e-01 3.88716501e-02 6.01519483e+01] [-4.45472581e-02 -8.02195816e-04 9.99006956e-01 -1.05692070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.433201008 meters 0.0654641359238931 Centerline is valid? [True, True] Translation: X:115.26, Y:60.17, Z:-10.57 [[ 5.03018516e-01 -8.64002786e-01 2.17154113e-02 1.15255531e+02] [ 8.63131736e-01 5.03486436e-01 3.87945183e-02 6.01733356e+01] [-4.44519870e-02 -7.71100348e-04 9.99011224e-01 -1.05709041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.463201008 meters 0.06586315736213272 Centerline is valid? [True, True] Translation: X:115.27, Y:60.20, Z:-10.58 [[ 5.02441939e-01 -8.64339153e-01 2.16777779e-02 1.15268360e+02] [ 8.63470069e-01 5.02908796e-01 3.87579985e-02 6.01952098e+01] [-4.44020008e-02 -7.55531502e-04 9.99013459e-01 -1.05750777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.493201008 meters 0.06435567490865055 Centerline is valid? [True, True] Translation: X:115.29, Y:60.22, Z:-10.57 [[ 5.01450714e-01 -8.64932354e-01 2.09572065e-02 1.15288635e+02] [ 8.64119247e-01 5.01887974e-01 3.75018459e-02 6.02169677e+01] [-4.29547298e-02 -6.95801883e-04 9.99076777e-01 -1.05695052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.523201008 meters 0.06476534485052454 Centerline is valid? [True, True] Translation: X:115.30, Y:60.24, Z:-10.58 [[ 5.00350134e-01 -8.65567626e-01 2.10339527e-02 1.15299758e+02] [ 8.64748215e-01 5.00791630e-01 3.76599128e-02 6.02404966e+01] [-4.31308288e-02 -6.54069367e-04 9.99069219e-01 -1.05751261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.553201008 meters 0.06456613848008373 Centerline is valid? [True, True] Translation: X:115.31, Y:60.26, Z:-10.58 [[ 4.99654622e-01 -8.65964482e-01 2.12314813e-02 1.15312296e+02] [ 8.65128706e-01 5.00105096e-01 3.80422738e-02 6.02637834e+01] [-4.35612300e-02 -6.40033946e-04 9.99050554e-01 -1.05773735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.583201008 meters 0.06542798260471604 Centerline is valid? [True, True] Translation: X:115.32, Y:60.29, Z:-10.59 [[ 4.98698274e-01 -8.66513827e-01 2.13030371e-02 1.15322161e+02] [ 8.65671646e-01 4.99152700e-01 3.81992502e-02 6.02867230e+01] [-4.37336469e-02 -6.08464968e-04 9.99043041e-01 -1.05860566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.613201008 meters 0.06447468218083874 Centerline is valid? [True, True] Translation: X:115.34, Y:60.31, Z:-10.59 [[ 4.95499963e-01 -8.68341188e-01 2.15259687e-02 1.15339250e+02] [ 8.67481510e-01 4.95967097e-01 3.86324799e-02 6.03061559e+01] [-4.42223457e-02 -4.69012540e-04 9.99021603e-01 -1.05861594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.643201008 meters 0.06308228172686593 Centerline is valid? [True, True] Translation: X:115.36, Y:60.33, Z:-10.58 [[ 4.93771923e-01 -8.69323000e-01 2.16057699e-02 1.15357716e+02] [ 8.68456653e-01 4.94244235e-01 3.88030680e-02 6.03269409e+01] [-4.44109267e-02 -3.96190854e-04 9.99013270e-01 -1.05780845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.673201008 meters 0.06308228172686593 Centerline is valid? [True, True] Translation: X:115.37, Y:60.35, Z:-10.58 [[ 4.93486964e-01 -8.69485110e-01 2.15930635e-02 1.15370123e+02] [ 8.68618608e-01 4.93958993e-01 3.88101355e-02 6.03497667e+01] [-4.44109229e-02 -3.96159225e-04 9.99013270e-01 -1.05800835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.703201008 meters 0.06262038437982118 Centerline is valid? [True, True] Translation: X:115.39, Y:60.37, Z:-10.58 [[ 4.91642542e-01 -8.70523891e-01 2.18120727e-02 1.15386359e+02] [ 8.69639241e-01 4.92126053e-01 3.92369440e-02 6.03724725e+01] [-4.48909864e-02 -3.21916500e-04 9.98991840e-01 -1.05793458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.733201008 meters 0.06202985070840562 Centerline is valid? [True, True] Translation: X:115.40, Y:60.40, Z:-10.58 [[ 4.90175618e-01 -8.71342369e-01 2.21436116e-02 1.15401759e+02] [ 8.70430172e-01 4.90675459e-01 3.98611368e-02 6.03958087e+01] [-4.55980241e-02 -2.64489750e-04 9.98959834e-01 -1.05783268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.763201008 meters 0.06159670478383491 Centerline is valid? [True, True] Translation: X:115.41, Y:60.42, Z:-10.58 [[ 4.88626239e-01 -8.72205644e-01 2.23989686e-02 1.15414801e+02] [ 8.71271872e-01 4.89139320e-01 4.03491161e-02 6.04182089e+01] [-4.61489431e-02 -2.00045500e-04 9.98934550e-01 -1.05800030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.793201008 meters 0.06173340132612509 Centerline is valid? [True, True] Translation: X:115.43, Y:60.44, Z:-10.58 [[ 4.88073714e-01 -8.72515303e-01 2.23851571e-02 1.15426674e+02] [ 8.71581467e-01 4.88586749e-01 4.03575918e-02 6.04405110e+01] [-4.61497076e-02 -1.86991633e-04 9.98934517e-01 -1.05835440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.823201008 meters 0.061652660428888215 Centerline is valid? [True, True] Translation: X:115.44, Y:60.46, Z:-10.58 [[ 4.88048209e-01 -8.72539794e-01 2.19830214e-02 1.15439673e+02] [ 8.71638294e-01 4.88543008e-01 3.96536605e-02 6.04646133e+01] [-4.53390481e-02 -1.91654721e-04 9.98971638e-01 -1.05848703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.853201008 meters 0.06179195464670136 Centerline is valid? [True, True] Translation: X:115.45, Y:60.49, Z:-10.59 [[ 4.87889071e-01 -8.72644540e-01 2.13485626e-02 1.15451396e+02] [ 8.71793378e-01 4.88355886e-01 3.85335593e-02 6.04880501e+01] [-4.40517963e-02 -1.88566934e-04 9.99029231e-01 -1.05898304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88320100800001 meters 0.061737942073946776 Centerline is valid? [True, True] Translation: X:115.46, Y:60.51, Z:-10.59 [[ 4.88976348e-01 -8.72059764e-01 2.03444906e-02 1.15462977e+02] [ 8.71285230e-01 4.89399334e-01 3.67469737e-02 6.05126786e+01] [-4.20021374e-02 -2.42546823e-04 9.99117491e-01 -1.05913197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91320100800002 meters 0.06227071552029664 Centerline is valid? [True, True] Translation: X:115.47, Y:60.54, Z:-10.60 [[ 4.89311095e-01 -8.71885316e-01 1.97648240e-02 1.15474363e+02] [ 8.71153259e-01 4.89710044e-01 3.57221561e-02 6.05356293e+01] [-4.08246562e-02 -2.61056486e-04 9.99166292e-01 -1.05973387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94320100800002 meters 0.061854422880554885 Centerline is valid? [True, True] Translation: X:115.49, Y:60.56, Z:-10.59 [[ 4.90174567e-01 -8.71413865e-01 1.91512334e-02 1.15487998e+02] [ 8.70725041e-01 4.90548451e-01 3.46427558e-02 6.05590803e+01] [-3.95827856e-02 -3.05539345e-04 9.99216248e-01 -1.05945487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97320100800002 meters 0.061839602834983645 Centerline is valid? [True, True] Translation: X:115.50, Y:60.58, Z:-10.60 [[ 4.90472407e-01 -8.71256103e-01 1.86981556e-02 1.15501293e+02] [ 8.70598909e-01 4.90828588e-01 3.38354355e-02 6.05834037e+01] [-3.86569190e-02 -3.16753601e-04 9.99252492e-01 -1.05956906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.003201008 meters 0.06209507720385924 Centerline is valid? [True, True] Translation: X:115.51, Y:60.61, Z:-10.60 [[ 4.92093724e-01 -8.70338274e-01 1.88429219e-02 1.15510485e+02] [ 8.69669377e-01 4.92454188e-01 3.41181320e-02 6.06073522e+01] [-3.89735920e-02 -4.02206452e-04 9.99240160e-01 -1.05989291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.033201008 meters 0.062215757988842914 Centerline is valid? [True, True] Translation: X:115.52, Y:60.63, Z:-10.60 [[ 4.92403007e-01 -8.70152820e-01 1.93222343e-02 1.15521825e+02] [ 8.69447932e-01 4.92781770e-01 3.50203021e-02 6.06322883e+01] [-3.99946594e-02 -4.44425426e-04 9.99199795e-01 -1.06008851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.063201008 meters 0.062351497231096405 Centerline is valid? [True, True] Translation: X:115.53, Y:60.66, Z:-10.60 [[ 4.93004652e-01 -8.69812333e-01 1.93111058e-02 1.15531721e+02] [ 8.69107178e-01 4.93382482e-01 3.50205543e-02 6.06556237e+01] [-3.99890714e-02 -4.81875559e-04 9.99200001e-01 -1.06031839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.093201008 meters 0.062391470255943174 Centerline is valid? [True, True] Translation: X:115.54, Y:60.68, Z:-10.60 [[ 4.94175976e-01 -8.69131913e-01 1.99955733e-02 1.15541861e+02] [ 8.68374015e-01 4.94580015e-01 3.62929686e-02 6.06789487e+01] [-4.14327882e-02 -5.71476856e-04 9.99141130e-01 -1.06035141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.123201008 meters 0.061581078501810715 Centerline is valid? [True, True] Translation: X:115.56, Y:60.70, Z:-10.60 [[ 4.94837225e-01 -8.68761274e-01 1.97476352e-02 1.15556554e+02] [ 8.68020547e-01 4.95230731e-01 3.58727474e-02 6.07030097e+01] [-4.09444895e-02 -6.09817720e-04 9.99161237e-01 -1.05994049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.153201008 meters 0.06165483458723284 Centerline is valid? [True, True] Translation: X:115.57, Y:60.73, Z:-10.60 [[ 4.95689096e-01 -8.68277672e-01 1.96520817e-02 1.15568661e+02] [ 8.67542691e-01 4.96078068e-01 3.57243419e-02 6.07273378e+01] [-4.07676151e-02 -6.59146869e-04 9.99168438e-01 -1.05998524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.183201008 meters 0.06188169440078873 Centerline is valid? [True, True] Translation: X:115.58, Y:60.75, Z:-10.60 [[ 4.96025592e-01 -8.68089727e-01 1.94637755e-02 1.15578845e+02] [ 8.67367647e-01 4.96406853e-01 3.54062197e-02 6.07512108e+01] [-4.03977271e-02 -6.80141904e-04 9.99183447e-01 -1.06029170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.213201008 meters 0.062435016962344776 Centerline is valid? [True, True] Translation: X:115.59, Y:60.78, Z:-10.60 [[ 4.98430113e-01 -8.66722530e-01 1.89599452e-02 1.15587698e+02] [ 8.66035374e-01 4.98789979e-01 3.45150425e-02 6.07761154e+01] [-3.93719956e-02 -7.83353277e-04 9.99224315e-01 -1.06045267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.243201008 meters 0.06229021038285425 Centerline is valid? [True, True] Translation: X:115.60, Y:60.80, Z:-10.61 [[ 4.98914428e-01 -8.66440370e-01 1.91174960e-02 1.15599922e+02] [ 8.65740539e-01 4.99279887e-01 3.48269079e-02 6.07997257e+01] [-3.97204202e-02 -8.24855509e-04 9.99210492e-01 -1.06054498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.273201008 meters 0.06224589547136636 Centerline is valid? [True, True] Translation: X:115.61, Y:60.82, Z:-10.61 [[ 4.99396383e-01 -8.66172743e-01 1.86556410e-02 1.15612372e+02] [ 8.65505070e-01 4.99744010e-01 3.40132002e-02 6.08242812e+01] [-3.87843518e-02 -8.39517276e-04 9.99247251e-01 -1.06064949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.303201008 meters 0.0623854582028709 Centerline is valid? [True, True] Translation: X:115.62, Y:60.85, Z:-10.61 [[ 4.99509062e-01 -8.66111230e-01 1.84941441e-02 1.15624304e+02] [ 8.65454117e-01 4.99850594e-01 3.37424971e-02 6.08491286e+01] [-3.84690646e-02 -8.48849919e-04 9.99259431e-01 -1.06092336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.333201008 meters 0.06265597527709581 Centerline is valid? [True, True] Translation: X:115.63, Y:60.87, Z:-10.61 [[ 4.99570637e-01 -8.66090617e-01 1.77826560e-02 1.15634627e+02] [ 8.65482085e-01 4.99886340e-01 3.24716518e-02 6.08728608e+01] [-3.70126997e-02 -8.31313525e-04 9.99314450e-01 -1.06131774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.363201008 meters 0.0629438453857935 Centerline is valid? [True, True] Translation: X:115.65, Y:60.90, Z:-10.62 [[ 4.99103164e-01 -8.66367688e-01 1.74086307e-02 1.15646425e+02] [ 8.65784298e-01 4.99406038e-01 3.17987303e-02 6.08961909e+01] [-3.62433678e-02 -7.98727810e-04 9.99342674e-01 -1.06176137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.393201008 meters 0.06276781251581973 Centerline is valid? [True, True] Translation: X:115.66, Y:60.92, Z:-10.62 [[ 4.98372413e-01 -8.66795352e-01 1.70515541e-02 1.15660728e+02] [ 8.66235113e-01 4.98663449e-01 3.11687953e-02 6.09189396e+01] [-3.55199537e-02 -7.63012858e-04 9.99368676e-01 -1.06189721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.423201008 meters 0.06160727972868184 Centerline is valid? [True, True] Translation: X:115.68, Y:60.94, Z:-10.62 [[ 4.97432859e-01 -8.67340771e-01 1.67492540e-02 1.15677447e+02] [ 8.66799776e-01 4.97714241e-01 3.06379448e-02 6.09411264e+01] [-3.49098809e-02 -7.22070882e-04 9.99390204e-01 -1.06167120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.453201008 meters 0.06191619600674315 Centerline is valid? [True, True] Translation: X:115.69, Y:60.96, Z:-10.62 [[ 4.96420415e-01 -8.67919859e-01 1.67895825e-02 1.15689986e+02] [ 8.67375578e-01 4.96703768e-01 3.07404417e-02 6.09634934e+01] [-3.50196887e-02 -6.97309029e-04 9.99386379e-01 -1.06210632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.483201008 meters 0.06052561158227617 Centerline is valid? [True, True] Translation: X:115.71, Y:60.99, Z:-10.62 [[ 4.94433987e-01 -8.69046339e-01 1.71316472e-02 1.15706657e+02] [ 8.68479853e-01 4.94730285e-01 3.13797595e-02 6.09860242e+01] [-3.57460098e-02 -6.36729120e-04 9.99360704e-01 -1.06178074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.513201008 meters 0.060409263744566656 Centerline is valid? [True, True] Translation: X:115.72, Y:61.01, Z:-10.62 [[ 4.94220615e-01 -8.69160502e-01 1.74930105e-02 1.15719351e+02] [ 8.68569146e-01 4.94529672e-01 3.20631042e-02 6.10090315e+01] [-3.65187965e-02 -6.52357841e-04 9.99332753e-01 -1.06191776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.543201008 meters 0.06009460596985826 Centerline is valid? [True, True] Translation: X:115.73, Y:61.03, Z:-10.62 [[ 4.93094711e-01 -8.69794950e-01 1.77299518e-02 1.15733489e+02] [ 8.69186789e-01 4.93412961e-01 3.25265215e-02 6.10326217e+01] [-3.70395922e-02 -6.28015862e-04 9.99313602e-01 -1.06195244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.573201008 meters 0.06019098864682662 Centerline is valid? [True, True] Translation: X:115.75, Y:61.06, Z:-10.62 [[ 4.92858559e-01 -8.69934153e-01 1.74645269e-02 1.15746272e+02] [ 8.69343389e-01 4.93167503e-01 3.20606474e-02 6.10556984e+01] [-3.65035892e-02 -6.18693500e-04 9.99333330e-01 -1.06227020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.603201008 meters 0.05947919517004157 Centerline is valid? [True, True] Translation: X:115.76, Y:61.08, Z:-10.62 [[ 4.91748302e-01 -8.70568389e-01 1.71547923e-02 1.15760533e+02] [ 8.69997942e-01 4.92047103e-01 3.15155469e-02 6.10788921e+01] [-3.58774048e-02 -5.73082685e-04 9.99356034e-01 -1.06224009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63320100800001 meters 0.05969436695910084 Centerline is valid? [True, True] Translation: X:115.77, Y:61.10, Z:-10.63 [[ 4.91815162e-01 -8.70532919e-01 1.70377146e-02 1.15772279e+02] [ 8.69969456e-01 4.92109843e-01 3.13216785e-02 6.11023364e+01] [-3.56509793e-02 -5.82185101e-04 9.99364132e-01 -1.06255621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66320100800002 meters 0.059752656915562245 Centerline is valid? [True, True] Translation: X:115.78, Y:61.12, Z:-10.63 [[ 4.91356940e-01 -8.70794398e-01 1.68959796e-02 1.15784143e+02] [ 8.70239708e-01 4.91647021e-01 3.10814786e-02 6.11242904e+01] [-3.53724355e-02 -5.68547822e-04 9.99374038e-01 -1.06284048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69320100800002 meters 0.06011213143259987 Centerline is valid? [True, True] Translation: X:115.80, Y:61.15, Z:-10.63 [[ 4.91398943e-01 -8.70783786e-01 1.62073389e-02 1.15796470e+02] [ 8.70272494e-01 4.91665828e-01 2.98412598e-02 6.11469510e+01] [-3.39538798e-02 -5.59162219e-04 9.99423244e-01 -1.06316282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72320100800002 meters 0.060363266965217266 Centerline is valid? [True, True] Translation: X:115.81, Y:61.17, Z:-10.64 [[ 4.91394549e-01 -8.70790130e-01 1.59983509e-02 1.15808733e+02] [ 8.70291211e-01 4.91654588e-01 2.94783563e-02 6.11711502e+01] [-3.35351243e-02 -5.62279475e-04 9.99437381e-01 -1.06357512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.753201008 meters 0.060500216493969354 Centerline is valid? [True, True] Translation: X:115.82, Y:61.19, Z:-10.64 [[ 4.91286501e-01 -8.70858008e-01 1.56174129e-02 1.15821336e+02] [ 8.70381982e-01 4.91534356e-01 2.87955292e-02 6.11949423e+01] [-3.27533122e-02 -5.53739966e-04 9.99463313e-01 -1.06384360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.783201008 meters 0.06081870002314226 Centerline is valid? [True, True] Translation: X:115.83, Y:61.22, Z:-10.64 [[ 4.91616332e-01 -8.70666210e-01 1.59289974e-02 1.15833413e+02] [ 8.70170311e-01 4.91873975e-01 2.93874741e-02 6.12176731e+01] [-3.34217400e-02 -5.86421607e-04 9.99441166e-01 -1.06403015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.813201008 meters 0.06039522074448839 Centerline is valid? [True, True] Translation: X:115.85, Y:61.24, Z:-10.64 [[ 4.92026770e-01 -8.70442055e-01 1.55011997e-02 1.15846979e+02] [ 8.69971500e-01 4.92270527e-01 2.86237215e-02 6.12415220e+01] [-3.25460747e-02 -5.98035298e-04 9.99470057e-01 -1.06399900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.843201008 meters 0.06061724559745383 Centerline is valid? [True, True] Translation: X:115.86, Y:61.26, Z:-10.64 [[ 4.91888532e-01 -8.70503596e-01 1.64061470e-02 1.15858976e+02] [ 8.69975714e-01 4.92161640e-01 3.03179348e-02 6.12648729e+01] [-3.44663475e-02 -6.40095031e-04 9.99405654e-01 -1.06424367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.873201008 meters 0.06012241992899122 Centerline is valid? [True, True] Translation: X:115.87, Y:61.29, Z:-10.64 [[ 4.91700432e-01 -8.70607958e-01 1.65066383e-02 1.15872869e+02] [ 8.70072903e-01 4.91976996e-01 3.05250520e-02 6.12881364e+01] [-3.46962395e-02 -6.47202522e-04 9.99397695e-01 -1.06421675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.903201008 meters 0.060084661070600835 Centerline is valid? [True, True] Translation: X:115.89, Y:61.31, Z:-10.64 [[ 4.91459097e-01 -8.70742237e-01 1.66106134e-02 1.15885571e+02] [ 8.70199619e-01 4.91739289e-01 3.07423907e-02 6.13112545e+01] [-3.49367893e-02 -6.54078069e-04 9.99389310e-01 -1.06437855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.933201008 meters 0.05979667913546137 Centerline is valid? [True, True] Translation: X:115.90, Y:61.33, Z:-10.64 [[ 4.90273680e-01 -8.71399570e-01 1.71612299e-02 1.15900101e+02] [ 8.70819688e-01 4.90573518e-01 3.17914243e-02 6.13345326e+01] [-3.61218784e-02 -6.42161765e-04 9.99347186e-01 -1.06446989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.963201008 meters 0.059595728450571886 Centerline is valid? [True, True] Translation: X:115.91, Y:61.36, Z:-10.65 [[ 4.89218407e-01 -8.71985136e-01 1.75291891e-02 1.15913817e+02] [ 8.71379586e-01 4.89531953e-01 3.24974565e-02 6.13574325e+01] [-3.69183972e-02 -6.23776326e-04 9.99318089e-01 -1.06472514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.993201008 meters 0.05942545740277969 Centerline is valid? [True, True] Translation: X:115.93, Y:61.38, Z:-10.65 [[ 4.87671623e-01 -8.72840635e-01 1.80447996e-02 1.15927672e+02] [ 8.72198598e-01 4.88005002e-01 3.34772138e-02 6.13794786e+01] [-3.80262250e-02 -5.87238248e-04 9.99276569e-01 -1.06496898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.023201008 meters 0.05844186040385363 Centerline is valid? [True, True] Translation: X:115.95, Y:61.40, Z:-10.65 [[ 4.82674562e-01 -8.75606017e-01 1.84219954e-02 1.15946353e+02] [ 8.74937741e-01 4.83025827e-01 3.42052658e-02 6.13998101e+01] [-3.88486361e-02 -3.91912608e-04 9.99245030e-01 -1.06520466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.053201008 meters 0.058306532118089095 Centerline is valid? [True, True] Translation: X:115.96, Y:61.42, Z:-10.65 [[ 4.79969219e-01 -8.77085503e-01 1.87235084e-02 1.15962147e+02] [ 8.76395288e-01 4.80334193e-01 3.47902572e-02 6.14220933e+01] [-3.95075715e-02 -2.89057996e-04 9.99219229e-01 -1.06547919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.083201008 meters 0.05781506100996975 Centerline is valid? [True, True] Translation: X:115.98, Y:61.44, Z:-10.66 [[ 4.76857040e-01 -8.78774291e-01 1.90554165e-02 1.15978012e+02] [ 8.78059752e-01 4.77237591e-01 3.54309792e-02 6.14436205e+01] [-4.02297947e-02 -1.63717638e-04 9.99190441e-01 -1.06564008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.113201008 meters 0.05771073563166486 Centerline is valid? [True, True] Translation: X:115.99, Y:61.46, Z:-10.66 [[ 4.74664303e-01 -8.79967118e-01 1.87529152e-02 1.15993462e+02] [ 8.79275108e-01 4.75034595e-01 3.48915022e-02 6.14648845e+01] [-3.96116581e-02 -7.27790504e-05 9.99215148e-01 -1.06584339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.143201008 meters 0.05759311720421444 Centerline is valid? [True, True] Translation: X:116.01, Y:61.48, Z:-10.66 [[ 4.69636444e-01 -8.82651351e-01 1.91886105e-02 1.16012797e+02] [ 8.81927672e-01 4.70028267e-01 3.57352681e-02 6.14836248e+01] [-4.05609720e-02 1.40382362e-04 9.99177055e-01 -1.06599843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.173201008 meters 0.05707787215343318 Centerline is valid? [True, True] Translation: X:116.03, Y:61.51, Z:-10.66 [[ 4.66461758e-01 -8.84323814e-01 1.96168591e-02 1.16028135e+02] [ 8.83568231e-01 4.66873979e-01 3.65495405e-02 6.15062843e+01] [-4.14802301e-02 2.83870620e-04 9.99139285e-01 -1.06561760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.203201008 meters 0.05723358369095013 Centerline is valid? [True, True] Translation: X:116.04, Y:61.53, Z:-10.66 [[ 4.63790495e-01 -8.85713841e-01 2.02328589e-02 1.16042921e+02] [ 8.84909996e-01 4.64231437e-01 3.77289287e-02 6.15278898e+01] [-4.28097636e-02 4.05940560e-04 9.99083159e-01 -1.06582966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.233201008 meters 0.0574449800466189 Centerline is valid? [True, True] Translation: X:116.06, Y:61.55, Z:-10.66 [[ 4.61620102e-01 -8.86828084e-01 2.10435356e-02 1.16057399e+02] [ 8.85958117e-01 4.62099216e-01 3.92750470e-02 6.15499389e+01] [-4.45544160e-02 5.13539940e-04 9.99006827e-01 -1.06609397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.263201008 meters 0.05764816666844317 Centerline is valid? [True, True] Translation: X:116.07, Y:61.57, Z:-10.66 [[ 4.58555906e-01 -8.88393503e-01 2.19878227e-02 1.16071769e+02] [ 8.87443905e-01 4.59082260e-01 4.10706022e-02 6.15729534e+01] [-4.65810755e-02 6.79792020e-04 9.98914281e-01 -1.06615508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.293201008 meters 0.057954630481756995 Centerline is valid? [True, True] Translation: X:116.09, Y:61.60, Z:-10.66 [[ 4.58208591e-01 -8.88562146e-01 2.24097980e-02 1.16085140e+02] [ 8.87574435e-01 4.58755739e-01 4.18902789e-02 6.15951078e+01] [-4.75027395e-02 6.95878159e-04 9.98870865e-01 -1.06648318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.323201008 meters 0.05801554255940794 Centerline is valid? [True, True] Translation: X:116.10, Y:61.62, Z:-10.67 [[ 4.58040484e-01 -8.88633708e-01 2.30010416e-02 1.16098250e+02] [ 8.87591423e-01 4.58617091e-01 4.30328867e-02 6.16192183e+01] [-4.87891444e-02 7.04723011e-04 9.98808852e-01 -1.06660532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.353201008 meters 0.05736751200174147 Centerline is valid? [True, True] Translation: X:116.11, Y:61.65, Z:-10.66 [[ 4.58013195e-01 -8.88640363e-01 2.32856076e-02 1.16108937e+02] [ 8.87570693e-01 4.58604203e-01 4.35941576e-02 6.16450979e+01] [-4.94184055e-02 7.00923492e-04 9.98777918e-01 -1.06634084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38320100800001 meters 0.0579125493174823 Centerline is valid? [True, True] Translation: X:116.12, Y:61.67, Z:-10.67 [[ 4.60239960e-01 -8.87484723e-01 2.34530265e-02 1.16119074e+02] [ 8.86396513e-01 4.60836788e-01 4.39394549e-02 6.16691297e+01] [-4.98036124e-02 5.65987941e-04 9.98758870e-01 -1.06710068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41320100800002 meters 0.05758564796598763 Centerline is valid? [True, True] Translation: X:116.13, Y:61.69, Z:-10.67 [[ 4.61110482e-01 -8.87038284e-01 2.32423397e-02 1.16128647e+02] [ 8.85967380e-01 4.61695608e-01 4.35771338e-02 6.16947412e+01] [-4.93854722e-02 4.98081640e-04 9.98779669e-01 -1.06705979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44320100800002 meters 0.05772053393932139 Centerline is valid? [True, True] Translation: X:116.14, Y:61.72, Z:-10.67 [[ 4.62452355e-01 -8.86341754e-01 2.31541457e-02 1.16138842e+02] [ 8.85276426e-01 4.63031457e-01 4.34455907e-02 6.17185294e+01] [-4.92287389e-02 4.06303564e-04 9.98787448e-01 -1.06742950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47320100800002 meters 0.05774353792773906 Centerline is valid? [True, True] Translation: X:116.15, Y:61.74, Z:-10.68 [[ 4.65375024e-01 -8.84798477e-01 2.36165731e-02 1.16147518e+02] [ 8.83686068e-01 4.65973823e-01 4.43545942e-02 6.17440243e+01] [-5.02495823e-02 2.28116295e-04 9.98736666e-01 -1.06791312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.503201008 meters 0.05771771447092212 Centerline is valid? [True, True] Translation: X:116.16, Y:61.77, Z:-10.68 [[ 4.67019871e-01 -8.83930874e-01 2.36357598e-02 1.16156881e+02] [ 8.82814051e-01 4.67617573e-01 4.44202218e-02 6.17689335e+01] [-5.03169021e-02 1.20854586e-04 9.98733295e-01 -1.06806307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.533201008 meters 0.05771771447092212 Centerline is valid? [True, True] Translation: X:116.17, Y:61.79, Z:-10.68 [[ 4.66732151e-01 -8.84083216e-01 2.36213244e-02 1.16168840e+02] [ 8.82966199e-01 4.67329491e-01 4.44278951e-02 6.17919985e+01] [-5.03168979e-02 1.20903916e-04 9.98733295e-01 -1.06826292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.563201008 meters 0.057778981598903656 Centerline is valid? [True, True] Translation: X:116.18, Y:61.82, Z:-10.69 [[ 4.68023871e-01 -8.83395819e-01 2.37799002e-02 1.16178542e+02] [ 8.82261051e-01 4.68627599e-01 4.47617203e-02 6.18166811e+01] [-5.06862341e-02 3.05260984e-05 9.98714626e-01 -1.06852744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.593201008 meters 0.05794650766678111 Centerline is valid? [True, True] Translation: X:116.19, Y:61.84, Z:-10.69 [[ 4.68932366e-01 -8.82908333e-01 2.39856528e-02 1.16189004e+02] [ 8.81751340e-01 4.69545391e-01 4.51851791e-02 6.18413979e+01] [-5.11567239e-02 -3.94113988e-05 9.98690637e-01 -1.06876165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.623201008 meters 0.058140017968186616 Centerline is valid? [True, True] Translation: X:116.20, Y:61.86, Z:-10.69 [[ 4.69482273e-01 -8.82614795e-01 2.40316525e-02 1.16199592e+02] [ 8.81451181e-01 4.70096923e-01 4.53067111e-02 6.18648776e+01] [-5.12855794e-02 -8.79691726e-05 9.98684025e-01 -1.06910135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.653201008 meters 0.05833774652360421 Centerline is valid? [True, True] Translation: X:116.21, Y:61.89, Z:-10.69 [[ 4.68727077e-01 -8.82996896e-01 2.47266895e-02 1.16211030e+02] [ 8.81763298e-01 4.69378821e-01 4.66584157e-02 6.18882083e+01] [-5.28054206e-02 -6.69755773e-05 9.98604818e-01 -1.06939997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.683201008 meters 0.05823819550010237 Centerline is valid? [True, True] Translation: X:116.22, Y:61.91, Z:-10.69 [[ 4.67688413e-01 -8.83550290e-01 2.46258511e-02 1.16224417e+02] [ 8.82325807e-01 4.68336294e-01 4.65003928e-02 6.19114084e+01] [-5.26186154e-02 -1.96710301e-05 9.98614681e-01 -1.06936765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.713201008 meters 0.058131159214697956 Centerline is valid? [True, True] Translation: X:116.24, Y:61.93, Z:-10.69 [[ 4.66063276e-01 -8.84394452e-01 2.51291900e-02 1.16238425e+02] [ 8.83118480e-01 4.66740238e-01 4.74900120e-02 6.19339294e+01] [-5.37287073e-02 5.87014880e-05 9.98555568e-01 -1.06941722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.743201008 meters 0.05819739752185033 Centerline is valid? [True, True] Translation: X:116.25, Y:61.96, Z:-10.70 [[ 4.64055803e-01 -8.85446477e-01 2.52338890e-02 1.16252980e+02] [ 8.84159255e-01 4.64741337e-01 4.77273582e-02 6.19566455e+01] [-5.39872525e-02 1.62618988e-04 9.98541612e-01 -1.06955068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.773201008 meters 0.058601800040086145 Centerline is valid? [True, True] Translation: X:116.27, Y:61.98, Z:-10.70 [[ 4.60836548e-01 -8.87119444e-01 2.54709335e-02 1.16268403e+02] [ 8.85808092e-01 4.61539788e-01 4.82187624e-02 6.19773266e+01] [-5.45316509e-02 3.41391029e-04 9.98511984e-01 -1.06994668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.803201008 meters 0.05895312087809054 Centerline is valid? [True, True] Translation: X:116.28, Y:62.00, Z:-10.70 [[ 4.59913885e-01 -8.87603739e-01 2.52749307e-02 1.16281652e+02] [ 8.86311766e-01 4.60607703e-01 4.78747997e-02 6.19988523e+01] [-5.41356790e-02 3.83183370e-04 9.98533515e-01 -1.07049613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.833201008 meters 0.05868187609473634 Centerline is valid? [True, True] Translation: X:116.29, Y:62.02, Z:-10.70 [[ 4.58063491e-01 -8.88545114e-01 2.57957224e-02 1.16294692e+02] [ 8.87198530e-01 4.58788998e-01 4.89021917e-02 6.20222294e+01] [-5.52865971e-02 4.85618355e-04 9.98470408e-01 -1.07030027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.863201008 meters 0.05889771273110899 Centerline is valid? [True, True] Translation: X:116.31, Y:62.04, Z:-10.70 [[ 4.55076997e-01 -8.90036784e-01 2.71928092e-02 1.16309808e+02] [ 8.88540298e-01 4.55888207e-01 5.15953651e-02 6.20441902e+01] [-5.83186539e-02 6.82042960e-04 9.98297786e-01 -1.07031675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.893201008 meters 0.059016829174921445 Centerline is valid? [True, True] Translation: X:116.32, Y:62.07, Z:-10.70 [[ 4.52712473e-01 -8.91222304e-01 2.78248603e-02 1.16323676e+02] [ 8.89655205e-01 4.53565990e-01 5.28347226e-02 6.20672079e+01] [-5.97078935e-02 8.35593871e-04 9.98215542e-01 -1.07038414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.923201008 meters 0.0594672708461124 Centerline is valid? [True, True] Translation: X:116.34, Y:62.09, Z:-10.71 [[ 4.50251784e-01 -8.92460685e-01 2.80580903e-02 1.16338251e+02] [ 8.90866901e-01 4.51124096e-01 5.33217968e-02 6.20900838e+01] [-6.02452879e-02 9.87789814e-04 9.98183114e-01 -1.07059577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.953201008 meters 0.06046457002324956 Centerline is valid? [True, True] Translation: X:116.36, Y:62.11, Z:-10.71 [[ 4.44664092e-01 -8.95239083e-01 2.86501253e-02 1.16355893e+02] [ 8.93580513e-01 4.45583998e-01 5.44863935e-02 6.21112643e+01] [-6.15443863e-02 1.37305096e-03 9.98103403e-01 -1.07068352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.983201008 meters 0.06095698472603109 Centerline is valid? [True, True] Translation: X:116.37, Y:62.13, Z:-10.71 [[ 4.42356140e-01 -8.96376933e-01 2.87999992e-02 1.16370778e+02] [ 8.94700753e-01 4.43290066e-01 5.48131293e-02 6.21333596e+01] [-6.18999782e-02 1.52045665e-03 9.98081200e-01 -1.07084173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.013201008 meters 0.06147392743629295 Centerline is valid? [True, True] Translation: X:116.39, Y:62.16, Z:-10.71 [[ 4.39953006e-01 -8.97557614e-01 2.88389102e-02 1.16385466e+02] [ 8.95876801e-01 4.40894025e-01 5.49291816e-02 6.21564434e+01] [-6.20170084e-02 1.66985209e-03 9.98073696e-01 -1.07101560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.043201008 meters 0.06189545094379835 Centerline is valid? [True, True] Translation: X:116.40, Y:62.18, Z:-10.71 [[ 4.37953991e-01 -8.98536900e-01 2.87704995e-02 1.16399338e+02] [ 8.96863800e-01 4.38894345e-01 5.48368383e-02 6.21799886e+01] [-6.19001321e-02 1.78720727e-03 9.98080748e-01 -1.07124294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.073201008 meters 0.06242436712126906 Centerline is valid? [True, True] Translation: X:116.41, Y:62.20, Z:-10.72 [[ 4.35930774e-01 -8.99533195e-01 2.83618013e-02 1.16411959e+02] [ 8.97907166e-01 4.36848348e-01 5.40947486e-02 6.22037711e+01] [-6.10498281e-02 1.88469904e-03 9.98132940e-01 -1.07155576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.103201008 meters 0.06284545776375311 Centerline is valid? [True, True] Translation: X:116.42, Y:62.23, Z:-10.72 [[ 4.35657506e-01 -8.99677685e-01 2.79750029e-02 1.16422708e+02] [ 8.98093799e-01 4.36550792e-01 5.33941485e-02 6.22261566e+01] [-6.02500336e-02 1.86261507e-03 9.98181579e-01 -1.07187347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13320100800001 meters 0.06286212310925907 Centerline is valid? [True, True] Translation: X:116.43, Y:62.25, Z:-10.72 [[ 4.36160779e-01 -8.99446657e-01 2.75587792e-02 1.16433253e+02] [ 8.97907234e-01 4.37026898e-01 5.26316330e-02 6.22507205e+01] [-5.93832741e-02 1.78937315e-03 9.98233652e-01 -1.07225426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16320100800002 meters 0.06299349437863244 Centerline is valid? [True, True] Translation: X:116.44, Y:62.27, Z:-10.73 [[ 4.36694293e-01 -8.99200159e-01 2.71508471e-02 1.16443017e+02] [ 8.97703326e-01 4.37534157e-01 5.18902587e-02 6.22742181e+01] [-5.85391519e-02 1.71322588e-03 9.98283643e-01 -1.07262069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19320100800002 meters 0.06200362324479897 Centerline is valid? [True, True] Translation: X:116.45, Y:62.30, Z:-10.73 [[ 4.38774450e-01 -8.98188367e-01 2.71042395e-02 1.16448259e+02] [ 8.96692260e-01 4.39608047e-01 5.18435674e-02 6.23023535e+01] [-5.84805309e-02 1.55652901e-03 9.98287336e-01 -1.07283838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22320100800002 meters 0.06255758054305315 Centerline is valid? [True, True] Translation: X:116.46, Y:62.33, Z:-10.73 [[ 4.39357890e-01 -8.97915915e-01 2.66768502e-02 1.16459472e+02] [ 8.96464249e-01 4.40164531e-01 5.10591345e-02 6.23254397e+01] [-5.75890127e-02 1.48160887e-03 9.98339276e-01 -1.07326352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.253201008 meters 0.06271573618602955 Centerline is valid? [True, True] Translation: X:116.47, Y:62.35, Z:-10.74 [[ 4.39870786e-01 -8.97667011e-01 2.66012855e-02 1.16469321e+02] [ 8.96220709e-01 4.40672103e-01 5.09562413e-02 6.23485161e+01] [-5.74641812e-02 1.42646101e-03 9.98346550e-01 -1.07350332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.283201008 meters 0.06167966909082109 Centerline is valid? [True, True] Translation: X:116.48, Y:62.38, Z:-10.73 [[ 4.41729545e-01 -8.96737379e-01 2.71492545e-02 1.16476019e+02] [ 8.95226485e-01 4.42561126e-01 5.20498786e-02 6.23766651e+01] [-5.86902764e-02 1.31276248e-03 9.98275377e-01 -1.07341119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.313201008 meters 0.06139870492201038 Centerline is valid? [True, True] Translation: X:116.49, Y:62.40, Z:-10.74 [[ 4.42832465e-01 -8.96186978e-01 2.73552293e-02 1.16485841e+02] [ 8.94649982e-01 4.43674856e-01 5.24788743e-02 6.24019404e+01] [-5.91677112e-02 1.23400616e-03 9.98247294e-01 -1.07353114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.343201008 meters 0.061141235615700264 Centerline is valid? [True, True] Translation: X:116.49, Y:62.43, Z:-10.74 [[ 4.44425871e-01 -8.95395704e-01 2.74258486e-02 1.16494731e+02] [ 8.93847077e-01 4.45269906e-01 5.26508720e-02 6.24282966e+01] [-5.93552697e-02 1.11510495e-03 9.98236299e-01 -1.07371684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.373201008 meters 0.060701774631535164 Centerline is valid? [True, True] Translation: X:116.50, Y:62.45, Z:-10.74 [[ 4.46381319e-01 -8.94409743e-01 2.78375549e-02 1.16502757e+02] [ 8.92810032e-01 4.47247412e-01 5.34789570e-02 6.24545974e+01] [-6.02823746e-02 9.81640944e-04 9.98180881e-01 -1.07390752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.403201008 meters 0.06037206161859637 Centerline is valid? [True, True] Translation: X:116.51, Y:62.48, Z:-10.74 [[ 4.52305190e-01 -8.91423635e-01 2.79985574e-02 1.16505771e+02] [ 8.89797251e-01 4.53170588e-01 5.38262902e-02 6.24822814e+01] [-6.06701500e-02 5.67129062e-04 9.98157709e-01 -1.07421276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.433201008 meters 0.06031477393594074 Centerline is valid? [True, True] Translation: X:116.51, Y:62.51, Z:-10.74 [[ 4.55240450e-01 -8.89920393e-01 2.82458395e-02 1.16513225e+02] [ 8.88259757e-01 4.56115744e-01 5.43418186e-02 6.25092838e+01] [-6.12432646e-02 3.51048582e-04 9.98122808e-01 -1.07438922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.463201008 meters 0.060378780185840183 Centerline is valid? [True, True] Translation: X:116.52, Y:62.53, Z:-10.75 [[ 4.58741637e-01 -8.88134718e-01 2.77998782e-02 1.16519697e+02] [ 8.86520660e-01 4.59583196e-01 5.35201358e-02 6.25339205e+01] [-6.03094476e-02 9.32516213e-05 9.98179724e-01 -1.07475207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.493201008 meters 0.06058504138254859 Centerline is valid? [True, True] Translation: X:116.53, Y:62.56, Z:-10.75 [[ 4.61627651e-01 -8.86645032e-01 2.75771577e-02 1.16527392e+02] [ 8.85051568e-01 4.62450617e-01 5.31333159e-02 6.25595401e+01] [-5.98634642e-02 -1.20601176e-04 9.98206567e-01 -1.07498197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.523201008 meters 0.06095538830323163 Centerline is valid? [True, True] Translation: X:116.53, Y:62.59, Z:-10.75 [[ 4.66688698e-01 -8.83978682e-01 2.79883598e-02 1.16532228e+02] [ 8.82329688e-01 4.67526947e-01 5.39710592e-02 6.25868037e+01] [-6.07945782e-02 -4.92722623e-04 9.98150177e-01 -1.07514630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.553201008 meters 0.061253007052318766 Centerline is valid? [True, True] Translation: X:116.54, Y:62.61, Z:-10.75 [[ 4.68131377e-01 -8.83213051e-01 2.80663641e-02 1.16541152e+02] [ 8.81550807e-01 4.68971566e-01 5.41649851e-02 6.26109396e+01] [-6.10015484e-02 -6.14403182e-04 9.98137482e-01 -1.07539395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.583201008 meters 0.06139839045826891 Centerline is valid? [True, True] Translation: X:116.55, Y:62.63, Z:-10.76 [[ 4.68889875e-01 -8.82801744e-01 2.83437022e-02 1.16551551e+02] [ 8.81103656e-01 4.69745255e-01 5.47333868e-02 6.26348811e+01] [-6.16330489e-02 -6.90191230e-04 9.98098638e-01 -1.07557973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.613201008 meters 0.061582305049201334 Centerline is valid? [True, True] Translation: X:116.56, Y:62.66, Z:-10.76 [[ 4.69028856e-01 -8.82749432e-01 2.76653634e-02 1.16561738e+02] [ 8.81129055e-01 4.69843538e-01 5.34662404e-02 6.26588361e+01] [-6.01956855e-02 -7.00454036e-04 9.98186350e-01 -1.07582318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.643201008 meters 0.06160050291634564 Centerline is valid? [True, True] Translation: X:116.57, Y:62.68, Z:-10.76 [[ 4.68003630e-01 -8.83300297e-01 2.74442578e-02 1.16573037e+02] [ 8.81704343e-01 4.68807180e-01 5.30780486e-02 6.26820009e+01] [-5.97499212e-02 -6.42998135e-04 9.98213170e-01 -1.07617755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.673201008 meters 0.061647364372368584 Centerline is valid? [True, True] Translation: X:116.59, Y:62.71, Z:-10.76 [[ 4.67226095e-01 -8.83718192e-01 2.72384467e-02 1.16585287e+02] [ 8.82144158e-01 4.68019005e-01 5.27247147e-02 6.27052442e+01] [-5.93419003e-02 -6.06125959e-04 9.98237533e-01 -1.07647512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.703201008 meters 0.06148636244840159 Centerline is valid? [True, True] Translation: X:116.60, Y:62.73, Z:-10.77 [[ 4.66065974e-01 -8.84340251e-01 2.69226538e-02 1.16599130e+02] [ 8.82801181e-01 4.66842618e-01 5.21540482e-02 6.27284364e+01] [-5.86905662e-02 -5.39876623e-04 9.98276077e-01 -1.07659741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.733201008 meters 0.061463263845922815 Centerline is valid? [True, True] Translation: X:116.61, Y:62.75, Z:-10.77 [[ 4.64184110e-01 -8.85335565e-01 2.67217003e-02 1.16612444e+02] [ 8.83818631e-01 4.64952419e-01 5.18061370e-02 6.27496499e+01] [-5.82901348e-02 -4.30449003e-04 9.98299592e-01 -1.07687106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.763201008 meters 0.06133446700663981 Centerline is valid? [True, True] Translation: X:116.62, Y:62.77, Z:-10.77 [[ 4.63541748e-01 -8.85673886e-01 2.66611145e-02 1.16624412e+02] [ 8.84161998e-01 4.64307659e-01 5.17296790e-02 6.27728803e+01] [-5.81945855e-02 -4.06121546e-04 9.98305176e-01 -1.07696547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.793201008 meters 0.06128707275809889 Centerline is valid? [True, True] Translation: X:116.64, Y:62.80, Z:-10.77 [[ 4.62771969e-01 -8.86079778e-01 2.65468014e-02 1.16636468e+02] [ 8.84579119e-01 4.63532619e-01 5.15489492e-02 6.27964708e+01] [-5.79817898e-02 -3.72662496e-04 9.98317571e-01 -1.07722361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.823201008 meters 0.061374932299864876 Centerline is valid? [True, True] Translation: X:116.65, Y:62.82, Z:-10.77 [[ 4.62444768e-01 -8.86249766e-01 2.65742123e-02 1.16648535e+02] [ 8.84743884e-01 4.63207529e-01 5.16434407e-02 6.28197908e+01] [-5.80783625e-02 -3.70867151e-04 9.98311958e-01 -1.07736321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.853201008 meters 0.061393068736259666 Centerline is valid? [True, True] Translation: X:116.66, Y:62.84, Z:-10.77 [[ 4.63146848e-01 -8.85890133e-01 2.63376156e-02 1.16661600e+02] [ 8.84408085e-01 4.63894910e-01 5.12235481e-02 6.28432168e+01] [-5.75963216e-02 -4.30824619e-04 9.98339861e-01 -1.07738689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88320100800001 meters 0.061374369125334685 Centerline is valid? [True, True] Translation: X:116.67, Y:62.87, Z:-10.78 [[ 4.63476303e-01 -8.85705025e-01 2.67642681e-02 1.16673655e+02] [ 8.84171680e-01 4.64248186e-01 5.20966613e-02 6.28680394e+01] [-5.85675376e-02 -4.81360134e-04 9.98283332e-01 -1.07761716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91320100800002 meters 0.061857843834440374 Centerline is valid? [True, True] Translation: X:116.68, Y:62.89, Z:-10.78 [[ 4.64753324e-01 -8.85046971e-01 2.63857448e-02 1.16682974e+02] [ 8.83553564e-01 4.65501376e-01 5.13961912e-02 6.28927392e+01] [-5.77706438e-02 -5.73331851e-04 9.98329717e-01 -1.07813256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94320100800002 meters 0.0619980612944053 Centerline is valid? [True, True] Translation: X:116.70, Y:62.92, Z:-10.78 [[ 4.65586667e-01 -8.84614346e-01 2.62014016e-02 1.16695013e+02] [ 8.83138766e-01 4.66322900e-01 5.10771281e-02 6.29176348e+01] [-5.74018739e-02 -6.41356374e-04 9.98350947e-01 -1.07826597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97320100800002 meters 0.06254676844157399 Centerline is valid? [True, True] Translation: X:116.71, Y:62.94, Z:-10.78 [[ 4.68300257e-01 -8.83173260e-01 2.64549190e-02 1.16706066e+02] [ 8.81664459e-01 4.69046139e-01 5.16091243e-02 6.29431571e+01] [-5.79883761e-02 -8.44204347e-04 9.98316901e-01 -1.07837350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.003201008 meters 0.06310742575388492 Centerline is valid? [True, True] Translation: X:116.72, Y:62.97, Z:-10.79 [[ 4.70387564e-01 -8.82066721e-01 2.63408112e-02 1.16715786e+02] [ 8.80566867e-01 4.71123453e-01 5.14265058e-02 6.29681326e+01] [-5.77713833e-02 -9.95543162e-04 9.98329343e-01 -1.07863795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.033201008 meters 0.06355054426280028 Centerline is valid? [True, True] Translation: X:116.73, Y:62.99, Z:-10.79 [[ 4.72617103e-01 -8.80888317e-01 2.58620895e-02 1.16727197e+02] [ 8.79439379e-01 4.73322823e-01 5.05161657e-02 6.29932490e+01] [-5.67402174e-02 -1.13066394e-03 9.98388336e-01 -1.07886287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.063201008 meters 0.064571485785038 Centerline is valid? [True, True] Translation: X:116.74, Y:63.02, Z:-10.79 [[ 4.74184677e-01 -8.80050431e-01 2.56929955e-02 1.16735873e+02] [ 8.78617098e-01 4.74878616e-01 5.02224542e-02 6.30177544e+01] [-5.63993466e-02 -1.24041308e-03 9.98407520e-01 -1.07932586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.093201008 meters 0.06525776019243035 Centerline is valid? [True, True] Translation: X:116.75, Y:63.04, Z:-10.80 [[ 4.76465966e-01 -8.78838457e-01 2.49629732e-02 1.16749795e+02] [ 8.77481749e-01 4.77117501e-01 4.88330859e-02 6.30416167e+01] [-5.48266652e-02 -1.36275010e-03 9.98494957e-01 -1.07953139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.123201008 meters 0.06597448241749147 Centerline is valid? [True, True] Translation: X:116.76, Y:63.06, Z:-10.80 [[ 4.76568025e-01 -8.78777821e-01 2.51487374e-02 1.16759995e+02] [ 8.77398860e-01 4.77229077e-01 4.92305691e-02 6.30643411e+01] [-5.52644410e-02 -1.39624158e-03 9.98470777e-01 -1.07991446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.153201008 meters 0.06620141145381726 Centerline is valid? [True, True] Translation: X:116.77, Y:63.09, Z:-10.80 [[ 4.76450939e-01 -8.78850585e-01 2.48224112e-02 1.16772932e+02] [ 8.77504926e-01 4.77095080e-01 4.86352687e-02 6.30879238e+01] [-5.45857846e-02 -1.39053136e-03 9.98508116e-01 -1.08017818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.183201008 meters 0.06581096493085035 Centerline is valid? [True, True] Translation: X:116.79, Y:63.11, Z:-10.80 [[ 4.76113994e-01 -8.79032153e-01 2.48583653e-02 1.16787354e+02] [ 8.77681046e-01 4.76760473e-01 4.87384167e-02 6.31104778e+01] [-5.46941214e-02 -1.38732614e-03 9.98502193e-01 -1.08035429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.213201008 meters 0.06540303345896159 Centerline is valid? [True, True] Translation: X:116.80, Y:63.13, Z:-10.81 [[ 4.74523008e-01 -8.79919685e-01 2.38592304e-02 1.16802252e+02] [ 8.78674325e-01 4.75120811e-01 4.68150150e-02 6.31325905e+01] [-5.25294701e-02 -1.25030859e-03 9.98618592e-01 -1.08093609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.243201008 meters 0.06534056769966107 Centerline is valid? [True, True] Translation: X:116.82, Y:63.16, Z:-10.81 [[ 4.73414749e-01 -8.80512704e-01 2.39969664e-02 1.16815812e+02] [ 8.79251583e-01 4.74021006e-01 4.71247299e-02 6.31550757e+01] [-5.28689895e-02 -1.21017148e-03 9.98600724e-01 -1.08129202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.273201008 meters 0.06535209022725556 Centerline is valid? [True, True] Translation: X:116.83, Y:63.18, Z:-10.82 [[ 4.72297137e-01 -8.81120111e-01 2.37226555e-02 1.16830199e+02] [ 8.79886424e-01 4.72891144e-01 4.66245323e-02 6.31771316e+01] [-5.23000468e-02 -1.14739064e-03 9.98630757e-01 -1.08161028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.303201008 meters 0.0651047467062808 Centerline is valid? [True, True] Translation: X:116.85, Y:63.20, Z:-10.82 [[ 4.69454416e-01 -8.82624387e-01 2.42227575e-02 1.16848185e+02] [ 8.81337818e-01 4.70077811e-01 4.76497833e-02 6.31974608e+01] [-5.34434416e-02 -1.02096895e-03 9.98570356e-01 -1.08174496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.333201008 meters 0.06479364335014486 Centerline is valid? [True, True] Translation: X:116.86, Y:63.22, Z:-10.82 [[ 4.68644435e-01 -8.83048451e-01 2.44505059e-02 1.16862997e+02] [ 8.81736131e-01 4.69280764e-01 4.81348206e-02 6.32201425e+01] [-5.39795308e-02 -9.99221374e-04 9.98541542e-01 -1.08179620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.363201008 meters 0.06479273116522169 Centerline is valid? [True, True] Translation: X:116.88, Y:63.24, Z:-10.82 [[ 4.68001298e-01 -8.83386611e-01 2.45536234e-02 1.16875958e+02] [ 8.82061449e-01 4.68643925e-01 4.83784272e-02 6.32432016e+01] [-5.42437613e-02 -9.83362118e-04 9.98527239e-01 -1.08207065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.393201008 meters 0.06487582482502191 Centerline is valid? [True, True] Translation: X:116.89, Y:63.27, Z:-10.82 [[ 4.67703496e-01 -8.83527766e-01 2.51421517e-02 1.16889075e+02] [ 8.82136115e-01 4.68377697e-01 4.95803125e-02 6.32662195e+01] [-5.55816058e-02 -1.01008543e-03 9.98453637e-01 -1.08233659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.423201008 meters 0.06517257130020657 Centerline is valid? [True, True] Translation: X:116.90, Y:63.29, Z:-10.83 [[ 4.67724534e-01 -8.83499105e-01 2.57505702e-02 1.16900878e+02] [ 8.82036730e-01 4.68431650e-01 5.08231774e-02 6.32902424e+01] [-5.69646138e-02 -1.05829820e-03 9.98375637e-01 -1.08263335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.453201008 meters 0.06519538613860085 Centerline is valid? [True, True] Translation: X:116.91, Y:63.31, Z:-10.83 [[ 4.67365589e-01 -8.83685195e-01 2.58820876e-02 1.16913295e+02] [ 8.82205703e-01 4.68080496e-01 5.11248067e-02 6.33135417e+01] [-5.72931352e-02 -1.06065009e-03 9.98356836e-01 -1.08284823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.483201008 meters 0.06519538613860085 Centerline is valid? [True, True] Translation: X:116.92, Y:63.34, Z:-10.83 [[ 4.67073198e-01 -8.83840269e-01 2.58651870e-02 1.16924778e+02] [ 8.82360542e-01 4.67787617e-01 5.11333545e-02 6.33368438e+01] [-5.72931319e-02 -1.06059900e-03 9.98356836e-01 -1.08304809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.513201008 meters 0.06437793905019704 Centerline is valid? [True, True] Translation: X:116.94, Y:63.36, Z:-10.83 [[ 4.63791019e-01 -8.85557906e-01 2.61741297e-02 1.16942241e+02] [ 8.84042719e-01 4.64528169e-01 5.17885257e-02 6.33588395e+01] [-5.80203590e-02 -8.80004333e-04 9.98315012e-01 -1.08305369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.543201008 meters 0.06354191763592887 Centerline is valid? [True, True] Translation: X:116.96, Y:63.38, Z:-10.83 [[ 4.57867695e-01 -8.88602877e-01 2.72415379e-02 1.16963049e+02] [ 8.86964180e-01 4.58677053e-01 5.39435269e-02 6.33782320e+01] [-6.04294415e-02 -5.36729926e-04 9.98172327e-01 -1.08297663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.573201008 meters 0.06320585596116414 Centerline is valid? [True, True] Translation: X:116.98, Y:63.40, Z:-10.83 [[ 4.54577547e-01 -8.90299879e-01 2.69328794e-02 1.16978996e+02] [ 8.88698720e-01 4.55374592e-01 5.33719514e-02 6.33998284e+01] [-5.97815908e-02 -3.26475318e-04 9.98211428e-01 -1.08319577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.603201008 meters 0.06324625664308325 Centerline is valid? [True, True] Translation: X:116.99, Y:63.42, Z:-10.84 [[ 4.51827736e-01 -8.91701945e-01 2.68204692e-02 1.16993208e+02] [ 8.90114001e-01 4.52623038e-01 5.31925815e-02 6.34220841e+01] [-5.95714906e-02 -1.60608471e-04 9.98224029e-01 -1.08351849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63320100800001 meters 0.06351769770712427 Centerline is valid? [True, True] Translation: X:117.01, Y:63.44, Z:-10.84 [[ 4.45999873e-01 -8.94642817e-01 2.64261768e-02 1.17009485e+02] [ 8.93103856e-01 4.46782035e-01 5.24529860e-02 6.34425072e+01] [-5.87334282e-02 2.07295332e-04 9.98273681e-01 -1.08407744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66320100800002 meters 0.06377408757238938 Centerline is valid? [True, True] Translation: X:117.03, Y:63.47, Z:-10.84 [[ 4.42757635e-01 -8.96256939e-01 2.62521757e-02 1.17025511e+02] [ 8.94738249e-01 4.43535052e-01 5.21547980e-02 6.34653036e+01] [-5.83878597e-02 3.96890741e-04 9.98293895e-01 -1.08439370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69320100800002 meters 0.06409189120280319 Centerline is valid? [True, True] Translation: X:117.04, Y:63.49, Z:-10.85 [[ 4.39287157e-01 -8.97957115e-01 2.64540031e-02 1.17041754e+02] [ 8.96415710e-01 4.40082548e-01 5.25949211e-02 6.34874475e+01] [-5.88699287e-02 6.09510621e-04 9.98265476e-01 -1.08453988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72320100800002 meters 0.06434413232650867 Centerline is valid? [True, True] Translation: X:117.06, Y:63.51, Z:-10.85 [[ 4.36231344e-01 -8.99439423e-01 2.66634368e-02 1.17057310e+02] [ 8.97873963e-01 4.37044719e-01 5.30495941e-02 6.35097573e+01] [-5.93680105e-02 7.98509992e-04 9.98235845e-01 -1.08463869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.753201008 meters 0.06559686425007163 Centerline is valid? [True, True] Translation: X:117.08, Y:63.53, Z:-10.85 [[ 4.30189998e-01 -9.02343762e-01 2.66889702e-02 1.17077287e+02] [ 9.00778310e-01 4.31015480e-01 5.31421822e-02 6.35286408e+01] [-5.94558759e-02 1.17961025e-03 9.98230238e-01 -1.08473285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.783201008 meters 0.0655579898631045 Centerline is valid? [True, True] Translation: X:117.09, Y:63.55, Z:-10.85 [[ 4.27860275e-01 -9.03445868e-01 2.68542039e-02 1.17091288e+02] [ 9.01860485e-01 4.28700147e-01 5.35149431e-02 6.35521385e+01] [-5.98602554e-02 1.32182706e-03 9.98205892e-01 -1.08467721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.813201008 meters 0.06572701330580602 Centerline is valid? [True, True] Translation: X:117.10, Y:63.58, Z:-10.85 [[ 4.25359075e-01 -9.04621864e-01 2.69988958e-02 1.17104678e+02] [ 9.03019110e-01 4.26212509e-01 5.38459228e-02 6.35753923e+01] [-6.02174662e-02 1.47666689e-03 9.98184190e-01 -1.08478583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.843201008 meters 0.0665233608198673 Centerline is valid? [True, True] Translation: X:117.12, Y:63.60, Z:-10.85 [[ 4.23433876e-01 -9.05528029e-01 2.68838550e-02 1.17118705e+02] [ 9.03939045e-01 4.24283481e-01 5.36444822e-02 6.35978940e+01] [-5.99829578e-02 1.58647518e-03 9.98198141e-01 -1.08518255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.873201008 meters 0.0671081109211992 Centerline is valid? [True, True] Translation: X:117.13, Y:63.62, Z:-10.86 [[ 4.20802448e-01 -9.06750117e-01 2.70097239e-02 1.17128985e+02] [ 9.05146116e-01 4.21664751e-01 5.39383651e-02 6.36226684e+01] [-6.02976673e-02 1.75035063e-03 9.98178906e-01 -1.08559955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.903201008 meters 0.06735688630689901 Centerline is valid? [True, True] Translation: X:117.14, Y:63.65, Z:-10.86 [[ 4.19562109e-01 -9.07322513e-01 2.70831052e-02 1.17140465e+02] [ 9.05708393e-01 4.20431381e-01 5.41272590e-02 6.36468761e+01] [-6.04974680e-02 1.81964876e-03 9.98166692e-01 -1.08585912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.933201008 meters 0.06725953803976681 Centerline is valid? [True, True] Translation: X:117.15, Y:63.67, Z:-10.86 [[ 4.18769984e-01 -9.07688576e-01 2.70767331e-02 1.17151685e+02] [ 9.06073662e-01 4.19640327e-01 5.41526975e-02 6.36705519e+01] [-6.05162740e-02 1.85599044e-03 9.98165485e-01 -1.08605346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.963201008 meters 0.06741509201245717 Centerline is valid? [True, True] Translation: X:117.16, Y:63.69, Z:-10.86 [[ 4.17828358e-01 -9.08144278e-01 2.63331128e-02 1.17162704e+02] [ 9.06615327e-01 4.18653249e-01 5.27077393e-02 6.36946716e+01] [-5.88906751e-02 1.85121543e-03 9.98262722e-01 -1.08624469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.993201008 meters 0.06743692327316524 Centerline is valid? [True, True] Translation: X:117.17, Y:63.72, Z:-10.86 [[ 4.17277241e-01 -9.08399287e-01 2.62762272e-02 1.17173098e+02] [ 9.06875110e-01 4.18099572e-01 5.26334770e-02 6.37187264e+01] [-5.87982923e-02 1.86650438e-03 9.98268139e-01 -1.08644360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.023201008 meters 0.06840230991093936 Centerline is valid? [True, True] Translation: X:117.19, Y:63.74, Z:-10.87 [[ 4.17862980e-01 -9.08149858e-01 2.55805801e-02 1.17185217e+02] [ 9.06702717e-01 4.18641511e-01 5.12783420e-02 6.37411674e+01] [-5.72775117e-02 1.76666065e-03 9.98356733e-01 -1.08695340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.053201008 meters 0.06850050200268054 Centerline is valid? [True, True] Translation: X:117.19, Y:63.77, Z:-10.87 [[ 4.17929821e-01 -9.08132494e-01 2.51005393e-02 1.17193469e+02] [ 9.06736815e-01 4.18679396e-01 5.03578317e-02 6.37660717e+01] [-5.62406619e-02 1.71354345e-03 9.98415771e-01 -1.08728908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.083201008 meters 0.06687461649695589 Centerline is valid? [True, True] Translation: X:117.19, Y:63.80, Z:-10.87 [[ 4.20188513e-01 -9.07097932e-01 2.47982719e-02 1.17193942e+02] [ 9.05731802e-01 4.20916821e-01 4.97888891e-02 6.37961613e+01] [-5.56014081e-02 1.53986421e-03 9.98451858e-01 -1.08737722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.113201008 meters 0.06676523467431006 Centerline is valid? [True, True] Translation: X:117.20, Y:63.82, Z:-10.88 [[ 4.21422039e-01 -9.06535606e-01 2.44266413e-02 1.17202286e+02] [ 9.05207424e-01 4.22126938e-01 4.90751258e-02 6.38206007e+01] [-5.47994922e-02 1.42983753e-03 9.98496355e-01 -1.08770382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.143201008 meters 0.06632249536680948 Centerline is valid? [True, True] Translation: X:117.21, Y:63.85, Z:-10.88 [[ 4.22598126e-01 -9.05989897e-01 2.43542743e-02 1.17210527e+02] [ 9.04666364e-01 4.23297200e-01 4.89719281e-02 6.38467415e+01] [-5.46771682e-02 1.33704776e-03 9.98503190e-01 -1.08776485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.173201008 meters 0.06573581148900794 Centerline is valid? [True, True] Translation: X:117.22, Y:63.87, Z:-10.88 [[ 4.24950079e-01 -9.04891218e-01 2.42757953e-02 1.17216197e+02] [ 9.03572166e-01 4.25641288e-01 4.88552483e-02 6.38731789e+01] [-5.45414659e-02 1.17389129e-03 9.98510816e-01 -1.08790481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.203201008 meters 0.06549293575479097 Centerline is valid? [True, True] Translation: X:117.22, Y:63.90, Z:-10.88 [[ 4.25557009e-01 -9.04605013e-01 2.43105611e-02 1.17224079e+02] [ 9.03280466e-01 4.26249335e-01 4.89479648e-02 6.38985997e+01] [-5.46409349e-02 1.12910549e-03 9.98505430e-01 -1.08805570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.233201008 meters 0.06507660018454937 Centerline is valid? [True, True] Translation: X:117.23, Y:63.93, Z:-10.88 [[ 4.26515955e-01 -9.04157201e-01 2.41639364e-02 1.17231406e+02] [ 9.02845758e-01 4.27198614e-01 4.86917004e-02 6.39255230e+01] [-5.43477517e-02 1.04852037e-03 9.98521518e-01 -1.08811924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.263201008 meters 0.06503230964637392 Centerline is valid? [True, True] Translation: X:117.24, Y:63.95, Z:-10.88 [[ 4.27657692e-01 -9.03618727e-01 2.41266379e-02 1.17239894e+02] [ 9.02308693e-01 4.28336627e-01 4.86493220e-02 6.39494542e+01] [-5.42947611e-02 9.64418313e-04 9.98524486e-01 -1.08838534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.293201008 meters 0.06445743246219632 Centerline is valid? [True, True] Translation: X:117.24, Y:63.98, Z:-10.88 [[ 4.29370030e-01 -9.02796826e-01 2.44799669e-02 1.17244641e+02] [ 9.01444063e-01 4.30066467e-01 4.94108780e-02 6.39781539e+01] [-5.51359967e-02 8.51770685e-04 9.98478491e-01 -1.08833685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.323201008 meters 0.06419441130751818 Centerline is valid? [True, True] Translation: X:117.25, Y:64.00, Z:-10.88 [[ 4.29563320e-01 -9.02716664e-01 2.40411905e-02 1.17253880e+02] [ 9.01410816e-01 4.30234768e-01 4.85446827e-02 6.40038670e+01] [-5.41654501e-02 8.17974109e-04 9.98531639e-01 -1.08849548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.353201008 meters 0.06431555666577214 Centerline is valid? [True, True] Translation: X:117.26, Y:64.03, Z:-10.89 [[ 4.29579392e-01 -9.02711867e-01 2.39339028e-02 1.17263150e+02] [ 9.01415791e-01 4.30244869e-01 4.83624311e-02 6.40285529e+01] [-5.39547794e-02 7.98894206e-04 9.98543060e-01 -1.08871936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38320100800001 meters 0.06438061708017395 Centerline is valid? [True, True] Translation: X:117.27, Y:64.05, Z:-10.89 [[ 4.29146760e-01 -9.02924616e-01 2.36684816e-02 1.17273343e+02] [ 9.01655506e-01 4.29798206e-01 4.78628355e-02 6.40538449e+01] [-5.33892033e-02 8.00635957e-04 9.98573458e-01 -1.08892892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41320100800002 meters 0.06447617745290721 Centerline is valid? [True, True] Translation: X:117.28, Y:64.08, Z:-10.89 [[ 4.28513251e-01 -9.03236280e-01 2.32511478e-02 1.17281889e+02] [ 9.02010297e-01 4.29142826e-01 4.70516678e-02 6.40804448e+01] [-5.24768367e-02 8.10511550e-04 9.98621813e-01 -1.08908086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44320100800002 meters 0.06456095167578431 Centerline is valid? [True, True] Translation: X:117.29, Y:64.10, Z:-10.89 [[ 4.27455475e-01 -9.03736488e-01 2.32847109e-02 1.17292371e+02] [ 9.02506053e-01 4.28088334e-01 4.71508376e-02 6.41033864e+01] [-5.25798455e-02 8.59708882e-04 9.98616353e-01 -1.08930943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47320100800002 meters 0.06464233972656387 Centerline is valid? [True, True] Translation: X:117.30, Y:64.13, Z:-10.89 [[ 4.25842615e-01 -9.04500743e-01 2.31618656e-02 1.17303004e+02] [ 9.03282237e-01 4.26471028e-01 4.69431914e-02 6.41287277e+01] [-5.23380161e-02 9.31290343e-04 9.98628993e-01 -1.08936029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.503201008 meters 0.06498867393398669 Centerline is valid? [True, True] Translation: X:117.31, Y:64.15, Z:-10.90 [[ 4.23849499e-01 -9.05440164e-01 2.30154618e-02 1.17314181e+02] [ 9.04236678e-01 4.24472680e-01 4.66794806e-02 6.41534876e+01] [-5.20349113e-02 1.02635024e-03 9.98644739e-01 -1.08961951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.533201008 meters 0.06555672265875503 Centerline is valid? [True, True] Translation: X:117.32, Y:64.18, Z:-10.90 [[ 4.20132587e-01 -9.07171068e-01 2.30057049e-02 1.17323216e+02] [ 9.05969477e-01 4.20760207e-01 4.66921297e-02 6.41777300e+01] [-5.20376343e-02 1.22558114e-03 9.98644372e-01 -1.08990005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.563201008 meters 0.0657803643092654 Centerline is valid? [True, True] Translation: X:117.33, Y:64.20, Z:-10.90 [[ 4.18445624e-01 -9.07952957e-01 2.29060383e-02 1.17334512e+02] [ 9.06761076e-01 4.19070080e-01 4.65254568e-02 6.42029995e+01] [-5.18421614e-02 1.30193010e-03 9.98654442e-01 -1.09009819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.593201008 meters 0.06629235080097629 Centerline is valid? [True, True] Translation: X:117.35, Y:64.23, Z:-10.90 [[ 4.16827410e-01 -9.08702976e-01 2.26674196e-02 1.17346126e+02] [ 9.07535267e-01 4.17441053e-01 4.60728296e-02 6.42278305e+01] [-5.13288289e-02 1.36706442e-03 9.98680871e-01 -1.09031411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.623201008 meters 0.06610566265490589 Centerline is valid? [True, True] Translation: X:117.35, Y:64.26, Z:-10.90 [[ 4.14908997e-01 -9.09595810e-01 2.20450994e-02 1.17354630e+02] [ 9.08491050e-01 4.15491800e-01 4.48394431e-02 6.42551961e+01] [-4.99453277e-02 1.42348716e-03 9.98750939e-01 -1.09038624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.653201008 meters 0.06616598494976467 Centerline is valid? [True, True] Translation: X:117.36, Y:64.28, Z:-10.91 [[ 4.14862189e-01 -9.09631427e-01 2.14483325e-02 1.17364031e+02] [ 9.08584543e-01 4.15413969e-01 4.36504580e-02 6.42812331e+01] [-4.86157654e-02 1.37869881e-03 9.98816603e-01 -1.09058430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.683201008 meters 0.06611388725551338 Centerline is valid? [True, True] Translation: X:117.37, Y:64.31, Z:-10.91 [[ 4.14935009e-01 -9.09601837e-01 2.12940563e-02 1.17372386e+02] [ 9.08568443e-01 4.15478843e-01 4.33672115e-02 6.43075941e+01] [-4.82941251e-02 1.35253326e-03 9.98832242e-01 -1.09093848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.713201008 meters 0.06609652781955094 Centerline is valid? [True, True] Translation: X:117.38, Y:64.33, Z:-10.91 [[ 4.15760153e-01 -9.09236351e-01 2.08027452e-02 1.17380240e+02] [ 9.08248284e-01 4.16278335e-01 4.23957811e-02 6.43335000e+01] [-4.72075174e-02 1.26758120e-03 9.98884299e-01 -1.09125280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.743201008 meters 0.06580488247753093 Centerline is valid? [True, True] Translation: X:117.38, Y:64.36, Z:-10.92 [[ 4.18561818e-01 -9.07973528e-01 1.97503347e-02 1.17383251e+02] [ 9.07080417e-01 4.19026197e-01 4.02760949e-02 6.43607718e+01] [-4.48455357e-02 1.05710635e-03 9.98993374e-01 -1.09176516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.773201008 meters 0.0657532690553063 Centerline is valid? [True, True] Translation: X:117.39, Y:64.39, Z:-10.92 [[ 4.19716406e-01 -9.07440137e-01 1.97619911e-02 1.17391420e+02] [ 9.06543965e-01 4.20180227e-01 4.03313232e-02 6.43866447e+01] [-4.49018594e-02 9.87395701e-04 9.98990915e-01 -1.09205013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.803201008 meters 0.06580086936379993 Centerline is valid? [True, True] Translation: X:117.40, Y:64.41, Z:-10.92 [[ 4.20780254e-01 -9.06963321e-01 1.90134610e-02 1.17400298e+02] [ 9.06132192e-01 4.21208667e-01 3.88292416e-02 6.44127768e+01] [-4.32253325e-02 8.90131002e-04 9.99064952e-01 -1.09241121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.833201008 meters 0.06576031714361845 Centerline is valid? [True, True] Translation: X:117.41, Y:64.44, Z:-10.93 [[ 4.21843330e-01 -9.06489902e-01 1.80072962e-02 1.17409552e+02] [ 9.05743061e-01 4.22226761e-01 3.67976735e-02 6.44389163e+01] [-4.09598818e-02 7.87130521e-04 9.99160482e-01 -1.09267849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.863201008 meters 0.06570219453935047 Centerline is valid? [True, True] Translation: X:117.42, Y:64.47, Z:-10.93 [[ 4.23133587e-01 -9.05900224e-01 1.73997489e-02 1.17416409e+02] [ 9.05201580e-01 4.23490613e-01 3.55780781e-02 6.44650573e+01] [-3.95988193e-02 6.96000383e-04 9.99215417e-01 -1.09298736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.893201008 meters 0.06565358721798346 Centerline is valid? [True, True] Translation: X:117.42, Y:64.49, Z:-10.93 [[ 4.23498697e-01 -9.05730127e-01 1.73721511e-02 1.17424628e+02] [ 9.05032630e-01 4.23854326e-01 3.55450143e-02 6.44897639e+01] [-3.95574517e-02 6.69096354e-04 9.99217074e-01 -1.09321439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.923201008 meters 0.065313970733235 Centerline is valid? [True, True] Translation: X:117.43, Y:64.52, Z:-10.93 [[ 4.23517047e-01 -9.05723725e-01 1.72581667e-02 1.17432072e+02] [ 9.05034222e-01 4.23868032e-01 3.53404566e-02 6.45157052e+01] [-3.93238751e-02 6.51945638e-04 9.99226305e-01 -1.09320526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.953201008 meters 0.065201798626583 Centerline is valid? [True, True] Translation: X:117.44, Y:64.54, Z:-10.93 [[ 4.23774133e-01 -9.05607012e-01 1.70711303e-02 1.17441002e+02] [ 9.04931145e-01 4.24117381e-01 3.49867159e-02 6.45416367e+01] [-3.89243784e-02 6.21732291e-04 9.99241966e-01 -1.09339737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.983201008 meters 0.06516562957203564 Centerline is valid? [True, True] Translation: X:117.45, Y:64.57, Z:-10.93 [[ 4.23972560e-01 -9.05506111e-01 1.74914564e-02 1.17449894e+02] [ 9.04795446e-01 4.24332773e-01 3.58733671e-02 6.45662834e+01] [-3.99057513e-02 6.16866741e-04 9.99203258e-01 -1.09347376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.013201008 meters 0.06474267214104887 Centerline is valid? [True, True] Translation: X:117.46, Y:64.59, Z:-10.93 [[ 4.23282780e-01 -9.05820299e-01 1.79240985e-02 1.17460505e+02] [ 9.05073099e-01 4.23661614e-01 3.67902519e-02 6.45920694e+01] [-4.09191095e-02 6.49939309e-04 9.99162251e-01 -1.09340707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.043201008 meters 0.06489303753758599 Centerline is valid? [True, True] Translation: X:117.47, Y:64.62, Z:-10.94 [[ 4.22205214e-01 -9.06318246e-01 1.81657335e-02 1.17471300e+02] [ 9.05550256e-01 4.22595255e-01 3.73093117e-02 6.46153175e+01] [-4.14908627e-02 6.97798719e-04 9.99138640e-01 -1.09361852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.073201008 meters 0.06484044388021712 Centerline is valid? [True, True] Translation: X:117.48, Y:64.64, Z:-10.94 [[ 4.21214233e-01 -9.06775217e-01 1.83650748e-02 1.17482197e+02] [ 9.05989327e-01 4.21613760e-01 3.77515236e-02 6.46389751e+01] [-4.19751143e-02 7.37082724e-04 9.99118385e-01 -1.09371351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.103201008 meters 0.06460650666443746 Centerline is valid? [True, True] Translation: X:117.49, Y:64.66, Z:-10.94 [[ 4.18600653e-01 -9.07969068e-01 1.91223410e-02 1.17490862e+02] [ 9.07116839e-01 4.19036274e-01 3.93400639e-02 6.46645940e+01] [-4.37325156e-02 8.78421067e-04 9.99042890e-01 -1.09364984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13320100800001 meters 0.06377441299889665 Centerline is valid? [True, True] Translation: X:117.50, Y:64.69, Z:-10.93 [[ 4.17691610e-01 -9.08376937e-01 1.96229053e-02 1.17499251e+02] [ 9.07478419e-01 4.18151256e-01 4.04035456e-02 6.46912382e+01] [-4.49069915e-02 9.31141046e-04 9.98990738e-01 -1.09337016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16320100800002 meters 0.06405119157972504 Centerline is valid? [True, True] Translation: X:117.51, Y:64.72, Z:-10.94 [[ 4.16924200e-01 -9.08712720e-01 2.03814611e-02 1.17510225e+02] [ 9.07742108e-01 4.17420905e-01 4.20006253e-02 6.47162317e+01] [-4.66741504e-02 9.90033340e-04 9.98909677e-01 -1.09366173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19320100800002 meters 0.06349808095911046 Centerline is valid? [True, True] Translation: X:117.52, Y:64.74, Z:-10.94 [[ 4.15947035e-01 -9.09148949e-01 2.08866667e-02 1.17518595e+02] [ 9.08128892e-01 4.16469781e-01 4.30678119e-02 6.47422677e+01] [-4.78537214e-02 1.05385683e-03 9.98853798e-01 -1.09353899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22320100800002 meters 0.06349177822249023 Centerline is valid? [True, True] Translation: X:117.53, Y:64.77, Z:-10.94 [[ 4.15491728e-01 -9.09349691e-01 2.12076174e-02 1.17528369e+02] [ 9.08296718e-01 4.16031216e-01 4.37618538e-02 6.47680790e+01] [-4.86178591e-02 1.08012103e-03 9.98816869e-01 -1.09374337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.253201008 meters 0.06358529445024584 Centerline is valid? [True, True] Translation: X:117.54, Y:64.79, Z:-10.94 [[ 4.14699439e-01 -9.09711475e-01 2.11992134e-02 1.17537594e+02] [ 9.08658286e-01 4.15239451e-01 4.37757605e-02 6.47935163e+01] [-4.86260614e-02 1.10905763e-03 9.98816438e-01 -1.09394425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.283201008 meters 0.06355955168922545 Centerline is valid? [True, True] Translation: X:117.55, Y:64.82, Z:-10.94 [[ 4.13663383e-01 -9.10184191e-01 2.11505238e-02 1.17547630e+02] [ 9.09134936e-01 4.14202148e-01 4.37063988e-02 6.48191813e+01] [-4.85414656e-02 1.14894329e-03 9.98820507e-01 -1.09420519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.313201008 meters 0.06427307043392545 Centerline is valid? [True, True] Translation: X:117.56, Y:64.84, Z:-10.95 [[ 4.10994426e-01 -9.11420284e-01 1.99160194e-02 1.17556447e+02] [ 9.10490285e-01 4.11474915e-01 4.11805185e-02 6.48448020e+01] [-4.57277023e-02 1.20837862e-03 9.98953211e-01 -1.09451826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.343201008 meters 0.06427307043392545 Centerline is valid? [True, True] Translation: X:117.57, Y:64.87, Z:-10.95 [[ 4.10741326e-01 -9.11534648e-01 1.99034734e-02 1.17567937e+02] [ 9.10604490e-01 4.11221507e-01 4.11865798e-02 6.48689693e+01] [-4.57277309e-02 1.20716185e-03 9.98953211e-01 -1.09472460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.373201008 meters 0.0649424868508594 Centerline is valid? [True, True] Translation: X:117.58, Y:64.89, Z:-10.95 [[ 4.08973227e-01 -9.12343560e-01 1.92387012e-02 1.17577561e+02] [ 9.11474076e-01 4.09423603e-01 3.98412234e-02 6.48925462e+01] [-4.42256620e-02 1.24158367e-03 9.99020795e-01 -1.09513024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.403201008 meters 0.06544945529084424 Centerline is valid? [True, True] Translation: X:117.59, Y:64.92, Z:-10.95 [[ 4.06817367e-01 -9.13327174e-01 1.82511067e-02 1.17586791e+02] [ 9.12545047e-01 4.07224573e-01 3.78111647e-02 6.49175442e+01] [-4.19662634e-02 1.27271860e-03 9.99118218e-01 -1.09543759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.433201008 meters 0.06609861895680082 Centerline is valid? [True, True] Translation: X:117.60, Y:64.94, Z:-10.96 [[ 4.04817409e-01 -9.14225244e-01 1.77501942e-02 1.17596976e+02] [ 9.13485051e-01 4.05204237e-01 3.68047168e-02 6.49412938e+01] [-4.08402550e-02 1.31534695e-03 9.99164823e-01 -1.09576707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.463201008 meters 0.0665333939704572 Centerline is valid? [True, True] Translation: X:117.61, Y:64.97, Z:-10.96 [[ 3.99779350e-01 -9.16453764e-01 1.69991066e-02 1.17606155e+02] [ 9.15776324e-01 4.00137896e-01 3.52617105e-02 6.49669552e+01] [-3.91177141e-02 1.47047561e-03 9.99233527e-01 -1.09562467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.493201008 meters 0.06735701381324902 Centerline is valid? [True, True] Translation: X:117.62, Y:64.99, Z:-10.96 [[ 3.96817251e-01 -9.17747032e-01 1.66269264e-02 1.17616608e+02] [ 9.17099059e-01 3.97162406e-01 3.45157918e-02 6.49929425e+01] [-3.82803556e-02 1.55207695e-03 9.99265833e-01 -1.09587905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.523201008 meters 0.0667738307876881 Centerline is valid? [True, True] Translation: X:117.62, Y:65.02, Z:-10.96 [[ 3.91418496e-01 -9.20065336e-01 1.64723285e-02 1.17619735e+02] [ 9.19430352e-01 3.91761042e-01 3.42215386e-02 6.50227674e+01] [-3.79392679e-02 1.75021560e-03 9.99278514e-01 -1.09570052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.553201008 meters 0.06614492389230871 Centerline is valid? [True, True] Translation: X:117.63, Y:65.05, Z:-10.96 [[ 3.88599226e-01 -9.21255467e-01 1.67034793e-02 1.17626797e+02] [ 9.20603139e-01 3.88953471e-01 3.47139434e-02 6.50506190e+01] [-3.84772864e-02 1.88746390e-03 9.99257692e-01 -1.09570139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.583201008 meters 0.06929121756571349 Centerline is valid? [True, True] Translation: X:117.64, Y:65.07, Z:-10.96 [[ 3.86224884e-01 -9.22246012e-01 1.71065077e-02 1.17642196e+02] [ 9.21561546e-01 3.86598248e-01 3.55824686e-02 6.50722689e+01] [-3.94291357e-02 2.02186482e-03 9.99220324e-01 -1.09632308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.613201008 meters 0.06901523911674123 Centerline is valid? [True, True] Translation: X:117.65, Y:65.10, Z:-10.96 [[ 3.85329589e-01 -9.22618376e-01 1.72174387e-02 1.17650928e+02] [ 9.21924686e-01 3.85708519e-01 3.58303312e-02 6.50998705e+01] [-3.96986348e-02 2.06669497e-03 9.99209561e-01 -1.09630834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.643201008 meters 0.06649583952624262 Centerline is valid? [True, True] Translation: X:117.65, Y:65.13, Z:-10.96 [[ 3.83730602e-01 -9.23267990e-01 1.80843330e-02 1.17654317e+02] [ 9.22502293e-01 3.84150021e-01 3.76600601e-02 6.51303020e+01] [-4.17174249e-02 2.23152111e-03 9.99126957e-01 -1.09601241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.673201008 meters 0.06711278033250351 Centerline is valid? [True, True] Translation: X:117.66, Y:65.16, Z:-10.96 [[ 3.83432563e-01 -9.23380100e-01 1.86724591e-02 1.17657517e+02] [ 9.22562645e-01 3.83880027e-01 3.89139030e-02 6.51592373e+01] [-4.31003077e-02 2.30565569e-03 9.99068089e-01 -1.09625127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.703201008 meters 0.06738939145109794 Centerline is valid? [True, True] Translation: X:117.66, Y:65.19, Z:-10.97 [[ 3.82982140e-01 -9.23556718e-01 1.91747217e-02 1.17662958e+02] [ 9.22693542e-01 3.83454484e-01 3.99910729e-02 6.51874498e+01] [-4.42866570e-02 2.37652525e-03 9.99016038e-01 -1.09657340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.733201008 meters 0.0668215080621286 Centerline is valid? [True, True] Translation: X:117.67, Y:65.22, Z:-10.97 [[ 3.83392542e-01 -9.23383112e-01 1.93335905e-02 1.17666883e+02] [ 9.22504219e-01 3.83872413e-01 4.03476901e-02 6.52171017e+01] [-4.46780076e-02 2.36631532e-03 9.98998637e-01 -1.09673111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.763201008 meters 0.06756959992297988 Centerline is valid? [True, True] Translation: X:117.67, Y:65.24, Z:-10.97 [[ 3.83834159e-01 -9.23197755e-01 1.94227561e-02 1.17673207e+02] [ 9.22309172e-01 3.84318110e-01 4.05632965e-02 6.52437530e+01] [-4.49124612e-02 2.34420729e-03 9.98988176e-01 -1.09707627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.793201008 meters 0.06823762720074512 Centerline is valid? [True, True] Translation: X:117.67, Y:65.27, Z:-10.97 [[ 3.85526519e-01 -9.22494455e-01 1.93205639e-02 1.17673735e+02] [ 9.21613124e-01 3.86003840e-01 4.03767845e-02 6.52738822e+01] [-4.47051717e-02 2.23976404e-03 9.98997713e-01 -1.09714181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.823201008 meters 0.06695173079882985 Centerline is valid? [True, True] Translation: X:117.68, Y:65.30, Z:-10.97 [[ 3.86649248e-01 -9.22017087e-01 1.96685091e-02 1.17675671e+02] [ 9.21101706e-01 3.87142865e-01 4.11345307e-02 6.53043595e+01] [-4.55412631e-02 2.21206196e-03 9.98960009e-01 -1.09716362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.853201008 meters 0.06678845268087569 Centerline is valid? [True, True] Translation: X:117.68, Y:65.33, Z:-10.97 [[ 3.88050580e-01 -9.21427423e-01 1.97041169e-02 1.17678854e+02] [ 9.20506762e-01 3.88544645e-01 4.12354244e-02 6.53335446e+01] [-4.56513799e-02 2.13634248e-03 9.98955148e-01 -1.09737999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88320100800001 meters 0.06694080119463543 Centerline is valid? [True, True] Translation: X:117.68, Y:65.36, Z:-10.98 [[ 3.89685017e-01 -9.20745212e-01 1.93349808e-02 1.17682480e+02] [ 9.19856637e-01 3.90159234e-01 4.04912212e-02 6.53628204e+01] [-4.48258193e-02 2.00658825e-03 9.98992803e-01 -1.09764352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91320100800002 meters 0.06667945274531883 Centerline is valid? [True, True] Translation: X:117.68, Y:65.40, Z:-10.98 [[ 3.94000356e-01 -9.18914516e-01 1.89692317e-02 1.17675649e+02] [ 9.18055669e-01 3.94452849e-01 3.97585049e-02 6.53970653e+01] [-4.40171348e-02 1.74994567e-03 9.99029244e-01 -1.09768486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94320100800002 meters 0.067075194047776 Centerline is valid? [True, True] Translation: X:117.68, Y:65.43, Z:-10.98 [[ 3.94990993e-01 -9.18479602e-01 1.94251158e-02 1.17680062e+02] [ 9.17577805e-01 3.95464541e-01 4.07279813e-02 6.54259699e+01] [-4.50897646e-02 1.73686932e-03 9.98981429e-01 -1.09779968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97320100800002 meters 0.06694841926372645 Centerline is valid? [True, True] Translation: X:117.68, Y:65.46, Z:-10.98 [[ 3.95687094e-01 -9.18175546e-01 1.96313835e-02 1.17684165e+02] [ 9.17252740e-01 3.96170101e-01 4.11905665e-02 6.54555049e+01] [-4.55975381e-02 1.70836474e-03 9.98958431e-01 -1.09789348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.003201008 meters 0.06900279795535057 Centerline is valid? [True, True] Translation: X:117.69, Y:65.48, Z:-10.98 [[ 3.95917948e-01 -9.18063788e-01 2.01955377e-02 1.17692650e+02] [ 9.17085275e-01 3.96428921e-01 4.24111989e-02 6.54816628e+01] [-4.69422811e-02 1.72967540e-03 9.98896106e-01 -1.09838658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.033201008 meters 0.06716237281757453 Centerline is valid? [True, True] Translation: X:117.68, Y:65.52, Z:-10.98 [[ 3.97679651e-01 -9.17283817e-01 2.10070066e-02 1.17684540e+02] [ 9.16223248e-01 3.98230483e-01 4.41298423e-02 6.55163705e+01] [-4.88452205e-02 1.69756754e-03 9.98804917e-01 -1.09832522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.063201008 meters 0.06731699762329436 Centerline is valid? [True, True] Translation: X:117.69, Y:65.55, Z:-10.99 [[ 3.98711451e-01 -9.16845726e-01 2.05692557e-02 1.17689820e+02] [ 9.15826829e-01 3.99238482e-01 4.32418047e-02 6.55451855e+01] [-4.78581022e-02 1.59687353e-03 9.98852868e-01 -1.09861888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.093201008 meters 0.06694847590786365 Centerline is valid? [True, True] Translation: X:117.69, Y:65.57, Z:-10.99 [[ 4.00003063e-01 -9.16281428e-01 2.06372068e-02 1.17694679e+02] [ 9.15253540e-01 4.00532182e-01 4.34157767e-02 6.55745635e+01] [-4.80469354e-02 1.52183295e-03 9.98843920e-01 -1.09881408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.123201008 meters 0.06648522005879853 Centerline is valid? [True, True] Translation: X:117.69, Y:65.61, Z:-10.99 [[ 4.02592551e-01 -9.15124071e-01 2.16141645e-02 1.17692220e+02] [ 9.13992891e-01 4.03169790e-01 4.55095202e-02 6.56067042e+01] [-5.03610356e-02 1.43339889e-03 9.98730049e-01 -1.09888829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.153201008 meters 0.06633056409547744 Centerline is valid? [True, True] Translation: X:117.70, Y:65.64, Z:-10.99 [[ 4.04134459e-01 -9.14418695e-01 2.26669306e-02 1.17696726e+02] [ 9.13172473e-01 4.04767194e-01 4.77446657e-02 6.56352977e+01] [-5.28334448e-02 1.40355248e-03 9.98602352e-01 -1.09910652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.183201008 meters 0.06579378299154974 Centerline is valid? [True, True] Translation: X:117.70, Y:65.67, Z:-10.99 [[ 4.05731001e-01 -9.13697653e-01 2.32153808e-02 1.17698883e+02] [ 9.12387243e-01 4.06392469e-01 4.89354680e-02 6.56655582e+01] [-5.41467782e-02 1.32678085e-03 9.98532106e-01 -1.09925327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.213201008 meters 0.06609007915972609 Centerline is valid? [True, True] Translation: X:117.70, Y:65.69, Z:-11.00 [[ 4.08222651e-01 -9.12580599e-01 2.34716545e-02 1.17703159e+02] [ 9.11236895e-01 4.08895186e-01 4.95181544e-02 6.56933002e+01] [-5.47867535e-02 1.17380534e-03 9.98497388e-01 -1.09971187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.243201008 meters 0.0654021997519657 Centerline is valid? [True, True] Translation: X:117.70, Y:65.73, Z:-11.00 [[ 4.13960243e-01 -9.09982083e-01 2.38647551e-02 1.17696305e+02] [ 9.08587659e-01 4.14646733e-01 5.03642078e-02 6.57272157e+01] [-5.57259694e-02 8.34442259e-04 9.98445752e-01 -1.09992735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.273201008 meters 0.06539999702258736 Centerline is valid? [True, True] Translation: X:117.70, Y:65.75, Z:-11.00 [[ 4.16502374e-01 -9.08823233e-01 2.37929441e-02 1.17701486e+02] [ 9.07433020e-01 4.17180891e-01 5.02535476e-02 6.57549249e+01] [-5.55975532e-02 6.59781233e-04 9.98453042e-01 -1.10018365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.303201008 meters 0.06530099122296813 Centerline is valid? [True, True] Translation: X:117.71, Y:65.78, Z:-11.00 [[ 4.19315896e-01 -9.07539044e-01 2.33893568e-02 1.17707340e+02] [ 9.06192491e-01 4.19967451e-01 4.94217525e-02 6.57833009e+01] [-5.46749386e-02 4.71933050e-04 9.98504095e-01 -1.10031254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.333201008 meters 0.06539000885334706 Centerline is valid? [True, True] Translation: X:117.71, Y:65.81, Z:-11.01 [[ 4.21621574e-01 -9.06473003e-01 2.32796823e-02 1.17712985e+02] [ 9.05135240e-01 4.22263658e-01 4.92300816e-02 6.58106144e+01] [-5.44559037e-02 3.14796268e-04 9.98516127e-01 -1.10062705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.363201008 meters 0.06557818557172371 Centerline is valid? [True, True] Translation: X:117.71, Y:65.84, Z:-11.01 [[ 4.27305048e-01 -9.03809151e-01 2.32253238e-02 1.17709837e+02] [ 9.02472237e-01 4.27935764e-01 4.91410662e-02 6.58419018e+01] [-5.43530919e-02 -3.80157260e-05 9.98521777e-01 -1.10103900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.393201008 meters 0.06571035074259737 Centerline is valid? [True, True] Translation: X:117.71, Y:65.87, Z:-11.01 [[ 4.29804110e-01 -9.02625952e-01 2.31261438e-02 1.17713707e+02] [ 9.01297553e-01 4.30425781e-01 4.89527109e-02 6.58712287e+01] [-5.41400758e-02 -1.96539539e-04 9.98533331e-01 -1.10133638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.423201008 meters 0.06596303873294977 Centerline is valid? [True, True] Translation: X:117.72, Y:65.90, Z:-11.02 [[ 4.32182200e-01 -9.01486184e-01 2.32638102e-02 1.17716834e+02] [ 9.00138388e-01 4.32807731e-01 4.92782964e-02 6.58990370e+01] [-5.44924603e-02 -3.56553941e-04 9.98514118e-01 -1.10169881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.453201008 meters 0.0664393210799323 Centerline is valid? [True, True] Translation: X:117.72, Y:65.93, Z:-11.02 [[ 4.36804945e-01 -8.99252629e-01 2.33698444e-02 1.17718502e+02] [ 8.97887139e-01 4.37429170e-01 4.95419723e-02 6.59290498e+01] [-5.47734005e-02 -6.56695732e-04 9.98498595e-01 -1.10183375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.483201008 meters 0.06651620901276517 Centerline is valid? [True, True] Translation: X:117.73, Y:65.96, Z:-11.02 [[ 4.38635032e-01 -8.98369041e-01 2.30732281e-02 1.17727098e+02] [ 8.97035071e-01 4.39240789e-01 4.89449868e-02 6.59552377e+01] [-5.41053638e-02 -7.71491105e-04 9.98534934e-01 -1.10192394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.513201008 meters 0.06634820223649174 Centerline is valid? [True, True] Translation: X:117.74, Y:65.98, Z:-11.02 [[ 4.40771256e-01 -8.97330505e-01 2.27742156e-02 1.17737830e+02] [ 8.96027526e-01 4.41358298e-01 4.83479694e-02 6.59818097e+01] [-5.34356968e-02 -9.04071106e-04 9.98570883e-01 -1.10186286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.543201008 meters 0.06647135557414391 Centerline is valid? [True, True] Translation: X:117.75, Y:66.01, Z:-11.02 [[ 4.41757913e-01 -8.96855401e-01 2.23681853e-02 1.17747038e+02] [ 8.95597018e-01 4.42322827e-01 4.75026144e-02 6.60087775e+01] [-5.24969352e-02 -9.51775754e-04 9.98620632e-01 -1.10215043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2210.06 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%| | 0/5152 [00:00