+ python -m lidar_slam --no-model /working/3d498e3e-a917-4c97-92ef-108ec2957da9 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/3d498e3e-a917-4c97-92ef-108ec2957da9 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 0.018001145 Adjusted end_distance from 9.223372036854776e+18 to 245.228001145 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.018001145 meters 0.1294914092290714 Centerline is valid? [0, False] SLAMing on 0.048001144999999995 meters 0.1348701907120747 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999986e-01 1.63886181e-04 -1.38345132e-05 5.52710129e-04] [-1.63882970e-04 9.99999960e-01 2.31743783e-04 -2.36867953e-04] [ 1.38724923e-05 -2.31741513e-04 9.99999973e-01 -7.41045131e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.078001145 meters 0.143903469154906 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999648e-01 8.34131001e-04 -8.82247837e-05 1.95986301e-03] [-8.34014183e-04 9.99998786e-01 1.31594994e-03 -2.41352494e-03] [ 8.93223513e-05 -1.31587590e-03 9.99999130e-01 -2.54146169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10800114499999998 meters 0.1479562682825548 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999097e-01 1.33567101e-03 -1.46995137e-04 3.03522481e-03] [-1.33536240e-03 9.99996945e-01 2.07994171e-03 -3.79367716e-03] [ 1.49772806e-04 -2.07974355e-03 9.99997826e-01 -3.89931422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.138001145 meters 0.14943869061545206 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99998373e-01 1.79448255e-03 -1.85946351e-04 3.92765588e-03] [-1.79395553e-03 9.99994480e-01 2.79666080e-03 -5.26525290e-03] [ 1.90963884e-04 -2.79632266e-03 9.99996072e-01 -5.07265222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16800114499999996 meters 0.15561253873403422 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99997905e-01 2.04399448e-03 -1.14102969e-04 4.12439743e-03] [-2.04360948e-03 9.99992539e-01 3.27799749e-03 -6.64303251e-03] [ 1.20802326e-04 -3.27775744e-03 9.99994621e-01 -5.58160841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19800114499999996 meters 0.1641394691055562 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99996797e-01 2.53045096e-03 -5.59916902e-05 4.63158228e-03] [-2.53020018e-03 9.99988397e-01 4.09930649e-03 -8.69072697e-03] [ 6.63641346e-05 -4.09915169e-03 9.99991596e-01 -6.49712187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22800114499999996 meters 0.16519263565618136 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999732e-01 -7.24423068e-04 -1.04075720e-04 6.00435815e-03] [ 7.24544521e-04 9.99999051e-01 1.17170322e-03 -1.15518836e-02] [ 1.03226812e-04 -1.17177832e-03 9.99999308e-01 -8.23725625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.258001145 meters 0.16867905117470985 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998921e-01 -1.36200324e-03 -5.49977161e-04 9.93771651e-03] [ 1.36255485e-03 9.99998568e-01 1.00383921e-03 -1.38482881e-02] [ 5.48609141e-04 -1.00458750e-03 9.99999345e-01 -1.23415168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28800114499999996 meters 0.16134704908966369 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99999680e-01 -6.70221995e-04 -4.37292203e-04 1.05568602e-02] [ 6.71166319e-04 9.99997436e-01 2.16291952e-03 -1.67671191e-02] [ 4.35841445e-04 -2.16321232e-03 9.99997565e-01 -1.35573484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31800114499999993 meters 0.17327956808659123 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99999927e-01 -1.51973237e-04 -3.50901804e-04 1.12204366e-02] [ 1.53054172e-04 9.99995237e-01 3.08248111e-03 -1.90774873e-02] [ 3.50431678e-04 -3.08253459e-03 9.99995188e-01 -1.47735045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.34800114499999996 meters 0.17501465492777707 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.02 [[ 9.99995861e-01 -2.80775551e-03 -6.28452349e-04 1.41770726e-02] [ 2.80841737e-03 9.99995500e-01 1.05476346e-03 -2.25466469e-02] [ 6.25488003e-04 -1.05652405e-03 9.99999246e-01 -1.80256095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3780011449999999 meters 0.18034457029021184 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.02 [[ 9.99997485e-01 -2.22208678e-03 -3.05117145e-04 1.41809745e-02] [ 2.22278411e-03 9.99994874e-01 2.30444059e-03 -2.63959606e-02] [ 2.99994914e-04 -2.30511300e-03 9.99997298e-01 -1.89763506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.40800114499999995 meters 0.18552258669429617 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.02 [[ 9.99999123e-01 -1.30289085e-03 -2.37101657e-04 1.50825275e-02] [ 1.30383070e-03 9.99991118e-01 4.00790664e-03 -3.11258556e-02] [ 2.31877686e-04 -4.00821227e-03 9.99991940e-01 -2.05128328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4380011449999999 meters 0.18728407287779064 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.02 [[ 9.99988424e-01 -4.78418885e-03 -5.13383267e-04 1.72677929e-02] [ 4.78453430e-03 9.99988327e-01 6.73787468e-04 -3.21612668e-02] [ 5.10153748e-04 -6.76235968e-04 9.99999641e-01 -2.25876206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46800114499999995 meters 0.19971446881766566 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:-0.02 [[ 9.99971236e-01 -7.57564188e-03 -3.69796283e-04 1.84739436e-02] [ 7.57506191e-03 9.99970115e-01 -1.54532199e-03 -3.72604453e-02] [ 3.81492038e-04 1.54247631e-03 9.99998738e-01 -2.44672513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4980011449999999 meters 0.1997034854909381 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:-0.03 [[ 9.99978402e-01 -6.56542393e-03 -2.99920611e-04 1.95264360e-02] [ 6.56546211e-03 9.99978439e-01 1.26476440e-04 -4.15903077e-02] [ 2.99083773e-04 -1.28442825e-04 9.99999947e-01 -2.61377803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.528001145 meters 0.20252815741188634 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.03 [[ 9.99984029e-01 -5.64385433e-03 -2.98329942e-04 2.08454888e-02] [ 5.64432188e-03 9.99982806e-01 1.59033040e-03 -4.51382393e-02] [ 2.89349219e-04 -1.59198887e-03 9.99998691e-01 -2.79625666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.558001145 meters 0.2100423545109716 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.03 [[ 9.99963390e-01 -8.53721261e-03 -5.78058905e-04 2.34647610e-02] [ 8.53662991e-03 9.99963059e-01 -1.00310395e-03 -4.79308653e-02] [ 5.86601262e-04 9.98132549e-04 9.99999330e-01 -3.04307565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.588001145 meters 0.21105118554599325 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.03 [[ 9.99970131e-01 -7.71506985e-03 -4.63256953e-04 2.41486108e-02] [ 7.71523595e-03 9.99970173e-01 3.57840774e-04 -5.18591195e-02] [ 4.60482369e-04 -3.61404223e-04 9.99999829e-01 -3.17656550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6180011449999999 meters 0.21499468287171764 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.03 [[ 9.99978375e-01 -6.55882286e-03 -4.79994592e-04 2.61899843e-02] [ 6.55982543e-03 9.99976241e-01 2.11781240e-03 -5.59496778e-02] [ 4.66092832e-04 -2.12091528e-03 9.99997642e-01 -3.45168125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.648001145 meters 0.21367458362733915 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.04 [[ 9.99985077e-01 -5.43069014e-03 -5.94799771e-04 2.86050446e-02] [ 5.43288148e-03 9.99978223e-01 3.74667635e-03 -5.93146767e-02] [ 5.74439780e-04 -3.74985191e-03 9.99992804e-01 -3.74484290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.678001145 meters 0.2163842425859641 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.04 [[ 9.99989991e-01 -4.37323405e-03 -9.44684572e-04 3.23333349e-02] [ 4.37826122e-03 9.99975907e-01 5.38668675e-03 -6.36995632e-02] [ 9.21104569e-04 -5.39076891e-03 9.99985045e-01 -4.14828811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.708001145 meters 0.21663416915594705 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.04 [[ 0.99999292 -0.00357981 -0.00116231 0.0347859 ] [ 0.00358738 0.99997195 0.00657452 -0.06591549] [ 0.00113874 -0.00657864 0.99997771 -0.04416475] [ 0. 0. 0. 1. ]] SLAMing on 0.7380011449999999 meters 0.22024378321244853 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.05 [[ 0.99999367 -0.00331368 -0.00129512 0.03597206] [ 0.00332278 0.99996934 0.00709011 -0.06729269] [ 0.00127159 -0.00709437 0.99997403 -0.0454876 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7680011449999999 meters 0.21972130029819364 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.05 [[ 0.99997971 -0.00607163 -0.00192563 0.04026637] [ 0.0060806 0.99997053 0.00468615 -0.06948327] [ 0.00189712 -0.00469777 0.99998717 -0.04923048] [ 0. 0. 0. 1. ]] SLAMing on 0.798001145 meters 0.2142998553055821 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.05 [[ 0.99998108 -0.00586737 -0.00184576 0.04066317] [ 0.00587744 0.99996763 0.00549522 -0.07266193] [ 0.00181345 -0.00550597 0.9999832 -0.05011835] [ 0. 0. 0. 1. ]] SLAMing on 0.8280011449999999 meters 0.22082406435003976 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.05 [[ 0.99998408 -0.00528254 -0.00198108 0.0421716 ] [ 0.0052957 0.99996355 0.00669742 -0.07587628] [ 0.00194563 -0.00670781 0.99997561 -0.05189434] [ 0. 0. 0. 1. ]] SLAMing on 0.8580011449999999 meters 0.2175896550200261 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.05 [[ 0.99998473 -0.00516615 -0.00196003 0.04238056] [ 0.00518002 0.99996107 0.00714354 -0.07744994] [ 0.00192305 -0.00715358 0.99997256 -0.05226122] [ 0. 0. 0. 1. ]] SLAMing on 0.8880011449999999 meters 0.21097755318572414 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.05 [[ 0.99998365 -0.00522288 -0.00232667 0.0437383 ] [ 0.00524106 0.99995524 0.0078775 -0.08021014] [ 0.00228542 -0.00788956 0.99996627 -0.05318074] [ 0. 0. 0. 1. ]] SLAMing on 0.918001145 meters 0.21097755318572414 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.05 [[ 0.99998365 -0.00522288 -0.00232667 0.0437383 ] [ 0.00524106 0.99995524 0.0078775 -0.08021014] [ 0.00228542 -0.00788956 0.99996627 -0.05318074] [ 0. 0. 0. 1. ]] SLAMing on 0.9480011449999999 meters 0.21103224198503792 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.05 [[ 0.99998486 -0.00498787 -0.00232367 0.04397662] [ 0.00500734 0.99995177 0.00844946 -0.0820865 ] [ 0.00228142 -0.00846096 0.9999616 -0.05352167] [ 0. 0. 0. 1. ]] SLAMing on 0.9780011449999999 meters 0.20710070641881526 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.06 [[ 0.99996278 -0.00805039 -0.00310158 0.04763996] [ 0.00806655 0.99995378 0.00523234 -0.08147098] [ 0.00305931 -0.00525717 0.9999815 -0.0561424 ] [ 0. 0. 0. 1. ]] SLAMing on 1.008001145 meters 0.20591278974775526 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.06 [[ 0.99996379 -0.00790315 -0.0031573 0.04807337] [ 0.00792045 0.99995349 0.00550319 -0.08212322] [ 0.00311366 -0.00552799 0.99997987 -0.05657439] [ 0. 0. 0. 1. ]] SLAMing on 1.0380011449999997 meters 0.2014759678657193 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.06 [[ 0.99996397 -0.00778544 -0.00338205 0.04912238] [ 0.00780399 0.99995439 0.00550613 -0.08130114] [ 0.00333903 -0.00553233 0.99997912 -0.05733615] [ 0. 0. 0. 1. ]] SLAMing on 1.0680011449999998 meters 0.19836025225279166 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.06 [[ 0.99996679 -0.00727396 -0.00367573 0.05132018] [ 0.00729661 0.99995425 0.00618516 -0.08196774] [ 0.00363057 -0.00621177 0.99997412 -0.05948014] [ 0. 0. 0. 1. ]] SLAMing on 1.0980011449999998 meters 0.1957370889569324 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.06 [[ 0.99996676 -0.00721986 -0.00378808 0.05222162] [ 0.00724357 0.99995401 0.00628492 -0.0821819 ] [ 0.00374253 -0.00631215 0.99997307 -0.06045244] [ 0. 0. 0. 1. ]] SLAMing on 1.1280011449999998 meters 0.194439119690171 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.06 [[ 0.99996718 -0.00701807 -0.00404858 0.05364803] [ 0.00704443 0.99995384 0.00653383 -0.082448 ] [ 0.00400254 -0.00656213 0.99997046 -0.06171754] [ 0. 0. 0. 1. ]] SLAMing on 1.1580011449999998 meters 0.19254185773338764 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.06 [[ 0.99996692 -0.00699423 -0.00415109 0.05458087] [ 0.00702119 0.99995412 0.0065156 -0.08226807] [ 0.00410533 -0.00654453 0.99997016 -0.06279321] [ 0. 0. 0. 1. ]] SLAMing on 1.1880011449999999 meters 0.1902048617461035 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.06 [[ 0.99996444 -0.00702225 -0.00467 0.05621179] [ 0.00704907 0.99995861 0.0057525 -0.078761 ] [ 0.00462941 -0.00578522 0.99997255 -0.06350331] [ 0. 0. 0. 1. ]] SLAMing on 1.2180011449999997 meters 0.18919397877822378 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.06 [[ 0.99996035 -0.00735215 -0.00502337 0.05731916] [ 0.00737734 0.99996022 0.00501317 -0.07610101] [ 0.00498632 -0.00505003 0.99997482 -0.0639428 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2480011449999997 meters 0.18880884910166637 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.06 [[ 0.99995787 -0.00760127 -0.00514608 0.05761652] [ 0.00762471 0.99996058 0.00455059 -0.07465387] [ 0.00511129 -0.00458963 0.9999764 -0.06393528] [ 0. 0. 0. 1. ]] SLAMing on 1.2780011449999997 meters 0.18473343037632461 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.06 [[ 0.99995359 -0.00796165 -0.0054255 0.05823512] [ 0.00798356 0.99996002 0.00402779 -0.07326223] [ 0.00539321 -0.00407092 0.99997717 -0.06399869] [ 0. 0. 0. 1. ]] SLAMing on 1.3080011449999998 meters 0.18195307389006946 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.06 [[ 0.99995048 -0.00829889 -0.00549309 0.0581285 ] [ 0.00831783 0.99995951 0.003433 -0.07164143] [ 0.00546438 -0.00347852 0.99997902 -0.06359293] [ 0. 0. 0. 1. ]] SLAMing on 1.3380011449999998 meters 0.17953175361106877 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.06 [[ 0.99994733 -0.00862433 -0.00556428 0.05792005] [ 0.00864009 0.99995871 0.00281486 -0.06988972] [ 0.00553978 -0.00286279 0.99998056 -0.06302067] [ 0. 0. 0. 1. ]] SLAMing on 1.3680011449999998 meters 0.17767364345579612 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.06 [[ 0.9999454 -0.00872979 -0.00574269 0.05873179] [ 0.0087444 0.99995858 0.00252534 -0.06866369] [ 0.00572041 -0.00257541 0.99998032 -0.06361419] [ 0. 0. 0. 1. ]] SLAMing on 1.3980011449999998 meters 0.17335069239065887 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.06 [[ 0.99994054 -0.00926012 -0.00575848 0.05889965] [ 0.00926864 0.99995599 0.00145433 -0.06554565] [ 0.00574476 -0.00150762 0.99998236 -0.06379238] [ 0. 0. 0. 1. ]] SLAMing on 1.4280011449999996 meters 0.17094054152455895 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.06 [[ 0.99993806 -0.00940293 -0.00595564 0.05989103] [ 0.00940934 0.99995518 0.00104836 -0.06394009] [ 0.00594552 -0.00110434 0.99998172 -0.06463882] [ 0. 0. 0. 1. ]] SLAMing on 1.4580011449999997 meters 0.16917841672176914 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.06 [[ 9.99935060e-01 -9.64087686e-03 -6.07695995e-03 6.02112270e-02] [ 9.64447021e-03 9.99953333e-01 5.62279859e-04 -6.24900227e-02] [ 6.07125549e-03 -6.20852403e-04 9.99981377e-01 -6.47316707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4880011449999997 meters 0.16644393681354577 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.07 [[ 9.99934385e-01 -9.60914529e-03 -6.23613041e-03 6.11921490e-02] [ 9.61237827e-03 9.99953681e-01 4.88660404e-04 -6.18205425e-02] [ 6.23114595e-03 -5.48572386e-04 9.99980436e-01 -6.56703481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5180011449999997 meters 0.16206712873231888 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.07 [[ 9.99934518e-01 -9.57326233e-03 -6.27000626e-03 6.18496763e-02] [ 9.57657909e-03 9.99954019e-01 4.99178121e-04 -6.16134596e-02] [ 6.26493919e-03 -5.59190645e-04 9.99980219e-01 -6.65912130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5480011449999997 meters 0.1613246067156971 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.07 [[ 9.99932805e-01 -9.60860037e-03 -6.48532905e-03 6.29885739e-02] [ 9.61034454e-03 9.99953791e-01 2.37829837e-04 -6.03119639e-02] [ 6.48274416e-03 -3.00140103e-04 9.99978942e-01 -6.76012999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5780011449999998 meters 0.15958754745359302 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.07 [[ 0.99996299 -0.00551362 -0.00660447 0.06366857] [ 0.00554171 0.99997565 0.00424236 -0.05970353] [ 0.00658091 -0.0042788 0.99996919 -0.06845857] [ 0. 0. 0. 1. ]] SLAMing on 1.6080011449999998 meters 0.15686136851555474 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.07 [[ 0.99995868 -0.00594126 -0.00687995 0.06435359] [ 0.00596274 0.9999774 0.0031056 -0.0561106 ] [ 0.00686134 -0.00314649 0.99997151 -0.06872898] [ 0. 0. 0. 1. ]] SLAMing on 1.6380011449999996 meters 0.15033138481839073 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.07 [[ 0.99995487 -0.00624448 -0.00716031 0.0650623 ] [ 0.00625846 0.99997855 0.00193157 -0.05225607] [ 0.00714809 -0.0019763 0.9999725 -0.06899989] [ 0. 0. 0. 1. ]] SLAMing on 1.6680011449999996 meters 0.15542272992725426 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.07 [[ 0.99999131 -0.00172256 -0.0037973 0.0761863 ] [ 0.00171145 0.99999425 -0.0029285 -0.05194987] [ 0.00380232 0.00292198 0.9999885 -0.07129067] [ 0. 0. 0. 1. ]] SLAMing on 1.6980011449999997 meters 0.15361697221116544 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.07 [[ 0.99999076 -0.0016522 -0.0039699 0.07727107] [ 0.00164043 0.99999425 -0.0029667 -0.05135025] [ 0.00397478 0.00296016 0.99998772 -0.07240884] [ 0. 0. 0. 1. ]] SLAMing on 1.7280011449999997 meters 0.15082364243688182 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.07 [[ 0.99998976 -0.00203646 -0.00404054 0.07740235] [ 0.00202124 0.99999086 -0.00376687 -0.04927595] [ 0.00404818 0.00375866 0.99998474 -0.07241655] [ 0. 0. 0. 1. ]] SLAMing on 1.7580011449999997 meters 0.14133829666341455 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.07 [[ 9.99990768e-01 1.73174157e-03 -3.93244255e-03 7.71390795e-02] [-1.73242646e-03 9.99998485e-01 -1.70764208e-04 -4.81182027e-02] [ 3.93214087e-03 1.77575299e-04 9.99992253e-01 -7.23836959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7880011449999997 meters 0.1374422192585446 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.07 [[ 9.99983274e-01 4.31913482e-03 -3.84677382e-03 7.61762292e-02] [-4.31669996e-03 9.99990478e-01 6.41039181e-04 -3.88489870e-02] [ 3.84950592e-03 -6.24423090e-04 9.99992396e-01 -7.10597584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8180011449999998 meters 0.1439215116480389 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.07 [[ 0.99998653 0.00342382 -0.00390176 0.07567955] [-0.00342895 0.99999326 -0.00130919 -0.03376594] [ 0.00389725 0.00132255 0.99999153 -0.07004371] [ 0. 0. 0. 1. ]] SLAMing on 1.8480011449999996 meters 0.13362600007030798 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.07 [[ 0.99998721 0.00302023 -0.00405672 0.07597087] [-0.00302921 0.99999298 -0.0022074 -0.03132829] [ 0.00405003 0.00221966 0.99998934 -0.06999735] [ 0. 0. 0. 1. ]] SLAMing on 1.8780011449999996 meters 0.13454609460679698 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.07 [[ 0.99998757 0.00275191 -0.00415848 0.07631691] [-0.0027637 0.99999217 -0.00283248 -0.0296661 ] [ 0.00415066 0.00284394 0.99998734 -0.07026602] [ 0. 0. 0. 1. ]] SLAMing on 1.9080011449999996 meters 0.12951039113139487 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.07 [[ 0.99998898 0.00200892 -0.00424247 0.07663855] [-0.00202874 0.99998702 -0.00467363 -0.02454615] [ 0.00423302 0.00468219 0.99998008 -0.07063123] [ 0. 0. 0. 1. ]] SLAMing on 1.9380011449999996 meters 0.12754645263690959 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.07 [[ 0.99998932 0.00146264 -0.00438522 0.07699807] [-0.00148886 0.999981 -0.0059819 -0.02088109] [ 0.00437639 0.00598836 0.99997249 -0.0707839 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9680011449999997 meters 0.12755772879233823 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.07 [[ 0.9999745 0.00552608 -0.00452267 0.07781582] [-0.00553655 0.99998201 -0.00230674 -0.01894016] [ 0.00450984 0.00233172 0.99998711 -0.07164565] [ 0. 0. 0. 1. ]] SLAMing on 1.9980011449999997 meters 0.12308428100000911 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.07 [[ 0.9999779 0.00463207 -0.00476844 0.07790537] [-0.00465296 0.99997958 -0.00438084 -0.01325665] [ 0.00474805 0.00440293 0.99997903 -0.07106614] [ 0. 0. 0. 1. ]] SLAMing on 2.0280011449999997 meters 0.1194514682514404 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:-0.07 [[ 0.99996089 0.0074071 -0.00483311 0.07738806] [-0.00742315 0.99996697 -0.00330995 -0.00476035] [ 0.00480843 0.00334569 0.99998284 -0.07005845] [ 0. 0. 0. 1. ]] SLAMing on 2.0580011449999995 meters 0.11923205434798258 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:-0.07 [[ 0.99996366 0.00691681 -0.00498406 0.07773398] [-0.00693901 0.99996602 -0.00444992 -0.0016598 ] [ 0.00495311 0.00448435 0.99997768 -0.07015955] [ 0. 0. 0. 1. ]] SLAMing on 2.088001145 meters 0.11828181867369793 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.07 [[ 0.99996564 0.00652043 -0.00511859 0.07815559] [-0.00654807 0.99996397 -0.00540162 0.00101176] [ 0.00508318 0.00543496 0.99997231 -0.07040471] [ 0. 0. 0. 1. ]] SLAMing on 2.1180011449999996 meters 0.11785306128493839 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.07 [[ 9.99993306e-01 1.96140638e-04 -3.65357812e-03 8.67025500e-02] [-1.95769070e-04 9.99999976e-01 1.02057059e-04 7.39027770e-03] [ 3.65359805e-03 -1.01341119e-04 9.99993320e-01 -7.03171092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.148001145 meters 0.11633489397136482 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.07 [[ 9.99992537e-01 -8.04507973e-04 -3.77884592e-03 8.63661181e-02] [ 7.97130581e-04 9.99997774e-01 -1.95338766e-03 1.26947033e-02] [ 3.78040903e-03 1.95036085e-03 9.99990952e-01 -6.93921348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1780011449999996 meters 0.11277762755196187 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.07 [[ 0.99999087 -0.0016631 -0.00393735 0.08618709] [ 0.00164798 0.99999127 -0.0038409 0.0180869 ] [ 0.00394371 0.00383438 0.99998487 -0.0685872 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2080011449999994 meters 0.10785651156788614 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.07 [[ 9.99993072e-01 7.53637391e-04 -3.64520215e-03 8.43239667e-02] [-7.64377360e-04 9.99995369e-01 -2.94583469e-03 2.61795730e-02] [ 3.64296518e-03 2.94860059e-03 9.99989017e-01 -6.65123942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2380011449999997 meters 0.10894403774699254 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.07 [[ 9.99992367e-01 2.89966873e-04 -3.89638449e-03 8.46959221e-02] [-3.06142972e-04 9.99991335e-01 -4.15161133e-03 2.95033212e-02] [ 3.89514690e-03 4.15277249e-03 9.99983791e-01 -6.64163588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2680011449999995 meters 0.10421393329665721 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.07 [[ 9.99991038e-01 1.41469561e-04 -4.23126956e-03 8.57075838e-02] [-1.62695890e-04 9.99987403e-01 -5.01661569e-03 3.25149165e-02] [ 4.23050656e-03 5.01725914e-03 9.99978465e-01 -6.70891545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2980011449999997 meters 0.10208423803540721 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.07 [[ 0.99998317 0.00391618 -0.00428028 0.08579349] [-0.00392421 0.99999056 -0.00186758 0.03533213] [ 0.00427293 0.00188435 0.9999891 -0.06715718] [ 0. 0. 0. 1. ]] SLAMing on 2.3280011449999995 meters 0.09757930603175334 Centerline is valid? [False, True] Translation: X:0.09, Y:0.05, Z:-0.07 [[ 0.99996764 0.00636381 -0.00492209 0.08618768] [-0.0063779 0.9999756 -0.00285095 0.0487111 ] [ 0.00490383 0.00288225 0.99998382 -0.0654651 ] [ 0. 0. 0. 1. ]] SLAMing on 2.358001145 meters 0.09765041991221964 Centerline is valid? [True, True] Translation: X:0.12, Y:0.05, Z:-0.08 [[ 9.99962159e-01 8.60025432e-03 -1.30996754e-03 1.15294430e-01] [-8.60016204e-03 9.99963015e-01 7.60593282e-05 5.18891031e-02] [ 1.31057322e-03 -6.47905169e-05 9.99999139e-01 -7.53618067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3880011449999996 meters 0.08672141842626299 Centerline is valid? [True, True] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 9.99940872e-01 1.03219181e-02 3.42214397e-03 1.50236334e-01] [-1.03212958e-02 9.99946714e-01 -1.99447257e-04 6.86132130e-02] [-3.42402029e-03 1.64114504e-04 9.99994125e-01 -5.33175803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4180011449999994 meters 0.0868248392072931 Centerline is valid? [True, True] Translation: X:0.18, Y:0.07, Z:-0.06 [[ 9.99925319e-01 1.12409847e-02 4.79549768e-03 1.79352584e-01] [-1.12397523e-02 9.99936792e-01 -2.83847151e-04 7.26040857e-02] [-4.79838529e-03 2.29925747e-04 9.99988461e-01 -5.91531977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4480011449999997 meters 0.08412120169905518 Centerline is valid? [True, True] Translation: X:0.21, Y:0.08, Z:-0.07 [[ 9.99876994e-01 1.27806079e-02 9.09133194e-03 2.08694934e-01] [-1.27762870e-02 9.99918238e-01 -5.33197236e-04 7.96739009e-02] [-9.09740320e-03 4.16978184e-04 9.99958531e-01 -6.71944930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4780011449999995 meters 0.08619224156159189 Centerline is valid? [True, True] Translation: X:0.24, Y:0.08, Z:-0.08 [[ 9.99864099e-01 1.12165878e-02 1.20818534e-02 2.36155204e-01] [-1.12088629e-02 9.99936929e-01 -7.06902576e-04 7.58222085e-02] [-1.20890205e-02 5.71382668e-04 9.99926762e-01 -8.24170523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5080011449999997 meters 0.08108142635303707 Centerline is valid? [True, True] Translation: X:0.27, Y:0.08, Z:-0.07 [[ 9.99809710e-01 1.09270508e-02 1.61599278e-02 2.69092385e-01] [-1.09132524e-02 9.99940005e-01 -9.41807654e-04 8.41858734e-02] [-1.61692495e-02 7.65271066e-04 9.99868976e-01 -7.33565896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5380011449999995 meters 0.07998783189153087 Centerline is valid? [True, True] Translation: X:0.30, Y:0.09, Z:-0.08 [[ 0.99965299 0.01049907 0.02415912 0.2993164 ] [-0.010468 0.99994421 -0.00141206 0.09490477] [-0.0241726 0.00115868 0.99970713 -0.07770539] [ 0. 0. 0. 1. ]] SLAMing on 2.5680011449999998 meters 0.0794486689434277 Centerline is valid? [True, True] Translation: X:0.33, Y:0.10, Z:-0.08 [[ 0.9996122 0.00932069 0.02624075 0.33177612] [-0.0092838 0.99995574 -0.00152731 0.10038933] [-0.02625382 0.00128311 0.99965449 -0.07824673] [ 0. 0. 0. 1. ]] SLAMing on 2.5980011449999996 meters 0.08011238716895043 Centerline is valid? [True, True] Translation: X:0.36, Y:0.10, Z:-0.09 [[ 0.99953084 0.00901966 0.02927007 0.36123792] [-0.00897345 0.99995828 -0.00170982 0.10181515] [-0.02928427 0.00144636 0.99957008 -0.08548339] [ 0. 0. 0. 1. ]] SLAMing on 2.6280011449999994 meters 0.08078594231030077 Centerline is valid? [True, True] Translation: X:0.39, Y:0.10, Z:-0.09 [[ 0.99953082 0.00768148 0.02965013 0.39363053] [-0.00763404 0.99996939 -0.00171302 0.1024218 ] [-0.02966239 0.00148587 0.99955887 -0.09028973] [ 0. 0. 0. 1. ]] SLAMing on 2.6580011449999996 meters 0.08017941155387848 Centerline is valid? [True, True] Translation: X:0.42, Y:0.10, Z:-0.10 [[ 0.99918745 0.00164912 0.04027068 0.42220401] [-0.00155523 0.999996 -0.00236267 0.10186583] [-0.04027441 0.00229812 0.99918601 -0.09692865] [ 0. 0. 0. 1. ]] SLAMing on 2.6880011449999994 meters 0.0787385557679059 Centerline is valid? [True, True] Translation: X:0.45, Y:0.11, Z:-0.10 [[ 9.99187132e-01 -2.47555895e-04 4.03114731e-02 4.54301873e-01] [ 3.42993720e-04 9.99997155e-01 -2.36061136e-03 1.06583422e-01] [-4.03107740e-02 2.37251908e-03 9.99184374e-01 -9.64723544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7180011449999997 meters 0.08003401999817553 Centerline is valid? [True, True] Translation: X:0.49, Y:0.11, Z:-0.10 [[ 0.99914444 -0.00217436 0.04129967 0.48510837] [ 0.00227597 0.9999945 -0.0024135 0.1070109 ] [-0.0412942 0.00250543 0.99914389 -0.10223488] [ 0. 0. 0. 1. ]] SLAMing on 2.7480011449999995 meters 0.07996164305565014 Centerline is valid? [True, True] Translation: X:0.52, Y:0.11, Z:-0.11 [[ 0.99905909 -0.00313747 0.04325614 0.51725838] [ 0.00324977 0.99999153 -0.00252593 0.10905758] [-0.04324785 0.00266412 0.99906082 -0.10706609] [ 0. 0. 0. 1. ]] SLAMing on 2.7780011449999997 meters 0.077676592901845 Centerline is valid? [True, True] Translation: X:0.55, Y:0.12, Z:-0.11 [[ 0.99888756 -0.00347387 0.04702734 0.54906437] [ 0.00360829 0.99998964 -0.00277372 0.12134506] [-0.04701721 0.00294032 0.99888975 -0.10587009] [ 0. 0. 0. 1. ]] SLAMing on 2.8080011449999995 meters 0.077676592901845 Centerline is valid? [True, True] Translation: X:0.58, Y:0.12, Z:-0.11 [[ 0.99888836 -0.00322091 0.04702838 0.58154404] [ 0.00335422 0.99999058 -0.00275603 0.11931631] [-0.04701906 0.00291071 0.99888975 -0.10973157] [ 0. 0. 0. 1. ]] SLAMing on 2.8380011449999993 meters 0.07910797465454766 Centerline is valid? [True, True] Translation: X:0.61, Y:0.12, Z:-0.12 [[ 0.99879026 -0.00249172 0.04911009 0.61105665] [ 0.00263778 0.99999229 -0.00290956 0.11883132] [-0.04910246 0.00303558 0.99878913 -0.11782034] [ 0. 0. 0. 1. ]] SLAMing on 2.8680011449999996 meters 0.08085656398036621 Centerline is valid? [True, True] Translation: X:0.64, Y:0.12, Z:-0.13 [[ 9.98777588e-01 -4.95389225e-04 4.94275691e-02 6.39976797e-01] [ 6.40964158e-04 9.99995504e-01 -2.92941045e-03 1.19618440e-01] [-4.94258957e-02 2.95751081e-03 9.98773415e-01 -1.25615984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8980011449999994 meters 0.07855172219046629 Centerline is valid? [True, True] Translation: X:0.67, Y:0.13, Z:-0.13 [[ 9.98444713e-01 7.47814682e-04 5.57458143e-02 6.71774889e-01] [-5.64681373e-04 9.99994393e-01 -3.30082822e-03 1.29009227e-01] [-5.57479702e-02 3.26421586e-03 9.98439537e-01 -1.26754000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9280011449999996 meters 0.07436643980479875 Centerline is valid? [True, True] Translation: X:0.70, Y:0.14, Z:-0.12 [[ 0.99827755 0.00146852 0.05864957 0.70406201] [-0.00126693 0.99999316 -0.00347414 0.13976688] [-0.05865427 0.00339385 0.99827259 -0.12117041] [ 0. 0. 0. 1. ]] SLAMing on 2.9580011449999994 meters 0.07364935310240757 Centerline is valid? [True, True] Translation: X:0.74, Y:0.14, Z:-0.12 [[ 0.99808948 0.00339923 0.06169142 0.73503107] [-0.00317975 0.99998826 -0.00365564 0.14374564] [-0.06170312 0.00345249 0.99808858 -0.12444438] [ 0. 0. 0. 1. ]] SLAMing on 2.9880011449999997 meters 0.07297524947990276 Centerline is valid? [True, True] Translation: X:0.77, Y:0.15, Z:-0.13 [[ 0.99789828 0.00471207 0.06462833 0.76534736] [-0.00447391 0.99998266 -0.00382924 0.1490957 ] [-0.06464525 0.00353205 0.99790206 -0.12963526] [ 0. 0. 0. 1. ]] SLAMing on 3.0180011449999995 meters 0.07356662397962807 Centerline is valid? [True, True] Translation: X:0.80, Y:0.15, Z:-0.14 [[ 0.99810192 0.00596509 0.06129416 0.79666726] [-0.00575332 0.99997686 -0.00363103 0.14993168] [-0.0613144 0.00327149 0.99811314 -0.1350189 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0480011449999993 meters 0.07288977256567794 Centerline is valid? [True, True] Translation: X:0.83, Y:0.15, Z:-0.14 [[ 0.99761858 0.00465281 0.06881508 0.82720633] [-0.0043824 0.99998207 -0.00408 0.14834913] [-0.06883283 0.00376871 0.99762109 -0.13837139] [ 0. 0. 0. 1. ]] SLAMing on 3.0780011449999995 meters 0.07340641859677613 Centerline is valid? [True, True] Translation: X:0.86, Y:0.15, Z:-0.14 [[ 0.99778684 0.00562522 0.06625535 0.8586123 ] [-0.00537731 0.99997786 -0.00391953 0.14840751] [-0.06627593 0.00355458 0.997795 -0.14260644] [ 0. 0. 0. 1. ]] SLAMing on 3.1080011449999994 meters 0.0786613711725632 Centerline is valid? [True, True] Translation: X:0.89, Y:0.14, Z:-0.15 [[ 0.99757614 0.00421706 0.0694555 0.88744781] [-0.00393948 0.9999837 -0.00413297 0.14034263] [-0.06947179 0.00384934 0.99757649 -0.15449808] [ 0. 0. 0. 1. ]] SLAMing on 3.1380011449999996 meters 0.07423369986682639 Centerline is valid? [True, True] Translation: X:0.92, Y:0.15, Z:-0.15 [[ 0.99750209 0.00458217 0.07048812 0.92076635] [-0.00429775 0.999982 -0.00418619 0.14958077] [-0.07050603 0.00387279 0.99750383 -0.1508152 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1680011449999994 meters 0.07519892531016052 Centerline is valid? [True, True] Translation: X:0.95, Y:0.15, Z:-0.16 [[ 0.99762138 0.00356747 0.06883937 0.95175898] [-0.00329228 0.99998613 -0.00411062 0.14876599] [-0.06885308 0.0038742 0.99761929 -0.15614573] [ 0. 0. 0. 1. ]] SLAMing on 3.1980011449999997 meters 0.07480536101355166 Centerline is valid? [True, True] Translation: X:0.98, Y:0.15, Z:-0.16 [[ 0.99756979 0.00351546 0.06958554 0.98419658] [-0.00323447 0.99998616 -0.00415031 0.15001746] [-0.06959917 0.00391515 0.99756735 -0.15926324] [ 0. 0. 0. 1. ]] SLAMing on 3.2280011449999995 meters 0.07528099281484887 Centerline is valid? [True, True] Translation: X:1.02, Y:0.15, Z:-0.16 [[ 0.99747499 0.00203506 0.07098942 1.01616817] [-0.00173772 0.99998946 -0.00424996 0.15036562] [-0.07099732 0.00411587 0.99746801 -0.16289111] [ 0. 0. 0. 1. ]] SLAMing on 3.2580011449999993 meters 0.07756295734441328 Centerline is valid? [True, True] Translation: X:1.05, Y:0.15, Z:-0.17 [[ 9.97554636e-01 9.80157691e-05 6.98909085e-02 1.04568250e+00] [ 1.96517662e-04 9.99991130e-01 -4.20729978e-03 1.47382726e-01] [-6.98907009e-02 4.21074620e-03 9.97545768e-01 -1.69087790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2880011449999995 meters 0.07886561365205136 Centerline is valid? [True, True] Translation: X:1.08, Y:0.14, Z:-0.17 [[ 0.99737854 -0.00181833 0.07233769 1.07741688] [ 0.00213896 0.99998823 -0.00435507 0.14221325] [-0.07232891 0.00449838 0.99737069 -0.17484671] [ 0. 0. 0. 1. ]] SLAMing on 3.3180011449999993 meters 0.07941186590046972 Centerline is valid? [True, True] Translation: X:1.11, Y:0.14, Z:-0.18 [[ 0.9973079 -0.00229947 0.07329162 1.11074172] [ 0.00262979 0.99998681 -0.00441077 0.14003083] [-0.07328051 0.00459163 0.9973008 -0.17837547] [ 0. 0. 0. 1. ]] SLAMing on 3.3480011449999996 meters 0.08026783153526007 Centerline is valid? [True, True] Translation: X:1.14, Y:0.14, Z:-0.18 [[ 0.99711928 -0.00413011 0.0757369 1.14319234] [ 0.00448973 0.99997944 -0.00457861 0.139325 ] [-0.07571643 0.00490546 0.99711732 -0.180124 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3780011449999994 meters 0.08131530232618411 Centerline is valid? [True, True] Translation: X:1.17, Y:0.14, Z:-0.18 [[ 0.99703505 -0.00388655 0.07685059 1.1747863 ] [ 0.00425747 0.99998006 -0.00466328 0.14328209] [-0.07683094 0.00497664 0.99703171 -0.18316799] [ 0. 0. 0. 1. ]] SLAMing on 3.4080011449999996 meters 0.08183043841162245 Centerline is valid? [True, True] Translation: X:1.21, Y:0.14, Z:-0.19 [[ 0.99703326 -0.0033517 0.07689891 1.20637938] [ 0.00372262 0.99998212 -0.00468071 0.14318077] [-0.07688185 0.00495309 0.99702791 -0.18764688] [ 0. 0. 0. 1. ]] SLAMing on 3.4380011449999994 meters 0.08252647109618369 Centerline is valid? [True, True] Translation: X:1.24, Y:0.14, Z:-0.19 [[ 0.99695927 -0.00290932 0.07787014 1.23792788] [ 0.00328966 0.99998328 -0.00475649 0.14252049] [-0.077855 0.0049982 0.99695216 -0.19167801] [ 0. 0. 0. 1. ]] SLAMing on 3.4680011449999992 meters 0.08214127111388007 Centerline is valid? [True, True] Translation: X:1.27, Y:0.14, Z:-0.19 [[ 0.99673849 -0.00316176 0.08063731 1.2698511 ] [ 0.00357246 0.99998137 -0.0049494 0.14303791] [-0.08062016 0.00522133 0.99673122 -0.19338877] [ 0. 0. 0. 1. ]] SLAMing on 3.4980011449999995 meters 0.08296901000375863 Centerline is valid? [True, True] Translation: X:1.30, Y:0.14, Z:-0.20 [[ 0.99651199 -0.0024931 0.08341248 1.30018183] [ 0.00293079 0.99998257 -0.00512521 0.14434107] [-0.08339824 0.00535179 0.99650193 -0.19537104] [ 0. 0. 0. 1. ]] SLAMing on 3.5280011449999993 meters 0.08326388816387535 Centerline is valid? [True, True] Translation: X:1.33, Y:0.14, Z:-0.20 [[ 0.99647723 -0.00249767 0.08382661 1.3331961 ] [ 0.00293907 0.99998246 -0.0051427 0.1447677 ] [-0.0838123 0.00537095 0.99646709 -0.19868714] [ 0. 0. 0. 1. ]] SLAMing on 3.5580011449999995 meters 0.08459483493932837 Centerline is valid? [True, True] Translation: X:1.37, Y:0.14, Z:-0.20 [[ 0.9964534 -0.00319725 0.08408568 1.3656137 ] [ 0.00364602 0.99997992 -0.00518394 0.14427116] [-0.08406741 0.00547213 0.99644504 -0.20219794] [ 0. 0. 0. 1. ]] SLAMing on 3.5880011449999993 meters 0.08573314677809177 Centerline is valid? [True, True] Translation: X:1.40, Y:0.14, Z:-0.21 [[ 0.99646415 -0.00410539 0.08391865 1.3978536 ] [ 0.00455612 0.9999762 -0.0051803 0.14388676] [-0.08389539 0.00554432 0.99645914 -0.20601288] [ 0. 0. 0. 1. ]] SLAMing on 3.6180011449999996 meters 0.08857434501165065 Centerline is valid? [True, True] Translation: X:1.43, Y:0.14, Z:-0.21 [[ 0.99629709 -0.00693762 0.08569704 1.42784891] [ 0.00741872 0.99995845 -0.00529671 0.14002529] [-0.08565673 0.00591286 0.99630716 -0.20970394] [ 0. 0. 0. 1. ]] SLAMing on 3.6480011449999994 meters 0.09167392075712975 Centerline is valid? [True, True] Translation: X:1.46, Y:0.13, Z:-0.21 [[ 0.9962508 -0.01003828 0.08592769 1.45777523] [ 0.01053356 0.99993041 -0.00531242 0.13359228] [-0.08586838 0.00619763 0.99628721 -0.21446516] [ 0. 0. 0. 1. ]] SLAMing on 3.678001144999999 meters 0.09593811529025643 Centerline is valid? [True, True] Translation: X:1.49, Y:0.13, Z:-0.22 [[ 0.99607123 -0.01441361 0.0873748 1.48755013] [ 0.01494256 0.99987376 -0.00540275 0.12615519] [-0.08728589 0.00668713 0.99616086 -0.2190378 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7080011449999994 meters 0.09756155118551081 Centerline is valid? [True, True] Translation: X:1.52, Y:0.12, Z:-0.22 [[ 0.99604581 -0.0157453 0.08743467 1.51688478] [ 0.01628012 0.99985285 -0.00540706 0.1234658 ] [-0.08733667 0.00680912 0.99615558 -0.22380466] [ 0. 0. 0. 1. ]] SLAMing on 3.7380011449999992 meters 0.10008467465395797 Centerline is valid? [True, False] Translation: X:1.53, Y:0.13, Z:-0.22 [[ 0.9975759 -0.02109214 0.06631319 1.53164401] [ 0.02136158 0.99976618 -0.00335677 0.12627761] [-0.06622688 0.00476518 0.99779321 -0.21869003] [ 0. 0. 0. 1. ]] SLAMing on 3.7680011449999995 meters 0.09930252929545555 Centerline is valid? [False, True] Translation: X:1.55, Y:0.13, Z:-0.21 [[ 0.99872045 -0.02529927 0.04378816 1.54725014] [ 0.02549877 0.99966684 -0.00400345 0.12944261] [-0.04367229 0.00511487 0.99903282 -0.2125479 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7980011449999993 meters 0.10121533094287422 Centerline is valid? [True, False] Translation: X:1.56, Y:0.13, Z:-0.21 [[ 0.99934898 -0.02778065 0.02301844 1.55890552] [ 0.0278819 0.99960286 -0.00408903 0.13332951] [-0.02289571 0.00472817 0.99972668 -0.20660264] [ 0. 0. 0. 1. ]] SLAMing on 3.8280011449999995 meters 0.1017382587020614 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.20 [[ 0.9995771 -0.02375534 0.01677228 1.54871211] [ 0.02395809 0.99964102 -0.01199299 0.13645943] [-0.01648136 0.01238975 0.99978741 -0.20254758] [ 0. 0. 0. 1. ]] SLAMing on 3.8580011449999994 meters 0.10172775192400506 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.20 [[ 9.99775272e-01 -2.11975472e-02 -2.64830165e-04 1.55303101e+00] [ 2.11929255e-02 9.99705255e-01 -1.18433104e-02 1.37352714e-01] [ 5.15801238e-04 1.18350364e-02 9.99929830e-01 -1.97335396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.888001144999999 meters 0.10262758070109076 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.20 [[ 9.99862108e-01 -1.66061192e-02 -3.94019337e-05 1.55311011e+00] [ 1.66054690e-02 9.99839069e-01 -6.78931665e-03 1.35785485e-01] [ 1.52139794e-04 6.78772617e-03 9.99976952e-01 -1.98545652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9180011449999994 meters 0.10306283554239459 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:-0.20 [[ 9.99923979e-01 -1.23255484e-02 3.41519344e-04 1.55295566e+00] [ 1.23262964e-02 9.99921424e-01 -2.28230417e-03 1.36065111e-01] [-3.13361858e-04 2.28634033e-03 9.99997337e-01 -1.99781671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.948001144999999 meters 0.10366693217283868 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.20 [[ 9.99970435e-01 -7.65940646e-03 6.80802394e-04 1.55316301e+00] [ 7.65734764e-03 9.99966251e-01 2.97696227e-03 1.34258992e-01] [-7.03581181e-04 -2.97166112e-03 9.99995337e-01 -2.01524810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9780011449999995 meters 0.10409930207475321 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:-0.20 [[ 9.99972843e-01 -7.35296258e-03 4.98136446e-04 1.55427992e+00] [ 7.35129121e-03 9.99967607e-01 3.27785818e-03 1.34616781e-01] [-5.22222278e-04 -3.27410721e-03 9.99994504e-01 -2.02650574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.008001145 meters 0.10332602444883192 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.20 [[ 9.99975089e-01 -7.05769001e-03 9.73171435e-05 1.55630076e+00] [ 7.05734692e-03 9.99970094e-01 3.16308173e-03 1.37457180e-01] [-1.19638283e-04 -3.16231613e-03 9.99994993e-01 -2.04328746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.038001145 meters 0.10422604896229645 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.21 [[ 9.99975941e-01 -6.93487468e-03 -1.54788324e-04 1.55735432e+00] [ 6.93531499e-03 9.99971290e-01 3.05291658e-03 1.38957606e-01] [ 1.33612286e-04 -3.05391664e-03 9.99995328e-01 -2.05080334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.068001145 meters 0.10522732234916318 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.21 [[ 9.99977169e-01 -6.74584954e-03 -3.94571748e-04 1.55843556e+00] [ 6.74703970e-03 9.99972442e-01 3.09707011e-03 1.39985600e-01] [ 3.73668506e-04 -3.09966159e-03 9.99995126e-01 -2.05900273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.098001145 meters 0.10478112570292113 Centerline is valid? [False, False] Translation: X:1.56, Y:0.14, Z:-0.21 [[ 9.99978225e-01 -6.55644792e-03 -7.50324124e-04 1.55956254e+00] [ 6.55870586e-03 9.99973848e-01 3.04746698e-03 1.40870514e-01] [ 7.30323943e-04 -3.05232178e-03 9.99995075e-01 -2.06401297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.128001145 meters 0.08906638385226756 Centerline is valid? [False, True] Translation: X:1.56, Y:0.14, Z:-0.21 [[ 9.99978652e-01 -6.45932202e-03 -9.86281986e-04 1.56048684e+00] [ 6.46219083e-03 9.99974816e-01 2.93377562e-03 1.42171853e-01] [ 9.67306947e-04 -2.94008653e-03 9.99995210e-01 -2.07019020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.158001145 meters 0.10413210787502822 Centerline is valid? [True, False] Translation: X:1.56, Y:0.14, Z:-0.21 [[ 9.99979214e-01 -6.31774229e-03 -1.28726372e-03 1.56160427e+00] [ 6.32135671e-03 9.99976034e-01 2.82338281e-03 1.43660200e-01] [ 1.26939546e-03 -2.83146138e-03 9.99995186e-01 -2.07664094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.188001144999999 meters 0.10377219349720201 Centerline is valid? [False, False] Translation: X:1.56, Y:0.15, Z:-0.21 [[ 0.99997898 -0.00627799 -0.00162184 1.56290692] [ 0.00628194 0.99997728 0.00244277 0.14671264] [ 0.00160646 -0.00245291 0.9999957 -0.20840352] [ 0. 0. 0. 1. ]] SLAMing on 4.218001145 meters 0.09389746711285074 Centerline is valid? [False, True] Translation: X:1.56, Y:0.15, Z:-0.21 [[ 9.99996689e-01 -2.29580722e-03 -1.16258493e-03 1.56175951e+00] [ 2.30337025e-03 9.99975920e-01 6.54635471e-03 1.46498342e-01] [ 1.14752777e-03 -6.54901090e-03 9.99977897e-01 -2.08217918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.248001145 meters 0.08837016372682625 Centerline is valid? [True, True] Translation: X:1.59, Y:0.16, Z:-0.20 [[ 9.99999533e-01 -7.67310980e-04 -5.86833640e-04 1.59382277e+00] [ 7.67334688e-04 9.99999705e-01 4.01744211e-05 1.59116137e-01] [ 5.86802640e-04 -4.06247002e-05 9.99999827e-01 -2.01419657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.278001145 meters 0.08851815806209375 Centerline is valid? [True, True] Translation: X:1.62, Y:0.16, Z:-0.20 [[ 9.99999936e-01 3.30856052e-04 1.35934525e-04 1.62430576e+00] [-3.30854803e-04 9.99999945e-01 -9.20856029e-06 1.59146833e-01] [-1.35937564e-04 9.16358511e-06 9.99999991e-01 -2.02605091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3080011449999995 meters 0.08929828870145946 Centerline is valid? [True, True] Translation: X:1.65, Y:0.16, Z:-0.20 [[ 9.99999720e-01 6.63901923e-04 3.44439972e-04 1.65369766e+00] [-6.63893784e-04 9.99999779e-01 -2.37443349e-05 1.59186057e-01] [-3.44455660e-04 2.35156568e-05 9.99999940e-01 -2.04525954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.338001145 meters 0.09025579779685573 Centerline is valid? [True, True] Translation: X:1.68, Y:0.16, Z:-0.20 [[ 9.99998946e-01 1.44795451e-04 1.44470980e-03 1.68371971e+00] [-1.44654242e-04 9.99999985e-01 -9.78465542e-05 1.57336432e-01] [-1.44472394e-03 9.76374677e-05 9.99998952e-01 -2.04829922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.368001145 meters 0.09136609571702983 Centerline is valid? [True, True] Translation: X:1.71, Y:0.16, Z:-0.21 [[ 9.99998483e-01 -8.31334406e-04 1.53062083e-03 1.71469441e+00] [ 8.31491951e-04 9.99999649e-01 -1.02295353e-04 1.55726307e-01] [-1.53053525e-03 1.03567896e-04 9.99998823e-01 -2.05005435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.398001144999999 meters 0.09437200174469354 Centerline is valid? [True, True] Translation: X:1.74, Y:0.15, Z:-0.21 [[ 9.99992760e-01 -3.05673695e-03 2.26627800e-03 1.74465306e+00] [ 3.05709289e-03 9.99995315e-01 -1.53608809e-04 1.52089663e-01] [-2.26579784e-03 1.60535920e-04 9.99997420e-01 -2.06021702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.428001145 meters 0.09600007362204328 Centerline is valid? [True, True] Translation: X:1.78, Y:0.15, Z:-0.21 [[ 9.99989187e-01 -3.98733635e-03 2.39331961e-03 1.77618317e+00] [ 3.98773327e-03 9.99992036e-01 -1.61097309e-04 1.48351868e-01] [-2.39265820e-03 1.70639487e-04 9.99997123e-01 -2.07719502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.458001145 meters 0.09738630913233925 Centerline is valid? [True, True] Translation: X:1.81, Y:0.15, Z:-0.21 [[ 9.99983257e-01 -4.68210411e-03 3.40058133e-03 1.80865266e+00] [ 4.68291051e-03 9.99989009e-01 -2.29213009e-04 1.45387264e-01] [-3.39947075e-03 2.45133789e-04 9.99994192e-01 -2.08748294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.488001145 meters 0.09865899155770509 Centerline is valid? [True, True] Translation: X:1.84, Y:0.14, Z:-0.21 [[ 9.99980103e-01 -5.58646608e-03 2.92986611e-03 1.84040434e+00] [ 5.58706842e-03 9.99984373e-01 -1.97439358e-04 1.42244010e-01] [-2.92871733e-03 2.13804792e-04 9.99995688e-01 -2.10417536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5180011449999995 meters 0.1004150171610719 Centerline is valid? [True, False] Translation: X:1.84, Y:0.14, Z:-0.21 [[ 9.99980818e-01 -5.45570506e-03 2.93229932e-03 1.84122870e+00] [ 5.45583454e-03 9.99985116e-01 -3.61596627e-05 1.43256636e-01] [-2.93205840e-03 5.21571090e-05 9.99995700e-01 -2.11654138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.548001145 meters 0.1009931905376242 Centerline is valid? [False, False] Translation: X:1.84, Y:0.14, Z:-0.21 [[ 9.99982623e-01 -5.23757764e-03 2.70571168e-03 1.84225334e+00] [ 5.23725368e-03 9.99986277e-01 1.26800987e-04 1.43901677e-01] [-2.70633868e-03 -1.12628286e-04 9.99996332e-01 -2.12446709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.578001145 meters 0.10118118022660379 Centerline is valid? [False, False] Translation: X:1.84, Y:0.14, Z:-0.21 [[ 9.99984841e-01 -4.92647521e-03 2.45928571e-03 1.84339428e+00] [ 4.92543933e-03 9.99987779e-01 4.27091615e-04 1.44200182e-01] [-2.46135971e-03 -4.14972078e-04 9.99996885e-01 -2.13379140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.608001144999999 meters 0.10092207856099267 Centerline is valid? [False, False] Translation: X:1.85, Y:0.14, Z:-0.21 [[ 9.99988021e-01 -4.42896536e-03 2.08390741e-03 1.84526678e+00] [ 4.42720559e-03 9.99989840e-01 8.48311373e-04 1.44845064e-01] [-2.08764338e-03 -8.39075324e-04 9.99997469e-01 -2.14977030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.638001145 meters 0.10120979669940221 Centerline is valid? [False, False] Translation: X:1.85, Y:0.15, Z:-0.22 [[ 9.99990057e-01 -4.10072943e-03 1.75231885e-03 1.84681720e+00] [ 4.09882446e-03 9.99991006e-01 1.08932849e-03 1.45904702e-01] [-1.75677013e-03 -1.08213521e-03 9.99997871e-01 -2.16205095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.668001145 meters 0.1009830021247287 Centerline is valid? [False, False] Translation: X:1.85, Y:0.15, Z:-0.22 [[ 9.99995704e-01 -2.58861418e-03 1.37534332e-03 1.84631470e+00] [ 2.58469588e-03 9.99992618e-01 2.84314385e-03 1.47073920e-01] [-1.38269297e-03 -2.83957679e-03 9.99995012e-01 -2.15277918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.698001145 meters 0.10019348593218969 Centerline is valid? [False, False] Translation: X:1.85, Y:0.15, Z:-0.21 [[ 9.99995613e-01 -2.82280968e-03 8.97351221e-04 1.84728422e+00] [ 2.82114953e-03 9.99994317e-01 1.84596025e-03 1.51119730e-01] [-9.02556916e-04 -1.84342059e-03 9.99997894e-01 -2.14983616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7280011449999995 meters 0.10019348593218969 Centerline is valid? [False, False] Translation: X:1.85, Y:0.15, Z:-0.21 [[ 9.99995613e-01 -2.82280968e-03 8.97351221e-04 1.84728422e+00] [ 2.82114953e-03 9.99994317e-01 1.84596025e-03 1.51119730e-01] [-9.02556916e-04 -1.84342059e-03 9.99997894e-01 -2.14983616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.758001145 meters 0.0997528926795911 Centerline is valid? [False, True] Translation: X:1.85, Y:0.15, Z:-0.22 [[ 9.99996386e-01 -2.61913933e-03 6.06464084e-04 1.84843957e+00] [ 2.61803553e-03 9.99994928e-01 1.81375120e-03 1.52342872e-01] [-6.11211475e-04 -1.81215691e-03 9.99998171e-01 -2.15707393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.788001145 meters 0.09919107433615444 Centerline is valid? [True, True] Translation: X:1.88, Y:0.15, Z:-0.22 [[ 9.99999264e-01 -9.36695649e-04 7.70660842e-04 1.87895476e+00] [ 9.36734473e-04 9.99999560e-01 -5.00169853e-05 1.53986056e-01] [-7.70613652e-04 5.07388531e-05 9.99999702e-01 -2.15394464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.818001144999999 meters 0.09915671470989541 Centerline is valid? [True, True] Translation: X:1.91, Y:0.15, Z:-0.22 [[ 9.99998892e-01 -2.00481367e-05 1.48867981e-03 1.90984385e+00] [ 2.01925118e-05 9.99999995e-01 -9.69670378e-05 1.54189853e-01] [-1.48867786e-03 9.69969905e-05 9.99998887e-01 -2.16304013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.848001145 meters 0.09929326440630144 Centerline is valid? [True, True] Translation: X:1.94, Y:0.16, Z:-0.22 [[ 9.99994926e-01 7.00574691e-04 3.10773271e-03 1.94009043e+00] [-6.99947695e-04 9.99999734e-01 -2.02836551e-04 1.56127785e-01] [-3.10787399e-03 2.00660272e-04 9.99995150e-01 -2.15508881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.878001145 meters 0.08235956429580181 Centerline is valid? [True, True] Translation: X:1.97, Y:0.19, Z:-0.21 [[ 9.99991668e-01 7.38924513e-04 4.01475093e-03 1.97360442e+00] [-7.37879439e-04 9.99999694e-01 -2.61783534e-04 1.85023253e-01] [-4.01494313e-03 2.58818950e-04 9.99991907e-01 -2.05618055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.908001145 meters 0.10162194721426768 Centerline is valid? [True, False] Translation: X:1.97, Y:0.19, Z:-0.21 [[ 9.99991987e-01 6.79347908e-04 3.94511905e-03 1.97414560e+00] [-6.77613781e-04 9.99999673e-01 -4.40882605e-04 1.86726773e-01] [-3.94541727e-03 4.38205805e-04 9.99992121e-01 -2.06219426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.938001144999999 meters 0.10477546411812035 Centerline is valid? [False, False] Translation: X:1.97, Y:0.19, Z:-0.21 [[ 9.99991911e-01 4.15994416e-04 4.00069012e-03 1.97477170e+00] [-4.12435322e-04 9.99999519e-01 -8.90403893e-04 1.90226319e-01] [-4.00105859e-03 8.88746664e-04 9.99991601e-01 -2.07427320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.968001145 meters 0.10620422600176702 Centerline is valid? [False, False] Translation: X:1.97, Y:0.19, Z:-0.21 [[ 9.99991561e-01 1.19387090e-04 4.10662062e-03 1.97455535e+00] [-1.13975752e-04 9.99999125e-01 -1.31791947e-03 1.91900783e-01] [-4.10677437e-03 1.31744029e-03 9.99990699e-01 -2.07500675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.998001145 meters 0.09305619098029123 Centerline is valid? [False, True] Translation: X:1.97, Y:0.19, Z:-0.21 [[ 9.99991735e-01 1.01180590e-04 4.06448961e-03 1.97487839e+00] [-9.53657751e-05 9.99998972e-01 -1.43080665e-03 1.92965792e-01] [-4.06463020e-03 1.43040722e-03 9.99990716e-01 -2.07832259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.028001144999999 meters 0.10890004272732452 Centerline is valid? [True, False] Translation: X:1.98, Y:0.19, Z:-0.21 [[ 9.99991809e-01 1.13726421e-04 4.04579474e-03 1.97522952e+00] [-1.07697989e-04 9.99998884e-01 -1.49023566e-03 1.93951023e-01] [-4.04595971e-03 1.48978773e-03 9.99990705e-01 -2.08284067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0580011449999995 meters 0.10942654379492796 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:-0.21 [[ 9.99992394e-01 1.64728306e-04 3.89671387e-03 1.97588541e+00] [-1.58419973e-04 9.99998677e-01 -1.61913867e-03 1.95205502e-01] [-3.89697543e-03 1.61850904e-03 9.99991097e-01 -2.08718893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.088001145 meters 0.08824115570059998 Centerline is valid? [False, True] Translation: X:1.97, Y:0.20, Z:-0.21 [[ 9.99985623e-01 3.52490671e-03 4.04078492e-03 1.97460197e+00] [-3.52976455e-03 9.99993056e-01 1.19570137e-03 1.99706847e-01] [-4.03654213e-03 -1.20994720e-03 9.99991121e-01 -2.07216976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.118001145 meters 0.08042667223763854 Centerline is valid? [True, True] Translation: X:2.01, Y:0.22, Z:-0.20 [[ 9.99914271e-01 8.71036943e-03 9.77645773e-03 2.00632191e+00] [-8.70415702e-03 9.99961888e-01 -6.77815891e-04 2.16673825e-01] [-9.78198916e-03 5.92661960e-04 9.99951980e-01 -1.95380853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.148001144999999 meters 0.07874922561758453 Centerline is valid? [True, True] Translation: X:2.04, Y:0.22, Z:-0.19 [[ 9.99872586e-01 1.22359331e-02 1.02515220e-02 2.03631687e+00] [-1.22292861e-02 9.99924967e-01 -7.10826614e-04 2.18318459e-01] [-1.02594504e-02 5.85367249e-04 9.99947199e-01 -1.94621014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.178001145 meters 0.07825996830906921 Centerline is valid? [True, True] Translation: X:2.06, Y:0.22, Z:-0.20 [[ 9.99866951e-01 1.41664534e-02 8.08653706e-03 2.06473593e+00] [-1.41623793e-02 9.99899551e-01 -5.60859658e-04 2.16067360e-01] [-8.09367017e-03 4.46260431e-04 9.99967146e-01 -2.00008287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.208001145 meters 0.0779174376808419 Centerline is valid? [True, True] Translation: X:2.09, Y:0.21, Z:-0.22 [[ 9.99887042e-01 1.49345728e-02 1.69174661e-03 2.09262362e+00] [-1.49343943e-02 9.99888469e-01 -1.18123084e-04 2.10603862e-01] [-1.69332204e-03 9.28445302e-05 9.99998562e-01 -2.15023922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.238001144999999 meters 0.07919532893463165 Centerline is valid? [True, True] Translation: X:2.12, Y:0.20, Z:-0.22 [[ 9.99905544e-01 1.36812444e-02 -1.31407213e-03 2.12119382e+00] [-1.36811382e-02 9.99906405e-01 8.97194736e-05 2.04231280e-01] [ 1.31517661e-03 -7.17329965e-05 9.99999133e-01 -2.22421163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2680011449999995 meters 0.07790922593493087 Centerline is valid? [True, True] Translation: X:2.15, Y:0.21, Z:-0.23 [[ 9.99890295e-01 1.40043332e-02 -4.82468614e-03 2.15031281e+00] [-1.40028935e-02 9.99901900e-01 3.32065565e-04 2.07167963e-01] [ 4.82886319e-03 -2.64469570e-04 9.99988306e-01 -2.27648233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.298001145 meters 0.0779400383392861 Centerline is valid? [True, True] Translation: X:2.18, Y:0.21, Z:-0.23 [[ 9.99863521e-01 1.55412245e-02 -5.60446630e-03 2.17835301e+00] [-1.55393090e-02 9.99879183e-01 3.85169700e-04 2.09462128e-01] [ 5.60977519e-03 -2.98027599e-04 9.99984221e-01 -2.28076037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.328001145 meters 0.0781489485012768 Centerline is valid? [True, True] Translation: X:2.21, Y:0.21, Z:-0.23 [[ 9.99833506e-01 1.63884038e-02 -8.02375693e-03 2.20663807e+00] [-1.63845052e-02 9.99865613e-01 5.51382446e-04 2.11428841e-01] [ 8.03171492e-03 -4.19825357e-04 9.99967657e-01 -2.28813420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.358001144999999 meters 0.07840661073828911 Centerline is valid? [True, True] Translation: X:2.23, Y:0.21, Z:-0.23 [[ 9.99818599e-01 1.60690175e-02 -1.02252579e-02 2.23495842e+00] [-1.60626856e-02 9.99870741e-01 7.01069687e-04 2.12741933e-01] [ 1.02352017e-02 -5.36697409e-04 9.99947475e-01 -2.30219211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.388001145 meters 0.07870931300498318 Centerline is valid? [True, True] Translation: X:2.26, Y:0.22, Z:-0.23 [[ 9.99792847e-01 1.59893739e-02 -1.25937583e-02 2.26369135e+00] [-1.59798156e-02 9.99871945e-01 8.59235160e-04 2.15072744e-01] [ 1.26058843e-02 -6.57811232e-04 9.99920326e-01 -2.31758963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.418001145 meters 0.07822431225053436 Centerline is valid? [True, True] Translation: X:2.29, Y:0.22, Z:-0.23 [[ 9.99776499e-01 1.68672980e-02 -1.27454236e-02 2.29272641e+00] [-1.68576168e-02 9.99857525e-01 8.66648423e-04 2.15242731e-01] [ 1.27582257e-02 -6.51597260e-04 9.99918398e-01 -2.32874232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.448001144999999 meters 0.07669156159977351 Centerline is valid? [True, True] Translation: X:2.32, Y:0.22, Z:-0.23 [[ 9.99761746e-01 1.85728059e-02 -1.14674475e-02 2.32292758e+00] [-1.85650471e-02 9.99827348e-01 7.82686367e-04 2.16799215e-01] [ 1.14800043e-02 -5.69606186e-04 9.99933940e-01 -2.32259129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4780011449999995 meters 0.07731056108319022 Centerline is valid? [True, True] Translation: X:2.35, Y:0.21, Z:-0.24 [[ 9.99724572e-01 2.00746916e-02 -1.21567794e-02 2.35077097e+00] [-2.00661218e-02 9.99798313e-01 8.26518010e-04 2.14464122e-01] [ 1.21709197e-02 -5.82350948e-04 9.99925762e-01 -2.35439856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.508001145 meters 0.0759024889777586 Centerline is valid? [True, True] Translation: X:2.38, Y:0.22, Z:-0.24 [[ 9.99668431e-01 2.23162817e-02 -1.28457116e-02 2.37974043e+00] [-2.23068952e-02 9.99750789e-01 8.73544892e-04 2.18842187e-01] [ 1.28620046e-02 -5.86707308e-04 9.99917109e-01 -2.36487592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.538001145 meters 0.07551633266522902 Centerline is valid? [True, True] Translation: X:2.41, Y:0.22, Z:-0.24 [[ 9.99640351e-01 2.32065164e-02 -1.34397068e-02 2.40895433e+00] [-2.31963995e-02 9.99730515e-01 9.08182488e-04 2.20176222e-01] [ 1.34571608e-02 -5.96103053e-04 9.99909271e-01 -2.35974717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.568001144999999 meters 0.07658038824438945 Centerline is valid? [True, True] Translation: X:2.44, Y:0.22, Z:-0.24 [[ 9.99629694e-01 2.40074788e-02 -1.28107772e-02 2.43647640e+00] [-2.39983510e-02 9.99711623e-01 8.65777631e-04 2.18271226e-01] [ 1.28278680e-02 -5.58019500e-04 9.99917564e-01 -2.36991247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.598001145 meters 0.07516961070353839 Centerline is valid? [True, True] Translation: X:2.47, Y:0.22, Z:-0.23 [[ 9.99615710e-01 2.50296848e-02 -1.19141612e-02 2.46617779e+00] [-2.50219120e-02 9.99686582e-01 8.01044366e-04 2.24423865e-01] [ 1.19304770e-02 -5.02621438e-04 9.99928703e-01 -2.33487532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.628001145 meters 0.0753490539029517 Centerline is valid? [True, True] Translation: X:2.49, Y:0.22, Z:-0.23 [[ 9.99601155e-01 2.52008113e-02 -1.27456172e-02 2.49424046e+00] [-2.51919786e-02 9.99682268e-01 8.53099546e-04 2.23503325e-01] [ 1.27630663e-02 -5.31671976e-04 9.99918407e-01 -2.34765824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.658001144999999 meters 0.07583467627683727 Centerline is valid? [True, True] Translation: X:2.52, Y:0.22, Z:-0.24 [[ 9.99621025e-01 2.45735049e-02 -1.24076402e-02 2.52254064e+00] [-2.45651158e-02 9.99697889e-01 8.28097622e-04 2.20443371e-01] [ 1.24242409e-02 -5.22988676e-04 9.99922679e-01 -2.35848333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.688001144999999 meters 0.07663094597687015 Centerline is valid? [True, True] Translation: X:2.55, Y:0.22, Z:-0.24 [[ 9.99633255e-01 2.36008195e-02 -1.32799693e-02 2.55012382e+00] [-2.35911028e-02 9.99721297e-01 8.87878337e-04 2.16156576e-01] [ 1.32972228e-02 -5.74263590e-04 9.99911423e-01 -2.37455074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.718001145 meters 0.07805408997889146 Centerline is valid? [True, True] Translation: X:2.58, Y:0.21, Z:-0.24 [[ 9.99695185e-01 2.02474498e-02 -1.41272269e-02 2.57993540e+00] [-2.02360999e-02 9.99794782e-01 9.45906382e-04 2.08327355e-01] [ 1.41434799e-02 -6.59738082e-04 9.99899758e-01 -2.40720434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.748001145 meters 0.0804550213999396 Centerline is valid? [True, True] Translation: X:2.61, Y:0.20, Z:-0.25 [[ 9.99723167e-01 1.81140726e-02 -1.50156190e-02 2.60787507e+00] [-1.81010330e-02 9.99835659e-01 1.00386592e-03 1.99355857e-01] [ 1.50313354e-02 -7.31789803e-04 9.99886755e-01 -2.45954653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.778001144999999 meters 0.08212080451900855 Centerline is valid? [True, True] Translation: X:2.64, Y:0.19, Z:-0.25 [[ 9.99739888e-01 1.60928916e-02 -1.61608990e-02 2.63564360e+00] [-1.60775489e-02 9.99870166e-01 1.07885119e-03 1.92340029e-01] [ 1.61761626e-02 -8.18742922e-04 9.99868822e-01 -2.49204755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8080011449999995 meters 0.08283045231255887 Centerline is valid? [True, True] Translation: X:2.66, Y:0.19, Z:-0.25 [[ 9.99760149e-01 1.46305971e-02 -1.62969538e-02 2.66409803e+00] [-1.46148981e-02 9.99892611e-01 1.08199850e-03 1.87763679e-01] [ 1.63110340e-02 -8.43560661e-04 9.99866610e-01 -2.50798610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.838001145 meters 0.08503862548144751 Centerline is valid? [True, True] Translation: X:2.69, Y:0.18, Z:-0.25 [[ 9.99790103e-01 1.22606454e-02 -1.64142307e-02 2.69187698e+00] [-1.22443754e-02 9.99924439e-01 1.09134685e-03 1.81179102e-01] [ 1.64263710e-02 -8.90135775e-04 9.99864682e-01 -2.52763316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.868001144999999 meters 0.08158774258138005 Centerline is valid? [True, True] Translation: X:2.72, Y:0.19, Z:-0.25 [[ 9.99790027e-01 1.08501087e-02 -1.73832392e-02 2.72198610e+00] [-1.08316394e-02 9.99940668e-01 1.15627988e-03 1.86311417e-01] [ 1.73947536e-02 -9.67748118e-04 9.99848231e-01 -2.49135263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.898001144999999 meters 0.08359485879177171 Centerline is valid? [True, True] Translation: X:2.75, Y:0.18, Z:-0.25 [[ 9.99792454e-01 9.04314144e-03 -1.82556755e-02 2.75041257e+00] [-9.02249772e-03 9.99958561e-01 1.21285908e-03 1.81567588e-01] [ 1.82658871e-02 -1.04789556e-03 9.99832616e-01 -2.50844836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.928001145 meters 0.08450842973442224 Centerline is valid? [True, True] Translation: X:2.78, Y:0.18, Z:-0.25 [[ 9.99810635e-01 5.92242412e-03 -1.85369893e-02 2.78069270e+00] [-5.90060002e-03 9.99981833e-01 1.23180070e-03 1.79737710e-01] [ 1.85439478e-02 -1.12218808e-03 9.99827416e-01 -2.50324781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.958001145 meters 0.09144186883839026 Centerline is valid? [True, True] Translation: X:2.81, Y:0.17, Z:-0.26 [[ 9.99821154e-01 4.24389907e-03 -1.84295512e-02 2.80856378e+00] [-4.22207004e-03 9.99990339e-01 1.22320562e-03 1.66048874e-01] [ 1.84345643e-02 -1.14517600e-03 9.99829413e-01 -2.56334243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.988001144999999 meters 0.09171726954020681 Centerline is valid? [True, True] Translation: X:2.84, Y:0.16, Z:-0.26 [[ 9.99814986e-01 2.06698606e-03 -1.91238562e-02 2.83881663e+00] [-2.04307895e-03 9.99997107e-01 1.26957272e-03 1.64074867e-01] [ 1.91264250e-02 -1.23026628e-03 9.99816316e-01 -2.55961223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0180011449999995 meters 0.08999635691181732 Centerline is valid? [True, True] Translation: X:2.87, Y:0.17, Z:-0.26 [[ 9.99780403e-01 -7.32518615e-04 -2.09429839e-02 2.86904033e+00] [ 7.61806360e-04 9.99998743e-01 1.39050750e-03 1.65695190e-01] [ 2.09419390e-02 -1.40615665e-03 9.99779705e-01 -2.55444143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.048001145 meters 0.08669186222519164 Centerline is valid? [True, True] Translation: X:2.90, Y:0.17, Z:-0.25 [[ 9.99788020e-01 6.15842050e-04 -2.05799840e-02 2.89824533e+00] [-5.87895889e-04 9.99998897e-01 1.36395170e-03 1.70413048e-01] [ 2.05808013e-02 -1.35156368e-03 9.99787279e-01 -2.52966753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.078001144999999 meters 0.0858531880235538 Centerline is valid? [True, True] Translation: X:2.93, Y:0.17, Z:-0.25 [[ 9.99770267e-01 3.76809337e-03 -2.11001338e-02 2.92772158e+00] [-3.73941820e-03 9.99992031e-01 1.39829537e-03 1.71168552e-01] [ 2.11052346e-02 -1.31907191e-03 9.99776390e-01 -2.54487278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.108001144999999 meters 0.08406312777292269 Centerline is valid? [True, True] Translation: X:2.96, Y:0.18, Z:-0.25 [[ 9.99748904e-01 7.60196158e-03 -2.10793671e-02 2.95840509e+00] [-7.57418407e-03 9.99970339e-01 1.39728500e-03 1.76570847e-01] [ 2.10893639e-02 -1.23727514e-03 9.99776829e-01 -2.54982519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.138001145 meters 0.0853195234334357 Centerline is valid? [True, True] Translation: X:2.99, Y:0.17, Z:-0.26 [[ 9.99732684e-01 8.29781268e-03 -2.15802351e-02 2.98641693e+00] [-8.26904951e-03 9.99964800e-01 1.42174236e-03 1.73660440e-01] [ 2.15912729e-02 -1.24291427e-03 9.99766109e-01 -2.57472090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.168001145 meters 0.08233489277754584 Centerline is valid? [True, True] Translation: X:3.02, Y:0.18, Z:-0.25 [[ 9.99736996e-01 8.45922107e-03 -2.13162192e-02 3.01541763e+00] [-8.43130517e-03 9.99963477e-01 1.39914170e-03 1.78687480e-01] [ 2.13272763e-02 -1.21905017e-03 9.99771805e-01 -2.54088320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.198001144999999 meters 0.08373664794062216 Centerline is valid? [True, True] Translation: X:3.04, Y:0.17, Z:-0.26 [[ 9.99738006e-01 8.96715952e-03 -2.10596603e-02 3.04280737e+00] [-8.94001010e-03 9.99959081e-01 1.38296224e-03 1.74560458e-01] [ 2.10711998e-02 -1.19432633e-03 9.99777264e-01 -2.56708715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2280011449999995 meters 0.0828547824663799 Centerline is valid? [True, True] Translation: X:3.07, Y:0.17, Z:-0.26 [[ 9.99750306e-01 9.95511225e-03 -2.00055194e-02 3.07221848e+00] [-9.93094098e-03 9.99949833e-01 1.30721645e-03 1.74541388e-01] [ 2.00175292e-02 -1.10821641e-03 9.99799015e-01 -2.55613289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.258001145 meters 0.08079114034372879 Centerline is valid? [True, True] Translation: X:3.10, Y:0.18, Z:-0.25 [[ 9.99760846e-01 1.22510551e-02 -1.81152696e-02 3.10219024e+00] [-1.22315652e-02 9.99924488e-01 1.18629445e-03 1.75662119e-01] [ 1.81284350e-02 -9.64432645e-04 9.99835201e-01 -2.53625011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.288001144999999 meters 0.07971331710374088 Centerline is valid? [True, True] Translation: X:3.13, Y:0.18, Z:-0.25 [[ 9.99742788e-01 1.48902049e-02 -1.71067022e-02 3.13225615e+00] [-1.48732284e-02 9.99888761e-01 1.11919114e-03 1.75626864e-01] [ 1.71214643e-02 -8.64471385e-04 9.99853043e-01 -2.53804880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.318001144999999 meters 0.07887047056449122 Centerline is valid? [True, True] Translation: X:3.16, Y:0.18, Z:-0.25 [[ 9.99714758e-01 1.68621077e-02 -1.69136632e-02 3.16108857e+00] [-1.68458200e-02 9.99857488e-01 1.10501172e-03 1.75954137e-01] [ 1.69298856e-02 -8.19771999e-04 9.99856343e-01 -2.53842963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.348001145 meters 0.07680755335978402 Centerline is valid? [True, True] Translation: X:3.19, Y:0.18, Z:-0.25 [[ 9.99637235e-01 1.96142430e-02 -1.84575327e-02 3.19056501e+00] [-1.95954319e-02 9.99807272e-01 1.19947659e-03 1.79869202e-01] [ 1.84775023e-02 -8.37358137e-04 9.99828926e-01 -2.54280111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.378001145 meters 0.07689513402759372 Centerline is valid? [True, True] Translation: X:3.22, Y:0.18, Z:-0.26 [[ 9.99605918e-01 2.04426209e-02 -1.92381893e-02 3.21851304e+00] [-2.04223232e-02 9.99790660e-01 1.25096752e-03 1.78006424e-01] [ 1.92597350e-02 -8.57586021e-04 9.99814146e-01 -2.56442303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.408001144999999 meters 0.07678227271546191 Centerline is valid? [True, True] Translation: X:3.25, Y:0.18, Z:-0.26 [[ 9.99584076e-01 2.07374118e-02 -2.00408107e-02 3.24676018e+00] [-2.07156071e-02 9.99784570e-01 1.29502290e-03 1.77283868e-01] [ 2.00633487e-02 -8.79326709e-04 9.99798324e-01 -2.57492689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.438001144999999 meters 0.07636834347370425 Centerline is valid? [True, True] Translation: X:3.28, Y:0.18, Z:-0.26 [[ 9.99583744e-01 2.03648344e-02 -2.04355782e-02 3.27527734e+00] [-2.03421694e-02 9.99792210e-01 1.31637937e-03 1.78128853e-01] [ 2.04581397e-02 -9.00127427e-04 9.99790305e-01 -2.57677404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.468001145 meters 0.07552802697800753 Centerline is valid? [True, True] Translation: X:3.30, Y:0.18, Z:-0.26 [[ 9.99549422e-01 2.09651724e-02 -2.14805839e-02 3.30330587e+00] [-2.09404022e-02 9.99779777e-01 1.37745077e-03 1.79331407e-01] [ 2.15047319e-02 -9.27018053e-04 9.99768317e-01 -2.57745271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.498001144999999 meters 0.07415172871272245 Centerline is valid? [True, True] Translation: X:3.33, Y:0.18, Z:-0.26 [[ 9.99451419e-01 2.48092012e-02 -2.19400309e-02 3.33312506e+00] [-2.47842144e-02 9.99691830e-01 1.41009639e-03 1.83934267e-01] [ 2.19682530e-02 -8.65556407e-04 9.99758294e-01 -2.58357915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.528001144999999 meters 0.07415172871272245 Centerline is valid? [True, True] Translation: X:3.36, Y:0.18, Z:-0.26 [[ 9.99458091e-01 2.45383651e-02 -2.19406588e-02 3.36042123e+00] [-2.45135277e-02 9.99698518e-01 1.40030824e-03 1.82372301e-01] [ 2.19684053e-02 -8.61706457e-04 9.99758294e-01 -2.58802413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5580011449999995 meters 0.07346195344657185 Centerline is valid? [True, True] Translation: X:3.39, Y:0.18, Z:-0.26 [[ 9.99407033e-01 2.61856305e-02 -2.23583311e-02 3.38951480e+00] [-2.61603537e-02 9.99656748e-01 1.42232350e-03 1.84334956e-01] [ 2.23879010e-02 -8.36578259e-04 9.99749010e-01 -2.58975332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.588001145 meters 0.07190372234500653 Centerline is valid? [True, True] Translation: X:3.42, Y:0.19, Z:-0.26 [[ 9.99317847e-01 3.09200198e-02 -2.01938879e-02 3.41965634e+00] [-3.09003129e-02 9.99521642e-01 1.28726506e-03 1.89613869e-01] [ 2.02240303e-02 -6.62389495e-04 9.99795254e-01 -2.57692529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.618001144999999 meters 0.07190372234500653 Centerline is valid? [True, True] Translation: X:3.45, Y:0.19, Z:-0.26 [[ 9.99325953e-01 3.06565164e-02 -2.01944750e-02 3.44694688e+00] [-3.06369420e-02 9.99529762e-01 1.27803771e-03 1.88068916e-01] [ 2.02241590e-02 -6.58479295e-04 9.99795254e-01 -2.58136805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.648001144999999 meters 0.0712940759178521 Centerline is valid? [True, True] Translation: X:3.48, Y:0.19, Z:-0.26 [[ 9.99306170e-01 3.17961722e-02 -1.93954311e-02 3.47615597e+00] [-3.17783992e-02 9.99494190e-01 1.22394558e-03 1.89204508e-01] [ 1.94245375e-02 -6.06740615e-04 9.99811142e-01 -2.57363887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.678001145 meters 0.07124026549450416 Centerline is valid? [True, True] Translation: X:3.51, Y:0.19, Z:-0.26 [[ 9.99307016e-01 3.21313438e-02 -1.87900014e-02 3.50514183e+00] [-3.21148102e-02 9.99483489e-01 1.18107727e-03 1.88799059e-01] [ 1.88182458e-02 -5.76821475e-04 9.99822755e-01 -2.58347478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.708001144999999 meters 0.07037890900678093 Centerline is valid? [True, True] Translation: X:3.53, Y:0.19, Z:-0.26 [[ 9.99161688e-01 3.59072955e-02 -1.96618174e-02 3.53279004e+00] [-3.58899029e-02 9.99354985e-01 1.23685521e-03 1.90910864e-01] [ 1.96935473e-02 -5.30157626e-04 9.99805923e-01 -2.62058888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.738001144999999 meters 0.06950448602361481 Centerline is valid? [True, True] Translation: X:3.56, Y:0.19, Z:-0.26 [[ 9.99069318e-01 3.85751647e-02 -1.92990871e-02 3.56210310e+00] [-3.85590248e-02 9.99255594e-01 1.20785606e-03 1.93980784e-01] [ 1.93313140e-02 -4.62577955e-04 9.99813026e-01 -2.62199068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7680011449999995 meters 0.06907175184986393 Centerline is valid? [True, True] Translation: X:3.59, Y:0.20, Z:-0.26 [[ 9.99029719e-01 4.01569366e-02 -1.80842863e-02 3.59145273e+00] [-4.01430951e-02 9.99193305e-01 1.12789406e-03 1.95063823e-01] [ 1.81149906e-02 -4.00840456e-04 9.99835830e-01 -2.62179134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.798001145 meters 0.06881305676407379 Centerline is valid? [True, True] Translation: X:3.62, Y:0.20, Z:-0.26 [[ 9.99009250e-01 4.13123000e-02 -1.65472468e-02 3.61930932e+00] [-4.13008623e-02 9.99146222e-01 1.03250014e-03 1.95928605e-01] [ 1.65757740e-02 -3.48061632e-04 9.99862552e-01 -2.61275867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.828001144999999 meters 0.06800178038838353 Centerline is valid? [True, True] Translation: X:3.65, Y:0.20, Z:-0.26 [[ 9.98914240e-01 4.42798796e-02 -1.44787502e-02 3.64819978e+00] [-4.42714391e-02 9.99019131e-01 9.03113189e-04 1.97532464e-01] [ 1.45045381e-02 -2.61137519e-04 9.99894770e-01 -2.60294538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.858001144999999 meters 0.06779589811153759 Centerline is valid? [True, True] Translation: X:3.68, Y:0.20, Z:-0.26 [[ 9.98900577e-01 4.48657471e-02 -1.35904979e-02 3.67698748e+00] [-4.48584441e-02 9.98992999e-01 8.41875578e-04 1.96763930e-01] [ 1.36145836e-02 -2.31301411e-04 9.99907291e-01 -2.60344378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.888001145 meters 0.06753209305547471 Centerline is valid? [True, True] Translation: X:3.71, Y:0.20, Z:-0.26 [[ 9.98899826e-01 4.53622598e-02 -1.18913266e-02 3.70616497e+00] [-4.53567349e-02 9.98970584e-01 7.34036643e-04 1.95386958e-01] [ 1.19123831e-02 -1.93877325e-04 9.99929026e-01 -2.60767191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.918001144999999 meters 0.06741636597551323 Centerline is valid? [True, True] Translation: X:3.73, Y:0.19, Z:-0.26 [[ 9.98839457e-01 4.65193738e-02 -1.24774512e-02 3.73297793e+00] [-4.65133988e-02 9.98917370e-01 7.68790019e-04 1.94850399e-01] [ 1.24997063e-02 -1.87529142e-04 9.99921858e-01 -2.62137099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.948001144999999 meters 0.06710528337148966 Centerline is valid? [True, True] Translation: X:3.76, Y:0.19, Z:-0.26 [[ 9.98816678e-01 4.72352995e-02 -1.15789097e-02 3.76161651e+00] [-4.72302415e-02 9.98883777e-01 7.10037127e-04 1.94343150e-01] [ 1.15995239e-02 -1.62322221e-04 9.99932710e-01 -2.62119484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9780011449999995 meters 0.0668358469705653 Centerline is valid? [True, True] Translation: X:3.79, Y:0.19, Z:-0.26 [[ 9.98762082e-01 4.85280383e-02 -1.09239891e-02 3.78903555e+00] [-4.85236003e-02 9.98821811e-01 6.71099065e-04 1.93936415e-01] [ 1.09436857e-02 -1.40197018e-04 9.99940106e-01 -2.63169341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.008001145 meters 0.066691054213681 Centerline is valid? [True, True] Translation: X:3.82, Y:0.19, Z:-0.26 [[ 9.98743196e-01 4.91261426e-02 -9.93228334e-03 3.81780729e+00] [-4.91225469e-02 9.98792575e-01 6.05799288e-04 1.92188195e-01] [ 9.95005143e-03 -1.17138863e-04 9.99950490e-01 -2.64357730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.038001144999999 meters 0.06658817287348923 Centerline is valid? [True, True] Translation: X:3.85, Y:0.19, Z:-0.26 [[ 9.98747100e-01 4.92388564e-02 -8.93118158e-03 3.84619865e+00] [-4.92359731e-02 9.98787027e-01 5.42549592e-04 1.89978273e-01] [ 8.94706282e-03 -1.02134414e-04 9.99959969e-01 -2.64939746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.068001144999999 meters 0.06660629006011941 Centerline is valid? [True, True] Translation: X:3.87, Y:0.19, Z:-0.27 [[ 9.98704739e-01 5.00003105e-02 -9.42402743e-03 3.87373924e+00] [-4.99971184e-02 9.98749197e-01 5.74161165e-04 1.87139087e-01] [ 9.44094806e-03 -1.02243262e-04 9.99955428e-01 -2.67319404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.098001145 meters 0.06590807332051743 Centerline is valid? [True, True] Translation: X:3.90, Y:0.19, Z:-0.26 [[ 9.98708144e-01 4.96932535e-02 -1.06124041e-02 3.90243309e+00] [-4.96892393e-02 9.98764521e-01 6.41751724e-04 1.88084488e-01] [ 1.06311834e-02 -1.13600385e-04 9.99943481e-01 -2.62838596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.128001144999999 meters 0.06594994479789841 Centerline is valid? [True, True] Translation: X:3.93, Y:0.19, Z:-0.26 [[ 9.98690977e-01 4.98529556e-02 -1.14461532e-02 3.93005614e+00] [-4.98482890e-02 9.98756561e-01 6.92812083e-04 1.87067120e-01] [ 1.14664593e-02 -1.21334024e-04 9.99934251e-01 -2.64367491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.158001144999999 meters 0.06627684052633734 Centerline is valid? [True, True] Translation: X:3.96, Y:0.18, Z:-0.27 [[ 9.98717534e-01 4.91368102e-02 -1.22008533e-02 3.95859661e+00] [-4.91315077e-02 9.98792048e-01 7.34141213e-04 1.82881711e-01] [ 1.22221887e-02 -1.33753382e-04 9.99925297e-01 -2.67152621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.188001144999999 meters 0.06663707268764744 Centerline is valid? [True, True] Translation: X:3.99, Y:0.18, Z:-0.27 [[ 9.98743043e-01 4.82833956e-02 -1.34553631e-02 3.98568001e+00] [-4.82768527e-02 9.98833664e-01 8.10841809e-04 1.78817975e-01] [ 1.34788199e-02 -1.60240033e-04 9.99909144e-01 -2.70581433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.218001145 meters 0.06787260121631085 Centerline is valid? [True, True] Translation: X:4.01, Y:0.17, Z:-0.28 [[ 9.98743525e-01 4.81043883e-02 -1.40477391e-02 4.01323135e+00] [-4.80972664e-02 9.98842300e-01 8.44581404e-04 1.73121870e-01] [ 1.40721041e-02 -1.67862359e-04 9.99900969e-01 -2.79829053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.248001144999999 meters 0.06784116981642406 Centerline is valid? [True, True] Translation: X:4.04, Y:0.17, Z:-0.28 [[ 9.98747868e-01 4.78648737e-02 -1.45482281e-02 4.04197024e+00] [-4.78572706e-02 9.98853805e-01 8.70497998e-04 1.71221487e-01] [ 1.45732192e-02 -1.73169531e-04 9.99893790e-01 -2.81060466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.278001144999999 meters 0.06680027366138339 Centerline is valid? [True, True] Translation: X:4.07, Y:0.17, Z:-0.27 [[ 9.98814641e-01 4.70094764e-02 -1.26262756e-02 4.07063027e+00] [-4.70037253e-02 9.98894431e-01 7.52015942e-04 1.70203826e-01] [ 1.26476682e-02 -1.57642543e-04 9.99920003e-01 -2.72651290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3080011449999995 meters 0.0666034035898254 Centerline is valid? [True, True] Translation: X:4.10, Y:0.17, Z:-0.27 [[ 9.98865248e-01 4.59870712e-02 -1.23857032e-02 4.09883458e+00] [-4.59815053e-02 9.98942022e-01 7.33927907e-04 1.69219266e-01] [ 1.24063506e-02 -1.63581802e-04 9.99923025e-01 -2.70305578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.338001144999999 meters 0.06626156034913222 Centerline is valid? [True, True] Translation: X:4.13, Y:0.17, Z:-0.27 [[ 9.98926646e-01 4.50522832e-02 -1.07632638e-02 4.12758920e+00] [-4.50480536e-02 9.98984619e-01 6.35207288e-04 1.68359802e-01] [ 1.07809525e-02 -1.49661401e-04 9.99941873e-01 -2.66411727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.368001144999999 meters 0.06668248596100265 Centerline is valid? [True, True] Translation: X:4.16, Y:0.16, Z:-0.27 [[ 9.98989593e-01 4.38662000e-02 -9.77492862e-03 4.15505987e+00] [-4.38626424e-02 9.99037404e-01 5.78141215e-04 1.64344546e-01] [ 9.79088017e-03 -1.48802858e-04 9.99952057e-01 -2.67921028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.398001144999999 meters 0.06682803611512828 Centerline is valid? [True, True] Translation: X:4.18, Y:0.16, Z:-0.27 [[ 9.99053892e-01 4.26868106e-02 -8.31603750e-03 4.18375244e+00] [-4.26842302e-02 9.99088494e-01 4.87611079e-04 1.59949869e-01] [ 8.32927195e-03 -1.32186087e-04 9.99965302e-01 -2.67225626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.428001145 meters 0.06686642088109307 Centerline is valid? [True, True] Translation: X:4.21, Y:0.16, Z:-0.27 [[ 9.99110827e-01 4.14789035e-02 -7.55354906e-03 4.21169654e+00] [-4.14767615e-02 9.99139372e-01 4.40079208e-04 1.56282412e-01] [ 7.56530226e-03 -1.26391149e-04 9.99971375e-01 -2.66927970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.458001144999999 meters 0.0674325730892886 Centerline is valid? [True, True] Translation: X:4.24, Y:0.15, Z:-0.27 [[ 9.99230605e-01 3.85409822e-02 -7.26573958e-03 4.23950080e+00] [-3.85389075e-02 9.99257010e-01 4.25393507e-04 1.48483075e-01] [ 7.27673630e-03 -1.45052546e-04 9.99973514e-01 -2.68814780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.488001144999999 meters 0.06789748378558397 Centerline is valid? [True, True] Translation: X:4.27, Y:0.14, Z:-0.27 [[ 9.99258018e-01 3.77192291e-02 -7.78935977e-03 4.26667734e+00] [-3.77168236e-02 9.99288364e-01 4.55530688e-04 1.42921139e-01] [ 7.80099884e-03 -1.61402783e-04 9.99969559e-01 -2.70456599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5180011449999995 meters 0.06759203159105 Centerline is valid? [True, True] Translation: X:4.29, Y:0.14, Z:-0.27 [[ 9.99310031e-01 3.64415045e-02 -7.17485972e-03 4.29470351e+00] [-3.64394659e-02 9.99335776e-01 4.14694855e-04 1.40497489e-01] [ 7.18520611e-03 -1.52960672e-04 9.99974174e-01 -2.69691475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.548001144999999 meters 0.06787317050886325 Centerline is valid? [True, True] Translation: X:4.32, Y:0.14, Z:-0.27 [[ 9.99353270e-01 3.52055440e-02 -7.32200563e-03 4.32204298e+00] [-3.52033771e-02 9.99380079e-01 4.24664982e-04 1.36686338e-01] [ 7.33241713e-03 -1.66631014e-04 9.99973104e-01 -2.69441972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.578001144999999 meters 0.06733328750568082 Centerline is valid? [True, True] Translation: X:4.35, Y:0.14, Z:-0.27 [[ 9.99377588e-01 3.45287596e-02 -7.22499844e-03 4.35078109e+00] [-3.45266578e-02 9.99403691e-01 4.15479112e-04 1.37643700e-01] [ 7.23503609e-03 -1.65765465e-04 9.99973813e-01 -2.66871657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.608001144999999 meters 0.06750128897862316 Centerline is valid? [True, True] Translation: X:4.38, Y:0.14, Z:-0.27 [[ 9.99411586e-01 3.36080343e-02 -6.85426049e-03 4.37862440e+00] [-3.36061386e-02 9.99435077e-01 3.91599545e-04 1.36650487e-01] [ 6.86354926e-03 -1.61023894e-04 9.99976433e-01 -2.66352883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.638001145 meters 0.0697685014927099 Centerline is valid? [True, True] Translation: X:4.41, Y:0.13, Z:-0.27 [[ 9.99415775e-01 3.33607752e-02 -7.42754044e-03 4.40549158e+00] [-3.33585218e-02 9.99443358e-01 4.27101856e-04 1.28059518e-01] [ 7.43765441e-03 -1.79080563e-04 9.99972324e-01 -2.73374805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.668001144999999 meters 0.06835125745816195 Centerline is valid? [True, True] Translation: X:4.43, Y:0.13, Z:-0.27 [[ 9.99423394e-01 3.27067634e-02 -9.11851686e-03 4.43466721e+00] [-3.27033773e-02 9.99464966e-01 5.20248134e-04 1.30320941e-01] [ 9.13065378e-03 -2.21741859e-04 9.99958290e-01 -2.70818869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.698001144999999 meters 0.06808879192627838 Centerline is valid? [True, True] Translation: X:4.46, Y:0.13, Z:-0.27 [[ 9.99440679e-01 3.21471097e-02 -9.21373562e-03 4.46334592e+00] [-3.21436487e-02 9.99483122e-01 5.23511013e-04 1.29389319e-01] [ 9.22580261e-03 -2.27055122e-04 9.99957416e-01 -2.71654923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7280011449999995 meters 0.06791800123613607 Centerline is valid? [True, True] Translation: X:4.49, Y:0.13, Z:-0.27 [[ 9.99430066e-01 3.23611277e-02 -9.60734746e-03 4.49073267e+00] [-3.23573658e-02 9.99476214e-01 5.46790619e-04 1.28262377e-01] [ 9.62001003e-03 -2.35610528e-04 9.99953699e-01 -2.72525432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.758001144999999 meters 0.06886715222878717 Centerline is valid? [True, True] Translation: X:4.52, Y:0.12, Z:-0.28 [[ 9.99409949e-01 3.27683068e-02 -1.02952066e-02 4.51777623e+00] [-3.27640369e-02 9.99462945e-01 5.83181206e-04 1.24693723e-01] [ 1.03087874e-02 -2.45524570e-04 9.99946833e-01 -2.76995614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.788001144999999 meters 0.06818870338545792 Centerline is valid? [True, True] Translation: X:4.55, Y:0.13, Z:-0.27 [[ 9.99417857e-01 3.23915973e-02 -1.07113240e-02 4.54667144e+00] [-3.23869868e-02 9.99475222e-01 6.03660213e-04 1.26395227e-01] [ 1.07252565e-02 -2.56401286e-04 9.99942450e-01 -2.74795912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.818001144999999 meters 0.06838026384729053 Centerline is valid? [True, True] Translation: X:4.57, Y:0.12, Z:-0.28 [[ 9.99419205e-01 3.22997344e-02 -1.08618316e-02 4.57466728e+00] [-3.22949710e-02 9.99478193e-01 6.13703358e-04 1.24799230e-01] [ 1.08759863e-02 -2.62564385e-04 9.99940820e-01 -2.75863584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.848001145 meters 0.06828408453146217 Centerline is valid? [True, True] Translation: X:4.60, Y:0.12, Z:-0.28 [[ 9.99451921e-01 3.15166227e-02 -1.01271634e-02 4.60233573e+00] [-3.15124990e-02 9.99503197e-01 5.66544361e-04 1.22885197e-01] [ 1.01399877e-02 -2.47101625e-04 9.99948558e-01 -2.76189951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.878001144999999 meters 0.06827421314544108 Centerline is valid? [True, True] Translation: X:4.63, Y:0.12, Z:-0.28 [[ 9.99471413e-01 3.11188920e-02 -9.40791443e-03 4.63070854e+00] [-3.11153334e-02 9.99515663e-01 5.24432061e-04 1.19965381e-01] [ 9.41967758e-03 -2.31424459e-04 9.99955607e-01 -2.76693790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.908001144999999 meters 0.06881794930401276 Centerline is valid? [True, True] Translation: X:4.66, Y:0.12, Z:-0.28 [[ 9.99500549e-01 3.01847142e-02 -9.35605426e-03 4.65834033e+00] [-3.01811387e-02 9.99544309e-01 5.23149004e-04 1.16097268e-01] [ 9.36758189e-03 -2.40511345e-04 9.99956094e-01 -2.78188004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.938001144999999 meters 0.0697853355925614 Centerline is valid? [True, True] Translation: X:4.69, Y:0.11, Z:-0.28 [[ 9.99577039e-01 2.74691064e-02 -9.54939216e-03 4.68692975e+00] [-2.74652998e-02 9.99622617e-01 5.29557650e-04 1.10752461e-01] [ 9.56033486e-03 -2.67056749e-04 9.99954263e-01 -2.79286378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.968001144999999 meters 0.06951832665984556 Centerline is valid? [True, True] Translation: X:4.72, Y:0.11, Z:-0.28 [[ 9.99625936e-01 2.58473949e-02 -8.93869048e-03 4.71605492e+00] [-2.58440160e-02 9.99665866e-01 4.93330547e-04 1.09654799e-01] [ 8.94845507e-03 -2.62134350e-04 9.99959927e-01 -2.76953387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.998001144999999 meters 0.0704887861373407 Centerline is valid? [True, True] Translation: X:4.74, Y:0.11, Z:-0.28 [[ 9.99644921e-01 2.50957215e-02 -8.95744741e-03 4.74378812e+00] [-2.50922831e-02 9.99685016e-01 4.96048791e-04 1.06211846e-01] [ 8.96707466e-03 -2.71109849e-04 9.99959758e-01 -2.78204948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.028001144999998 meters 0.07014458422562915 Centerline is valid? [True, True] Translation: X:4.77, Y:0.11, Z:-0.28 [[ 9.99673953e-01 2.36042674e-02 -9.73788585e-03 4.77284633e+00] [-2.36001777e-02 9.99721334e-01 5.34694964e-04 1.07118264e-01] [ 9.74779331e-03 -3.04704792e-04 9.99952443e-01 -2.76110675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.058001144999999 meters 0.0704500824258198 Centerline is valid? [True, True] Translation: X:4.80, Y:0.10, Z:-0.28 [[ 9.99702554e-01 2.29809958e-02 -8.16557483e-03 4.80065856e+00] [-2.29780901e-02 9.99735868e-01 4.49496716e-04 1.04037584e-01] [ 8.17374792e-03 -2.61733700e-04 9.99966560e-01 -2.76410613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.088001144999998 meters 0.07168016961713995 Centerline is valid? [True, True] Translation: X:4.83, Y:0.10, Z:-0.28 [[ 9.99724416e-01 2.18537740e-02 -8.57354004e-03 4.82820019e+00] [-2.18505346e-02 9.99761137e-01 4.71335556e-04 9.87162167e-02] [ 8.58179260e-03 -2.83869230e-04 9.99963135e-01 -2.79330514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.118001145 meters 0.07132130019993962 Centerline is valid? [True, True] Translation: X:4.86, Y:0.10, Z:-0.28 [[ 9.99743077e-01 2.09549123e-02 -8.64123953e-03 4.85731741e+00] [-2.09516259e-02 9.99780380e-01 4.70678301e-04 9.80745593e-02] [ 8.64920476e-03 -2.89509356e-04 9.99962553e-01 -2.78988646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.148001144999999 meters 0.07211831674715191 Centerline is valid? [True, True] Translation: X:4.89, Y:0.09, Z:-0.28 [[ 9.99775100e-01 1.96688777e-02 -7.93004531e-03 4.88500566e+00] [-1.96660657e-02 9.99806511e-01 4.32422258e-04 9.34930307e-02] [ 7.93701619e-03 -2.76372214e-04 9.99968463e-01 -2.80875434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.178001144999998 meters 0.07367009580114373 Centerline is valid? [True, True] Translation: X:4.92, Y:0.09, Z:-0.28 [[ 9.99833823e-01 1.60252452e-02 -8.69005934e-03 4.91524703e+00] [-1.60217122e-02 9.99871531e-01 4.76025648e-04 8.68264568e-02] [ 8.69657136e-03 -3.36716913e-04 9.99962127e-01 -2.82772019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.208001144999999 meters 0.07414422494071313 Centerline is valid? [True, True] Translation: X:4.94, Y:0.08, Z:-0.28 [[ 9.99852880e-01 1.38432643e-02 -1.01283193e-02 4.94476032e+00] [-1.38383619e-02 9.99904092e-01 5.53952880e-04 8.41071717e-02] [ 1.01350164e-02 -4.13712034e-04 9.99948554e-01 -2.83212178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.238001144999998 meters 0.07578869685766279 Centerline is valid? [True, True] Translation: X:4.97, Y:0.08, Z:-0.28 [[ 9.99885888e-01 1.13478067e-02 -9.97184836e-03 4.97326666e+00] [-1.13429382e-02 9.99935518e-01 5.44642193e-04 7.91801760e-02] [ 9.97738585e-03 -4.31469983e-04 9.99950132e-01 -2.84849188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.268001144999998 meters 0.07534043678723365 Centerline is valid? [True, True] Translation: X:5.00, Y:0.08, Z:-0.28 [[ 9.99907485e-01 8.83055349e-03 -1.03461840e-02 5.00256386e+00] [-8.82518346e-03 9.99960898e-01 5.64576011e-04 7.87479029e-02] [ 1.03507649e-02 -4.73216807e-04 9.99946317e-01 -2.82757050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.298001144999999 meters 0.08482384532989493 Centerline is valid? [True, True] Translation: X:5.03, Y:0.06, Z:-0.29 [[ 9.99938165e-01 4.03580175e-03 -1.03623623e-02 5.03035056e+00] [-4.03015077e-03 9.99991719e-01 5.66161013e-04 5.81968916e-02] [ 1.03645614e-02 -5.24364122e-04 9.99946149e-01 -2.91224461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.328001144999998 meters 0.0805846850712652 Centerline is valid? [True, True] Translation: X:5.06, Y:0.06, Z:-0.29 [[ 9.99953403e-01 1.91435849e-03 -9.46189031e-03 5.06047003e+00] [-1.90955946e-03 9.99998044e-01 5.16203006e-04 6.49338980e-02] [ 9.46286000e-03 -4.98110910e-04 9.99955102e-01 -2.86164150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.358001144999998 meters 0.08438466301687161 Centerline is valid? [True, True] Translation: X:5.09, Y:0.06, Z:-0.29 [[ 9.99939498e-01 -6.81843877e-04 -1.09788711e-02 5.08927155e+00] [ 6.88458320e-04 9.99999584e-01 5.98702107e-04 5.59321890e-02] [ 1.09784583e-02 -6.06224379e-04 9.99939551e-01 -2.90343901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.388001144999999 meters 0.09319195850099958 Centerline is valid? [True, True] Translation: X:5.12, Y:0.04, Z:-0.30 [[ 9.99925177e-01 -4.62870623e-03 -1.13232144e-02 5.11809405e+00] [ 4.63600091e-03 9.99989063e-01 6.18059643e-04 3.93049345e-02] [ 1.13202298e-02 -6.70507831e-04 9.99935699e-01 -2.96237387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.418001144999998 meters 0.08647961971402539 Centerline is valid? [True, True] Translation: X:5.15, Y:0.05, Z:-0.29 [[ 9.99897508e-01 -6.79145988e-03 -1.26035625e-02 5.14922161e+00] [ 6.80066254e-03 9.99976639e-01 6.87449089e-04 5.07816062e-02] [ 1.25985993e-02 -7.73091206e-04 9.99920336e-01 -2.90251312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.448001144999997 meters 0.08587976572316454 Centerline is valid? [True, True] Translation: X:5.18, Y:0.05, Z:-0.29 [[ 9.99882567e-01 -8.17813632e-03 -1.29603736e-02 5.17905270e+00] [ 8.18797454e-03 9.99966229e-01 7.06218867e-04 5.12862086e-02] [ 1.29541604e-02 -8.12255143e-04 9.99915761e-01 -2.90317165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.478001144999999 meters 0.09236412023353548 Centerline is valid? [True, True] Translation: X:5.21, Y:0.04, Z:-0.30 [[ 9.99849564e-01 -1.03936772e-02 -1.38859992e-02 5.20748371e+00] [ 1.04051864e-02 9.99945578e-01 7.56847045e-04 3.91300349e-02] [ 1.38773771e-02 -9.01219599e-04 9.99903298e-01 -2.97110888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.508001144999998 meters 0.09295747017523838 Centerline is valid? [True, True] Translation: X:5.24, Y:0.04, Z:-0.30 [[ 9.99835113e-01 -1.06007005e-02 -1.47435374e-02 5.23617664e+00] [ 1.06136800e-02 9.99943351e-01 8.02377244e-04 3.71202705e-02] [ 1.47341965e-02 -9.58728130e-04 9.99890986e-01 -2.98543244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.538001144999999 meters 0.09295747017523838 Centerline is valid? [True, True] Translation: X:5.26, Y:0.04, Z:-0.30 [[ 9.99832812e-01 -1.08151526e-02 -1.47438578e-02 5.26439785e+00] [ 1.08280687e-02 9.99941058e-01 7.96482706e-04 3.57470346e-02] [ 1.47343747e-02 -9.55997049e-04 9.99890986e-01 -2.99002690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.568001144999998 meters 0.0901168187220516 Centerline is valid? [True, True] Translation: X:5.29, Y:0.04, Z:-0.30 [[ 9.99828794e-01 -1.12796579e-02 -1.46680420e-02 5.29299486e+00] [ 1.12924405e-02 9.99935927e-01 7.88921251e-04 4.11769882e-02] [ 1.46582034e-02 -9.54424175e-04 9.99892107e-01 -2.96790713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.598001144999998 meters 0.09396734057795428 Centerline is valid? [True, True] Translation: X:5.32, Y:0.03, Z:-0.30 [[ 9.99827939e-01 -1.08219727e-02 -1.50657943e-02 5.32073542e+00] [ 1.08354400e-02 9.99940965e-01 8.12557448e-04 3.34716043e-02] [ 1.50561114e-02 -9.75662148e-04 9.99886174e-01 -3.01875180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.628001144999999 meters 0.08735853810690723 Centerline is valid? [True, True] Translation: X:5.35, Y:0.05, Z:-0.30 [[ 9.99833030e-01 -9.16473583e-03 -1.58088627e-02 5.35039585e+00] [ 9.17933786e-03 9.99957507e-01 8.51344653e-04 4.59139848e-02] [ 1.58003885e-02 -9.96317396e-04 9.99874670e-01 -2.98436593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.658001144999998 meters 0.08704115833172478 Centerline is valid? [True, True] Translation: X:5.38, Y:0.05, Z:-0.30 [[ 9.99846965e-01 -8.07920777e-03 -1.55168925e-02 5.37948161e+00] [ 8.09312932e-03 9.99966902e-01 8.34601274e-04 4.60914011e-02] [ 1.55096360e-02 -9.60053768e-04 9.99879257e-01 -2.98852030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.688001144999998 meters 0.08503925309188821 Centerline is valid? [True, True] Translation: X:5.41, Y:0.05, Z:-0.30 [[ 9.99883373e-01 -2.99694971e-03 -1.49752982e-02 5.40925416e+00] [ 3.00935235e-03 9.99995147e-01 8.05740869e-04 5.26934614e-02] [ 1.49728107e-02 -8.50712847e-04 9.99887539e-01 -2.99576047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.718001144999999 meters 0.08444354610427318 Centerline is valid? [True, True] Translation: X:5.44, Y:0.05, Z:-0.30 [[ 9.99889208e-01 -4.29581651e-04 -1.48791005e-02 5.43823356e+00] [ 4.41533077e-04 9.99999583e-01 7.99960098e-04 5.48253531e-02] [ 1.48787506e-02 -8.06441084e-04 9.99888980e-01 -3.01284557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.748001144999998 meters 0.08428340789356484 Centerline is valid? [True, True] Translation: X:5.47, Y:0.05, Z:-0.30 [[ 9.99896859e-01 -6.24401103e-04 -1.43485684e-02 5.46687279e+00] [ 6.35514696e-04 9.99999502e-01 7.69997138e-04 5.49356064e-02] [ 1.43480805e-02 -7.79036446e-04 9.99896758e-01 -3.00133733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.778001144999998 meters 0.08306533599049204 Centerline is valid? [True, True] Translation: X:5.50, Y:0.06, Z:-0.30 [[ 9.99895782e-01 4.47231577e-05 -1.44368874e-02 5.49601705e+00] [-3.36270170e-05 9.99999704e-01 7.68838301e-04 5.85554210e-02] [ 1.44369175e-02 -7.68272704e-04 9.99895487e-01 -2.98005708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.808001144999999 meters 0.08211964109191697 Centerline is valid? [True, True] Translation: X:5.53, Y:0.06, Z:-0.30 [[ 9.99901192e-01 -8.46277243e-04 -1.40317219e-02 5.52507315e+00] [ 8.56868479e-04 9.99999353e-01 7.48811762e-04 5.92607623e-02] [ 1.40310792e-02 -7.60761114e-04 9.99901270e-01 -2.96557185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.838001144999998 meters 0.08325647206861797 Centerline is valid? [True, True] Translation: X:5.55, Y:0.06, Z:-0.30 [[ 9.99908899e-01 -1.92148678e-03 -1.33604595e-02 5.55252998e+00] [ 1.93114990e-03 9.99997883e-01 7.10399105e-04 5.52394034e-02] [ 1.33590662e-02 -7.36135437e-04 9.99910493e-01 -2.98789914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.868001144999997 meters 0.08444864255836386 Centerline is valid? [True, True] Translation: X:5.58, Y:0.05, Z:-0.30 [[ 9.99897927e-01 -3.13323462e-03 -1.39398084e-02 5.58097939e+00] [ 3.14387961e-03 9.99994783e-01 7.41791236e-04 5.13340476e-02] [ 1.39374115e-02 -7.85540598e-04 9.99902561e-01 -3.01980104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.898001144999999 meters 0.08428307169083207 Centerline is valid? [True, True] Translation: X:5.61, Y:0.05, Z:-0.30 [[ 9.99881779e-01 -4.18278150e-03 -1.47963413e-02 5.60940685e+00] [ 4.19479498e-03 9.99990897e-01 7.80980302e-04 4.95851886e-02] [ 1.47929400e-02 -8.42955592e-04 9.99890223e-01 -3.03343072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.928001144999998 meters 0.08947985835743151 Centerline is valid? [True, True] Translation: X:5.64, Y:0.04, Z:-0.31 [[ 9.99860296e-01 -5.84195769e-03 -1.56608038e-02 5.63694583e+00] [ 5.85564275e-03 9.99982513e-01 8.28129089e-04 3.74740955e-02] [ 1.56556920e-02 -9.19717468e-04 9.99877019e-01 -3.12129349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.958001144999999 meters 0.08556177372685593 Centerline is valid? [True, True] Translation: X:5.67, Y:0.04, Z:-0.31 [[ 9.99856010e-01 -5.99096507e-03 -1.58766665e-02 5.66567633e+00] [ 6.00493312e-03 9.99981624e-01 8.32257991e-04 4.47578450e-02] [ 1.58713888e-02 -9.27476474e-04 9.99873611e-01 -3.09689535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.988001144999998 meters 0.08554685345517972 Centerline is valid? [True, True] Translation: X:5.69, Y:0.05, Z:-0.31 [[ 9.99869299e-01 -5.77093959e-03 -1.51023579e-02 5.69426164e+00] [ 5.78350555e-03 9.99982965e-01 7.88510277e-04 4.50282275e-02] [ 1.50975502e-02 -8.75751789e-04 9.99885642e-01 -3.09191545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.018001144999998 meters 0.08357978611754979 Centerline is valid? [True, True] Translation: X:5.72, Y:0.05, Z:-0.30 [[ 9.99887421e-01 -4.93647966e-03 -1.41695378e-02 5.72335930e+00] [ 4.94747854e-03 9.99987486e-01 7.41285747e-04 5.29155661e-02] [ 1.41657011e-02 -8.11305779e-04 9.99899332e-01 -3.02458838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.048001144999999 meters 0.08335678254831694 Centerline is valid? [True, True] Translation: X:5.75, Y:0.05, Z:-0.30 [[ 9.99904030e-01 -4.50456387e-03 -1.31011239e-02 5.75179901e+00] [ 4.51385293e-03 9.99989582e-01 6.79544338e-04 5.33927041e-02] [ 1.30979264e-02 -7.38615669e-04 9.99913946e-01 -3.01583132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.078001144999998 meters 0.0837055644472904 Centerline is valid? [True, True] Translation: X:5.78, Y:0.05, Z:-0.30 [[ 9.99922917e-01 -4.43443330e-03 -1.15971921e-02 5.77917201e+00] [ 4.44170820e-03 9.99989955e-01 6.01616617e-04 5.24899868e-02] [ 1.15944077e-02 -6.53081586e-04 9.99932569e-01 -3.00049998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.108001144999998 meters 0.08267651488685815 Centerline is valid? [True, True] Translation: X:5.81, Y:0.05, Z:-0.30 [[ 9.99938490e-01 -3.22894348e-03 -1.06108551e-02 5.80834431e+00] [ 3.23496529e-03 9.99994616e-01 5.50399725e-04 5.37519818e-02] [ 1.06090208e-02 -5.84691618e-04 9.99943552e-01 -2.99614547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.138001144999999 meters 0.08268448452989662 Centerline is valid? [True, True] Translation: X:5.84, Y:0.05, Z:-0.30 [[ 9.99947718e-01 -2.13355477e-03 -1.00004436e-02 5.83713813e+00] [ 2.13884181e-03 9.99997579e-01 5.18014897e-04 5.15802843e-02] [ 9.99931421e-03 -5.39377182e-04 9.99949860e-01 -2.99990449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.168001144999998 meters 0.08241452747836409 Centerline is valid? [True, True] Translation: X:5.86, Y:0.05, Z:-0.30 [[ 9.99940466e-01 1.71790972e-04 -1.09103241e-02 5.86458127e+00] [-1.65646541e-04 9.99999827e-01 5.64077058e-04 4.76273598e-02] [ 1.09104192e-02 -5.62236219e-04 9.99940322e-01 -3.04822892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.198001144999997 meters 0.08170502782237143 Centerline is valid? [True, True] Translation: X:5.89, Y:0.05, Z:-0.31 [[ 9.99935148e-01 1.47480910e-03 -1.12926514e-02 5.89348779e+00] [-1.46836520e-03 9.99998754e-01 5.78897827e-04 4.67163042e-02] [ 1.12934911e-02 -5.62278548e-04 9.99936068e-01 -3.06964573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.228001144999999 meters 0.0804149401155427 Centerline is valid? [True, True] Translation: X:5.92, Y:0.05, Z:-0.31 [[ 9.99929502e-01 3.00912116e-03 -1.14863310e-02 5.92261375e+00] [-3.00253263e-03 9.99995318e-01 5.90798785e-04 4.79586790e-02] [ 1.14880550e-02 -5.56269052e-04 9.99933855e-01 -3.06425468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.258001144999998 meters 0.07806138164486467 Centerline is valid? [True, True] Translation: X:5.95, Y:0.05, Z:-0.30 [[ 9.99919291e-01 6.09786506e-03 -1.11457140e-02 5.95332667e+00] [-6.09184652e-03 9.99981280e-01 5.73857798e-04 5.41584072e-02] [ 1.11490047e-02 -5.05913504e-04 9.99937720e-01 -3.03270615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.288001144999997 meters 0.0789771496264416 Centerline is valid? [True, True] Translation: X:5.98, Y:0.05, Z:-0.31 [[ 9.99901319e-01 8.55180830e-03 -1.11453727e-02 5.98079621e+00] [-8.54596452e-03 9.99963319e-01 5.71845076e-04 5.17162898e-02] [ 1.11498542e-02 -4.76540686e-04 9.99937725e-01 -3.05782240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.318001144999998 meters 0.07727341101461024 Centerline is valid? [True, True] Translation: X:6.01, Y:0.06, Z:-0.30 [[ 9.99888854e-01 9.49861824e-03 -1.14915961e-02 6.00986278e+00] [-9.49247315e-03 9.99954772e-01 5.89172427e-04 5.53226947e-02] [ 1.14966727e-02 -4.80023275e-04 9.99933796e-01 -3.04843454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.348001144999998 meters 0.07658260805559487 Centerline is valid? [True, True] Translation: X:6.04, Y:0.06, Z:-0.31 [[ 9.99851783e-01 1.24514127e-02 -1.18901352e-02 6.03828743e+00] [-1.24450455e-02 9.99922372e-01 6.09345407e-04 5.64860852e-02] [ 1.18967994e-02 -4.61281818e-04 9.99929124e-01 -3.07141975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.378001144999999 meters 0.07556939064213626 Centerline is valid? [True, True] Translation: X:6.07, Y:0.06, Z:-0.31 [[ 9.99831386e-01 1.37626374e-02 -1.21568982e-02 6.06744364e+00] [-1.37560911e-02 9.99905187e-01 6.21943375e-04 5.75660117e-02] [ 1.21643051e-02 -4.54607107e-04 9.99925909e-01 -3.07501719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.408001144999998 meters 0.07467090357277364 Centerline is valid? [True, True] Translation: X:6.10, Y:0.06, Z:-0.31 [[ 9.99833437e-01 1.48938415e-02 -1.05485694e-02 6.09659841e+00] [-1.48890270e-02 9.99889009e-01 5.34805638e-04 5.83869118e-02] [ 1.05553640e-02 -3.77658625e-04 9.99944219e-01 -3.05333960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.438001144999998 meters 0.075820785794205 Centerline is valid? [True, True] Translation: X:6.12, Y:0.05, Z:-0.30 [[ 9.99869745e-01 1.37274853e-02 -8.48814845e-03 6.12426583e+00] [-1.37243193e-02 9.99905724e-01 4.31134338e-04 5.39823307e-02] [ 8.49326661e-03 -3.14584121e-04 9.99963882e-01 -3.04407091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.468001144999999 meters 0.07496308946212937 Centerline is valid? [True, True] Translation: X:6.15, Y:0.06, Z:-0.30 [[ 9.99883552e-01 1.34686128e-02 -7.17493018e-03 6.15352430e+00] [-1.34663471e-02 9.99909258e-01 3.64009086e-04 5.50235591e-02] [ 7.17918181e-03 -2.67346598e-04 9.99974194e-01 -3.00668272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.498001144999998 meters 0.07530420483261974 Centerline is valid? [True, True] Translation: X:6.18, Y:0.05, Z:-0.30 [[ 9.99894938e-01 1.36928434e-02 -4.75603098e-03 6.18102499e+00] [-1.36918552e-02 9.99906233e-01 2.40279097e-04 5.29470353e-02] [ 4.75887513e-03 -1.75134965e-04 9.99988661e-01 -2.99312994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.528001144999998 meters 0.07500935185580536 Centerline is valid? [True, True] Translation: X:6.21, Y:0.05, Z:-0.30 [[ 9.99890471e-01 1.43593840e-02 -3.58513551e-03 6.21004432e+00] [-1.43588278e-02 9.99896890e-01 1.80836943e-04 5.09205571e-02] [ 3.58736255e-03 -1.29338792e-04 9.99993557e-01 -2.98954354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.558001144999999 meters 0.07503704612799583 Centerline is valid? [True, True] Translation: X:6.24, Y:0.05, Z:-0.30 [[ 9.99892224e-01 1.45237736e-02 -2.14472986e-03 6.23927325e+00] [-1.45235755e-02 9.99894521e-01 1.07916371e-04 4.80392832e-02] [ 2.14607099e-03 -7.67555944e-05 9.99997694e-01 -2.99543380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.588001144999998 meters 0.07315309738331882 Centerline is valid? [True, True] Translation: X:6.27, Y:0.05, Z:-0.30 [[ 9.99854100e-01 1.69709897e-02 -1.94004952e-03 6.26827304e+00] [-1.69708332e-02 9.99855980e-01 9.71042246e-05 5.03397099e-02] [ 1.94141807e-03 -6.41658003e-05 9.99998113e-01 -2.99408353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.618001144999997 meters 0.07313140547182892 Centerline is valid? [True, True] Translation: X:6.30, Y:0.05, Z:-0.30 [[ 9.99819518e-01 1.86553703e-02 -3.59283274e-03 6.29607757e+00] [-1.86548431e-02 9.99825967e-01 1.80200257e-04 4.96706085e-02] [ 3.59556917e-03 -1.13144003e-04 9.99993530e-01 -3.02527985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.648001144999999 meters 0.07252622090472317 Centerline is valid? [True, True] Translation: X:6.32, Y:0.05, Z:-0.30 [[ 9.99774389e-01 2.07064980e-02 -4.73411237e-03 6.32477774e+00] [-2.07056037e-02 9.99785588e-01 2.37848915e-04 5.09185496e-02] [ 4.73802234e-03 -1.39772599e-04 9.99988766e-01 -3.03783603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.678001144999998 meters 0.07248340855298212 Centerline is valid? [True, True] Translation: X:6.35, Y:0.05, Z:-0.31 [[ 9.99737364e-01 2.19828312e-02 -6.47753869e-03 6.35157147e+00] [-2.19811911e-02 9.99758332e-01 3.24292789e-04 5.12512852e-02] [ 6.48310215e-03 -1.81823602e-04 9.99978968e-01 -3.06056465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.708001144999997 meters 0.07143828776008534 Centerline is valid? [True, True] Translation: X:6.38, Y:0.05, Z:-0.31 [[ 9.99623895e-01 2.56844903e-02 -9.61117011e-03 6.38010725e+00] [-2.56810806e-02 9.99670072e-01 4.78028603e-04 5.46955257e-02] [ 9.62027704e-03 -2.31023580e-04 9.99953697e-01 -3.08178224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.738001144999998 meters 0.07108262041742956 Centerline is valid? [True, True] Translation: X:6.41, Y:0.06, Z:-0.31 [[ 9.99569643e-01 2.73553764e-02 -1.05930674e-02 6.40846348e+00] [-2.73513496e-02 9.99625744e-01 5.24839265e-04 5.52179328e-02] [ 1.06034601e-02 -2.34878706e-04 9.99943754e-01 -3.09243086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.768001144999998 meters 0.07097453340420108 Centerline is valid? [True, True] Translation: X:6.44, Y:0.05, Z:-0.31 [[ 9.99525608e-01 2.89135328e-02 -1.06097462e-02 6.43641792e+00] [-2.89095646e-02 9.99581892e-01 5.27216389e-04 5.40373023e-02] [ 1.06205539e-02 -2.20243139e-04 9.99943576e-01 -3.10887900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.798001144999999 meters 0.07036471194195014 Centerline is valid? [True, True] Translation: X:6.46, Y:0.05, Z:-0.31 [[ 9.99435873e-01 3.14617138e-02 -1.17514035e-02 6.46447970e+00] [-3.14570311e-02 9.99504935e-01 5.83156192e-04 5.47052057e-02] [ 1.17639329e-02 -2.13162953e-04 9.99930780e-01 -3.11740141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.828001144999998 meters 0.06964812739988709 Centerline is valid? [True, True] Translation: X:6.49, Y:0.06, Z:-0.31 [[ 9.99359431e-01 3.42996206e-02 -1.02109419e-02 6.49353538e+00] [-3.42962387e-02 9.99411583e-01 5.06172631e-04 5.67406990e-02] [ 1.02222951e-02 -1.55651492e-04 9.99947739e-01 -3.10647467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.858001144999998 meters 0.06900777142569477 Centerline is valid? [True, True] Translation: X:6.52, Y:0.06, Z:-0.31 [[ 9.99293984e-01 3.64436390e-02 -9.13204187e-03 6.52238063e+00] [-3.64410668e-02 9.99335703e-01 4.47950433e-04 5.78642117e-02] [ 9.14230043e-03 -1.14852825e-04 9.99958202e-01 -3.09154353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.888001144999999 meters 0.06857578018228144 Centerline is valid? [True, True] Translation: X:6.55, Y:0.06, Z:-0.31 [[ 9.99235014e-01 3.86155282e-02 -6.18278998e-03 6.55020878e+00] [-3.86143865e-02 9.99254140e-01 3.03968667e-04 5.85357152e-02] [ 6.18991639e-03 -6.49914931e-05 9.99980840e-01 -3.06394713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.918001144999998 meters 0.06802922978725216 Centerline is valid? [True, True] Translation: X:6.58, Y:0.06, Z:-0.30 [[ 9.99204726e-01 3.95139335e-02 -5.34457723e-03 6.57958945e+00] [-3.95131011e-02 9.99219018e-01 2.61287395e-04 5.94941602e-02] [ 5.35072770e-03 -4.98987798e-05 9.99985684e-01 -3.04362394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.948001144999997 meters 0.06801528164043417 Centerline is valid? [True, True] Translation: X:6.61, Y:0.06, Z:-0.30 [[ 9.99175108e-01 4.03333158e-02 -4.72509342e-03 6.60846740e+00] [-4.03326882e-02 9.99186280e-01 2.28078208e-04 5.98631015e-02] [ 4.73044767e-03 -3.73143488e-05 9.99988811e-01 -3.04356549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.978001144999999 meters 0.06781822357043198 Centerline is valid? [True, True] Translation: X:6.64, Y:0.06, Z:-0.30 [[ 9.99145909e-01 4.09717926e-02 -5.36320721e-03 6.63600465e+00] [-4.09710011e-02 9.99160303e-01 2.57423668e-04 5.96072521e-02] [ 5.36925085e-03 -3.74678364e-05 9.99985585e-01 -3.04417382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.008001144999998 meters 0.06774991712839261 Centerline is valid? [True, True] Translation: X:6.66, Y:0.06, Z:-0.31 [[ 9.99038468e-01 4.32520049e-02 -7.16967305e-03 6.66426999e+00] [-4.32506464e-02 9.99064194e-01 3.44497941e-04 5.93526198e-02] [ 7.17786386e-03 -3.40737009e-05 9.99974238e-01 -3.07789523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.038001144999997 meters 0.06762161757325871 Centerline is valid? [True, True] Translation: X:6.69, Y:0.06, Z:-0.31 [[ 9.99027019e-01 4.36121697e-02 -6.55698442e-03 6.69304251e+00] [-4.36110526e-02 9.99048536e-01 3.13307658e-04 5.88214040e-02] [ 6.56440972e-03 -2.70458232e-05 9.99978454e-01 -3.08610885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.068001144999998 meters 0.06755685537656878 Centerline is valid? [True, True] Translation: X:6.72, Y:0.06, Z:-0.31 [[ 9.98974318e-01 4.47859026e-02 -6.67347597e-03 6.72099145e+00] [-4.47847862e-02 9.98996608e-01 3.16717357e-04 5.92756034e-02] [ 6.68096433e-03 -1.75223116e-05 9.99977682e-01 -3.09507676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.098001144999998 meters 0.06751384858816367 Centerline is valid? [True, True] Translation: X:6.75, Y:0.06, Z:-0.31 [[ 9.98925320e-01 4.58834390e-02 -6.55099252e-03 6.74915150e+00] [-4.58823719e-02 9.98946800e-01 3.13153734e-04 6.01153841e-02] [ 6.55846159e-03 -1.22421187e-05 9.99978493e-01 -3.11751459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.128001144999997 meters 0.06756979530672746 Centerline is valid? [True, True] Translation: X:6.78, Y:0.06, Z:-0.31 [[ 9.98813041e-01 4.81906707e-02 -7.08293084e-03 6.77666094e+00] [-4.81894906e-02 9.98838155e-01 3.37272276e-04 6.24793739e-02] [ 7.09095495e-03 4.45088198e-06 9.99974859e-01 -3.12522311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.158001144999998 meters 0.06750841729859997 Centerline is valid? [True, True] Translation: X:6.80, Y:0.06, Z:-0.31 [[ 9.98772830e-01 4.90379085e-02 -6.93661617e-03 6.80483505e+00] [-4.90368235e-02 9.98796918e-01 3.26511646e-04 6.35073737e-02] [ 6.94428230e-03 1.40386614e-05 9.99975888e-01 -3.12907549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.188001144999998 meters 0.06727719720779056 Centerline is valid? [True, True] Translation: X:6.83, Y:0.06, Z:-0.31 [[ 9.98760524e-01 4.91298508e-02 -7.97955795e-03 6.83319468e+00] [-4.91283973e-02 9.98792400e-01 3.78191271e-04 6.29542208e-02] [ 7.98850231e-03 1.43003806e-05 9.99968091e-01 -3.09483720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.218001144999999 meters 0.0673223019975339 Centerline is valid? [True, True] Translation: X:6.86, Y:0.06, Z:-0.31 [[ 9.98711612e-01 5.02409440e-02 -7.13884270e-03 6.86068002e+00] [-5.02398205e-02 9.98737126e-01 3.36720773e-04 6.35560176e-02] [ 7.14674441e-03 2.23672297e-05 9.99974461e-01 -3.09618685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.248001144999998 meters 0.06725453851133796 Centerline is valid? [True, True] Translation: X:6.89, Y:0.06, Z:-0.31 [[ 9.98727186e-01 4.99413115e-02 -7.06206339e-03 6.88720685e+00] [-4.99402194e-02 9.98752154e-01 3.31008951e-04 6.28624025e-02] [ 7.06978204e-03 2.20933570e-05 9.99975009e-01 -3.09351918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.278001144999998 meters 0.06715476927651615 Centerline is valid? [True, True] Translation: X:6.92, Y:0.06, Z:-0.31 [[ 9.98719421e-01 5.01284777e-02 -6.83038375e-03 6.91500014e+00] [-5.01274820e-02 9.98742777e-01 3.16993377e-04 6.18907281e-02] [ 6.83768683e-03 2.58024970e-05 9.99976622e-01 -3.08414524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.308001144999999 meters 0.06715799431649462 Centerline is valid? [True, True] Translation: X:6.94, Y:0.06, Z:-0.31 [[ 9.98785342e-01 4.88349819e-02 -6.55636999e-03 6.94272016e+00] [-4.88340225e-02 9.98806860e-01 3.06439264e-04 5.92953767e-02] [ 6.56351228e-03 1.41068746e-05 9.99978460e-01 -3.08127744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.338001144999998 meters 0.06738126546927953 Centerline is valid? [True, True] Translation: X:6.97, Y:0.06, Z:-0.31 [[ 9.98844780e-01 4.75324805e-02 -7.05476169e-03 6.97098519e+00] [-4.75313637e-02 9.98869693e-01 3.25969003e-04 5.56882528e-02] [ 7.06228175e-03 9.73000632e-06 9.99975062e-01 -3.10988216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.368001144999997 meters 0.06753436153272718 Centerline is valid? [True, True] Translation: X:7.00, Y:0.05, Z:-0.31 [[ 9.98930504e-01 4.57217869e-02 -6.88236745e-03 6.99764033e+00] [-4.57206745e-02 9.98954212e-01 3.18958381e-04 5.18410269e-02] [ 6.88975331e-03 -3.95077424e-06 9.99976265e-01 -3.14493230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.398001144999999 meters 0.06732697889903669 Centerline is valid? [True, True] Translation: X:7.03, Y:0.05, Z:-0.31 [[ 9.99000280e-01 4.40147203e-02 -7.81950381e-03 7.02636138e+00] [-4.40132588e-02 9.99030882e-01 3.58975024e-04 4.96944185e-02] [ 7.82772598e-03 -1.44543040e-05 9.99969363e-01 -3.12199389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.428001144999998 meters 0.06732697889903669 Centerline is valid? [True, True] Translation: X:7.05, Y:0.05, Z:-0.31 [[ 9.99011654e-01 4.37557951e-02 -7.81962212e-03 7.05364048e+00] [-4.37543457e-02 9.99042256e-01 3.56406604e-04 4.86006710e-02] [ 7.82772778e-03 -1.39119007e-05 9.99969363e-01 -3.12645527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.458001144999997 meters 0.06735304795482987 Centerline is valid? [True, True] Translation: X:7.08, Y:0.05, Z:-0.31 [[ 9.99067261e-01 4.23134224e-02 -8.61286193e-03 7.08203462e+00] [-4.23116190e-02 9.99104386e-01 3.91575965e-04 4.68791898e-02] [ 8.62171705e-03 -2.67865943e-05 9.99962832e-01 -3.13679479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.488001144999998 meters 0.06728820043884526 Centerline is valid? [True, True] Translation: X:7.11, Y:0.04, Z:-0.31 [[ 9.99176222e-01 3.96748321e-02 -8.53141406e-03 7.11036817e+00] [-3.96729831e-02 9.99212643e-01 3.85918268e-04 4.37450921e-02] [ 8.54000803e-03 -4.71337107e-05 9.99963532e-01 -3.13252364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.518001144999998 meters 0.06751340707877652 Centerline is valid? [True, True] Translation: X:7.14, Y:0.04, Z:-0.31 [[ 9.99249678e-01 3.77691341e-02 -8.57748706e-03 7.13826665e+00] [-3.77671888e-02 9.99286490e-01 3.88708139e-04 4.06413963e-02] [ 8.58604811e-03 -6.44689093e-05 9.99963137e-01 -3.14154608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.548001144999997 meters 0.0676430599698259 Centerline is valid? [True, True] Translation: X:7.17, Y:0.04, Z:-0.31 [[ 9.99340658e-01 3.54656964e-02 -7.77387164e-03 7.16642730e+00] [-3.54640629e-02 9.99370892e-01 3.47925403e-04 3.72610303e-02] [ 7.78132045e-03 -7.20029287e-05 9.99969722e-01 -3.14667818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.578001144999998 meters 0.06769688861614473 Centerline is valid? [True, True] Translation: X:7.19, Y:0.04, Z:-0.32 [[ 9.99345018e-01 3.50151965e-02 -9.13621981e-03 7.19472503e+00] [-3.50129064e-02 9.99386776e-01 4.10540183e-04 3.57096775e-02] [ 9.14499240e-03 -9.03856780e-05 9.99958180e-01 -3.16907805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.608001144999998 meters 0.06813467453384076 Centerline is valid? [True, True] Translation: X:7.22, Y:0.03, Z:-0.32 [[ 9.99424630e-01 3.25762177e-02 -9.44448976e-03 7.22235351e+00] [-3.25736702e-02 9.99469247e-01 4.23466364e-04 3.05737511e-02] [ 9.45327201e-03 -1.15581020e-04 9.99955310e-01 -3.19735643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.638001144999999 meters 0.06845809116301836 Centerline is valid? [True, True] Translation: X:7.25, Y:0.03, Z:-0.32 [[ 9.99485710e-01 3.03259446e-02 -1.04236890e-02 7.25085431e+00] [-3.03227586e-02 9.99540052e-01 4.63597828e-04 2.69550396e-02] [ 1.04329537e-02 -1.47284400e-04 9.99945564e-01 -3.20655319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.668001144999998 meters 0.06839220499052508 Centerline is valid? [True, True] Translation: X:7.28, Y:0.03, Z:-0.32 [[ 9.99489541e-01 3.00572179e-02 -1.08268928e-02 7.27955396e+00] [-3.00537887e-02 9.99548168e-01 4.79330725e-04 2.72597823e-02] [ 1.08364082e-02 -1.53696898e-04 9.99941273e-01 -3.20660725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.698001144999997 meters 0.068426297180656 Centerline is valid? [True, True] Translation: X:7.31, Y:0.03, Z:-0.32 [[ 9.99457646e-01 3.08007281e-02 -1.16502663e-02 7.30781495e+00] [-3.07967885e-02 9.99525532e-01 5.17449294e-04 2.72370542e-02] [ 1.16606764e-02 -1.58377867e-04 9.99931999e-01 -3.21762264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.728001144999999 meters 0.06850710945653246 Centerline is valid? [True, True] Translation: X:7.34, Y:0.03, Z:-0.32 [[ 9.99446191e-01 3.05793051e-02 -1.31231528e-02 7.33615924e+00] [-3.05743521e-02 9.99532328e-01 5.77931959e-04 2.58910262e-02] [ 1.31346882e-02 -1.76380001e-04 9.99913721e-01 -3.22501149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.758001144999998 meters 0.06817638712131327 Centerline is valid? [True, True] Translation: X:7.37, Y:0.03, Z:-0.32 [[ 9.99411699e-01 3.20809333e-02 -1.21272102e-02 7.36515718e+00] [-3.20768490e-02 9.99485264e-01 5.31194043e-04 2.57325156e-02] [ 1.21380091e-02 -1.41878852e-04 9.99926322e-01 -3.23116516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.788001144999997 meters 0.06774871009518676 Centerline is valid? [True, True] Translation: X:7.39, Y:0.03, Z:-0.32 [[ 9.99373021e-01 3.36737659e-02 -1.09381103e-02 7.39277908e+00] [-3.36705269e-02 9.99432872e-01 4.80188920e-04 2.57806335e-02] [ 1.09480767e-02 -1.11595916e-04 9.99940062e-01 -3.21777500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.818001144999998 meters 0.06770582835361498 Centerline is valid? [True, True] Translation: X:7.42, Y:0.03, Z:-0.32 [[ 9.99343869e-01 3.45863099e-02 -1.07526269e-02 7.42128846e+00] [-3.45832806e-02 9.99401710e-01 4.67591233e-04 2.59647010e-02] [ 1.07623660e-02 -9.54233170e-05 9.99942080e-01 -3.22090817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.848001144999998 meters 0.06726407202730864 Centerline is valid? [True, True] Translation: X:7.45, Y:0.03, Z:-0.32 [[ 9.99313889e-01 3.50130670e-02 -1.20762760e-02 7.45052908e+00] [-3.50093078e-02 9.99386850e-01 5.22610609e-04 2.72683288e-02] [ 1.20871696e-02 -9.94699773e-05 9.99926943e-01 -3.17947892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.878001144999997 meters 0.06762307025948455 Centerline is valid? [True, True] Translation: X:7.48, Y:0.03, Z:-0.32 [[ 9.99319674e-01 3.45084110e-02 -1.30137680e-02 7.47785368e+00] [-3.45039817e-02 9.99404401e-01 5.64796661e-04 2.56098242e-02] [ 1.30255072e-02 -1.15385603e-04 9.99915158e-01 -3.21291901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.908001144999998 meters 0.06738063820627345 Centerline is valid? [True, True] Translation: X:7.51, Y:0.03, Z:-0.32 [[ 9.99309427e-01 3.45903555e-02 -1.35711274e-02 7.50665908e+00] [-3.45856166e-02 9.99401568e-01 5.83797471e-04 2.51390170e-02] [ 1.35831998e-02 -1.14028507e-04 9.99907738e-01 -3.20781818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.938001144999998 meters 0.06782082079300306 Centerline is valid? [True, True] Translation: X:7.53, Y:0.02, Z:-0.32 [[ 9.99345290e-01 3.32199169e-02 -1.43327984e-02 7.53442327e+00] [-3.32144701e-02 9.99448056e-01 6.17964883e-04 2.22082855e-02] [ 1.43454163e-02 -1.41503991e-04 9.99897089e-01 -3.23951001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.968001144999997 meters 0.06785617783006706 Centerline is valid? [True, True] Translation: X:7.56, Y:0.02, Z:-0.32 [[ 9.99388592e-01 3.17874328e-02 -1.45602551e-02 7.56281236e+00] [-3.17817374e-02 9.99494639e-01 6.22434264e-04 1.98746706e-02] [ 1.45726825e-02 -1.59303497e-04 9.99893800e-01 -3.22204817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.998001144999998 meters 0.06760979353018244 Centerline is valid? [True, True] Translation: X:7.59, Y:0.02, Z:-0.32 [[ 9.99417696e-01 3.08167454e-02 -1.46491030e-02 7.59120746e+00] [-3.08109262e-02 9.99525037e-01 6.22812462e-04 1.87574169e-02] [ 1.46613382e-02 -1.71097365e-04 9.99892502e-01 -3.19613671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.028001144999998 meters 0.0680249665728932 Centerline is valid? [True, True] Translation: X:7.62, Y:0.01, Z:-0.32 [[ 9.99464307e-01 2.96351268e-02 -1.38873723e-02 7.61864810e+00] [-2.96297682e-02 9.99560767e-01 5.91499808e-04 1.46586356e-02] [ 1.38988017e-02 -1.79703322e-04 9.99903391e-01 -3.23507265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.058001144999999 meters 0.069277462278299 Centerline is valid? [True, True] Translation: X:7.65, Y:0.01, Z:-0.33 [[ 9.99541292e-01 2.67043242e-02 -1.42857972e-02 7.64621012e+00] [-2.66983690e-02 9.99643350e-01 6.07446813e-04 6.80716686e-03] [ 1.42969236e-02 -2.25760686e-04 9.99897768e-01 -3.28962379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.088001144999998 meters 0.0686503573741542 Centerline is valid? [True, True] Translation: X:7.67, Y:0.01, Z:-0.32 [[ 9.99594668e-01 2.40561098e-02 -1.52250914e-02 7.67470251e+00] [-2.40491237e-02 9.99710572e-01 6.41797109e-04 5.96930790e-03] [ 1.52361240e-02 -2.75386860e-04 9.99883886e-01 -3.22422499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.118001144999997 meters 0.0686503573741542 Centerline is valid? [True, True] Translation: X:7.70, Y:0.00, Z:-0.32 [[ 9.99600676e-01 2.38050299e-02 -1.52252743e-02 7.70200601e+00] [-2.37980808e-02 9.99716582e-01 6.37459972e-04 4.97701631e-03] [ 1.52361339e-02 -2.74873111e-04 9.99883886e-01 -3.22868833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.148001144999999 meters 0.06908550123908572 Centerline is valid? [True, True] Translation: X:7.73, Y:0.00, Z:-0.32 [[ 9.99683325e-01 2.08252037e-02 -1.41265673e-02 7.73076374e+00] [-2.08189645e-02 9.99783089e-01 5.88588964e-04 1.63332877e-03] [ 1.41357606e-02 -2.94302069e-04 9.99900042e-01 -3.20937894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.178001144999998 meters 0.06892296711771881 Centerline is valid? [True, True] Translation: X:7.76, Y:0.00, Z:-0.32 [[ 9.99701365e-01 1.96556192e-02 -1.45202474e-02 7.75938816e+00] [-1.96489514e-02 9.99806760e-01 6.01739780e-04 4.53480115e-04] [ 1.45292691e-02 -3.16252444e-04 9.99894395e-01 -3.19086025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.208001144999997 meters 0.06952078364197442 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.00, Z:-0.32 [[ 9.99702855e-01 1.90293792e-02 -1.52343501e-02 7.78684805e+00] [-1.90219655e-02 9.99818867e-01 6.31412639e-04 -2.37638986e-03] [ 1.52436060e-02 -3.41437735e-04 9.99883751e-01 -3.21766436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.238001144999998 meters 0.06992776767132305 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.00, Z:-0.32 [[ 9.99724315e-01 1.79638132e-02 -1.51193570e-02 7.81492466e+00] [-1.79564651e-02 9.99838576e-01 6.21627553e-04 -4.83412128e-03] [ 1.51280832e-02 -3.49965974e-04 9.99885503e-01 -3.23213477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.268001144999998 meters 0.06974503661716876 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.01, Z:-0.32 [[ 9.99755947e-01 1.60107172e-02 -1.52218277e-02 7.84343194e+00] [-1.60030964e-02 9.99871749e-01 6.22334630e-04 -5.71034072e-03] [ 1.52298395e-02 -3.78586371e-04 9.99883948e-01 -3.21792645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.298001144999997 meters 0.07018630018049606 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.01, Z:-0.32 [[ 9.99759046e-01 1.55469508e-02 -1.54965189e-02 7.87095190e+00] [-1.55389777e-02 9.99879061e-01 6.34790301e-04 -7.59700798e-03] [ 1.55045138e-02 -3.93837285e-04 9.99879720e-01 -3.23002801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.328001144999998 meters 0.07058701569996598 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.01, Z:-0.32 [[ 9.99775823e-01 1.51685797e-02 -1.47722209e-02 7.89860033e+00] [-1.51613770e-02 9.99884880e-01 5.99452882e-04 -9.96765055e-03] [ 1.47796132e-02 -3.75351288e-04 9.99890705e-01 -3.24862055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.358001144999998 meters 0.07259390570126979 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.02, Z:-0.33 [[ 9.99796564e-01 1.43579625e-02 -1.41661184e-02 7.92509676e+00] [-1.43512829e-02 9.99896851e-01 5.73066142e-04 -1.55146736e-02] [ 1.41728853e-02 -3.69647587e-04 9.99899491e-01 -3.29211542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.388001144999997 meters 0.07300404449578059 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.02, Z:-0.33 [[ 9.99805688e-01 1.37993891e-02 -1.40770188e-02 7.95265130e+00] [-1.37927962e-02 9.99904715e-01 5.65325220e-04 -1.70130783e-02] [ 1.40834786e-02 -3.71053920e-04 9.99900754e-01 -3.29360969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.418001144999998 meters 0.07032865061176057 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.01, Z:-0.32 [[ 9.99830854e-01 1.40308243e-02 -1.18911461e-02 7.98154103e+00] [-1.40261208e-02 9.99901514e-01 4.78859441e-04 -1.03808273e-02] [ 1.18966938e-02 -3.11991792e-04 9.99929183e-01 -3.20365885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.448001144999997 meters 0.07128660945791837 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.01, Z:-0.32 [[ 9.99839941e-01 1.40156849e-02 -1.11199308e-02 8.00881463e+00] [-1.40115842e-02 9.99901733e-01 4.46589387e-04 -1.32837529e-02] [ 1.11250973e-02 -2.90710060e-04 9.99938072e-01 -3.23219477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.478001144999999 meters 0.07109438146988319 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.01, Z:-0.32 [[ 9.99851455e-01 1.21382663e-02 -1.22364029e-02 8.03725114e+00] [-1.21332208e-02 9.99926271e-01 4.86487228e-04 -1.37747145e-02] [ 1.22414058e-02 -3.37947985e-04 9.99925014e-01 -3.22341792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.508001144999998 meters 0.07176900505531843 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.02, Z:-0.33 [[ 9.99846262e-01 1.08560903e-02 -1.37694516e-02 8.06598434e+00] [-1.08495432e-02 9.99940991e-01 5.50092790e-04 -1.59784629e-02] [ 1.37746109e-02 -4.00615959e-04 9.99905045e-01 -3.25226010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.538001144999997 meters 0.07159926506047973 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.02, Z:-0.33 [[ 9.99850717e-01 1.04569195e-02 -1.37548965e-02 8.09466504e+00] [-1.04503644e-02 9.99945243e-01 5.48358386e-04 -1.56648098e-02] [ 1.37598775e-02 -4.04532845e-04 9.99905247e-01 -3.25558146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.568001144999998 meters 0.07206693360214564 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.02, Z:-0.33 [[ 9.99852187e-01 9.86603726e-03 -1.40806624e-02 8.12269500e+00] [-9.85912815e-03 9.99951241e-01 5.60013626e-04 -1.75723665e-02] [ 1.40855009e-02 -4.21107794e-04 9.99900706e-01 -3.27591483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.598001144999998 meters 0.07122902558376239 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.02, Z:-0.33 [[ 9.99853589e-01 1.04269569e-02 -1.35675425e-02 8.15116641e+00] [-1.04206038e-02 9.99945559e-01 5.38871809e-04 -1.62166891e-02] [ 1.35724227e-02 -3.97410928e-04 9.99907811e-01 -3.26038944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.628001144999997 meters 0.07110031342257696 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.02, Z:-0.33 [[ 9.99867733e-01 1.08556558e-02 -1.21108292e-02 8.17990975e+00] [-1.08506365e-02 9.99941015e-01 4.80077584e-04 -1.58539447e-02] [ 1.21153264e-02 -3.48603880e-04 9.99926546e-01 -3.25807310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.658001144999998 meters 0.07167072249280847 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.02, Z:-0.33 [[ 9.99864996e-01 1.13588638e-02 -1.18729240e-02 8.20763662e+00] [-1.13540903e-02 9.99935430e-01 4.69375401e-04 -1.69231958e-02] [ 1.18774889e-02 -3.34505782e-04 9.99929404e-01 -3.27492923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.688001144999998 meters 0.07092253168209263 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.01, Z:-0.32 [[ 9.99885312e-01 1.14526760e-02 -9.90958509e-03 8.23691177e+00] [-1.14493614e-02 9.99934377e-01 3.91149592e-04 -1.38604650e-02] [ 9.91341450e-03 -2.77646310e-04 9.99950822e-01 -3.24255729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.718001144999997 meters 0.07133854296214424 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.02, Z:-0.33 [[ 9.99904125e-01 1.09892490e-02 -8.42474566e-03 8.26430272e+00] [-1.09868463e-02 9.99939588e-01 3.31426406e-04 -1.60081057e-02] [ 8.42787883e-03 -2.38833245e-04 9.99964456e-01 -3.25126172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.748001144999998 meters 0.072476505220664 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.02, Z:-0.33 [[ 9.99921489e-01 9.84871788e-03 -7.74715791e-03 8.29215535e+00] [-9.84665742e-03 9.99951474e-01 3.04060937e-04 -1.99526201e-02] [ 7.74977658e-03 -2.27753455e-04 9.99969944e-01 -3.26419792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.778001144999998 meters 0.0724172717615777 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.02, Z:-0.32 [[ 9.99938554e-01 8.29515333e-03 -7.35387757e-03 8.32111009e+00] [-8.29325681e-03 9.99965569e-01 2.88350652e-04 -1.99543760e-02] [ 7.35601628e-03 -2.27345339e-04 9.99972918e-01 -3.24918771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.808001144999997 meters 0.07288641201448742 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.02, Z:-0.33 [[ 9.99956787e-01 6.61081988e-03 -6.53616800e-03 8.34987900e+00] [-6.60928930e-03 9.99978126e-01 2.55744036e-04 -2.27623176e-02] [ 6.53771570e-03 -2.12533559e-04 9.99978606e-01 -3.25771958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.838001144999998 meters 0.09991550017670094 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.07, Z:-0.34 [[ 9.99974878e-01 -6.29828640e-03 -3.25193292e-03 8.37650119e+00] [ 6.29873318e-03 9.99980155e-01 1.27165396e-04 -7.49565567e-02] [ 3.25106746e-03 -1.47645259e-04 9.99994704e-01 -3.44348518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.868001144999997 meters 0.07438670471180206 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.03, Z:-0.33 [[ 9.99986669e-01 -4.11148011e-04 -5.14704210e-03 8.40970808e+00] [ 4.12195346e-04 9.99999895e-01 2.02423695e-04 -3.26591887e-02] [ 5.14695833e-03 -2.04542583e-04 9.99986733e-01 -3.29063857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.898001144999999 meters 0.07671635874578225 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.04, Z:-0.33 [[ 9.99979092e-01 -2.35097185e-03 -6.02391906e-03 8.43761103e+00] [ 2.35243572e-03 9.99997205e-01 2.35936200e-04 -4.09170709e-02] [ 6.02334755e-03 -2.50102150e-04 9.99981828e-01 -3.34652423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.928001144999998 meters 0.07663845633814012 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.04, Z:-0.33 [[ 9.99973138e-01 -4.61717452e-03 -5.69248086e-03 8.46704217e+00] [ 4.61851674e-03 9.99989310e-01 2.22665109e-04 -4.20609665e-02] [ 5.69139192e-03 -2.48949945e-04 9.99983773e-01 -3.34246011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.958001144999997 meters 0.07641239668434764 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.04, Z:-0.33 [[ 9.99985271e-01 -2.60324214e-03 -4.76234850e-03 8.49671375e+00] [ 2.60415926e-03 9.99996592e-01 1.86386237e-04 -3.90722456e-02] [ 4.76184706e-03 -1.98785406e-04 9.99988643e-01 -3.33263569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.988001144999998 meters 0.07578997135534568 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.04, Z:-0.33 [[ 9.99988561e-01 -1.69171180e-03 -4.47388654e-03 8.52676431e+00] [ 1.69251016e-03 9.99998552e-01 1.74668943e-04 -3.66753884e-02] [ 4.47358457e-03 -1.82239043e-04 9.99989977e-01 -3.31817841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.018001144999998 meters 0.07592283658832559 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.04, Z:-0.33 [[ 9.99989945e-01 -7.08525884e-04 -4.42807621e-03 8.55596820e+00] [ 7.09297689e-04 9.99999734e-01 1.72730098e-04 -3.67627101e-02] [ 4.42795265e-03 -1.75869185e-04 9.99990181e-01 -3.31573571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.048001144999997 meters 0.07543303455940098 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.04, Z:-0.33 [[ 9.99992473e-01 -1.38112616e-04 -3.87760728e-03 8.58443489e+00] [ 1.38684127e-04 9.99999980e-01 1.47119294e-04 -3.58179009e-02] [ 3.87758688e-03 -1.47655949e-04 9.99992471e-01 -3.30855926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.078001144999998 meters 0.07479343262194135 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.04, Z:-0.33 [[ 9.99993410e-01 4.40968133e-04 -3.60349362e-03 8.61326522e+00] [-4.40482313e-04 9.99999894e-01 1.35611718e-04 -3.50891102e-02] [ 3.60355304e-03 -1.34023549e-04 9.99993498e-01 -3.29823391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.108001144999998 meters 0.07466982845032802 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.04, Z:-0.33 [[ 9.99993411e-01 2.16674472e-03 -2.91243003e-03 8.64143411e+00] [-2.16642952e-03 9.99997647e-01 1.11375566e-04 -3.65311789e-02] [ 2.91266450e-03 -1.05065258e-04 9.99995753e-01 -3.31260912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.138001144999997 meters 0.07458389412376133 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.04, Z:-0.33 [[ 9.99995941e-01 1.71089942e-03 -2.27814666e-03 8.66986832e+00] [-1.71070624e-03 9.99998533e-01 8.67410289e-05 -3.86956650e-02] [ 2.27829172e-03 -8.28434371e-05 9.99997401e-01 -3.32153251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.168001144999998 meters 0.073370142514556 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.04, Z:-0.33 [[ 9.99992895e-01 3.25125387e-03 -1.90772387e-03 8.69912870e+00] [-3.25112698e-03 9.99994713e-01 6.96087820e-05 -3.73664902e-02] [ 1.90794010e-03 -6.34060349e-05 9.99998178e-01 -3.32630617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.198001144999997 meters 0.07268452319377215 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.04, Z:-0.33 [[ 9.99978839e-01 6.17760700e-03 -2.03948501e-03 8.72735332e+00] [-6.17746288e-03 9.99980916e-01 7.69572534e-05 -3.69536497e-02] [ 2.03992150e-03 -6.43567819e-05 9.99997917e-01 -3.34266665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.228001144999997 meters 0.07205287519990076 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.04, Z:-0.33 [[ 9.99967832e-01 7.76973714e-03 -1.99132502e-03 8.75604481e+00] [-7.76960321e-03 9.99969813e-01 7.49831769e-05 -3.61073158e-02] [ 1.99184751e-03 -5.95089596e-05 9.99998014e-01 -3.34762713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.258001144999998 meters 0.07132684309995396 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.04, Z:-0.34 [[ 9.99950058e-01 9.89765896e-03 -1.38482665e-03 8.78381336e+00] [-9.89759719e-03 9.99951016e-01 5.14536670e-05 -3.52061022e-02] [ 1.38526809e-03 -3.77446409e-05 9.99999040e-01 -3.35925234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.288001144999997 meters 0.07006740500892195 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.03, Z:-0.33 [[ 9.99917236e-01 1.28633560e-02 -2.36679167e-04 8.81290595e+00] [-1.28633545e-02 9.99917264e-01 7.92298465e-06 -3.21734606e-02] [ 2.36761501e-04 -4.87784089e-06 9.99999972e-01 -3.34243818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.318001144999998 meters 0.07006740500892195 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.03, Z:-0.33 [[ 9.99918520e-01 1.27631127e-02 -2.36700815e-04 8.84032349e+00] [-1.27631114e-02 9.99918548e-01 7.35176646e-06 -3.30845907e-02] [ 2.36775367e-04 -4.33012858e-06 9.99999972e-01 -3.34690212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.348001144999998 meters 0.07006740500892195 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.03, Z:-0.34 [[ 9.99919795e-01 1.26628605e-02 -2.36701632e-04 8.86774111e+00] [-1.26628591e-02 9.99919823e-01 7.32803781e-06 -3.39932686e-02] [ 2.36775448e-04 -4.33013064e-06 9.99999972e-01 -3.35136994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.378001144999997 meters 0.07012058641316597 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.03, Z:-0.34 [[ 9.99895507e-01 1.44505661e-02 -3.95957688e-04 8.89507661e+00] [-1.44505618e-02 9.99895585e-01 1.36031740e-05 -3.45170084e-02] [ 3.96112918e-04 -7.87994156e-06 9.99999922e-01 -3.36739658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.408001144999998 meters 0.06944673479966622 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.03, Z:-0.34 [[ 9.99852319e-01 1.70675686e-02 -2.00965224e-03 8.92350407e+00] [-1.70674529e-02 9.99854338e-01 7.47039391e-05 -3.28098953e-02] [ 2.01063452e-03 -4.03932618e-05 9.99997978e-01 -3.37338491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.438001144999998 meters 0.06915200828248234 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.03, Z:-0.34 [[ 9.99834953e-01 1.79926060e-02 -2.51664809e-03 8.95265925e+00] [-1.79924272e-02 9.99838119e-01 9.36522438e-05 -3.31812520e-02] [ 2.51792574e-03 -4.83561791e-05 9.99996829e-01 -3.38869313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.468001144999997 meters 0.0685388439231334 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.03, Z:-0.34 [[ 9.99767175e-01 2.13725874e-02 -2.96801666e-03 8.98150400e+00] [-2.13723537e-02 9.99771579e-01 1.10447943e-04 -3.15541622e-02] [ 2.96969926e-03 -4.69887258e-05 9.99995589e-01 -3.40052985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.498001144999998 meters 0.06850027021258244 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.03, Z:-0.34 [[ 9.99740585e-01 2.24178619e-02 -4.02510738e-03 9.00918632e+00] [-2.24174414e-02 9.99748686e-01 1.49584175e-04 -3.20069119e-02] [ 4.02744917e-03 -5.93127620e-05 9.99991888e-01 -3.41921341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.528001144999998 meters 0.06775166203354985 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.03, Z:-0.34 [[ 9.99687731e-01 2.47561277e-02 -3.40219443e-03 9.03834196e+00] [-2.47558523e-02 9.99693519e-01 1.23051011e-04 -2.95503992e-02] [ 3.40419799e-03 -3.87883629e-05 9.99994205e-01 -3.40700208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.558001144999997 meters 0.06741760233681002 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.03, Z:-0.34 [[ 9.99640651e-01 2.67258203e-02 -2.07370900e-03 9.06643601e+00] [-2.67257206e-02 9.99642801e-01 7.57854574e-05 -2.91298602e-02] [ 2.07499370e-03 -2.03368566e-05 9.99997847e-01 -3.39764426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.588001144999998 meters 0.0668694326132964 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.03, Z:-0.34 [[ 9.99582608e-01 2.88892708e-02 -1.38398100e-04 9.09460214e+00] [-2.88892709e-02 9.99582618e-01 1.49922194e-06 -2.92703084e-02] [ 1.38383646e-04 2.49962402e-06 9.99999990e-01 -3.39753832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.618001144999997 meters 0.06651212884244148 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.03, Z:-0.34 [[ 9.99537297e-01 3.04023718e-02 -9.41819697e-04 9.12218903e+00] [-3.04023567e-02 9.99537741e-01 3.03550585e-05 -2.77544363e-02] [ 9.42307198e-04 -1.70747475e-06 9.99999556e-01 -3.39063623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.648001144999997 meters 0.06663934944150653 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.03, Z:-0.34 [[ 9.99522827e-01 3.08536445e-02 -1.47342896e-03 9.14946976e+00] [-3.08536004e-02 9.99523913e-01 5.26383924e-05 -2.81993923e-02] [ 1.47435157e-03 -7.15268648e-06 9.99998913e-01 -3.40451099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.678001144999998 meters 0.06625053506126609 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.03, Z:-0.34 [[ 9.99482527e-01 3.21657227e-02 -2.10830396e-04 9.17795695e+00] [-3.21657226e-02 9.99482549e-01 4.03874607e-06 -2.78816744e-02] [ 2.10851210e-04 2.74485589e-06 9.99999978e-01 -3.40106580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.708001144999997 meters 0.06625842479031008 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.03, Z:-0.34 [[ 9.99432566e-01 3.36792561e-02 -5.04647281e-04 9.20444257e+00] [-3.36792521e-02 9.99432693e-01 1.65076858e-05 -2.73675522e-02] [ 5.04916957e-04 4.97824173e-07 9.99999873e-01 -3.42084604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.738001144999998 meters 0.0661915861433767 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.03, Z:-0.34 [[ 9.99368116e-01 3.54924710e-02 -1.91135048e-03 9.23349972e+00] [-3.54924110e-02 9.99369944e-01 6.52994138e-05 -2.53718166e-02] [ 1.91246386e-03 2.58028465e-06 9.99998171e-01 -3.41563226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.768001144999998 meters 0.06635449150293075 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.03, Z:-0.35 [[ 9.99346483e-01 3.58747297e-02 -4.42839416e-03 9.26062372e+00] [-3.58743872e-02 9.99356295e-01 1.56795554e-04 -2.54383763e-02] [ 4.43116858e-03 2.17284120e-06 9.99990182e-01 -3.46579276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.798001144999997 meters 0.0662800584045954 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.03, Z:-0.35 [[ 9.99287179e-01 3.73186679e-02 -5.69661827e-03 9.28948580e+00] [-3.73181361e-02 9.99303416e-01 1.99643778e-04 -2.54997963e-02] [ 5.70010053e-03 1.30857087e-05 9.99983754e-01 -3.47477036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.828001144999998 meters 0.06642867894959377 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.03, Z:-0.35 [[ 9.99266894e-01 3.78081041e-02 -6.01853874e-03 9.31747286e+00] [-3.78075068e-02 9.99285018e-01 2.13025132e-04 -2.54700240e-02] [ 6.02228966e-03 1.46769822e-05 9.99981866e-01 -3.50909049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.858001144999998 meters 0.06632226169938875 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.03, Z:-0.35 [[ 9.99265227e-01 3.78444221e-02 -6.06676910e-03 9.34529213e+00] [-3.78438425e-02 9.99283643e-01 2.10353723e-04 -2.50742408e-02] [ 6.07038384e-03 1.93906936e-05 9.99981575e-01 -3.48737748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.888001144999997 meters 0.06601228078564218 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.02, Z:-0.35 [[ 9.99221681e-01 3.91568457e-02 -4.77223487e-03 9.37287638e+00] [-3.91564943e-02 9.99233076e-01 1.67067197e-04 -2.21377032e-02] [ 4.77511675e-03 1.99268225e-05 9.99988599e-01 -3.45796369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.918001144999998 meters 0.0657920432367508 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.02, Z:-0.34 [[ 9.99206751e-01 3.97003398e-02 -3.12275160e-03 9.40196881e+00] [-3.97002027e-02 9.99211631e-01 1.05902550e-04 -2.24866452e-02] [ 3.12449408e-03 1.81553284e-05 9.99995119e-01 -3.43363835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.948001144999997 meters 0.06571170251314443 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.02, Z:-0.34 [[ 9.99170205e-01 4.06756496e-02 -2.09588381e-03 9.43109413e+00] [-4.06755934e-02 9.99172403e-01 6.94684960e-05 -2.26535726e-02] [ 2.09697494e-03 1.58404663e-05 9.99997801e-01 -3.42900615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.978001144999997 meters 0.06562944400609573 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.02, Z:-0.34 [[ 9.99090708e-01 4.26308884e-02 -6.04495398e-04 9.45967311e+00] [-4.26308857e-02 9.99090890e-01 1.73408404e-05 -2.31805582e-02] [ 6.04685100e-04 8.44510170e-06 9.99999817e-01 -3.41024362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.008001144999998 meters 0.06595068948672235 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.02, Z:-0.34 [[ 9.98996787e-01 4.47790541e-02 5.04969680e-04 9.48696820e+00] [-4.47790501e-02 9.98996915e-01 -1.92023383e-05 -2.19202954e-02] [-5.05323015e-04 -3.42898831e-06 9.99999872e-01 -3.42976574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.038001144999997 meters 0.06577735766029855 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.02, Z:-0.34 [[ 9.98944235e-01 4.59271641e-02 1.05361836e-03 9.51523535e+00] [-4.59271500e-02 9.98944791e-01 -3.75702616e-05 -2.37213814e-02] [-1.05423206e-03 -1.08590919e-05 9.99999444e-01 -3.40974422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.068001144999997 meters 0.06588578868309262 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.02, Z:-0.34 [[ 9.98826277e-01 4.84250739e-02 1.03904512e-03 9.54358268e+00] [-4.84250610e-02 9.98826818e-01 -3.76036257e-05 -2.22536263e-02] [-1.03964709e-03 -1.27563338e-05 9.99999459e-01 -3.41507950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.098001144999998 meters 0.06640074301456964 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.02, Z:-0.34 [[ 9.98623744e-01 5.24443576e-02 -4.54459919e-04 9.57245779e+00] [-5.24443563e-02 9.98623848e-01 1.47919120e-05 -1.84908241e-02] [ 4.54610266e-04 9.06230343e-06 9.99999897e-01 -3.41421490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.128001144999997 meters 0.06674448543871393 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.02, Z:-0.34 [[ 9.98512601e-01 5.45022672e-02 -1.44507065e-03 9.60158306e+00] [-5.45022582e-02 9.98513646e-01 4.56217066e-05 -1.64128498e-02] [ 1.44540925e-03 3.32057648e-05 9.99998955e-01 -3.41015134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.158001144999998 meters 0.06716577628263258 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.01, Z:-0.34 [[ 9.98370294e-01 5.70518890e-02 -1.35591353e-03 9.62970327e+00] [-5.70518807e-02 9.98371214e-01 4.47957228e-05 -1.49382916e-02] [ 1.35626072e-03 3.26346982e-05 9.99999080e-01 -3.41538056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.188001144999998 meters 0.06740615439038915 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.02, Z:-0.34 [[ 9.98287685e-01 5.84751474e-02 -1.53486651e-03 9.65793099e+00] [-5.84751384e-02 9.98288864e-01 5.07658943e-05 -1.56922937e-02] [ 1.53520869e-03 3.90725648e-05 9.99998821e-01 -3.41639580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.218001144999997 meters 0.06813274016189609 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.02, Z:-0.34 [[ 9.97920181e-01 6.44324222e-02 -1.94292100e-03 9.68781092e+00] [-6.44324165e-02 9.97922071e-01 6.55537016e-05 -1.65439148e-02] [ 1.94310754e-03 5.97697336e-05 9.99998110e-01 -3.42673150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.248001144999998 meters 0.06894814266507107 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.02, Z:-0.35 [[ 9.97723989e-01 6.74155629e-02 -1.40838101e-03 9.71603712e+00] [-6.74155641e-02 9.97724982e-01 4.66279639e-05 -1.67165378e-02] [ 1.40832037e-03 4.84249620e-05 9.99999007e-01 -3.45114362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.278001144999998 meters 0.06923725513828882 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.02, Z:-0.35 [[ 9.97646756e-01 6.85183448e-02 -2.48714875e-03 9.74395883e+00] [-6.85183514e-02 9.97649853e-01 8.26807164e-05 -1.72242115e-02] [ 2.48696873e-03 8.79291836e-05 9.99996904e-01 -3.46315449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.308001144999997 meters 0.06952794942708927 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.02, Z:-0.34 [[ 9.97360807e-01 7.25700243e-02 -2.23897970e-03 9.77454381e+00] [-7.25700373e-02 9.97363316e-01 7.55295374e-05 -1.50292636e-02] [ 2.23855740e-03 8.71526404e-05 9.99997491e-01 -3.43615419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.338001144999998 meters 0.06994666735912865 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.01, Z:-0.34 [[ 9.97314785e-01 7.32172910e-02 -1.56484861e-03 9.80206128e+00] [-7.32173003e-02 9.97316010e-01 5.14398771e-05 -1.33062168e-02] [ 1.56441486e-03 6.32722408e-05 9.99998774e-01 -3.43432537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.368001144999997 meters 0.07075824695667429 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.01, Z:-0.34 [[ 9.97291474e-01 7.35189532e-02 -2.16299610e-03 9.82976565e+00] [-7.35189710e-02 9.97293816e-01 7.14185977e-05 -1.09237409e-02] [ 2.16239325e-03 8.77960886e-05 9.99997658e-01 -3.44748188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.398001144999997 meters 0.06908763350274874 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.02, Z:-0.35 [[ 9.97563414e-01 6.97399493e-02 -1.89041164e-03 9.85916000e+00] [-6.97399551e-02 9.97565203e-01 6.29339447e-05 -1.81498566e-02] [ 1.89019789e-03 6.90566223e-05 9.99998211e-01 -3.45058844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.428001144999998 meters 0.06835142619316387 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.02, Z:-0.35 [[ 9.97809520e-01 6.61095077e-02 -2.38618884e-03 9.88894462e+00] [-6.61095057e-02 9.97812371e-01 7.97814051e-05 -2.27906368e-02] [ 2.38624305e-03 7.81431188e-05 9.99997150e-01 -3.46406564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.458001144999997 meters 0.06826512554187904 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.03, Z:-0.35 [[ 9.98104107e-01 6.14944994e-02 -2.57267720e-03 9.91800096e+00] [-6.14944826e-02 9.98107420e-01 8.57184371e-05 -2.51356297e-02] [ 2.57307941e-03 7.26495289e-05 9.99996687e-01 -3.50134149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.488001144999997 meters 0.06761665974975375 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.03, Z:-0.35 [[ 9.98327976e-01 5.76884596e-02 -3.64619145e-03 9.94631028e+00] [-5.76884021e-02 9.98334630e-01 1.21009252e-04 -2.98065164e-02] [ 3.64710003e-03 8.95360371e-05 9.99993345e-01 -3.52627778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.518001144999998 meters 0.06658282518751926 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.04, Z:-0.36 [[ 9.98753936e-01 4.95651400e-02 -5.82002400e-03 9.97527353e+00] [-4.95648520e-02 9.98770889e-01 1.93808104e-04 -3.79588638e-02] [ 5.82247667e-03 9.49020216e-05 9.99983045e-01 -3.57538739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.548001144999997 meters 0.06641719805042333 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.04, Z:-0.36 [[ 9.98889942e-01 4.66601996e-02 -6.45832267e-03 1.00037563e+01] [-4.66598097e-02 9.98910816e-01 2.11123562e-04 -3.97298523e-02] [ 6.46113944e-03 9.04549045e-05 9.99979123e-01 -3.59129295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.578001144999998 meters 0.06617648941877537 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.04, Z:-0.36 [[ 9.99002021e-01 4.40417981e-02 -7.43525438e-03 1.00319127e+01] [-4.40412218e-02 9.99029686e-01 2.41306546e-04 -4.19185040e-02] [ 7.43866742e-03 8.63919596e-05 9.99972329e-01 -3.59211242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.608001144999998 meters 0.06594275171364825 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.04, Z:-0.36 [[ 9.99078174e-01 4.23889511e-02 -6.78082897e-03 1.00608171e+01] [-4.23884425e-02 9.99101182e-01 2.18770117e-04 -4.34088610e-02] [ 6.78400767e-03 6.88603297e-05 9.99976986e-01 -3.58403197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.638001144999997 meters 0.06560102171272318 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.05, Z:-0.35 [[ 9.99149765e-01 4.08495667e-02 -5.57309214e-03 1.00892784e+01] [-4.08492099e-02 9.99165307e-01 1.77883324e-04 -4.60698582e-02] [ 5.57570678e-03 4.99243289e-05 9.99984454e-01 -3.54466693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.668001144999998 meters 0.06581293673469703 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.05, Z:-0.36 [[ 9.99119602e-01 4.16683023e-02 -4.87588101e-03 1.01169999e+01] [-4.16680319e-02 9.99131498e-01 1.57072121e-04 -4.57925371e-02] [ 4.87819123e-03 4.62345299e-05 9.99988100e-01 -3.57095297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.698001144999997 meters 0.06578975856454215 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.05, Z:-0.36 [[ 9.99079139e-01 4.26338525e-02 -4.81966534e-03 1.01458715e+01] [-4.26336154e-02 9.99090763e-01 1.51975678e-04 -4.69038085e-02] [ 4.82176243e-03 5.36440286e-05 9.99988374e-01 -3.56006166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.728001144999997 meters 0.06593384289951086 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.05, Z:-0.36 [[ 9.98990906e-01 4.45765198e-02 -5.48673850e-03 1.01742310e+01] [-4.45762454e-02 9.99005970e-01 1.72366456e-04 -4.67039166e-02] [ 5.48896802e-03 7.23856792e-05 9.99984933e-01 -3.56580012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.758001144999998 meters 0.06649013066993796 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.04, Z:-0.36 [[ 9.98840699e-01 4.75356946e-02 -7.59056671e-03 1.02022732e+01] [-4.75352293e-02 9.98869533e-01 2.41795258e-04 -4.49064095e-02] [ 7.59347973e-03 1.19304385e-04 9.99971162e-01 -3.57466573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.788001144999997 meters 0.06677390440515069 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.04, Z:-0.36 [[ 9.98747044e-01 4.93446725e-02 -8.33341929e-03 1.02305263e+01] [-4.93441809e-02 9.98781799e-01 2.64713114e-04 -4.43938116e-02] [ 8.33632970e-03 1.46824310e-04 9.99965241e-01 -3.58603938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.818001144999997 meters 0.06706069489628351 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.05, Z:-0.36 [[ 9.98709579e-01 4.99461428e-02 -9.19564296e-03 1.02590974e+01] [-4.99456060e-02 9.98751898e-01 2.88149516e-04 -4.52805762e-02] [ 9.19855782e-03 1.71504279e-04 9.99957678e-01 -3.60609418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.848001144999998 meters 0.06771173864986857 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.05, Z:-0.37 [[ 9.98646892e-01 5.06789058e-02 -1.16633147e-02 1.02875528e+01] [-5.06780569e-02 9.98714974e-01 3.68512879e-04 -4.74139298e-02] [ 1.16670029e-02 2.23059887e-04 9.99931913e-01 -3.65211593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.878001144999997 meters 0.06789396641595453 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.05, Z:-0.37 [[ 9.98619472e-01 5.10983353e-02 -1.21700195e-02 1.03160288e+01] [-5.10975041e-02 9.98693597e-01 3.79433358e-04 -5.04880115e-02] [ 1.21735090e-02 2.42948083e-04 9.99925871e-01 -3.67440063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.908001144999997 meters 0.06834983153497548 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.05, Z:-0.37 [[ 9.98575076e-01 5.18217952e-02 -1.27404413e-02 1.03439443e+01] [-5.18209388e-02 9.98656313e-01 3.97562590e-04 -5.04407200e-02] [ 1.27439245e-02 2.63225534e-04 9.99918758e-01 -3.68765730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.938001144999998 meters 0.0675715963209706 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.05, Z:-0.36 [[ 9.98637312e-01 5.09125301e-02 -1.14644021e-02 1.03723770e+01] [-5.09118248e-02 9.98703090e-01 3.53547871e-04 -5.22571672e-02] [ 1.14675338e-02 2.30607535e-04 9.99934219e-01 -3.63362607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.968001144999997 meters 0.06740965881412225 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.05, Z:-0.36 [[ 9.98689183e-01 4.99797686e-02 -1.10426000e-02 1.04009262e+01] [-4.99790841e-02 9.98750207e-01 3.38103037e-04 -5.26373559e-02] [ 1.10456973e-02 2.14239188e-04 9.99938971e-01 -3.60936175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.998001144999998 meters 0.0677569154462838 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.05, Z:-0.36 [[ 9.98736619e-01 4.91857133e-02 -1.02922798e-02 1.04289144e+01] [-4.91850642e-02 9.98789632e-01 3.16333616e-04 -5.27020751e-02] [ 1.02953815e-02 1.90292478e-04 9.99946983e-01 -3.60935401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.028001144999998 meters 0.06737508116202913 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.06, Z:-0.36 [[ 9.98856575e-01 4.65683450e-02 -1.08134806e-02 1.04580672e+01] [-4.65674940e-02 9.98915091e-01 3.30599580e-04 -5.61736027e-02] [ 1.08171444e-02 1.73335127e-04 9.99941478e-01 -3.60028916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.058001144999997 meters 0.06751062234043227 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.06, Z:-0.36 [[ 9.98924025e-01 4.48611822e-02 -1.17587026e-02 1.04844782e+01] [-4.48600686e-02 9.98993216e-01 3.58577984e-04 -5.77414853e-02] [ 1.17629503e-02 1.69304040e-04 9.99930800e-01 -3.62224732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.088001144999998 meters 0.06762938448040948 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.06, Z:-0.37 [[ 9.98982723e-01 4.33214440e-02 -1.25208611e-02 1.05108797e+01] [-4.33200748e-02 9.99061172e-01 3.80668334e-04 -6.07273744e-02] [ 1.25255973e-02 1.62123552e-04 9.99921538e-01 -3.65269270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.118001144999997 meters 0.06770446615257032 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.06, Z:-0.37 [[ 9.99030322e-01 4.17100314e-02 -1.40957308e-02 1.05398490e+01] [-4.17081971e-02 9.99129745e-01 4.24201175e-04 -6.41946823e-02] [ 1.41011574e-02 1.64117684e-04 9.99900560e-01 -3.68176957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.148001144999997 meters 0.06802879833303853 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.07, Z:-0.37 [[ 9.99156519e-01 3.76766036e-02 -1.63316755e-02 1.05677074e+01] [-3.76735781e-02 9.99289977e-01 4.92977884e-04 -7.14558578e-02] [ 1.63386534e-02 1.22710587e-04 9.99866508e-01 -3.73724754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.178001144999998 meters 0.06819981441644586 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.07, Z:-0.38 [[ 9.99151838e-01 3.74695895e-02 -1.70773135e-02 1.05960202e+01] [-3.74663446e-02 9.99297760e-01 5.10021280e-04 -7.18818185e-02] [ 1.70844314e-02 1.30235815e-04 9.99854042e-01 -3.75050781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.208001144999997 meters 0.06827950558075006 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.08, Z:-0.37 [[ 9.99225513e-01 3.47810424e-02 -1.84025300e-02 1.06242591e+01] [-3.47768237e-02 9.99394952e-01 5.49311317e-04 -7.57672302e-02] [ 1.84105012e-02 9.10956574e-05 9.99830508e-01 -3.72839642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.238001144999997 meters 0.06827950558075006 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.08, Z:-0.37 [[ 9.99233663e-01 3.45460064e-02 -1.84027196e-02 1.06515783e+01] [-3.45418651e-02 9.99403104e-01 5.42947078e-04 -7.64345851e-02] [ 1.84104917e-02 9.31332594e-05 9.99830508e-01 -3.73284842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.268001144999998 meters 0.0683656329578489 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.08, Z:-0.37 [[ 9.99233165e-01 3.46410167e-02 -1.82505311e-02 1.06793612e+01] [-3.46370378e-02 9.99399815e-01 5.34167609e-04 -7.69236300e-02] [ 1.82580815e-02 9.83863452e-05 9.99833302e-01 -3.74748753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.298001144999997 meters 0.06854972813485703 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.08, Z:-0.38 [[ 9.99282609e-01 3.31921476e-02 -1.82359317e-02 1.07069603e+01] [-3.31880108e-02 9.99448986e-01 5.29520192e-04 -7.92325466e-02] [ 1.82434593e-02 7.60739768e-05 9.99833571e-01 -3.75784334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.328001144999996 meters 0.06858619964445796 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.08, Z:-0.38 [[ 9.99315924e-01 3.18634038e-02 -1.87725115e-02 1.07356604e+01] [-3.18588450e-02 9.99492231e-01 5.41930736e-04 -8.20896344e-02] [ 1.87802471e-02 5.65105189e-05 9.99823634e-01 -3.76994188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.358001144999998 meters 0.06880060183378958 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.08, Z:-0.38 [[ 9.99293462e-01 3.15479244e-02 -2.04280644e-02 1.07643471e+01] [-3.15425409e-02 9.99502239e-01 5.85769672e-04 -8.28364282e-02] [ 2.04363760e-02 5.89972558e-05 9.99791154e-01 -3.77563980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.388001144999997 meters 0.06912131778878633 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.08, Z:-0.38 [[ 9.99255992e-01 3.20142952e-02 -2.15069005e-02 1.07922462e+01] [-3.20084199e-02 9.99487409e-01 6.17453545e-04 -8.36531207e-02] [ 2.15156436e-02 7.14077494e-05 9.99768509e-01 -3.81806216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.418001144999998 meters 0.06941801405586655 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.08, Z:-0.38 [[ 9.99234210e-01 3.18805202e-02 -2.26853511e-02 1.08208004e+01] [-3.18740988e-02 9.99491684e-01 6.44681438e-04 -8.45010925e-02] [ 2.26943725e-02 7.88873736e-05 9.99742446e-01 -3.84673526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.448001144999997 meters 0.06957059725627611 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.09, Z:-0.39 [[ 9.99235419e-01 3.12370424e-02 -2.35122211e-02 1.08489353e+01] [-3.12299534e-02 9.99512002e-01 6.68729298e-04 -8.52311367e-02] [ 2.35216363e-02 6.60675676e-05 9.99723326e-01 -3.86409841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.478001144999997 meters 0.06938157106563193 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.08, Z:-0.38 [[ 9.99251000e-01 3.10475857e-02 -2.30973351e-02 1.08780555e+01] [-3.10408516e-02 9.99517905e-01 6.50112930e-04 -8.19694669e-02] [ 2.31063845e-02 6.73349570e-05 9.99733010e-01 -3.83077706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.508001144999998 meters 0.06934269445564571 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.08, Z:-0.38 [[ 9.99260955e-01 3.07291134e-02 -2.30925588e-02 1.09056720e+01] [-3.07224326e-02 9.99527747e-01 6.44111470e-04 -8.04321278e-02] [ 2.31014463e-02 6.58241407e-05 9.99733124e-01 -3.82130092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.538001144999997 meters 0.06936133750588495 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.08, Z:-0.38 [[ 9.99284643e-01 3.05575122e-02 -2.22809588e-02 1.09346753e+01] [-3.05513429e-02 9.99533008e-01 6.17313166e-04 -7.97579800e-02] [ 2.22894173e-02 6.38416452e-05 9.99751558e-01 -3.82681030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.568001144999997 meters 0.06898188289821805 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.08, Z:-0.38 [[ 9.99413921e-01 2.83391421e-02 -1.92017654e-02 1.09649439e+01] [-2.83341063e-02 9.99598366e-01 5.34319120e-04 -8.13996862e-02] [ 1.92091954e-02 1.00588948e-05 9.99815486e-01 -3.81272987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.598001144999998 meters 0.06876101662350277 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.08, Z:-0.38 [[ 9.99529465e-01 2.54633531e-02 -1.71016650e-02 1.09938009e+01] [-2.54590435e-02 9.99675756e-01 4.69703409e-04 -8.46839118e-02] [ 1.71080801e-02 -3.40903638e-05 9.99853646e-01 -3.79985961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.628001144999997 meters 0.06895089994766214 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.09, Z:-0.38 [[ 9.99600345e-01 2.35053644e-02 -1.57050129e-02 1.10215468e+01] [-2.35014804e-02 9.99723709e-01 4.31847146e-04 -8.69521544e-02] [ 1.57108245e-02 -6.25835033e-05 9.99876575e-01 -3.80783639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.658001144999997 meters 0.06910740289909698 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.09, Z:-0.38 [[ 9.99649511e-01 2.15929483e-02 -1.53166349e-02 1.10485019e+01] [-2.15890606e-02 9.99766841e-01 4.19142104e-04 -8.86109292e-02] [ 1.53221142e-02 -8.83234409e-05 9.99882606e-01 -3.81703767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.688001144999998 meters 0.0687654559829772 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.09, Z:-0.38 [[ 9.99697266e-01 2.00443003e-02 -1.42689423e-02 1.10768154e+01] [-2.00408392e-02 9.99799088e-01 3.85527768e-04 -8.97357076e-02] [ 1.42738032e-02 -9.94494776e-05 9.99898119e-01 -3.77837844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.718001144999997 meters 0.06903794386236548 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.09, Z:-0.38 [[ 9.99811919e-01 1.47541700e-02 -1.25873701e-02 1.11042863e+01] [-1.47511031e-02 9.99891140e-01 3.36459179e-04 -9.45000192e-02] [ 1.25909640e-02 -1.50718303e-04 9.99920719e-01 -3.76227157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.748001144999996 meters 0.06950908672114113 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.10, Z:-0.38 [[ 9.99848825e-01 1.11669068e-02 -1.33276939e-02 1.11327965e+01] [-1.11631462e-02 9.99937627e-01 3.56530533e-04 -9.72223706e-02] [ 1.33308439e-02 -2.07697639e-04 9.99911119e-01 -3.76508304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.778001144999998 meters 0.07023518674014695 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.10, Z:-0.38 [[ 9.99880556e-01 8.86177937e-03 -1.26626759e-02 1.11601059e+01] [-8.85821828e-03 9.99960708e-01 3.37287047e-04 -9.98089377e-02] [ 1.26651674e-02 -2.25078013e-04 9.99919768e-01 -3.78121658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.808001144999997 meters 0.07095639209781666 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.10, Z:-0.38 [[ 9.99893559e-01 6.27327277e-03 -1.31725442e-02 1.11884824e+01] [-6.26919263e-03 9.99980287e-01 3.51015462e-04 -1.03539600e-01] [ 1.31744865e-02 -2.68396883e-04 9.99913177e-01 -3.80984079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.838001144999998 meters 0.07151543124105612 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.11, Z:-0.38 [[ 9.99894879e-01 5.16860300e-03 -1.35468624e-02 1.12162722e+01] [-5.16420360e-03 9.99986601e-01 3.59714787e-04 -1.05714254e-01] [ 1.35485401e-02 -2.89718217e-04 9.99908172e-01 -3.83584718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.868001144999997 meters 0.07188198966123303 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.11, Z:-0.38 [[ 9.99895144e-01 4.08132018e-03 -1.38939933e-02 1.12447292e+01] [-4.07659544e-03 9.99991623e-01 3.68360775e-04 -1.07911057e-01] [ 1.38953803e-02 -3.11681961e-04 9.99903406e-01 -3.84953415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.898001144999997 meters 0.0721547700382804 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.11, Z:-0.39 [[ 9.99902438e-01 3.16872518e-03 -1.36041452e-02 1.12731367e+01] [-3.16412293e-03 9.99994929e-01 3.59808054e-04 -1.09444439e-01] [ 1.36052164e-02 -3.16727763e-04 9.99907395e-01 -3.85514607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.928001144999998 meters 0.07240047016127409 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.11, Z:-0.39 [[ 9.99891536e-01 3.78598444e-03 -1.42331350e-02 1.13001049e+01] [-3.78104118e-03 9.99992782e-01 3.74200072e-04 -1.08184348e-01] [ 1.42344489e-02 -3.20343415e-04 9.99898634e-01 -3.87140164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.958001144999997 meters 0.07161271519232375 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.10, Z:-0.39 [[ 9.99888249e-01 5.83777126e-03 -1.37626403e-02 1.13284763e+01] [-5.83340928e-03 9.99982922e-01 3.57065992e-04 -1.04834753e-01] [ 1.37644897e-02 -2.76742976e-04 9.99905227e-01 -3.86911902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.988001144999997 meters 0.07166257581207773 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.10, Z:-0.39 [[ 9.99882949e-01 6.02884402e-03 -1.40620457e-02 1.13558190e+01] [-6.02429126e-03 9.99981787e-01 3.66099604e-04 -1.04801564e-01] [ 1.40639968e-02 -2.81342893e-04 9.99901058e-01 -3.87919723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.018001144999998 meters 0.07156258211919563 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.11, Z:-0.39 [[ 9.99877711e-01 6.94938056e-03 -1.40096213e-02 1.13832589e+01] [-6.94498230e-03 9.99975818e-01 3.62572625e-04 -1.05754151e-01] [ 1.40118022e-02 -2.65231714e-04 9.99901795e-01 -3.88932050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.048001144999997 meters 0.07133144930960346 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.11, Z:-0.39 [[ 9.99855435e-01 8.96350838e-03 -1.44486603e-02 1.14115049e+01] [-8.95903985e-03 9.99959797e-01 3.73967650e-04 -1.05819651e-01] [ 1.44514315e-02 -2.44467464e-04 9.99895543e-01 -3.91204101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.078001144999996 meters 0.07190295175064206 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.11, Z:-0.40 [[ 9.99855157e-01 1.03301479e-02 -1.35260252e-02 1.14387516e+01] [-1.03263745e-02 9.99946621e-01 3.48787086e-04 -1.08579208e-01] [ 1.35289062e-02 -2.09061765e-04 9.99908458e-01 -3.96790099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.108001144999998 meters 0.06986835599072001 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.10, Z:-0.39 [[ 9.99850540e-01 1.15931700e-02 -1.28256078e-02 1.14681396e+01] [-1.15899445e-02 9.99932781e-01 3.25783658e-04 -1.04253136e-01] [ 1.28285225e-02 -1.77086883e-04 9.99917695e-01 -3.88312327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.138001144999997 meters 0.0695675871494654 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.10, Z:-0.39 [[ 9.99836473e-01 1.26876702e-02 -1.28860427e-02 1.14972174e+01] [-1.26844853e-02 9.99919495e-01 3.28865921e-04 -1.04348295e-01] [ 1.28891778e-02 -1.65359324e-04 9.99916917e-01 -3.88599757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.168001144999996 meters 0.06906431553717782 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.10, Z:-0.39 [[ 9.99752368e-01 1.73303761e-02 -1.39592250e-02 1.15249939e+01] [-1.73271253e-02 9.99849811e-01 3.53798541e-04 -9.94071211e-02] [ 1.39632599e-02 -1.11837689e-04 9.99902503e-01 -3.88772878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.198001144999997 meters 0.06902578336675959 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.10, Z:-0.39 [[ 9.99710257e-01 1.95078848e-02 -1.41012185e-02 1.15541555e+01] [-1.95048519e-02 9.99809700e-01 3.52591441e-04 -9.75203442e-02] [ 1.41054133e-02 -7.74471019e-05 9.99900511e-01 -3.89085194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.228001144999997 meters 0.06888283717796988 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.10, Z:-0.39 [[ 9.99649204e-01 2.20043585e-02 -1.47403049e-02 1.15814306e+01] [-2.20013142e-02 9.99757874e-01 3.68679719e-04 -9.69121526e-02] [ 1.47448485e-02 -4.42443086e-05 9.99891288e-01 -3.91070508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.258001144999998 meters 0.06879374242469871 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.09, Z:-0.39 [[ 9.99495619e-01 2.77140647e-02 -1.55060943e-02 1.16096888e+01] [-2.77113893e-02 9.99615891e-01 3.87416311e-04 -9.15461931e-02] [ 1.55108751e-02 4.24745093e-05 9.99879698e-01 -3.91772438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.288001144999997 meters 0.06873281102398285 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.09, Z:-0.39 [[ 9.99415235e-01 3.04818902e-02 -1.54933156e-02 1.16388497e+01] [-3.04796361e-02 9.99535315e-01 3.81653335e-04 -8.89290358e-02] [ 1.54977496e-02 9.08004632e-05 9.99879899e-01 -3.91403918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.318001144999997 meters 0.06876067802710896 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.09, Z:-0.39 [[ 9.99346397e-01 3.23681646e-02 -1.60959645e-02 1.16674555e+01] [-3.23660302e-02 9.99476005e-01 3.93152589e-04 -8.75421336e-02] [ 1.61002560e-02 1.28066851e-04 9.99870374e-01 -3.90569937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.348001144999998 meters 0.06913288698337305 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.09, Z:-0.39 [[ 9.99249344e-01 3.55114381e-02 -1.54817919e-02 1.16957301e+01] [-3.55098262e-02 9.99369255e-01 3.79088753e-04 -8.55783037e-02] [ 1.54854888e-02 1.70951552e-04 9.99880078e-01 -3.92357266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.378001144999997 meters 0.06937549893221162 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.08, Z:-0.39 [[ 9.99141396e-01 3.87659805e-02 -1.46174404e-02 1.17242379e+01] [-3.87649680e-02 9.99248294e-01 3.52700827e-04 -8.42156307e-02] [ 1.46201252e-02 2.14246613e-04 9.99893097e-01 -3.92085719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.408001144999997 meters 0.06977791563533278 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.08, Z:-0.39 [[ 9.98903338e-01 4.47906195e-02 -1.36352851e-02 1.17534313e+01] [-4.47902748e-02 9.98996357e-01 3.30812624e-04 -8.12449142e-02] [ 1.36364174e-02 2.80278331e-04 9.99906980e-01 -3.90426903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.438001144999998 meters 0.06956764356413436 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.08, Z:-0.39 [[ 9.98782623e-01 4.76925311e-02 -1.25973605e-02 1.17824264e+01] [-4.76925366e-02 9.98862018e-01 3.00144178e-04 -8.08603177e-02] [ 1.25973396e-02 3.01021287e-04 9.99920605e-01 -3.86863398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.468001144999997 meters 0.07087821330968894 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.08, Z:-0.39 [[ 9.98687289e-01 4.96996196e-02 -1.23953888e-02 1.18097684e+01] [-4.96997841e-02 9.98764159e-01 2.94952801e-04 -7.63748550e-02] [ 1.23947291e-02 3.21482532e-04 9.99923131e-01 -3.90091249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.498001144999996 meters 0.07155925865005447 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.07, Z:-0.39 [[ 9.98263750e-01 5.80958746e-02 -9.71368795e-03 1.18405280e+01] [-5.80963562e-02 9.98310953e-01 2.32823185e-04 -7.22105892e-02] [ 9.71080714e-03 3.31910930e-04 9.99952794e-01 -3.86614897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.528001144999998 meters 0.07235862143403533 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.07, Z:-0.39 [[ 9.98092267e-01 6.09783261e-02 -9.66796386e-03 1.18693613e+01] [-6.09789494e-02 9.98139026e-01 2.30576072e-04 -6.93654112e-02] [ 9.66403217e-03 3.59406084e-04 9.99953238e-01 -3.87009594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.558001144999997 meters 0.07207023684433618 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.07, Z:-0.38 [[ 9.98005353e-01 6.23967135e-02 -9.58988181e-03 1.18977381e+01] [-6.23974372e-02 9.98051356e-01 2.23999497e-04 -6.92553223e-02] [ 9.58517138e-03 3.74831351e-04 9.99953991e-01 -3.84812711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.588001144999998 meters 0.07323719988735658 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.06, Z:-0.39 [[ 9.97998297e-01 6.23959276e-02 -1.03027899e-02 1.19254595e+01] [-6.23967456e-02 9.98051395e-01 2.42339428e-04 -6.39443810e-02] [ 1.02978349e-02 4.01006226e-04 9.99946895e-01 -3.85560401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.618001144999997 meters 0.0717935942509414 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.07, Z:-0.38 [[ 9.98008052e-01 6.22304277e-02 -1.03586847e-02 1.19532520e+01] [-6.22312994e-02 9.98061726e-01 2.38468473e-04 -6.86111711e-02] [ 1.03534467e-02 4.06640950e-04 9.99946319e-01 -3.84156804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.648001144999997 meters 0.07135582518309395 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.07, Z:-0.39 [[ 9.98032184e-01 6.16892498e-02 -1.12336897e-02 1.19813179e+01] [-6.16902597e-02 9.98095309e-01 2.56924869e-04 -7.21404239e-02] [ 1.12281425e-02 4.36589944e-04 9.99936867e-01 -3.85118849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.678001144999998 meters 0.07148311239607852 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.07, Z:-0.39 [[ 9.98105027e-01 6.04728118e-02 -1.13751382e-02 1.20087113e+01] [-6.04737523e-02 9.98169754e-01 2.61580979e-04 -7.38276002e-02] [ 1.13701374e-02 4.26812000e-04 9.99935267e-01 -3.88799940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.708001144999997 meters 0.0721683821371146 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.07, Z:-0.39 [[ 9.98234885e-01 5.77767527e-02 -1.37463157e-02 1.20360390e+01] [-5.77778815e-02 9.98329413e-01 3.15338382e-04 -7.40922033e-02] [ 1.37415705e-02 4.79451224e-04 9.99905465e-01 -3.93873974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.738001144999997 meters 0.07088388451123516 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.08, Z:-0.39 [[ 9.98383868e-01 5.53742893e-02 -1.27804758e-02 1.20654459e+01] [-5.53750650e-02 9.98465581e-01 2.93447282e-04 -7.82184683e-02] [ 1.27771146e-02 4.14746643e-04 9.99918283e-01 -3.92511283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.768001144999998 meters 0.07040177081757297 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.08, Z:-0.39 [[ 9.98511605e-01 5.31188630e-02 -1.23677271e-02 1.20947041e+01] [-5.31194805e-02 9.98588125e-01 2.78797665e-04 -7.89861278e-02] [ 1.23650749e-02 3.78584536e-04 9.99923478e-01 -3.91913723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.798001144999997 meters 0.06938930960146243 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.08, Z:-0.39 [[ 9.98834266e-01 4.68207729e-02 -1.17441365e-02 1.21249108e+01] [-4.68208758e-02 9.98903266e-01 2.66334480e-04 -8.28472637e-02] [ 1.17437263e-02 2.83846753e-04 9.99931000e-01 -3.91685698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.828001144999996 meters 0.06883347062485391 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.09, Z:-0.39 [[ 9.99010857e-01 4.30269412e-02 -1.12244894e-02 1.21525214e+01] [-4.30268100e-02 9.99073886e-01 2.53285981e-04 -8.55538492e-02] [ 1.12249924e-02 2.29918528e-04 9.99936971e-01 -3.92817298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.858001144999998 meters 0.06874953207712108 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.09, Z:-0.40 [[ 9.99187859e-01 3.85480861e-02 -1.17331843e-02 1.21799074e+01] [-3.85476388e-02 9.99256729e-01 2.64358822e-04 -8.83398502e-02] [ 1.17346539e-02 1.88142427e-04 9.99931129e-01 -3.96179970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.888001144999997 meters 0.0678025401359955 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.09, Z:-0.39 [[ 9.99385740e-01 3.33608729e-02 -1.07328442e-02 1.22086034e+01] [-3.33602073e-02 9.99443364e-01 2.41090788e-04 -9.44947942e-02] [ 1.07349129e-02 1.17107210e-04 9.99942372e-01 -3.94918233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.918001144999996 meters 0.06729939845874733 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.10, Z:-0.40 [[ 9.99668250e-01 2.35360491e-02 -1.04615610e-02 1.22357388e+01] [-2.35349263e-02 9.99722989e-01 2.30435764e-04 -1.02619675e-01] [ 1.04640866e-02 1.58527492e-05 9.99945250e-01 -3.95386745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.948001144999997 meters 0.06755712162275092 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.11, Z:-0.40 [[ 9.99781416e-01 1.81171354e-02 -1.04350287e-02 1.22636097e+01] [-1.81157559e-02 9.99835871e-01 2.26712426e-04 -1.09691335e-01] [ 1.04374234e-02 -3.76244365e-05 9.99945528e-01 -3.96314385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.978001144999997 meters 0.06804696387042453 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.12, Z:-0.40 [[ 9.99864599e-01 1.26894183e-02 -1.04767552e-02 1.22925178e+01] [-1.26877478e-02 9.99919482e-01 2.25893422e-04 -1.17235662e-01] [ 1.04787781e-02 -9.29364072e-05 9.99945092e-01 -3.97939332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.008001144999998 meters 0.06900557934441652 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.12, Z:-0.40 [[ 9.99929033e-01 7.52724986e-03 -9.23413596e-03 1.23197728e+01] [-7.52572180e-03 9.99971661e-01 2.00216664e-04 -1.24607173e-01] [ 9.23538135e-03 -1.30708917e-04 9.99957344e-01 -3.98663797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.038001144999996 meters 0.070121423275742 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.13, Z:-0.40 [[ 9.99959450e-01 2.91552653e-03 -8.52045421e-03 1.23468541e+01] [-2.91406435e-03 9.99995737e-01 1.84017193e-04 -1.31807691e-01] [ 8.52095440e-03 -1.59180579e-04 9.99963683e-01 -3.98202534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.068001144999997 meters 0.06977092921179102 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.13, Z:-0.40 [[ 9.99963217e-01 3.73411720e-03 -7.72149642e-03 1.23760845e+01] [-3.73295292e-03 9.99993019e-01 1.65191288e-04 -1.31177906e-01] [ 7.72205936e-03 -1.36361229e-04 9.99970175e-01 -3.97977268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.098001144999998 meters 0.06949001401407563 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.13, Z:-0.40 [[ 9.99951932e-01 4.76407508e-03 -8.56952708e-03 1.24041294e+01] [-4.76268066e-03 9.99988642e-01 1.83117914e-04 -1.30877813e-01] [ 8.57030213e-03 -1.42295191e-04 9.99963264e-01 -4.00341436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.128001144999995 meters 0.06934236556339597 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.13, Z:-0.40 [[ 9.99938497e-01 6.24240800e-03 -9.16705744e-03 1.24316850e+01] [-6.24088602e-03 9.99980507e-01 1.94624367e-04 -1.30448622e-01] [ 9.16809367e-03 -1.37401837e-04 9.99957963e-01 -4.02938647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.158001144999997 meters 0.06934236556339597 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.13, Z:-0.40 [[ 9.99939038e-01 6.15506689e-03 -9.16706625e-03 1.24591228e+01] [-6.15354504e-03 9.99981048e-01 1.94208993e-04 -1.30894987e-01] [ 9.16808788e-03 -1.37787199e-04 9.99957963e-01 -4.03385688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.188001144999998 meters 0.06925840526814914 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.13, Z:-0.40 [[ 9.99923655e-01 7.65427484e-03 -9.70031216e-03 1.24881287e+01] [-7.65264140e-03 9.99970697e-01 2.05497056e-04 -1.30367610e-01] [ 9.70160084e-03 -1.31248357e-04 9.99952930e-01 -4.04589831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.218001145 meters 0.06896350607187385 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.13, Z:-0.41 [[ 9.99917113e-01 8.52807413e-03 -9.64568872e-03 1.25171768e+01] [-8.52650515e-03 9.99963628e-01 2.03773467e-04 -1.29603371e-01] [ 9.64707568e-03 -1.21512562e-04 9.99953458e-01 -4.05412567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.248001144999996 meters 0.06833577035848978 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.13, Z:-0.40 [[ 9.99907659e-01 8.81831585e-03 -1.03397562e-02 1.25458402e+01] [-8.81653500e-03 9.99961110e-01 2.17803716e-04 -1.27533627e-01] [ 1.03412747e-02 -1.26622782e-04 9.99946520e-01 -4.02342895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.278001144999998 meters 0.06885772198638415 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.13, Z:-0.41 [[ 9.99901196e-01 9.29481607e-03 -1.05453144e-02 1.25729124e+01] [-9.29300966e-03 9.99956795e-01 2.20287480e-04 -1.28892239e-01] [ 1.05469063e-02 -1.22268007e-04 9.99944372e-01 -4.07095521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.308001145 meters 0.06830276237242228 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.13, Z:-0.40 [[ 9.99897956e-01 9.45651374e-03 -1.07076100e-02 1.26004840e+01] [-9.45466814e-03 9.99955279e-01 2.22971262e-04 -1.27548650e-01] [ 1.07092397e-02 -1.21711610e-04 9.99942647e-01 -4.03413062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.338001144999996 meters 0.06780367353016267 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.13, Z:-0.40 [[ 9.99887961e-01 9.65548925e-03 -1.14383920e-02 1.26297149e+01] [-9.65339838e-03 9.99953377e-01 2.37993229e-04 -1.26497456e-01] [ 1.14401567e-02 -1.27547209e-04 9.99934551e-01 -4.00929502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.368001144999997 meters 0.06809562516024541 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.13, Z:-0.40 [[ 9.99887684e-01 7.87682252e-03 -1.27504794e-02 1.26578316e+01] [-7.87410962e-03 9.99968964e-01 2.62956422e-04 -1.28617451e-01] [ 1.27521549e-02 -1.62528216e-04 9.99918675e-01 -4.02632419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.398001145 meters 0.06858004250182204 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.13, Z:-0.41 [[ 9.99883301e-01 6.81931626e-03 -1.36704786e-02 1.26859289e+01] [-6.81610279e-03 9.99976730e-01 2.81645377e-04 -1.30882970e-01] [ 1.36720811e-02 -1.88433122e-04 9.99906515e-01 -4.05451968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.428001144999996 meters 0.0685295799554232 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.13, Z:-0.41 [[ 9.99865405e-01 7.15814254e-03 -1.47625609e-02 1.27145080e+01] [-7.15444051e-03 9.99974361e-01 3.03569195e-04 -1.31208174e-01] [ 1.47643554e-02 -1.97910472e-04 9.99890981e-01 -4.06671028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.458001144999997 meters 0.06852961096269405 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.13, Z:-0.41 [[ 9.99857311e-01 7.56477291e-03 -1.51040473e-02 1.27428838e+01] [-7.56095812e-03 9.99971368e-01 3.09656170e-04 -1.31029533e-01] [ 1.51059573e-02 -1.95410916e-04 9.99885879e-01 -4.07288492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.488001145 meters 0.06860130096464984 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.13, Z:-0.41 [[ 9.99814027e-01 9.02818924e-03 -1.70412465e-02 1.27710638e+01] [-9.02357015e-03 9.99959226e-01 3.47928018e-04 -1.29598816e-01] [ 1.70436928e-02 -1.94090429e-04 9.99854727e-01 -4.08337091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.518001144999996 meters 0.06979759616282484 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.13, Z:-0.42 [[ 9.99803032e-01 9.38982164e-03 -1.74851130e-02 1.27983527e+01] [-9.38503669e-03 9.99955896e-01 3.55695935e-04 -1.31685832e-01] [ 1.74876818e-02 -1.91527447e-04 9.99847060e-01 -4.17636876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.548001144999997 meters 0.06848088475555254 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.13, Z:-0.41 [[ 9.99804290e-01 9.25696640e-03 -1.74839744e-02 1.28259299e+01] [-9.25228537e-03 9.99957136e-01 3.48604878e-04 -1.28850947e-01] [ 1.74864519e-02 -1.86769932e-04 9.99847083e-01 -4.09719625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.578001144999998 meters 0.06843937699207782 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.13, Z:-0.41 [[ 9.99814154e-01 9.53813433e-03 -1.67535225e-02 1.28532164e+01] [-9.53387434e-03 9.99954496e-01 3.34126265e-04 -1.29234730e-01] [ 1.67559471e-02 -1.74338191e-04 9.99859594e-01 -4.10474306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.608001144999996 meters 0.06837503567458028 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.13, Z:-0.41 [[ 9.99806447e-01 1.02583990e-02 -1.67878930e-02 1.28808969e+01] [-1.02542343e-02 9.99947368e-01 3.34144034e-04 -1.29419615e-01] [ 1.67904372e-02 -1.61932372e-04 9.99859018e-01 -4.08270012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.638001144999997 meters 0.06842501435435096 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.13, Z:-0.41 [[ 9.99833202e-01 8.72776917e-03 -1.60435301e-02 1.29094239e+01] [-8.72385873e-03 9.99961897e-01 3.13709934e-04 -1.31931496e-01] [ 1.60456568e-02 -1.73696118e-04 9.99871245e-01 -4.07639679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.668001144999998 meters 0.06836558788238745 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.13, Z:-0.41 [[ 9.99825947e-01 9.35953605e-03 -1.61392211e-02 1.29380251e+01] [-9.35563688e-03 9.99956185e-01 3.17081775e-04 -1.32642846e-01] [ 1.61414817e-02 -1.66033894e-04 9.99869704e-01 -4.07748877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.698001144999996 meters 0.06794042908365439 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.13, Z:-0.41 [[ 9.99830460e-01 1.06126692e-02 -1.50473508e-02 1.29665150e+01] [-1.06095095e-02 9.99943676e-01 2.89793384e-04 -1.31356152e-01] [ 1.50495787e-02 -1.30099241e-04 9.99886740e-01 -4.05166295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.728001144999997 meters 0.06788710554623009 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.13, Z:-0.40 [[ 9.99849062e-01 9.91411235e-03 -1.42675501e-02 1.29956051e+01] [-9.91118006e-03 9.99950845e-01 2.76216435e-04 -1.32185872e-01] [ 1.42695872e-02 -1.34766485e-04 9.99898175e-01 -4.04130455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.758001144999998 meters 0.06762264370637074 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.13, Z:-0.40 [[ 9.99840841e-01 1.06907535e-02 -1.42828454e-02 1.30242643e+01] [-1.06879071e-02 9.99942845e-01 2.75607558e-04 -1.31686423e-01] [ 1.42849755e-02 -1.22909968e-04 9.99897957e-01 -4.01726513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.788001144999996 meters 0.06753814734010728 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.13, Z:-0.40 [[ 9.99800875e-01 1.44501767e-02 -1.37623905e-02 1.30516619e+01] [-1.44479236e-02 9.99895589e-01 2.63126921e-04 -1.27938784e-01] [ 1.37647558e-02 -6.42365590e-05 9.99905259e-01 -4.03019356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.818001144999997 meters 0.06750512613917409 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.13, Z:-0.40 [[ 9.99771217e-01 1.57786232e-02 -1.44411939e-02 1.30807618e+01] [-1.57763454e-02 9.99875509e-01 2.71642926e-04 -1.25906758e-01] [ 1.44436822e-02 -4.37515159e-05 9.99895684e-01 -4.02369817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.848001144999998 meters 0.0674806950163756 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.12, Z:-0.40 [[ 9.99736027e-01 1.80045887e-02 -1.42727258e-02 1.31083053e+01] [-1.80025748e-02 9.99837904e-01 2.69580093e-04 -1.22309934e-01] [ 1.42752659e-02 -1.25631172e-05 9.99898103e-01 -4.01697826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.878001144999995 meters 0.06757074329756936 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.12, Z:-0.40 [[ 9.99685277e-01 2.01261360e-02 -1.49761942e-02 1.31370488e+01] [-2.01242331e-02 9.99797449e-01 2.77766423e-04 -1.18781966e-01] [ 1.49787511e-02 2.37054206e-05 9.99887812e-01 -4.00618676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.908001144999997 meters 0.06775052234121098 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.12, Z:-0.40 [[ 9.99625530e-01 2.32084170e-02 -1.44972206e-02 1.31644585e+01] [-2.32069438e-02 9.99730646e-01 2.69861930e-04 -1.15243378e-01] [ 1.44995788e-02 6.66753085e-05 9.99894873e-01 -3.99028086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.938001144999998 meters 0.06801381394718674 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.11, Z:-0.40 [[ 9.99577751e-01 2.51052965e-02 -1.46302213e-02 1.31933565e+01] [-2.51040717e-02 9.99684807e-01 2.67390794e-04 -1.14438787e-01] [ 1.46323229e-02 1.00000236e-04 9.99892937e-01 -3.99691003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.968001144999995 meters 0.06774998577486316 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.12, Z:-0.40 [[ 9.99551070e-01 2.62526433e-02 -1.44380765e-02 1.32214303e+01] [-2.62516305e-02 9.99655333e-01 2.59697693e-04 -1.16028820e-01] [ 1.44399179e-02 1.19441943e-04 9.99895732e-01 -3.95576934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.998001144999996 meters 0.06846364624133768 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.12, Z:-0.40 [[ 9.99505117e-01 2.77582466e-02 -1.47986743e-02 1.32488195e+01] [-2.77573394e-02 9.99614655e-01 2.66740657e-04 -1.15787108e-01] [ 1.48003760e-02 1.44163174e-04 9.99890458e-01 -4.01230463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.028001144999998 meters 0.06817698352974319 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.12, Z:-0.40 [[ 9.99484838e-01 2.83822055e-02 -1.49835961e-02 1.32777460e+01] [-2.83814145e-02 9.99597131e-01 2.65470518e-04 -1.18673290e-01] [ 1.49850943e-02 1.59921893e-04 9.99887704e-01 -3.98799458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.058001145 meters 0.06847840139395638 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.12, Z:-0.40 [[ 9.99430888e-01 3.00264601e-02 -1.53724230e-02 1.33061610e+01] [-3.00258683e-02 9.99549086e-01 2.69345495e-04 -1.18800239e-01] [ 1.53735788e-02 1.92378141e-04 9.99881801e-01 -3.99296917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.088001144999996 meters 0.06863437347854817 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.12, Z:-0.40 [[ 9.99408246e-01 3.13670295e-02 -1.41161960e-02 1.33342675e+01] [-3.13666521e-02 9.99507915e-01 2.48188135e-04 -1.16300401e-01] [ 1.41170345e-02 1.94736539e-04 9.99900331e-01 -3.97932775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.118001144999997 meters 0.06885733583831655 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.11, Z:-0.40 [[ 9.99379607e-01 3.24311277e-02 -1.37340291e-02 1.33630584e+01] [-3.24309378e-02 9.99473951e-01 2.36599652e-04 -1.13457921e-01] [ 1.37344775e-02 2.08954576e-04 9.99905656e-01 -3.96805690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.148001145 meters 0.06930381824893114 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.11, Z:-0.40 [[ 9.99307265e-01 3.44267186e-02 -1.41347743e-02 1.33903536e+01] [-3.44267063e-02 9.99407195e-01 2.44259299e-04 -1.11110028e-01] [ 1.41348042e-02 2.42523632e-04 9.99900069e-01 -3.96185924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.178001144999996 meters 0.06951163027034403 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.11, Z:-0.40 [[ 9.99361698e-01 3.30805498e-02 -1.34860558e-02 1.34185917e+01] [-3.30804771e-02 9.99452665e-01 2.28519317e-04 -1.12901726e-01] [ 1.34862339e-02 2.17751707e-04 9.99909033e-01 -3.97547827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.208001144999997 meters 0.06958075894708375 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.12, Z:-0.40 [[ 9.99416920e-01 3.14881505e-02 -1.32028665e-02 1.34466747e+01] [-3.14879767e-02 9.99504106e-01 2.21084849e-04 -1.15084954e-01] [ 1.32032808e-02 1.94775614e-04 9.99912814e-01 -3.99107793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.238001145 meters 0.0698938959693145 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.12, Z:-0.40 [[ 9.99429155e-01 3.12091202e-02 -1.29365408e-02 1.34738791e+01] [-3.12089731e-02 9.99512859e-01 2.13290514e-04 -1.16945388e-01] [ 1.29368955e-02 1.90567397e-04 9.99916297e-01 -4.03999830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.268001144999996 meters 0.07009862130969736 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.12, Z:-0.41 [[ 9.99373569e-01 3.28558036e-02 -1.31516136e-02 1.35023940e+01] [-3.28558209e-02 9.99460079e-01 2.14807419e-04 -1.15963028e-01] [ 1.31515704e-02 2.17434202e-04 9.99913491e-01 -4.05059756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.298001144999997 meters 0.06976741104268298 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.12, Z:-0.40 [[ 9.99301966e-01 3.50693680e-02 -1.28732647e-02 1.35313837e+01] [-3.50696063e-02 9.99384851e-01 2.07298038e-04 -1.16237770e-01] [ 1.28726155e-02 2.44306988e-04 9.99917115e-01 -4.01346955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.328001144999998 meters 0.07007844378489796 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.11, Z:-0.40 [[ 9.99240414e-01 3.69318779e-02 -1.24351236e-02 1.35591739e+01] [-3.69322302e-02 9.99317752e-01 2.01381776e-04 -1.11944240e-01] [ 1.24340771e-02 2.58028038e-04 9.99922661e-01 -4.02633807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.358001144999996 meters 0.07131080746956386 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.10, Z:-0.40 [[ 9.98953388e-01 4.37126275e-02 -1.34660587e-02 1.35887296e+01] [-4.37136501e-02 9.99044078e-01 2.18533777e-04 -1.01056843e-01] [ 1.34627389e-02 3.70345521e-04 9.99909305e-01 -4.04667877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.388001144999997 meters 0.07161478878751629 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.10, Z:-0.40 [[ 9.98828854e-01 4.65923936e-02 -1.30410260e-02 1.36183187e+01] [-4.65936029e-02 9.98913906e-01 2.11245071e-04 -9.82607292e-02] [ 1.30367047e-02 3.96630716e-04 9.99914940e-01 -4.04633741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.418001144999998 meters 0.07240457422392202 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.09, Z:-0.41 [[ 9.98723868e-01 4.88834400e-02 -1.26903772e-02 1.36461200e+01] [-4.88847900e-02 9.98804403e-01 2.03977860e-04 -9.43319274e-02] [ 1.26851757e-02 4.16648866e-04 9.99919453e-01 -4.05638520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.448001144999996 meters 0.07355832943962635 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.09, Z:-0.41 [[ 9.98501728e-01 5.36942109e-02 -1.05466037e-02 1.36753595e+01] [-5.36954129e-02 9.98557346e-01 1.69352648e-04 -8.85354178e-02] [ 1.05404819e-02 3.97205330e-04 9.99944369e-01 -4.05679040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.478001144999997 meters 0.07374038429485477 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.09, Z:-0.41 [[ 9.98462986e-01 5.45839974e-02 -9.60484645e-03 1.37044141e+01] [-5.45850780e-02 9.98509112e-01 1.49800379e-04 -8.86664015e-02] [ 9.59870340e-03 3.74711159e-04 9.99953861e-01 -4.06858465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.508001144999998 meters 0.0731106144860629 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.09, Z:-0.41 [[ 9.98360408e-01 5.64425141e-02 -9.52568935e-03 1.37335275e+01] [-5.64436422e-02 9.98405776e-01 1.50589736e-04 -9.15617371e-02] [ 9.51900293e-03 3.87321771e-04 9.99954618e-01 -4.06069453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.538001144999996 meters 0.07485019678989577 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.09, Z:-0.41 [[ 9.98329985e-01 5.69413731e-02 -9.74277721e-03 1.37615718e+01] [-5.69425880e-02 9.98377443e-01 1.52875388e-04 -8.62771167e-02] [ 9.73567394e-03 4.02158865e-04 9.99952526e-01 -4.11685335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.568001144999997 meters 0.07390305821691083 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.09, Z:-0.41 [[ 9.98324003e-01 5.69748610e-02 -1.01513866e-02 1.37902992e+01] [-5.69762226e-02 9.98375524e-01 1.55256909e-04 -8.80833567e-02] [ 1.01437416e-02 4.23390962e-04 9.99948461e-01 -4.10867271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.598001144999998 meters 0.07423252259214363 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.09, Z:-0.41 [[ 9.98349860e-01 5.65009351e-02 -1.02567530e-02 1.38185081e+01] [-5.65022858e-02 9.98402457e-01 1.58266054e-04 -8.63533348e-02] [ 1.02493096e-02 4.21525095e-04 9.99947386e-01 -4.12301043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.628001144999995 meters 0.07440053313941133 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.09, Z:-0.41 [[ 9.98353335e-01 5.65859103e-02 -9.41562510e-03 1.38469875e+01] [-5.65870894e-02 9.98397657e-01 1.41346128e-04 -8.52892423e-02] [ 9.40853624e-03 3.91689441e-04 9.99955662e-01 -4.12454749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.658001144999997 meters 0.07376552647409268 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.08, Z:-0.41 [[ 9.98434740e-01 5.53902136e-02 -7.74555206e-03 1.38758976e+01] [-5.53909658e-02 9.98464735e-01 1.17531049e-04 -8.47840082e-02] [ 7.74017066e-03 3.11686527e-04 9.99969996e-01 -4.10104250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.688001144999998 meters 0.07387220283406778 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.08, Z:-0.41 [[ 9.98467809e-01 5.49269202e-02 -6.71331054e-03 1.39042435e+01] [-5.49274997e-02 9.98490341e-01 9.81697104e-05 -8.33370786e-02] [ 6.70856788e-03 2.70726067e-04 9.99977461e-01 -4.09462310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.718001144999995 meters 0.07332813722034665 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.08, Z:-0.41 [[ 9.98513970e-01 5.41748170e-02 -5.91108514e-03 1.39326054e+01] [-5.41752624e-02 9.98531439e-01 8.48581524e-05 -8.35008809e-02] [ 5.90700153e-03 2.35502538e-04 9.99982526e-01 -4.07380574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.748001144999996 meters 0.07235008330941531 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.09, Z:-0.41 [[ 9.98555631e-01 5.36674748e-02 -2.54038836e-03 1.39611020e+01] [-5.36675547e-02 9.98558858e-01 3.67609683e-05 -8.64771454e-02] [ 2.53870017e-03 9.96285595e-05 9.99996773e-01 -4.05620015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.778001144999998 meters 0.07188602552382506 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.09, Z:-0.41 [[ 9.98583763e-01 5.31847392e-02 -1.36110634e-03 1.39894690e+01] [-5.31847660e-02 9.98584689e-01 1.65611222e-05 -8.90551395e-02] [ 1.36006075e-03 5.58524544e-05 9.99999074e-01 -4.05396208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.808001144999995 meters 0.07161444426473346 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.09, Z:-0.41 [[ 9.98697513e-01 5.09740349e-02 -2.21940810e-03 1.40183157e+01] [-5.09740909e-02 9.98699976e-01 3.13815154e-05 -9.09334810e-02] [ 2.21812246e-03 8.17916689e-05 9.99997537e-01 -4.06308702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.838001144999996 meters 0.07137915138823983 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.09, Z:-0.41 [[ 9.98807480e-01 4.86986503e-02 -3.47277162e-03 1.40458570e+01] [-4.86987734e-02 9.98813510e-01 4.91546991e-05 -9.12963725e-02] [ 3.47104498e-03 1.20023637e-04 9.99993969e-01 -4.08158057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.868001144999997 meters 0.07116993039143808 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.09, Z:-0.41 [[ 9.98998613e-01 4.45576159e-02 -4.04842062e-03 1.40750556e+01] [-4.45577467e-02 9.99006809e-01 5.79155200e-05 -9.24791934e-02] [ 4.04698034e-03 1.22530976e-04 9.99991803e-01 -4.11283222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.898001145 meters 0.07158451839909681 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.09, Z:-0.42 [[ 9.99104433e-01 4.20110607e-02 -5.04019118e-03 1.41029033e+01] [-4.20112491e-02 9.99117135e-01 6.85252295e-05 -9.16761575e-02] [ 5.03862019e-03 1.43280867e-04 9.99987296e-01 -4.15822013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.928001144999996 meters 0.07105958763376728 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.10, Z:-0.42 [[ 9.99156226e-01 4.08267686e-02 -4.47335477e-03 1.41315253e+01] [-4.08269109e-02 9.99166232e-01 5.95402154e-05 -9.52648340e-02] [ 4.47205587e-03 1.23143280e-04 9.99989993e-01 -4.15594506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.958001144999997 meters 0.0702986273692904 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.10, Z:-0.41 [[ 9.99229727e-01 3.90389451e-02 -3.98914283e-03 1.41603086e+01] [-3.90390492e-02 9.99237684e-01 5.17954951e-05 -9.87582955e-02] [ 3.98812389e-03 1.03976745e-04 9.99992042e-01 -4.14557921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.988001145 meters 0.0707201086558885 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.10, Z:-0.41 [[ 9.99279874e-01 3.79151446e-02 -1.47518357e-03 1.41879517e+01] [-3.79151573e-02 9.99280962e-01 1.93555911e-05 -9.57724063e-02] [ 1.47485673e-03 3.65901646e-05 9.99998912e-01 -4.14175357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.018001144999996 meters 0.07062978378100718 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.10, Z:-0.41 [[ 9.99307837e-01 3.71951030e-02 6.09221102e-04 1.42156762e+01] [-3.71951037e-02 9.99308023e-01 -1.00599402e-05 -9.52331557e-02] [-6.09173715e-04 -1.26070650e-05 9.99999814e-01 -4.13306164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.048001144999997 meters 0.07062978378100718 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.10, Z:-0.41 [[ 9.99316399e-01 3.69643504e-02 6.09195796e-04 1.42429896e+01] [-3.69643500e-02 9.99316585e-01 -1.19409532e-05 -9.54553305e-02] [-6.09220852e-04 -1.05857362e-05 9.99999814e-01 -4.13751192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.078001144999998 meters 0.07049349942088914 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.10, Z:-0.41 [[ 9.99361489e-01 3.56684423e-02 2.09203174e-03 1.42714800e+01] [-3.56684556e-02 9.99363678e-01 -3.09720964e-05 -9.57333791e-02] [-2.09180526e-03 -4.36672209e-05 9.99997811e-01 -4.12938449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.108001144999996 meters 0.0698770279223231 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.10, Z:-0.41 [[ 9.99379202e-01 3.51644319e-02 2.16181674e-03 1.42990787e+01] [-3.51644447e-02 9.99381539e-01 -3.20634422e-05 -9.88137841e-02] [-2.16160723e-03 -4.39755479e-05 9.99997663e-01 -4.11090259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.138001144999997 meters 0.07004054336108423 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.10, Z:-0.41 [[ 9.99428401e-01 3.36602279e-02 3.14002779e-03 1.43263976e+01] [-3.36602570e-02 9.99433332e-01 -4.35956949e-05 -9.76756374e-02] [-3.13971588e-03 -6.21233668e-05 9.99995069e-01 -4.12502725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.168001144999998 meters 0.06967867225778818 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.10, Z:-0.41 [[ 9.99462213e-01 3.26412857e-02 3.13543959e-03 1.43550863e+01] [-3.26413117e-02 9.99467129e-01 -4.28906317e-05 -9.91392388e-02] [-3.13516881e-03 -5.94772951e-05 9.99995084e-01 -4.12621800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.198001144999996 meters 0.06959988608733507 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.10, Z:-0.41 [[ 9.99498713e-01 3.14522857e-02 3.61609178e-03 1.43827789e+01] [-3.14523236e-02 9.99505252e-01 -4.64158631e-05 -9.94043671e-02] [-3.61576262e-03 -6.73418934e-05 9.99993461e-01 -4.13531982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.228001144999997 meters 0.06974241335336166 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.10, Z:-0.41 [[ 9.99502640e-01 3.13801235e-02 3.12410909e-03 1.44104159e+01] [-3.13801516e-02 9.99507521e-01 -4.00224327e-05 -9.91851154e-02] [-3.12382644e-03 -5.80324899e-05 9.99995119e-01 -4.14803616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.258001144999998 meters 0.06963599432707232 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.10, Z:-0.42 [[ 9.99511694e-01 3.09433260e-02 4.34560702e-03 1.44390668e+01] [-3.09433729e-02 9.99521138e-01 -5.64491454e-05 -1.00841213e-01] [-4.34527280e-03 -7.80461577e-05 9.99990556e-01 -4.15365421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.288001144999996 meters 0.06951534899262167 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.10, Z:-0.42 [[ 9.99559854e-01 2.94205769e-02 3.81147795e-03 1.44679250e+01] [-2.94206032e-02 9.99567119e-01 -4.91705999e-05 -1.03168524e-01] [-3.81127466e-03 -6.29870227e-05 9.99992735e-01 -4.15869442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.318001144999997 meters 0.06955653693330405 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.10, Z:-0.42 [[ 9.99554146e-01 2.94788183e-02 4.74432990e-03 1.44952187e+01] [-2.94788759e-02 9.99565402e-01 -5.78126422e-05 -1.03700169e-01] [-4.74397227e-03 -8.20706461e-05 9.99988744e-01 -4.16928446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.348001144999998 meters 0.06961135112296911 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.10, Z:-0.42 [[ 9.99553965e-01 2.94483447e-02 4.96658390e-03 1.45216467e+01] [-2.94484046e-02 9.99566300e-01 -6.10798054e-05 -1.03141797e-01] [-4.96622859e-03 -8.52054105e-05 9.99987665e-01 -4.17710130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.378001144999995 meters 0.06946193406806148 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.10, Z:-0.42 [[ 9.99543530e-01 2.98721789e-02 4.51491639e-03 1.45502401e+01] [-2.98722325e-02 9.99553724e-01 -5.55746730e-05 -1.02145462e-01] [-4.51456163e-03 -7.93213271e-05 9.99989806e-01 -4.16923644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.408001144999997 meters 0.06940079577122185 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.10, Z:-0.42 [[ 9.99571222e-01 2.88484209e-02 5.01399383e-03 1.45792082e+01] [-2.88484813e-02 9.99583794e-01 -6.03082802e-05 -1.02288022e-01] [-5.01364677e-03 -8.43636855e-05 9.99987428e-01 -4.17122137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.438001144999998 meters 0.06937904998534879 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.10, Z:-0.42 [[ 9.99557204e-01 2.93550811e-02 4.86563426e-03 1.46080408e+01] [-2.93551565e-02 9.99569043e-01 -5.59175640e-05 -1.01153575e-01] [-4.86517884e-03 -8.69386513e-05 9.99988161e-01 -4.17577659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.468001144999995 meters 0.06931711255737862 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.10, Z:-0.42 [[ 9.99563249e-01 2.89957434e-02 5.70599354e-03 1.46370967e+01] [-2.89958442e-02 9.99579530e-01 -6.50751486e-05 -1.01117592e-01] [-5.70548125e-03 -1.00403373e-04 9.99983719e-01 -4.17011915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.498001144999996 meters 0.06902742363205872 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.10, Z:-0.42 [[ 9.99583649e-01 2.82920988e-02 5.66448286e-03 1.46656678e+01] [-2.82921887e-02 9.99599694e-01 -6.42756625e-05 -1.02311995e-01] [-5.66403383e-03 -9.60117167e-05 9.99983955e-01 -4.17587115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.528001144999998 meters 0.06894269927846862 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.10, Z:-0.42 [[ 9.99588368e-01 2.80605671e-02 5.97494453e-03 1.46942342e+01] [-2.80606654e-02 9.99606220e-01 -6.73832127e-05 -1.03099378e-01] [-5.97448253e-03 -1.00305444e-04 9.99982148e-01 -4.18599969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.558001144999995 meters 0.06872174135222126 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.10, Z:-0.42 [[ 9.99626749e-01 2.68367647e-02 5.11386534e-03 1.47233964e+01] [-2.68368216e-02 9.99639826e-01 -5.75197880e-05 -1.04864890e-01] [-5.11356710e-03 -7.97415730e-05 9.99986922e-01 -4.20352807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.588001144999996 meters 0.06836464052793736 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.11, Z:-0.42 [[ 9.99713547e-01 2.32713672e-02 5.59168377e-03 1.47525506e+01] [-2.32713736e-02 9.99729183e-01 -6.39276774e-05 -1.07448730e-01] [-5.59165713e-03 -6.62167966e-05 9.99984364e-01 -4.19655910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.618001144999997 meters 0.06806742002813591 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.11, Z:-0.42 [[ 9.99742406e-01 2.16230322e-02 6.89687172e-03 1.47809345e+01] [-2.16230262e-02 9.99766192e-01 -7.54440975e-05 -1.08395199e-01] [-6.89689051e-03 -7.37065748e-05 9.99976213e-01 -4.17357648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.648001144999995 meters 0.06793191226895559 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.11, Z:-0.42 [[ 9.99744703e-01 2.09619604e-02 8.43355971e-03 1.48082864e+01] [-2.09619308e-02 9.99780270e-01 -9.19065533e-05 -1.08182023e-01] [-8.43363315e-03 -8.49006053e-05 9.99964433e-01 -4.16110002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.678001144999996 meters 0.06781168266531577 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.11, Z:-0.42 [[ 9.99762528e-01 1.98258258e-02 9.04567663e-03 1.48364616e+01] [-1.98257583e-02 9.99803446e-01 -9.71411040e-05 -1.08818453e-01] [-9.04582457e-03 -8.22193630e-05 9.99959082e-01 -4.15524586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.708001144999997 meters 0.06763180614749885 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.11, Z:-0.42 [[ 9.99785244e-01 1.87646446e-02 8.79512656e-03 1.48651375e+01] [-1.87645464e-02 9.99823926e-01 -9.36894745e-05 -1.11764596e-01] [-8.79533602e-03 -7.13672068e-05 9.99961318e-01 -4.17919289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.738001145 meters 0.06757600599108958 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.11, Z:-0.42 [[ 9.99803809e-01 1.83923470e-02 7.35294109e-03 1.48936354e+01] [-1.83922705e-02 9.99830845e-01 -7.80297895e-05 -1.13639838e-01] [-7.35313245e-03 -5.72228006e-05 9.99972964e-01 -4.20192653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.768001144999996 meters 0.06771060850305327 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.11, Z:-0.42 [[ 9.99817065e-01 1.78935763e-02 6.75700142e-03 1.49208126e+01] [-1.78934996e-02 9.99839896e-01 -7.18013434e-05 -1.14589515e-01] [-6.75720438e-03 -4.91181939e-05 9.99977169e-01 -4.22861466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.798001144999997 meters 0.0678200966620981 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.11, Z:-0.43 [[ 9.99776246e-01 2.03744490e-02 5.68681647e-03 1.49479907e+01] [-2.03744378e-02 9.99792418e-01 -5.99030305e-05 -1.12514712e-01] [-5.68685648e-03 -5.59760616e-05 9.99983828e-01 -4.26237105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.828001144999998 meters 0.067777047548638 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.11, Z:-0.43 [[ 9.99762496e-01 2.11308212e-02 5.33296516e-03 1.49772209e+01] [-2.11308258e-02 9.99776718e-01 -5.54808678e-05 -1.12497005e-01] [-5.33294676e-03 -5.72222672e-05 9.99985778e-01 -4.26421891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.858001144999996 meters 0.06768821485916508 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.11, Z:-0.42 [[ 9.99734548e-01 2.24009516e-02 5.38800157e-03 1.50060962e+01] [-2.24009765e-02 9.99749065e-01 -5.57448603e-05 -1.12337225e-01] [-5.38789827e-03 -6.49664336e-05 9.99985483e-01 -4.24654582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.888001144999997 meters 0.06814084521043495 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.11, Z:-0.43 [[ 9.99627214e-01 2.67314747e-02 5.55534032e-03 1.50337958e+01] [-2.67315692e-02 9.99642646e-01 -5.72557703e-05 -1.05234932e-01] [-5.55488563e-03 -9.12685379e-05 9.99984567e-01 -4.25462018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.918001144999998 meters 0.0681713415894007 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.10, Z:-0.42 [[ 9.99542298e-01 2.96808024e-02 5.85191047e-03 1.50619922e+01] [-2.96809586e-02 9.99559421e-01 -6.01758263e-05 -1.03949592e-01] [-5.85111831e-03 -1.13542029e-04 9.99982876e-01 -4.23937251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.948001144999996 meters 0.0684204349883748 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.10, Z:-0.42 [[ 9.99499173e-01 3.11554435e-02 5.54456195e-03 1.50899625e+01] [-3.11556118e-02 9.99514545e-01 -5.60474148e-05 -1.01898895e-01] [-5.54361649e-03 -1.16724875e-04 9.99984627e-01 -4.24859391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.978001144999997 meters 0.06849564660965954 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.10, Z:-0.43 [[ 9.99450580e-01 3.27992983e-02 4.76898612e-03 1.51182708e+01] [-3.27994349e-02 9.99461953e-01 -4.95867428e-05 -1.00720769e-01] [-4.76804659e-03 -1.06860551e-04 9.99988627e-01 -4.25380951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.008001144999998 meters 0.06856798180792602 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.10, Z:-0.43 [[ 9.99472639e-01 3.22917193e-02 3.41878471e-03 1.51464414e+01] [-3.22917857e-02 9.99478484e-01 -3.58005047e-05 -1.01153403e-01] [-3.41815782e-03 -7.46170382e-05 9.99994155e-01 -4.26988955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.038001144999996 meters 0.06860212887365294 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.10, Z:-0.43 [[ 9.99451369e-01 3.29740272e-02 3.11045773e-03 1.51752338e+01] [-3.29740865e-02 9.99456206e-01 -3.22153083e-05 -1.01903190e-01] [-3.10982855e-03 -7.03668683e-05 9.99995162e-01 -4.28891069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.068001144999997 meters 0.06890255103495137 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.10, Z:-0.43 [[ 9.99420099e-01 3.39356562e-02 2.79953103e-03 1.52030002e+01] [-3.39357139e-02 9.99424017e-01 -2.68959884e-05 -1.00776692e-01] [-2.79883128e-03 -6.81236928e-05 9.99996081e-01 -4.30399015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.098001144999998 meters 0.06826998964056881 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.10, Z:-0.43 [[ 9.99461277e-01 3.24908761e-02 4.63666749e-03 1.52317042e+01] [-3.24910170e-02 9.99472027e-01 -4.49535454e-05 -1.01779565e-01] [-4.63568004e-03 -1.05720715e-04 9.99989250e-01 -4.27725934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.128001144999995 meters 0.0682378193722808 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.10, Z:-0.43 [[ 9.99464057e-01 3.22697186e-02 5.50123320e-03 1.52596672e+01] [-3.22699315e-02 9.99479189e-01 -5.00792232e-05 -9.89935184e-02] [-5.49998414e-03 -1.27472035e-04 9.99984867e-01 -4.25556398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.158001144999997 meters 0.06802095986818751 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.10, Z:-0.42 [[ 9.99470935e-01 3.15428094e-02 7.93101277e-03 1.52885431e+01] [-3.15432292e-02 9.99502386e-01 -7.21711922e-05 -9.88466730e-02] [-7.92934266e-03 -1.78036745e-04 9.99968546e-01 -4.23129264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.188001144999998 meters 0.06742506906650965 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.10, Z:-0.42 [[ 9.99513625e-01 2.97358394e-02 9.39644751e-03 1.53170403e+01] [-2.97363729e-02 9.99557773e-01 -8.29624182e-05 -1.01134337e-01] [-9.39475911e-03 -1.96494199e-04 9.99955849e-01 -4.21155411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.218001144999995 meters 0.06685309613059867 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.11, Z:-0.42 [[ 9.99625038e-01 2.53628906e-02 1.03202471e-02 1.53447312e+01] [-2.53633355e-02 9.99678295e-01 -8.77952638e-05 -1.07156581e-01] [-1.03191538e-02 -1.73993546e-04 9.99946741e-01 -4.23003878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.248001144999996 meters 0.06637030531005879 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.11, Z:-0.42 [[ 9.99702446e-01 2.24423631e-02 9.55824858e-03 1.53733644e+01] [-2.24426182e-02 9.99748129e-01 -8.05789060e-05 -1.10951484e-01] [-9.55764952e-03 -1.33957194e-04 9.99954316e-01 -4.24125991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.278001144999998 meters 0.06634700048615157 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.11, Z:-0.43 [[ 9.99752701e-01 2.00661763e-02 9.58564302e-03 1.54009623e+01] [-2.00663283e-02 9.99798648e-01 -8.03342057e-05 -1.12554411e-01] [-9.58532493e-03 -1.12034320e-04 9.99954053e-01 -4.26711468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.308001144999995 meters 0.0661361248060719 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.11, Z:-0.43 [[ 9.99766793e-01 2.00538842e-02 8.01252611e-03 1.54284960e+01] [-2.00539931e-02 9.99798896e-01 -6.67524453e-05 -1.11997924e-01] [-8.01225341e-03 -9.39462654e-05 9.99967897e-01 -4.28242738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.338001144999996 meters 0.06629871752019229 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.11, Z:-0.43 [[ 9.99762653e-01 2.06385944e-02 6.97751462e-03 1.54575468e+01] [-2.06386947e-02 9.99786998e-01 -5.76309367e-05 -1.10786626e-01] [-6.97721781e-03 -8.63895361e-05 9.99975655e-01 -4.30366222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.368001144999997 meters 0.06630395354744816 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.11, Z:-0.43 [[ 9.99783663e-01 1.97977225e-02 6.37784240e-03 1.54840102e+01] [-1.97977884e-02 9.99804003e-01 -5.28152829e-05 -1.11526297e-01] [-6.37763798e-03 -7.34633172e-05 9.99979660e-01 -4.31341654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.398001144999995 meters 0.06610655080255476 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.11, Z:-0.43 [[ 9.99791709e-01 1.91989269e-02 6.92388033e-03 1.55133590e+01] [-1.91989998e-02 9.99815681e-01 -5.59456653e-05 -1.10867923e-01] [-6.92367823e-03 -7.69975649e-05 9.99976028e-01 -4.29829461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.428001144999996 meters 0.0660448685061772 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.11, Z:-0.43 [[ 9.99797166e-01 1.89924281e-02 6.70184483e-03 1.55399535e+01] [-1.89924875e-02 9.99819625e-01 -5.47881511e-05 -1.10258683e-01] [-6.70167654e-03 -7.25076657e-05 9.99977541e-01 -4.30205757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.458001144999997 meters 0.06607313413596368 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.11, Z:-0.43 [[ 9.99811379e-01 1.82590552e-02 6.61918157e-03 1.55689034e+01] [-1.82591081e-02 9.99833287e-01 -5.24450323e-05 -1.11523910e-01] [-6.61903567e-03 -6.84252120e-05 9.99978092e-01 -4.30700813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.488001144999995 meters 0.06590697838699448 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.12, Z:-0.43 [[ 9.99831014e-01 1.75474806e-02 5.47982841e-03 1.55970991e+01] [-1.75475060e-02 9.99846030e-01 -4.34464315e-05 -1.15988725e-01] [-5.47974706e-03 -5.27182325e-05 9.99984985e-01 -4.34174467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.518001144999996 meters 0.06598360816317513 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.12, Z:-0.44 [[ 9.99852146e-01 1.63030528e-02 5.46774410e-03 1.56249737e+01] [-1.63030617e-02 9.99867095e-01 -4.29484746e-05 -1.16497230e-01] [-5.46771760e-03 -4.61988449e-05 9.99985051e-01 -4.36492637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.548001144999997 meters 0.06589505141202708 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.12, Z:-0.44 [[ 9.99871071e-01 1.54668834e-02 4.31461575e-03 1.56525706e+01] [-1.54668816e-02 9.99880380e-01 -3.37912254e-05 -1.17217248e-01] [-4.31462228e-03 -3.29467820e-05 9.99990691e-01 -4.37587672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.578001144999998 meters 0.06564939452793209 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.12, Z:-0.44 [[ 9.99896149e-01 1.40671454e-02 3.13147936e-03 1.56808664e+01] [-1.40671372e-02 9.99901053e-01 -2.46400249e-05 -1.18436868e-01] [-3.13151613e-03 -1.94134840e-05 9.99995097e-01 -4.36574316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.608001144999996 meters 0.06562031415515125 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.12, Z:-0.44 [[ 9.99919085e-01 1.23963153e-02 2.85569847e-03 1.57084682e+01] [-1.23963020e-02 9.99923163e-01 -2.23643373e-05 -1.19110618e-01] [-2.85575628e-03 -1.30375730e-05 9.99995922e-01 -4.37068357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.638001144999997 meters 0.06545216849122718 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.12, Z:-0.44 [[ 9.99916365e-01 1.23626011e-02 3.79851684e-03 1.57377480e+01] [-1.23625782e-02 9.99923580e-01 -2.94970777e-05 -1.20753908e-01] [-3.79859122e-03 -1.74648509e-05 9.99992785e-01 -4.35081448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.668001144999998 meters 0.065519409538139 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.12, Z:-0.44 [[ 9.99909797e-01 1.23843777e-02 5.19855688e-03 1.57655419e+01] [-1.23843419e-02 9.99923310e-01 -3.90690370e-05 -1.20970331e-01] [-5.19864205e-03 -2.53151932e-05 9.99986487e-01 -4.37115302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.698001144999996 meters 0.06540531005612764 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.12, Z:-0.44 [[ 9.99909511e-01 1.20444848e-02 5.99167616e-03 1.57945340e+01] [-1.20444381e-02 9.99927462e-01 -4.38806221e-05 -1.23813124e-01] [-5.99177005e-03 -2.82897212e-05 9.99982049e-01 -4.35553730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.728001144999997 meters 0.0653917810141436 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.13, Z:-0.44 [[ 9.99930235e-01 1.07646271e-02 4.86281719e-03 1.58223434e+01] [-1.07645810e-02 9.99942060e-01 -3.56681841e-05 -1.26893842e-01] [-4.86291939e-03 -1.66804935e-05 9.99988176e-01 -4.38155920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.758001144999998 meters 0.06549187127137102 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.13, Z:-0.44 [[ 9.99939848e-01 1.03031521e-02 3.76104560e-03 1.58512239e+01] [-1.03031220e-02 9.99946921e-01 -2.73854753e-05 -1.27450933e-01] [-3.76112813e-03 -1.13666837e-05 9.99992927e-01 -4.39125315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.788001144999996 meters 0.06558974816079242 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.13, Z:-0.44 [[ 9.99954418e-01 9.14263541e-03 2.75202577e-03 1.58789927e+01] [-9.14261409e-03 9.99958205e-01 -2.03251172e-05 -1.27087541e-01] [-2.75209658e-03 -4.83651889e-06 9.99996213e-01 -4.42898894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.818001144999997 meters 0.06550470774116846 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.13, Z:-0.44 [[ 9.99959084e-01 8.88677274e-03 1.68982454e-03 1.59075513e+01] [-8.88676412e-03 9.99960512e-01 -1.26092586e-05 -1.27753625e-01] [-1.68986987e-03 -2.40832939e-06 9.99998572e-01 -4.41148094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.848001144999998 meters 0.06562871872666799 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.13, Z:-0.44 [[ 9.99969808e-01 7.76155704e-03 3.74946913e-04 1.59362177e+01] [-7.76155625e-03 9.99969879e-01 -3.55755148e-06 -1.29261181e-01] [-3.74963232e-04 6.47272509e-07 9.99999930e-01 -4.41202359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.878001144999995 meters 0.0656063354548121 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.13, Z:-0.44 [[ 9.99973015e-01 7.33952690e-03 -3.18199054e-04 1.59649373e+01] [-7.33952691e-03 9.99973065e-01 1.14246542e-06 -1.30501772e-01] [ 3.18198869e-04 1.19299593e-06 9.99999949e-01 -4.42610824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.908001144999997 meters 0.06582169265408586 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.13, Z:-0.45 [[ 9.99983971e-01 5.62807430e-03 -6.18623455e-04 1.59930546e+01] [-5.62807343e-03 9.99984162e-01 3.14445245e-06 -1.33116918e-01] [ 6.18631354e-04 3.37256182e-07 9.99999809e-01 -4.45072304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.938001144999998 meters 0.06600398352247323 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.14, Z:-0.45 [[ 9.99989883e-01 4.15015894e-03 -1.73477383e-03 1.60217593e+01] [-4.15014692e-03 9.99991388e-01 1.05260072e-05 -1.35313795e-01] [ 1.73480257e-03 -3.32633448e-06 9.99998495e-01 -4.45884645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.968001144999995 meters 0.06600398352247323 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.14, Z:-0.45 [[ 9.99990135e-01 4.08904093e-03 -1.73477449e-03 1.60500446e+01] [-4.08902900e-03 9.99991640e-01 1.04207821e-05 -1.35412785e-01] [ 1.73480260e-03 -3.32713607e-06 9.99998495e-01 -4.46344860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.998001144999996 meters 0.06602714941345822 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.14, Z:-0.45 [[ 9.99991261e-01 3.82211313e-03 -1.69408445e-03 1.60776198e+01] [-3.82210204e-03 9.99992696e-01 9.78445440e-06 -1.35447199e-01] [ 1.69410947e-03 -3.30940527e-06 9.99998565e-01 -4.47458335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.028001144999998 meters 0.06594297722083395 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.14, Z:-0.45 [[ 9.99991667e-01 3.83398031e-03 -1.40211329e-03 1.61066143e+01] [-3.83397279e-03 9.99992650e-01 8.05047215e-06 -1.35445831e-01] [ 1.40213385e-03 -2.67474086e-06 9.99999017e-01 -4.45981442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.058001144999995 meters 0.06589799623319553 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.13, Z:-0.44 [[ 9.99987009e-01 4.95931534e-03 -1.17740924e-03 1.61348181e+01] [-4.95931139e-03 9.99987703e-01 6.27380484e-06 -1.33797562e-01] [ 1.17742587e-03 -4.34584287e-07 9.99999307e-01 -4.44519206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.088001144999996 meters 0.06575191447023426 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.13, Z:-0.44 [[ 9.99979596e-01 6.27523467e-03 -1.19501365e-03 1.61637234e+01] [-6.27523138e-03 9.99980311e-01 6.49583292e-06 -1.33562272e-01] [ 1.19503089e-03 1.00328680e-06 9.99999286e-01 -4.44176700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.118001144999997 meters 0.06601495303537576 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.13, Z:-0.45 [[ 9.99965774e-01 7.87297652e-03 -2.54290893e-03 1.61912205e+01] [-7.87296499e-03 9.99969008e-01 1.45463396e-05 -1.34591482e-01] [ 2.54294464e-03 5.47439125e-06 9.99996767e-01 -4.48335408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.148001144999995 meters 0.06622079439582698 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.14, Z:-0.45 [[ 9.99946452e-01 9.50472170e-03 -4.09320277e-03 1.62186158e+01] [-9.50470335e-03 9.99954829e-01 2.39347207e-05 -1.36637269e-01] [ 4.09324537e-03 1.49712390e-05 9.99991623e-01 -4.52132607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.178001144999996 meters 0.066278912645378 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.13, Z:-0.45 [[ 9.99923190e-01 1.14219489e-02 -4.81185423e-03 1.62470646e+01] [-1.14219449e-02 9.99934767e-01 2.83181722e-05 -1.33651397e-01] [ 4.81186379e-03 2.66447369e-05 9.99988423e-01 -4.51116896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.208001144999997 meters 0.06674767826021764 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.13, Z:-0.45 [[ 9.99889038e-01 1.38933381e-02 -5.37457438e-03 1.62749127e+01] [-1.38933760e-02 9.99903482e-01 3.02908453e-05 -1.29412801e-01] [ 5.37447648e-03 4.43834986e-05 9.99985556e-01 -4.54486401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.238001144999995 meters 0.06670948146435866 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.13, Z:-0.45 [[ 9.99869963e-01 1.48819901e-02 -6.21151608e-03 1.63036316e+01] [-1.48820551e-02 9.99889255e-01 3.57467454e-05 -1.30219723e-01] [ 6.21136018e-03 5.66980278e-05 9.99980708e-01 -4.52107444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.268001144999996 meters 0.06746872538820044 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.13, Z:-0.46 [[ 9.99799867e-01 1.88377723e-02 -6.73529105e-03 1.63309109e+01] [-1.88379517e-02 9.99822549e-01 3.67995715e-05 -1.26360101e-01] [ 6.73478909e-03 9.00868810e-05 9.99977317e-01 -4.55510505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.298001144999997 meters 0.06750720110356745 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.13, Z:-0.45 [[ 9.99803270e-01 1.87313252e-02 -6.52371511e-03 1.63593667e+01] [-1.87314865e-02 9.99824550e-01 3.63808311e-05 -1.27365873e-01] [ 6.52325198e-03 8.58252076e-05 9.99978720e-01 -4.54317671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.328001144999995 meters 0.06742898446630098 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.13, Z:-0.45 [[ 9.99801006e-01 1.85122522e-02 -7.43265757e-03 1.63884951e+01] [-1.85124842e-02 9.99828629e-01 3.75870401e-05 -1.27778677e-01] [ 7.43207965e-03 1.00017395e-04 9.99972377e-01 -4.53662559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.358001144999996 meters 0.06818280240386917 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.12, Z:-0.46 [[ 9.99763485e-01 2.02433015e-02 -7.94878283e-03 1.64165815e+01] [-2.02436070e-02 9.99795076e-01 4.20344835e-05 -1.24868692e-01] [ 7.94800486e-03 1.18887494e-04 9.99968407e-01 -4.55251864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.388001144999997 meters 0.06854434490562294 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.12, Z:-0.46 [[ 9.99734827e-01 2.17134352e-02 -7.66827071e-03 1.64448482e+01] [-2.17137913e-02 9.99764227e-01 3.68306448e-05 -1.23601798e-01] [ 7.66726246e-03 1.29686351e-04 9.99970598e-01 -4.56355308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.418001144999998 meters 0.06869339875776363 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.12, Z:-0.45 [[ 9.99701408e-01 2.34686603e-02 -6.80562515e-03 1.64737726e+01] [-2.34689940e-02 9.99724565e-01 3.08345091e-05 -1.22182964e-01] [ 6.80447429e-03 1.28895874e-04 9.99976841e-01 -4.54735718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.448001144999996 meters 0.0694120977460045 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.12, Z:-0.45 [[ 9.99655048e-01 2.55416941e-02 -6.11605326e-03 1.65016966e+01] [-2.55419939e-02 9.99673750e-01 2.90949170e-05 -1.17014237e-01] [ 6.11480103e-03 1.27131315e-04 9.99981296e-01 -4.53733501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.478001144999997 meters 0.06932493728304191 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.12, Z:-0.45 [[ 9.99650121e-01 2.55762730e-02 -6.74462807e-03 1.65303590e+01] [-2.55766619e-02 9.99672863e-01 2.86031245e-05 -1.16394098e-01] [ 6.74315321e-03 1.43911955e-04 9.99977254e-01 -4.52471709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.508001144999998 meters 0.06986958538067697 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.11, Z:-0.45 [[ 9.99660398e-01 2.51260228e-02 -6.91173218e-03 1.65569761e+01] [-2.51264130e-02 9.99684281e-01 3.03875317e-05 -1.13287414e-01] [ 6.91031353e-03 1.43289825e-04 9.99976113e-01 -4.54631567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.538001144999996 meters 0.06966838171968927 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.12, Z:-0.45 [[ 9.99711324e-01 2.33053161e-02 -5.84217494e-03 1.65854355e+01] [-2.33055815e-02 9.99728388e-01 2.26507486e-05 -1.15015768e-01] [ 5.84111602e-03 1.13511074e-04 9.99982934e-01 -4.54327211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.568001144999997 meters 0.06978607293592072 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.12, Z:-0.46 [[ 9.99739533e-01 2.22081238e-02 -5.25982079e-03 1.66129273e+01] [-2.22083164e-02 9.99753365e-01 2.18018249e-05 -1.15232825e-01] [ 5.25900771e-03 9.50156180e-05 9.99986167e-01 -4.56672541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.598001144999998 meters 0.06967815571439252 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.12, Z:-0.46 [[ 9.99757113e-01 2.12349249e-02 -5.89861890e-03 1.66406638e+01] [-2.12351537e-02 9.99774508e-01 2.38476300e-05 -1.15846089e-01] [ 5.89779521e-03 1.01416241e-04 9.99982603e-01 -4.58216832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.628001144999995 meters 0.06910472542547545 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.12, Z:-0.46 [[ 9.99840377e-01 1.70894736e-02 -5.21253501e-03 1.66700311e+01] [-1.70896004e-02 9.99853962e-01 2.02119113e-05 -1.18544208e-01] [ 5.21211919e-03 6.88714554e-05 9.99986414e-01 -4.57626382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.658001144999997 meters 0.06869565462882171 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.12, Z:-0.45 [[ 9.99867048e-01 1.57677691e-02 -4.15490774e-03 1.66991593e+01] [-1.57678428e-02 9.99875680e-01 1.50334250e-05 -1.18089092e-01] [ 4.15462824e-03 5.04825056e-05 9.99991368e-01 -4.54793348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.688001144999998 meters 0.06896093381791692 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.12, Z:-0.46 [[ 9.99906554e-01 1.30831156e-02 -3.96417285e-03 1.67266155e+01] [-1.30831636e-02 9.99914412e-01 1.38335275e-05 -1.16617706e-01] [ 3.96401455e-03 3.80316871e-05 9.99992143e-01 -4.58788590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.718001144999995 meters 0.06857098777699552 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.12, Z:-0.45 [[ 9.99959962e-01 8.75906649e-03 -1.83104824e-03 1.67556947e+01] [-8.75906981e-03 9.99961639e-01 6.20504524e-06 -1.19036848e-01] [ 1.83103235e-03 9.83348257e-06 9.99998324e-01 -4.54146498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.748001144999996 meters 0.06836207691748579 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.12, Z:-0.45 [[ 9.99980258e-01 6.21826432e-03 -9.03511905e-04 1.67845725e+01] [-6.21826440e-03 9.99980666e-01 2.73050499e-06 -1.21066789e-01] [ 9.03511416e-04 2.88782483e-06 9.99999592e-01 -4.52488977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.778001144999998 meters 0.0684233543297893 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.13, Z:-0.45 [[ 9.99996893e-01 2.49181666e-03 -6.76988097e-05 1.68124978e+01] [-2.49181673e-03 9.99996895e-01 -9.93065520e-07 -1.25291700e-01] [ 6.76961250e-05 1.16175546e-06 9.99999998e-01 -4.53433611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.808001144999995 meters 0.0686083489778295 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.13, Z:-0.46 [[ 9.99999822e-01 3.86383822e-04 -4.54627591e-04 1.68414911e+01] [-3.86383546e-04 9.99999925e-01 6.94612726e-07 -1.28411712e-01] [ 4.54627826e-04 -5.18951981e-07 9.99999897e-01 -4.56529478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.838001144999996 meters 0.0690566506777552 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.14, Z:-0.46 [[ 9.99995190e-01 -3.07572249e-03 3.99713890e-04 1.68711404e+01] [ 3.07572324e-03 9.99995270e-01 -1.25626241e-06 -1.35037184e-01] [-3.99708135e-04 2.48566567e-06 9.99999920e-01 -4.59544008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.868001144999997 meters 0.06907252262030271 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.14, Z:-0.46 [[ 9.99995134e-01 -3.11899531e-03 -6.16806052e-05 1.69028821e+01] [ 3.11899540e-03 9.99995136e-01 1.21950924e-06 -1.35605871e-01] [ 6.16765015e-05 -1.41188483e-06 9.99999998e-01 -4.61083511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.898001144999995 meters 0.06902013771350685 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.14, Z:-0.46 [[ 9.99997808e-01 -2.06606838e-03 -3.39290928e-04 1.69354432e+01] [ 2.06606927e-03 9.99997866e-01 2.28388975e-06 -1.35142679e-01] [ 3.39285485e-04 -2.98488330e-06 9.99999942e-01 -4.62681437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.928001144999996 meters 0.06875107389587393 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.13, Z:-0.46 [[ 9.99996284e-01 2.57203161e-03 -9.03606179e-04 1.69665165e+01] [-2.57202883e-03 9.99996692e-01 4.24700072e-06 -1.27751208e-01] [ 9.03614114e-04 -1.92288380e-06 9.99999592e-01 -4.63355904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.958001144999997 meters 0.06866716169729922 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.12, Z:-0.46 [[ 9.99985854e-01 4.95774279e-03 -1.92673583e-03 1.69954694e+01] [-4.95774478e-03 9.99987710e-01 3.74095221e-06 -1.22051768e-01] [ 1.92673069e-03 5.81136520e-06 9.99998144e-01 -4.62512927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.988001144999995 meters 0.06866590214006854 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.12, Z:-0.46 [[ 9.99975063e-01 6.62303443e-03 -2.45122125e-03 1.70241350e+01] [-6.62303488e-03 9.99978067e-01 7.93482477e-06 -1.19188053e-01] [ 2.45122004e-03 8.29989693e-06 9.99996996e-01 -4.63080819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.018001144999996 meters 0.06880927637725705 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.12, Z:-0.46 [[ 9.99947875e-01 9.95746576e-03 -2.25727425e-03 1.70533832e+01] [-9.95747509e-03 9.99950423e-01 7.10650110e-06 -1.15224488e-01] [ 2.25723310e-03 1.53706214e-05 9.99997452e-01 -4.63411044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.048001144999997 meters 0.0694917286073297 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.11, Z:-0.47 [[ 9.99882614e-01 1.49583254e-02 -3.31757369e-03 1.70806614e+01] [-1.49583741e-02 9.99888117e-01 1.01534527e-05 -1.12320372e-01] [ 3.31735439e-03 3.94732473e-05 9.99994497e-01 -4.67214604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.078001144999995 meters 0.0698892057273927 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.11, Z:-0.47 [[ 9.99836301e-01 1.77843540e-02 -3.32972307e-03 1.71093077e+01] [-1.77844177e-02 9.99841845e-01 1.04688650e-05 -1.10613864e-01] [ 3.32938264e-03 4.87500347e-05 9.99994456e-01 -4.68803027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.108001144999996 meters 0.06987273888397671 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.11, Z:-0.47 [[ 9.99796746e-01 1.98885369e-02 -3.30357011e-03 1.71378072e+01] [-1.98886217e-02 9.99802202e-01 7.18346385e-06 -1.11627866e-01] [ 3.30305954e-03 5.85214525e-05 9.99994543e-01 -4.67361907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.138001144999997 meters 0.0701935213338848 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.11, Z:-0.47 [[ 9.99763869e-01 2.15001355e-02 -3.15449524e-03 1.71650470e+01] [-2.15002160e-02 9.99768844e-01 8.39681479e-06 -1.10412669e-01] [ 3.15394659e-03 5.94274970e-05 9.99995025e-01 -4.68130749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.168001144999995 meters 0.07172961865777559 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.10, Z:-0.47 [[ 9.99567471e-01 2.92674244e-02 -2.87901011e-03 1.71942056e+01] [-2.92675215e-02 9.99571614e-01 8.42852507e-06 -1.02322924e-01] [ 2.87802347e-03 7.58366108e-05 9.99995856e-01 -4.67296519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.198001144999996 meters 0.07255581444512071 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.10, Z:-0.47 [[ 9.99475740e-01 3.22465510e-02 -2.89912045e-03 1.72238390e+01] [-3.22466621e-02 9.99479941e-01 8.41572774e-06 -9.94799990e-02] [ 2.89788411e-03 8.50756418e-05 9.99995798e-01 -4.67944529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.228001144999997 meters 0.07408859810971953 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.10, Z:-0.47 [[ 9.99313227e-01 3.68175819e-02 -4.18814223e-03 1.72535007e+01] [-3.68178523e-02 9.99321993e-01 1.25450435e-05 -9.53195578e-02] [ 4.18576452e-03 1.41661974e-04 9.99991230e-01 -4.70133283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.258001144999998 meters 0.07524175846136119 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.09, Z:-0.47 [[ 9.99153958e-01 4.08718764e-02 -4.56715520e-03 1.72841108e+01] [-4.08722391e-02 9.99164381e-01 1.39340410e-05 -9.16183988e-02] [ 4.56390831e-03 1.72747607e-04 9.99989570e-01 -4.71110308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.288001144999996 meters 0.07764469719006603 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.08, Z:-0.47 [[ 9.98792543e-01 4.87970437e-02 -5.68373253e-03 1.73146071e+01] [-4.87977333e-02 9.98808681e-01 1.73742047e-05 -8.30523941e-02] [ 5.67780920e-03 2.60000038e-04 9.99983847e-01 -4.68907007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.318001144999997 meters 0.07636292270327678 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.09, Z:-0.47 [[ 9.98583030e-01 5.29915147e-02 -4.88177133e-03 1.73446855e+01] [-5.29920751e-02 9.98594933e-01 1.45854102e-05 -8.56885016e-02] [ 4.87568502e-03 2.44130450e-04 9.99988084e-01 -4.65322419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.348001144999998 meters 0.0844784918793764 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.07, Z:-0.47 [[ 9.98109794e-01 6.12165101e-02 -5.42022900e-03 1.73741513e+01] [-6.12173229e-02 9.98124461e-01 1.59859001e-05 -6.95840451e-02] [ 5.41104175e-03 3.15856225e-04 9.99985310e-01 -4.72518956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.378001144999995 meters 0.0853009479983025 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.07, Z:-0.47 [[ 9.97908700e-01 6.43957395e-02 -5.60495930e-03 1.74043467e+01] [-6.43966577e-02 9.97924381e-01 1.66885912e-05 -6.93810107e-02] [ 5.59440021e-03 3.44286955e-04 9.99984292e-01 -4.73918929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.408001144999997 meters 0.08590019842762915 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.07, Z:-0.47 [[ 9.97700929e-01 6.75583460e-02 -5.35974784e-03 1.74349394e+01] [-6.75592314e-02 9.97715265e-01 1.58911528e-05 -6.88833987e-02] [ 5.34857581e-03 3.46245827e-04 9.99985636e-01 -4.73895041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.438001144999998 meters 0.08841892520003916 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.06, Z:-0.47 [[ 9.97537803e-01 6.99936563e-02 -4.38399160e-03 1.74639202e+01] [-6.99942722e-02 9.97547393e-01 1.29759831e-05 -6.32384969e-02] [ 4.37414763e-03 2.93910268e-04 9.99990390e-01 -4.73527271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.468001144999995 meters 0.08944149080209858 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.06, Z:-0.47 [[ 9.97331285e-01 7.29438891e-02 -3.08165761e-03 1.74938228e+01] [-7.29442079e-02 9.97336023e-01 8.95860501e-06 -5.91961181e-02] [ 3.07410162e-03 2.15854377e-04 9.99995252e-01 -4.70521661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.498001144999996 meters 0.0846139364173785 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.07, Z:-0.47 [[ 9.97288760e-01 7.35198987e-02 -3.15484309e-03 1.75228799e+01] [-7.35202470e-02 9.97293725e-01 5.57909982e-06 -6.82083535e-02] [ 3.14671539e-03 2.26380870e-04 9.99995023e-01 -4.67222057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.528001144999998 meters 0.08062625599394302 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.08, Z:-0.46 [[ 9.97359136e-01 7.25970192e-02 -2.10404695e-03 1.75517902e+01] [-7.25971699e-02 9.97361344e-01 4.76149970e-06 -7.70366137e-02] [ 2.09884077e-03 1.47998929e-04 9.99997786e-01 -4.64855488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.558001144999995 meters 0.08498490135845321 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.07, Z:-0.47 [[ 9.97475085e-01 7.09663074e-02 -2.69032359e-03 1.75809798e+01] [-7.09665461e-02 9.97478696e-01 6.75879956e-06 -6.73066706e-02] [ 2.68402011e-03 1.84181239e-04 9.99996381e-01 -4.67601475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.588001144999996 meters 0.08080338248488383 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.08, Z:-0.47 [[ 9.97595002e-01 6.92397499e-02 -3.17322780e-03 1.76105376e+01] [-6.92400733e-02 9.97600026e-01 7.96486632e-06 -7.66711106e-02] [ 3.16616362e-03 2.11768815e-04 9.99994965e-01 -4.66134685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.618001144999997 meters 0.08022548836841215 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.08, Z:-0.47 [[ 9.97930164e-01 6.41704502e-02 -4.18809345e-03 1.76400748e+01] [-6.41709671e-02 9.97938919e-01 1.09791205e-05 -7.91652775e-02] [ 4.18016599e-03 2.57797612e-04 9.99991230e-01 -4.69887718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.648001144999995 meters 0.08016709900470219 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.08, Z:-0.47 [[ 9.98123070e-01 6.10587857e-02 -4.70758415e-03 1.76694843e+01] [-6.10594065e-02 9.98134134e-01 1.18727150e-05 -8.01968577e-02] [ 4.69952536e-03 2.75591863e-04 9.99988919e-01 -4.72679590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.678001144999996 meters 0.08008140863756844 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.08, Z:-0.48 [[ 9.98256038e-01 5.88203924e-02 -5.00435253e-03 1.76996562e+01] [-5.88210649e-02 9.98268542e-01 1.28188833e-05 -8.05824753e-02] [ 4.99644172e-03 2.81564817e-04 9.99987478e-01 -4.75046924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.708001144999997 meters 0.07899523138652458 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.08, Z:-0.48 [[ 9.98626542e-01 5.21268573e-02 -5.27459614e-03 1.77286450e+01] [-5.21275109e-02 9.98640437e-01 1.35719472e-05 -8.28203481e-02] [ 5.26813246e-03 2.61398261e-04 9.99986089e-01 -4.76383000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.738001144999995 meters 0.07847945473489137 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.08, Z:-0.48 [[ 9.98800616e-01 4.87136522e-02 -4.93053526e-03 1.77577384e+01] [-4.87141843e-02 9.98812759e-01 1.22039495e-05 -8.42196058e-02] [ 4.92527602e-03 2.27997691e-04 9.99987845e-01 -4.76564420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.768001144999996 meters 0.07822295427075461 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.08, Z:-0.48 [[ 9.98890055e-01 4.67714690e-02 -5.57566740e-03 1.77869702e+01] [-4.67721280e-02 9.98905585e-01 1.22201368e-05 -8.47282104e-02] [ 5.57013686e-03 2.48579256e-04 9.99984456e-01 -4.77371040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.798001144999997 meters 0.0779514812574025 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.08, Z:-0.48 [[ 9.99029532e-01 4.38048157e-02 -4.59697884e-03 1.78155785e+01] [-4.38052305e-02 9.99040090e-01 1.04757302e-05 -8.39204921e-02] [ 4.59302504e-03 1.90906154e-04 9.99989434e-01 -4.77366902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.828001144999995 meters 0.07621342269756212 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.09, Z:-0.48 [[ 9.99024315e-01 4.39050491e-02 -4.77125542e-03 1.78441466e+01] [-4.39055150e-02 9.99035688e-01 7.09965899e-06 -8.83491881e-02] [ 4.76696615e-03 2.02391695e-04 9.99988617e-01 -4.75648742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.858001144999996 meters 0.07621342269756212 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.09, Z:-0.48 [[ 9.99035064e-01 4.36597803e-02 -4.77125851e-03 1.78714633e+01] [-4.36602514e-02 9.99046437e-01 5.41870375e-06 -8.82658705e-02] [ 4.76694540e-03 2.02900871e-04 9.99988617e-01 -4.76095225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.888001144999997 meters 0.07631659635814513 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.09, Z:-0.48 [[ 9.99025498e-01 4.38427637e-02 -5.08591896e-03 1.79000430e+01] [-4.38433030e-02 9.99038420e-01 5.45861595e-06 -8.75497898e-02] [ 5.08126776e-03 2.17530189e-04 9.99987067e-01 -4.77894290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.918001144999995 meters 0.07695576496428454 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.09, Z:-0.48 [[ 9.99075688e-01 4.25950960e-02 -5.78159504e-03 1.79281717e+01] [-4.25957744e-02 9.99092388e-01 5.80126581e-06 -8.61761353e-02] [ 5.77659470e-03 2.40475615e-04 9.99983286e-01 -4.80246746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.948001144999996 meters 0.0776972782880334 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.08, Z:-0.48 [[ 9.98972755e-01 4.45163045e-02 -8.46958565e-03 1.79578807e+01] [-4.45177927e-02 9.99008592e-01 1.28317904e-05 -8.36238594e-02] [ 8.46176005e-03 3.64228649e-04 9.99964132e-01 -4.81966632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.978001144999997 meters 0.0780133481771828 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.08, Z:-0.48 [[ 9.99001532e-01 4.40016688e-02 -7.73258537e-03 1.79852679e+01] [-4.40029060e-02 9.99031403e-01 1.01527451e-05 -8.19560229e-02] [ 7.72554235e-03 3.30113619e-04 9.99970103e-01 -4.82271632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.008001144999994 meters 0.0785235035420104 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.08, Z:-0.48 [[ 9.99002479e-01 4.39667288e-02 -7.80856694e-03 1.80140729e+01] [-4.39680185e-02 9.99032939e-01 6.50015391e-06 -8.13822234e-02] [ 7.80130137e-03 3.36833546e-04 9.99969513e-01 -4.82276791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.038001144999996 meters 0.08010340974678372 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.08, Z:-0.48 [[ 9.98865735e-01 4.70654137e-02 -7.21735147e-03 1.80422904e+01] [-4.70665838e-02 9.98891754e-01 7.73247708e-06 -7.87754122e-02] [ 7.20971681e-03 3.31972372e-04 9.99973955e-01 -4.84134564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.068001144999997 meters 0.07938795428368381 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.08, Z:-0.48 [[ 9.98807631e-01 4.83193554e-02 -6.96827500e-03 1.80711705e+01] [-4.83205038e-02 9.98831882e-01 3.55919998e-06 -8.15324964e-02] [ 6.96030722e-03 3.33155603e-04 9.99975721e-01 -4.83451529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.098001144999998 meters 0.0800743290263955 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.08, Z:-0.48 [[ 9.98706727e-01 5.03870846e-02 -6.78351128e-03 1.81009653e+01] [-5.03882027e-02 9.98729708e-01 6.07794482e-06 -8.00871152e-02] [ 6.77520049e-03 3.35738857e-04 9.99976992e-01 -4.83934466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.128001144999995 meters 0.07881802673547628 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.08, Z:-0.48 [[ 9.98617306e-01 5.21146586e-02 -6.89476322e-03 1.81301844e+01] [-5.21158587e-02 9.98641045e-01 5.60132335e-06 -8.27779382e-02] [ 6.88568546e-03 3.53732927e-04 9.99976231e-01 -4.83195037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.158001144999997 meters 0.08126099254973433 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.08, Z:-0.49 [[ 9.98568767e-01 5.28982992e-02 -7.88591571e-03 1.81577539e+01] [-5.28999087e-02 9.98599820e-01 4.49337751e-06 -7.89039860e-02] [ 7.87511170e-03 4.12677275e-04 9.99968906e-01 -4.88538684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.188001144999998 meters 0.08147521463518761 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.08, Z:-0.49 [[ 9.98544302e-01 5.33313362e-02 -8.06512073e-03 1.81865180e+01] [-5.33330581e-02 9.98576780e-01 1.56861866e-06 -7.92190049e-02] [ 8.05372594e-03 4.28571217e-04 9.99967476e-01 -4.90179970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.218001144999995 meters 0.07990246834406652 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.08, Z:-0.49 [[ 9.98534180e-01 5.35790638e-02 -7.66644460e-03 1.82153252e+01] [-5.35806413e-02 9.98563526e-01 -3.79391754e-07 -8.31911996e-02] [ 7.65541162e-03 4.11151854e-04 9.99970612e-01 -4.89282425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.248001144999996 meters 0.08003738686006763 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.08, Z:-0.49 [[ 9.98593690e-01 5.26297580e-02 -6.38370811e-03 1.82428968e+01] [-5.26308251e-02 9.98614038e-01 8.40154807e-07 -8.10825066e-02] [ 6.37490475e-03 3.35140852e-04 9.99979624e-01 -4.89085722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.278001144999998 meters 0.07933597909269657 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.08, Z:-0.49 [[ 9.98719483e-01 5.03243615e-02 -5.18190481e-03 1.82727206e+01] [-5.03250302e-02 9.98732893e-01 1.34199979e-06 -8.18404679e-02] [ 5.17540631e-03 2.59439235e-04 9.99986574e-01 -4.87120863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.308001144999995 meters 0.08027669627804801 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.08, Z:-0.49 [[ 9.98813579e-01 4.85251837e-02 -4.09152395e-03 1.83020510e+01] [-4.85255872e-02 9.98821940e-01 6.51455184e-07 -7.79433603e-02] [ 4.08673550e-03 1.97892920e-04 9.99991630e-01 -4.86690640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.338001144999996 meters 0.07857619030722122 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.08, Z:-0.49 [[ 9.98922085e-01 4.63190308e-02 -3.03556817e-03 1.83320521e+01] [-4.63192438e-02 9.98926688e-01 1.08740400e-07 -8.10985091e-02] [ 3.03231509e-03 1.40496599e-04 9.99995393e-01 -4.86013894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.368001144999997 meters 0.07592952137787844 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.09, Z:-0.49 [[ 9.99032304e-01 4.38417097e-02 -3.51575609e-03 1.83606870e+01] [-4.38419820e-02 9.99038478e-01 -3.83138989e-07 -8.85589457e-02] [ 3.51235882e-03 1.54520483e-04 9.99993820e-01 -4.86206168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.398001144999995 meters 0.0769528380356867 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.09, Z:-0.49 [[ 9.99199304e-01 3.98515742e-02 -3.55012189e-03 1.83896606e+01] [-3.98518253e-02 9.99205600e-01 1.33742960e-08 -8.69871599e-02] [ 3.54730221e-03 1.41465474e-04 9.99993698e-01 -4.90933187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.428001144999996 meters 0.07486743160253173 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.09, Z:-0.49 [[ 9.99340309e-01 3.60792540e-02 -4.15133510e-03 1.84199318e+01] [-3.60795636e-02 9.99348921e-01 2.94967787e-07 -9.35070824e-02] [ 4.14864290e-03 1.49483586e-04 9.99991383e-01 -4.91876441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.458001144999997 meters 0.07438443410807 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.10, Z:-0.50 [[ 9.99585489e-01 2.84232465e-02 -4.57930070e-03 1.84492831e+01] [-2.84235423e-02 9.99595970e-01 4.91170560e-07 -9.61037080e-02] [ 4.57746449e-03 1.29668980e-04 9.99989515e-01 -4.98245518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.488001144999995 meters 0.07351742158099023 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.10, Z:-0.50 [[ 9.99668583e-01 2.54550031e-02 -3.84281560e-03 1.84779477e+01] [-2.54551937e-02 9.99675964e-01 -6.87695901e-07 -9.93755542e-02] [ 3.84155288e-03 9.85070833e-05 9.99992616e-01 -4.98664853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.518001144999996 meters 0.07253928975878 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.10, Z:-0.50 [[ 9.99758793e-01 2.16850904e-02 -3.48028571e-03 1.85071169e+01] [-2.16852274e-02 9.99764848e-01 -1.62239085e-06 -1.02596859e-01] [ 3.47943213e-03 7.70927866e-05 9.99993944e-01 -4.98935851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.548001144999997 meters 0.07181849780236017 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.11, Z:-0.50 [[ 9.99834012e-01 1.78828669e-02 -3.48602499e-03 1.85354240e+01] [-1.78829888e-02 9.99840087e-01 -3.80948392e-06 -1.05445808e-01] [ 3.48539941e-03 6.61493975e-05 9.99993924e-01 -4.99523522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.578001144999995 meters 0.07079494215055902 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.11, Z:-0.50 [[ 9.99883992e-01 1.46994896e-02 -3.99099581e-03 1.85640431e+01] [-1.46996151e-02 9.99891955e-01 -2.10763894e-06 -1.10320802e-01] [ 3.99053362e-03 6.07734967e-05 9.99992036e-01 -4.98987185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.608001144999996 meters 0.07075639523730043 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.11, Z:-0.50 [[ 9.99896499e-01 1.35685052e-02 -4.78402902e-03 1.85906449e+01] [-1.35686776e-02 9.99907941e-01 -3.58607543e-06 -1.10565241e-01] [ 4.78353995e-03 6.84986516e-05 9.99988556e-01 -5.00750178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.638001144999997 meters 0.07033406812394974 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.11, Z:-0.50 [[ 9.99924857e-01 1.11053414e-02 -5.19142216e-03 1.86199626e+01] [-1.11055065e-02 9.99938332e-01 -2.98299995e-06 -1.12689519e-01] [ 5.19106889e-03 6.06361485e-05 9.99986524e-01 -5.00511494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.668001144999995 meters 0.06998549163259563 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.11, Z:-0.50 [[ 9.99939213e-01 8.64224299e-03 -6.84705391e-03 1.86490645e+01] [-8.64247596e-03 9.99962653e-01 -4.43619456e-06 -1.14542637e-01] [ 6.84675985e-03 6.36114237e-05 9.99976559e-01 -5.00997195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.698001144999996 meters 0.0698525834871126 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.12, Z:-0.50 [[ 9.99962179e-01 6.05413617e-03 -6.24408892e-03 1.86765948e+01] [-6.05428477e-03 9.99981673e-01 -4.89623657e-06 -1.17215283e-01] [ 6.24394484e-03 4.26995438e-05 9.99980505e-01 -5.01505747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.728001144999997 meters 0.06975327736171401 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.12, Z:-0.50 [[ 9.99972866e-01 4.43911213e-03 -5.87897106e-03 1.87044051e+01] [-4.43921902e-03 9.99990147e-01 -5.13234336e-06 -1.18095193e-01] [ 5.87889035e-03 3.12302442e-05 9.99982719e-01 -5.04722443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.758001144999994 meters 0.06943389600460056 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.12, Z:-0.50 [[ 9.99982692e-01 2.94744858e-03 -5.09198123e-03 1.87331857e+01] [-2.94751038e-03 9.99995656e-01 -4.63122315e-06 -1.19907922e-01] [ 5.09194546e-03 1.96398105e-05 9.99987036e-01 -5.04343607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.788001144999996 meters 0.06890795253884378 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.12, Z:-0.50 [[ 9.99996180e-01 1.87796522e-03 -2.02820292e-03 1.87617594e+01] [-1.87797435e-03 9.99998237e-01 -2.59737051e-06 -1.23431202e-01] [ 2.02819446e-03 6.40627364e-06 9.99997943e-01 -5.02439888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.818001144999997 meters 0.06864509768740025 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.12, Z:-0.50 [[ 9.99998625e-01 1.39730949e-03 -8.92989528e-04 1.87908353e+01] [-1.39731163e-03 9.99999024e-01 -1.77347827e-06 -1.24441247e-01] [ 8.92986179e-04 3.02126048e-06 9.99999601e-01 -5.02021987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.848001144999994 meters 0.0684300730333774 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.12, Z:-0.50 [[ 9.99999079e-01 1.35369937e-03 -9.68422047e-05 1.88193581e+01] [-1.35369946e-03 9.99999084e-01 -8.46145722e-07 -1.24865413e-01] [ 9.68409705e-05 9.77240182e-07 9.99999995e-01 -5.01417335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.878001144999995 meters 0.06827454974993989 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.12, Z:-0.50 [[ 9.99987456e-01 4.91969473e-03 9.40134767e-04 1.88490268e+01] [-4.91969724e-03 9.99987898e-01 3.51747103e-07 -1.20240779e-01] [-9.40121659e-04 -4.97692111e-06 9.99999558e-01 -4.99833917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.908001144999997 meters 0.06834122440976452 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.12, Z:-0.50 [[ 9.99977173e-01 6.73867953e-03 4.93757978e-04 1.88768901e+01] [-6.73867997e-03 9.99977295e-01 -7.79794193e-07 -1.16174691e-01] [-4.93752022e-04 -2.54750060e-06 9.99999878e-01 -5.00080929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.938001144999998 meters 0.06846291372877822 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.11, Z:-0.50 [[ 9.99952184e-01 9.76985470e-03 4.24958986e-04 1.89057235e+01] [-9.76985534e-03 9.99952274e-01 -5.64876024e-07 -1.12163912e-01] [-4.24944223e-04 -3.58693881e-06 9.99999910e-01 -4.99620725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.968001144999995 meters 0.0686463935481587 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.11, Z:-0.50 [[ 9.99934538e-01 1.14081289e-02 8.79472915e-04 1.89336830e+01] [-1.14081331e-02 9.99934925e-01 -2.60156972e-07 -1.08156544e-01] [-8.79418652e-04 -9.77300415e-06 9.99999613e-01 -5.00015990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.998001144999996 meters 0.06904654663543824 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.10, Z:-0.50 [[ 9.99872676e-01 1.59520294e-02 4.05998572e-04 1.89634817e+01] [-1.59520307e-02 9.99872758e-01 -2.56603877e-08 -1.04840590e-01] [-4.05947321e-04 -6.45084456e-06 9.99999918e-01 -4.99532600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.028001144999998 meters 0.06964529577143953 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.10, Z:-0.50 [[ 9.99810797e-01 1.94462242e-02 4.63733953e-04 1.89919175e+01] [-1.94462261e-02 9.99810904e-01 -4.20345100e-07 -1.01691674e-01] [-4.63654437e-04 -8.59760973e-06 9.99999892e-01 -5.00684398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.058001144999995 meters 0.06937317551011742 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.10, Z:-0.50 [[ 9.99750833e-01 2.23135187e-02 6.15484196e-04 1.90210987e+01] [-2.23135228e-02 9.99751022e-01 -2.39204966e-07 -1.02114681e-01] [-6.15336292e-04 -1.34944753e-05 9.99999811e-01 -5.00042639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.088001144999996 meters 0.0720725398605095 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.09, Z:-0.50 [[ 9.99550921e-01 2.99512049e-02 9.38763702e-04 1.90500627e+01] [-2.99512188e-02 9.99551362e-01 7.35158742e-07 -9.43651218e-02] [-9.38320518e-04 -2.88519457e-05 9.99999559e-01 -5.03754283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.118001144999997 meters 0.07174560411148677 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.09, Z:-0.50 [[ 9.99437010e-01 3.35415723e-02 7.91459518e-04 1.90795605e+01] [-3.35415832e-02 9.99437323e-01 5.68052488e-07 -9.42463258e-02] [-7.90995128e-04 -2.71145380e-05 9.99999687e-01 -5.02415942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.148001144999995 meters 0.07273654189877467 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.09, Z:-0.50 [[ 9.99299184e-01 3.74317756e-02 5.88370735e-05 1.91102809e+01] [-3.74317757e-02 9.99299186e-01 7.97798294e-08 -9.04900125e-02] [-5.87928534e-05 -2.28210006e-06 9.99999998e-01 -5.02106638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.178001144999996 meters 0.07406878707041667 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.09, Z:-0.50 [[ 9.99123337e-01 4.18635553e-02 2.19413916e-05 1.91393477e+01] [-4.18635553e-02 9.99123337e-01 -2.03189997e-07 -8.57104185e-02] [-2.19306627e-05 -7.15532793e-07 1.00000000e+00 -5.01208833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.208001144999997 meters 0.07682920618210105 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.08, Z:-0.50 [[ 9.98808297e-01 4.87942231e-02 1.05298146e-03 1.91688960e+01] [-4.87942516e-02 9.98808851e-01 1.35471815e-06 -7.78999300e-02] [-1.05166110e-03 -5.27325460e-05 9.99999446e-01 -5.00611991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.238001144999995 meters 0.07735903878151881 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.08, Z:-0.50 [[ 9.98649379e-01 5.19372596e-02 1.39233555e-03 1.91990421e+01] [-5.19373123e-02 9.98650347e-01 1.69722095e-06 -7.69719833e-02] [-1.39036823e-03 -7.40090948e-05 9.99999031e-01 -5.00102275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.268001144999996 meters 0.07879759111051453 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.07, Z:-0.50 [[ 9.98534917e-01 5.41075599e-02 6.26342319e-04 1.92289197e+01] [-5.41075708e-02 9.98535112e-01 4.28694990e-07 -7.47804284e-02] [-6.25401602e-04 -3.43179283e-05 9.99999804e-01 -5.02315670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.298001144999997 meters 0.07957577189181868 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.07, Z:-0.50 [[ 9.98470985e-01 5.52722303e-02 8.20087213e-04 1.92563762e+01] [-5.52722489e-02 9.98471321e-01 4.48394024e-08 -7.39830720e-02] [-8.18831085e-04 -4.53728354e-05 9.99999664e-01 -5.03729085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.328001144999995 meters 0.07972812974117172 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.07, Z:-0.50 [[ 9.98516053e-01 5.44547510e-02 6.09145348e-04 1.92840827e+01] [-5.44547610e-02 9.98516239e-01 -2.12308896e-07 -7.27820530e-02] [-6.08253083e-04 -3.29588705e-05 9.99999814e-01 -5.03864595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.358001144999996 meters 0.0791873131521038 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.07, Z:-0.50 [[ 9.98542814e-01 5.39465493e-02 1.42052526e-03 1.93132186e+01] [-5.39466030e-02 9.98543822e-01 -5.21064991e-07 -7.34863155e-02] [-1.41848483e-03 -7.61122064e-05 9.99998991e-01 -5.03030260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.388001144999997 meters 0.07399979474710727 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.09, Z:-0.50 [[ 9.98712170e-01 5.07066198e-02 1.68514228e-03 1.93428761e+01] [-5.07066959e-02 9.98713588e-01 2.49710331e-06 -8.71994315e-02] [-1.68284787e-03 -8.79418847e-05 9.99998580e-01 -5.01952758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.418001144999995 meters 0.07777684291286074 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.08, Z:-0.51 [[ 9.98850893e-01 4.79161028e-02 9.70029092e-04 1.93713275e+01] [-4.79161266e-02 9.98851363e-01 1.25589042e-06 -7.92079980e-02] [-9.68854703e-04 -4.77344841e-05 9.99999530e-01 -5.06981659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.448001144999996 meters 0.07270867691106025 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.09, Z:-0.50 [[ 9.98976962e-01 4.52194886e-02 4.75773187e-04 1.94016160e+01] [-4.52194940e-02 9.98977075e-01 6.16406409e-07 -9.24745253e-02] [-4.75258633e-04 -2.21299986e-05 9.99999887e-01 -5.04076005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.478001144999997 meters 0.07026669160154021 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.10, Z:-0.50 [[ 9.99248438e-01 3.87510856e-02 9.55472277e-04 1.94318759e+01] [-3.87511050e-02 9.99248894e-01 1.82233812e-06 -9.84288762e-02] [-9.54683999e-04 -3.88465751e-05 9.99999544e-01 -5.01781936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.508001144999994 meters 0.06962746262207456 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.10, Z:-0.50 [[ 9.99355764e-01 3.58706627e-02 1.16306164e-03 1.94611487e+01] [-3.58706858e-02 9.99356440e-01 -1.04532201e-06 -9.98997479e-02] [-1.16235063e-03 -4.06751700e-05 9.99999324e-01 -5.01287856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.538001144999996 meters 0.06902175511846013 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.10, Z:-0.50 [[ 9.99479626e-01 3.22533525e-02 4.45750257e-04 1.94908064e+01] [-3.22533559e-02 9.99479725e-01 3.97683015e-07 -1.01255399e-01] [-4.45505518e-04 -1.47744178e-05 9.99999901e-01 -5.01832718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.568001144999997 meters 0.06865423869536452 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.10, Z:-0.50 [[ 9.99585181e-01 2.87877843e-02 8.54282799e-04 1.95193273e+01] [-2.87877935e-02 9.99585546e-01 -1.52533309e-06 -1.03019828e-01] [-8.53972649e-04 -2.30682165e-05 9.99999635e-01 -5.03874116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.598001144999994 meters 0.06762673248753794 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.11, Z:-0.51 [[ 9.99780922e-01 2.08810772e-02 1.44512767e-03 1.95484721e+01] [-2.08811033e-02 9.99781966e-01 2.94697389e-06 -1.07844982e-01] [-1.44475105e-03 -3.31221884e-05 9.99998956e-01 -5.06454482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.628001144999995 meters 0.066979268008948 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.11, Z:-0.51 [[ 9.99850927e-01 1.71831411e-02 1.69216538e-03 1.95777876e+01] [-1.71831711e-02 9.99852358e-01 3.18020742e-06 -1.10731701e-01] [-1.69186090e-03 -3.22565007e-05 9.99998568e-01 -5.06409853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.658001144999997 meters 0.06628318131455918 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.12, Z:-0.51 [[ 9.99934912e-01 1.12996228e-02 1.57796178e-03 1.96065667e+01] [-1.12996412e-02 9.99936157e-01 2.73958298e-06 -1.16257423e-01] [-1.57783008e-03 -2.05698065e-05 9.99998755e-01 -5.06791542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.688001144999998 meters 0.0659141892045741 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.12, Z:-0.51 [[ 9.99981449e-01 5.66718929e-03 2.23276481e-03 1.96353592e+01] [-5.66721339e-03 9.99983941e-01 4.46638172e-06 -1.21322225e-01] [-2.23270364e-03 -1.71198535e-05 9.99997507e-01 -5.06465292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.718001144999995 meters 0.06575086967554805 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.13, Z:-0.51 [[ 9.99982798e-01 -4.51991982e-03 3.73817361e-03 1.96637990e+01] [ 4.51991905e-03 9.99989785e-01 8.65486252e-06 -1.29586565e-01] [-3.73817454e-03 8.24152845e-06 9.99993013e-01 -5.05369084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.748001144999996 meters 0.06619067392398269 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.13, Z:-0.51 [[ 9.99950507e-01 -8.71062749e-03 4.80704921e-03 1.96957397e+01] [ 8.71065545e-03 9.99962061e-01 1.51191160e-05 -1.34181269e-01] [-4.80699854e-03 2.67541817e-05 9.99988446e-01 -5.05680370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.778001144999998 meters 0.06619067392398269 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.13, Z:-0.51 [[ 9.99951354e-01 -8.61287645e-03 4.80705628e-03 1.97283171e+01] [ 8.61291813e-03 9.99962908e-01 1.20295481e-05 -1.34240096e-01] [-4.80698159e-03 2.93738193e-05 9.99988446e-01 -5.06206473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.808001144999995 meters 0.0666104613450203 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.14, Z:-0.51 [[ 9.99913574e-01 -1.24078596e-02 4.34621550e-03 1.97601464e+01] [ 1.24079294e-02 9.99923019e-01 1.08862623e-05 -1.38321927e-01] [-4.34601599e-03 4.30422137e-05 9.99990555e-01 -5.07204938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.838001144999996 meters 0.06653329492095139 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.14, Z:-0.51 [[ 9.99903718e-01 -1.30495903e-02 4.71843168e-03 1.97935014e+01] [ 1.30496846e-02 9.99914849e-01 1.08118802e-05 -1.40140615e-01] [-4.71817100e-03 5.07632061e-05 9.99988868e-01 -5.07505564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.868001144999997 meters 0.06613192886222381 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.14, Z:-0.51 [[ 9.99938028e-01 -1.06003781e-02 3.40165311e-03 1.98254245e+01] [ 1.06004140e-02 9.99943814e-01 7.48671495e-06 -1.36205295e-01] [-3.40154134e-03 2.85726801e-05 9.99994214e-01 -5.07201325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.898001144999995 meters 0.06617832629922643 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.13, Z:-0.51 [[ 9.99954694e-01 -9.15595368e-03 2.60370486e-03 1.98582708e+01] [ 9.15596838e-03 9.99958083e-01 6.27397788e-06 -1.34306484e-01] [-2.60365317e-03 1.75657458e-05 9.99996610e-01 -5.08538805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.928001144999996 meters 0.06615919501963122 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.14, Z:-0.51 [[ 9.99952050e-01 -9.39463092e-03 2.76376915e-03 1.98906671e+01] [ 9.39465007e-03 9.99955869e-01 6.05466644e-06 -1.35947508e-01] [-2.76370406e-03 1.99102679e-05 9.99996181e-01 -5.10436960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.958001144999997 meters 0.06604557210453048 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.14, Z:-0.51 [[ 9.99966866e-01 -7.90010884e-03 1.96353017e-03 1.99226454e+01] [ 7.90011522e-03 9.99968794e-01 4.50745789e-06 -1.37039170e-01] [-1.96350451e-03 1.10048061e-05 9.99998072e-01 -5.14223677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.988001144999995 meters 0.06607268389992281 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.14, Z:-0.52 [[ 9.99967818e-01 -7.71609880e-03 2.19664311e-03 1.99552994e+01] [ 7.71610760e-03 9.99970230e-01 4.46513364e-06 -1.38367857e-01] [-2.19661217e-03 1.24845446e-05 9.99997587e-01 -5.16232764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.018001144999996 meters 0.06594437495534176 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.14, Z:-0.52 [[ 9.99976012e-01 -6.72168496e-03 1.67178824e-03 1.99879538e+01] [ 6.72168757e-03 9.99977409e-01 4.05512442e-06 -1.37924313e-01] [-1.67177773e-03 7.18221108e-06 9.99998603e-01 -5.16500315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.048001144999997 meters 0.06578287511481536 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.14, Z:-0.52 [[ 9.99985051e-01 -5.15397554e-03 1.82620559e-03 2.00201576e+01] [ 5.15397751e-03 9.99986718e-01 3.62963243e-06 -1.35858738e-01] [-1.82620004e-03 5.78264438e-06 9.99998332e-01 -5.16554096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.078001144999995 meters 0.06570519500649856 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.13, Z:-0.51 [[ 9.99984972e-01 -4.60918359e-03 2.96831569e-03 2.00513290e+01] [ 4.60918705e-03 9.99989378e-01 5.67520522e-06 -1.34451977e-01] [-2.96831031e-03 8.00640228e-06 9.99995595e-01 -5.14790244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.108001144999996 meters 0.06550727464559053 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.13, Z:-0.51 [[ 9.99991643e-01 -2.78851536e-03 2.98966402e-03 2.00831559e+01] [ 2.78851378e-03 9.99996112e-01 4.69769145e-06 -1.32630399e-01] [-2.98966549e-03 3.63906713e-06 9.99995531e-01 -5.14161864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.138001144999997 meters 0.06556230392220191 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.13, Z:-0.52 [[ 9.99991653e-01 -2.38750626e-03 3.31557878e-03 2.01143066e+01] [ 2.38750398e-03 9.99997150e-01 4.64477320e-06 -1.32561258e-01] [-3.31558042e-03 3.27122311e-06 9.99994503e-01 -5.15639247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.168001144999995 meters 0.0654840243124708 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.13, Z:-0.52 [[ 9.99992675e-01 -2.23812454e-03 3.10489422e-03 2.01464922e+01] [ 2.23812146e-03 9.99997495e-01 4.46698672e-06 -1.33550919e-01] [-3.10489644e-03 2.48217637e-06 9.99995180e-01 -5.17110421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.198001144999996 meters 0.0653297402363012 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.13, Z:-0.52 [[ 9.99991423e-01 -2.34929795e-04 4.13509320e-03 2.01787861e+01] [ 2.34909783e-04 9.99999972e-01 5.32516972e-06 -1.32352978e-01] [-4.13509433e-03 -4.35375020e-06 9.99991450e-01 -5.18294643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.228001144999997 meters 0.06525442932042365 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.13, Z:-0.52 [[ 9.99993092e-01 5.29166206e-04 3.67904463e-03 2.02102863e+01] [-5.29185967e-04 9.99999860e-01 4.39776268e-06 -1.31139015e-01] [-3.67904179e-03 -6.34463110e-06 9.99993232e-01 -5.18792160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.258001144999994 meters 0.06522325418701076 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.13, Z:-0.52 [[ 9.99995268e-01 1.96063711e-03 2.37070065e-03 2.02428550e+01] [-1.96065027e-03 9.99998078e-01 3.22473021e-06 -1.28920873e-01] [-2.37068977e-03 -7.87282981e-06 9.99997190e-01 -5.19569147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.288001144999996 meters 0.06523812920763843 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.13, Z:-0.52 [[ 9.99996127e-01 2.20743572e-03 1.69516350e-03 2.02734625e+01] [-2.20744151e-03 9.99997564e-01 1.54598122e-06 -1.27205728e-01] [-1.69515595e-03 -5.28794951e-06 9.99998563e-01 -5.20555901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.318001144999997 meters 0.06527844456354288 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.13, Z:-0.52 [[ 9.99996778e-01 2.53838050e-03 8.99214852e-07 2.03033652e+01] [-2.53838050e-03 9.99996778e-01 -2.61277498e-07 -1.26864610e-01] [-8.99875241e-07 2.58994106e-07 1.00000000e+00 -5.22827506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.348001144999994 meters 0.06554523944663514 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.13, Z:-0.53 [[ 9.99998208e-01 1.55361987e-03 -1.08205442e-03 2.03322241e+01] [-1.55362307e-03 9.99998793e-01 -2.11841019e-06 -1.27854226e-01] [ 1.08204982e-03 3.79951109e-06 9.99999415e-01 -5.25919800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.378001144999995 meters 0.06565753604691364 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.13, Z:-0.53 [[ 9.99996974e-01 7.97261964e-04 -2.32751366e-03 2.03610179e+01] [-7.97272265e-04 9.99999682e-01 -3.49796788e-06 -1.29066231e-01] [ 2.32751013e-03 5.35361938e-06 9.99997291e-01 -5.28725247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.408001144999997 meters 0.06594883524383416 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.13, Z:-0.53 [[ 9.99984569e-01 -2.69092678e-03 -4.86006122e-03 2.03894794e+01] [ 2.69092872e-03 9.99996379e-01 -6.14028676e-06 -1.34585817e-01] [ 4.86006015e-03 -6.93788629e-06 9.99988190e-01 -5.33864989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.438001144999994 meters 0.06608458299968827 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.14, Z:-0.54 [[ 9.99981019e-01 -3.76317847e-03 -4.87863785e-03 2.04186855e+01] [ 3.76319537e-03 9.99992919e-01 -5.71564067e-06 -1.36762527e-01] [ 4.87862481e-03 -1.26437352e-05 9.99988099e-01 -5.36033546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.468001144999995 meters 0.0657494640998981 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.14, Z:-0.53 [[ 9.99984597e-01 -4.28576848e-03 -3.52682277e-03 2.04490622e+01] [ 4.28578121e-03 9.99990816e-01 -3.94897543e-06 -1.37182751e-01] [ 3.52680730e-03 -1.11662761e-05 9.99993781e-01 -5.32990281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.498001144999996 meters 0.06564093920611684 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.14, Z:-0.53 [[ 9.99984535e-01 -4.78545851e-03 -2.83350734e-03 2.04803942e+01] [ 4.78547140e-03 9.99988550e-01 -2.23038229e-06 -1.37222524e-01] [ 2.83348557e-03 -1.13293205e-05 9.99995986e-01 -5.32704610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.528001144999998 meters 0.06540728799061657 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.14, Z:-0.53 [[ 9.99982813e-01 -5.85995883e-03 -1.84016932e-04 2.05122833e+01] [ 5.85995909e-03 9.99982830e-01 8.74620466e-07 -1.36563589e-01] [ 1.84008648e-04 -1.95293713e-06 9.99999983e-01 -5.28670129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.558001144999995 meters 0.06537465046274987 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.14, Z:-0.53 [[ 9.99975931e-01 -6.93628330e-03 1.56732495e-04 2.05446339e+01] [ 6.93628320e-03 9.99975944e-01 1.20767421e-06 -1.36547062e-01] [-1.56737101e-04 -1.20504178e-07 9.99999988e-01 -5.27427911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.588001144999996 meters 0.06530772531093522 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.14, Z:-0.53 [[ 9.99966633e-01 -8.09056994e-03 1.12942196e-03 2.05765152e+01] [ 8.09057279e-03 9.99967271e-01 2.04286297e-06 -1.37266641e-01] [-1.12940152e-03 7.09487578e-06 9.99999362e-01 -5.26631778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.618001144999997 meters 0.06549493519536907 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.14, Z:-0.53 [[ 9.99959893e-01 -8.93466873e-03 6.20264704e-04 2.06079764e+01] [ 8.93466891e-03 9.99960085e-01 2.48361015e-06 -1.39139170e-01] [-6.20262136e-04 3.05834923e-06 9.99999808e-01 -5.28146397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.648001144999995 meters 0.06570844450932006 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.14, Z:-0.53 [[ 9.99951845e-01 -9.79934523e-03 -5.29849923e-04 2.06398087e+01] [ 9.79934697e-03 9.99951985e-01 6.93734419e-07 -1.39988191e-01] [ 5.29817684e-04 -5.88588425e-06 9.99999860e-01 -5.30600722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.678001144999996 meters 0.06597541679899886 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.14, Z:-0.53 [[ 9.99934011e-01 -1.12959506e-02 -2.09173633e-03 2.06714262e+01] [ 1.12959742e-02 9.99936198e-01 -5.21973530e-07 -1.41812720e-01] [ 2.09160877e-03 -2.31062605e-05 9.99997812e-01 -5.32265504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.708001144999997 meters 0.06638178447257338 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.14, Z:-0.53 [[ 9.99917315e-01 -1.24145844e-02 -3.35268506e-03 2.07032547e+01] [ 1.24146514e-02 9.99922935e-01 -8.36367363e-07 -1.42940071e-01] [ 3.35243706e-03 -4.07861179e-05 9.99994380e-01 -5.34447312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.738001144999995 meters 0.066786145152215 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.14, Z:-0.54 [[ 9.99881086e-01 -1.46813776e-02 -4.71920906e-03 2.07356323e+01] [ 1.46815350e-02 9.99892220e-01 -1.30769571e-06 -1.44598700e-01] [ 4.71871962e-03 -6.79776925e-05 9.99988864e-01 -5.35612939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.768001144999996 meters 0.06724853129385355 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.15, Z:-0.54 [[ 9.99873754e-01 -1.52980504e-02 -4.29473264e-03 2.07675976e+01] [ 1.52981895e-02 9.99882976e-01 -4.73578320e-07 -1.46886976e-01] [ 4.29423730e-03 -6.52281152e-05 9.99990778e-01 -5.37867775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.798001144999997 meters 0.06680583719789097 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.15, Z:-0.54 [[ 9.99877401e-01 -1.53957348e-02 -2.85559394e-03 2.07996874e+01] [ 1.53957986e-02 9.99881478e-01 3.64107078e-07 -1.46297424e-01] [ 2.85524988e-03 -4.43282116e-05 9.99995923e-01 -5.35489611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.828001144999995 meters 0.06664512898164938 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.15, Z:-0.54 [[ 9.99884735e-01 -1.50465321e-02 -2.02940264e-03 2.08318367e+01] [ 1.50465641e-02 9.99886794e-01 5.21802131e-07 -1.47159347e-01] [ 2.02916505e-03 -3.10572789e-05 9.99997941e-01 -5.35721831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.858001144999996 meters 0.06675745710943275 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.15, Z:-0.54 [[ 9.99897045e-01 -1.42904838e-02 -1.29681991e-03 2.08633702e+01] [ 1.42904965e-02 9.99897886e-01 5.05411329e-07 -1.47780466e-01] [ 1.29668027e-03 -1.90375597e-05 9.99999159e-01 -5.36885064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.888001144999997 meters 0.06661682424395785 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.15, Z:-0.54 [[ 9.99905241e-01 -1.37637763e-02 -2.59483352e-04 2.08954435e+01] [ 1.37637770e-02 9.99905275e-01 9.79177029e-07 -1.47992292e-01] [ 2.59445295e-04 -4.55055523e-06 9.99999966e-01 -5.36063377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.918001144999995 meters 0.06614402847586155 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.15, Z:-0.53 [[ 9.99924494e-01 -1.22516424e-02 9.50745098e-04 2.09276894e+01] [ 1.22516468e-02 9.99924946e-01 1.16175294e-06 -1.45304697e-01] [-9.50687974e-04 1.04865279e-05 9.99999548e-01 -5.33704096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.948001144999996 meters 0.06584414266991337 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.14, Z:-0.53 [[ 9.99942974e-01 -1.05005463e-02 1.94628081e-03 2.09603477e+01] [ 1.05005639e-02 9.99944868e-01 1.13988240e-06 -1.42400018e-01] [-1.94618548e-03 1.92972287e-05 9.99998106e-01 -5.31632460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.978001144999997 meters 0.06579681713236313 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.14, Z:-0.53 [[ 9.99953689e-01 -9.43534500e-03 1.89575636e-03 2.09923165e+01] [ 9.43536003e-03 9.99955486e-01 1.01345648e-06 -1.40647187e-01] [-1.89568154e-03 1.68737343e-05 9.99998203e-01 -5.31728235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.008001144999994 meters 0.065997995684088 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.14, Z:-0.54 [[ 9.99957302e-01 -9.06084846e-03 1.81525189e-03 2.10247171e+01] [ 9.06086133e-03 9.99958950e-01 1.12909836e-06 -1.41887058e-01] [-1.81518760e-03 1.53186955e-05 9.99998352e-01 -5.35046695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.038001144999996 meters 0.06573178753577841 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.14, Z:-0.54 [[ 9.99970727e-01 -7.61072396e-03 7.88662218e-04 2.10574331e+01] [ 7.61072519e-03 9.99971038e-01 1.44330984e-06 -1.40415552e-01] [-7.88650361e-04 4.55902382e-06 9.99999689e-01 -5.36311927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.068001144999997 meters 0.06566934123925566 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.14, Z:-0.54 [[ 9.99980621e-01 -6.21804359e-03 -3.05539162e-04 2.10895707e+01] [ 6.21804424e-03 9.99980668e-01 1.17846709e-06 -1.39949029e-01] [ 3.05525927e-04 -3.07830028e-06 9.99999953e-01 -5.37271024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.098001144999994 meters 0.06569343569996297 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.14, Z:-0.54 [[ 9.99983109e-01 -5.65103463e-03 -1.35926002e-03 2.11208288e+01] [ 5.65104158e-03 9.99984033e-01 1.27012647e-06 -1.39570862e-01] [ 1.35923114e-03 -8.95133993e-06 9.99999076e-01 -5.40288923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.128001144999995 meters 0.06582858321294041 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.14, Z:-0.54 [[ 9.99980709e-01 -5.09318580e-03 -3.55536934e-03 2.11527920e+01] [ 5.09322684e-03 9.99987029e-01 2.48783396e-06 -1.39526957e-01] [ 3.55531055e-03 -2.05960885e-05 9.99993680e-01 -5.42467817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.158001144999997 meters 0.06598233991685787 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.14, Z:-0.55 [[ 9.99979420e-01 -2.56404201e-03 -5.88093331e-03 2.11834623e+01] [ 2.56410449e-03 9.99996713e-01 3.08382275e-06 -1.37431781e-01] [ 5.88090607e-03 -1.81630868e-05 9.99982707e-01 -5.46311767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.188001144999994 meters 0.06584243116513841 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.14, Z:-0.55 [[ 9.99977936e-01 -1.73286856e-03 -6.41281082e-03 2.12131864e+01] [ 1.73291744e-03 9.99998498e-01 2.06456240e-06 -1.36244726e-01] [ 6.41279761e-03 -1.31773885e-05 9.99979438e-01 -5.46605656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.218001144999995 meters 0.06574142018086129 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.13, Z:-0.55 [[ 9.99986854e-01 -5.30259663e-04 -5.10013723e-03 2.12410894e+01] [ 5.30268334e-04 9.99999859e-01 3.47823541e-07 -1.34531652e-01] [ 5.10013633e-03 -3.05226024e-06 9.99986994e-01 -5.46315224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.248001144999996 meters 0.0656217326028355 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.13, Z:-0.55 [[ 9.99992425e-01 7.90075675e-04 -3.81126038e-03 2.12686265e+01] [-7.90082718e-04 9.99999688e-01 -3.42516898e-07 -1.32853927e-01] [ 3.81125892e-03 3.35372526e-06 9.99992737e-01 -5.45452056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.278001144999994 meters 0.06531950283324339 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.13, Z:-0.54 [[ 9.99997976e-01 1.58018565e-03 -1.24523035e-03 2.12969386e+01] [-1.58019142e-03 9.99998751e-01 -3.65137306e-06 -1.32096982e-01] [ 1.24522303e-03 5.61906799e-06 9.99999225e-01 -5.41510055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.308001144999995 meters 0.06518283379811221 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.13, Z:-0.54 [[ 9.99997301e-01 2.19302533e-03 -7.67117138e-04 2.13259669e+01] [-2.19302680e-03 9.99997595e-01 -1.08347760e-06 -1.31194672e-01] [ 7.67112917e-04 2.76578312e-06 9.99999706e-01 -5.41532857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.338001144999996 meters 0.0651638068678471 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.13, Z:-0.54 [[ 9.99994574e-01 3.22472392e-03 -6.73079718e-04 2.13540450e+01] [-3.22472558e-03 9.99994801e-01 -1.37882104e-06 -1.28932878e-01] [ 6.73071772e-04 3.54931094e-06 9.99999773e-01 -5.41654441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.368001144999997 meters 0.06527309971982286 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.13, Z:-0.54 [[ 9.99992247e-01 3.82786799e-03 -9.24159825e-04 2.13817497e+01] [-3.82787073e-03 9.99992674e-01 -1.19596346e-06 -1.28564230e-01] [ 9.24148476e-04 4.73351853e-06 9.99999573e-01 -5.42559405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.398001144999995 meters 0.06539576880931218 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.13, Z:-0.54 [[ 9.99988306e-01 4.71556399e-03 -1.07344749e-03 2.14106594e+01] [-4.71556810e-03 9.99988882e-01 -1.29428149e-06 -1.27852385e-01] [ 1.07342945e-03 6.35618108e-06 9.99999424e-01 -5.44591704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.428001144999996 meters 0.06539430900470096 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.13, Z:-0.55 [[ 9.99980413e-01 5.84687844e-03 -2.23332745e-03 2.14380584e+01] [-5.84689806e-03 9.99982907e-01 -2.25392576e-06 -1.27265207e-01] [ 2.23327610e-03 1.53119196e-05 9.99997506e-01 -5.46242271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.458001144999997 meters 0.06550507772534392 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.12, Z:-0.55 [[ 9.99968755e-01 7.48234378e-03 -2.55019129e-03 2.14654177e+01] [-7.48237405e-03 9.99972007e-01 -2.32816655e-06 -1.24466594e-01] [ 2.55010248e-03 2.14095789e-05 9.99996748e-01 -5.47104726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.488001144999995 meters 0.06566177912082102 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.12, Z:-0.55 [[ 9.99955607e-01 8.81309939e-03 -3.33353594e-03 2.14932539e+01] [-8.81315800e-03 9.99961163e-01 -2.89248846e-06 -1.21976507e-01] [ 3.33338099e-03 3.22713390e-05 9.99994444e-01 -5.47429758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.518001144999996 meters 0.06572441778303259 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.12, Z:-0.55 [[ 9.99947179e-01 9.92232824e-03 -2.68068004e-03 2.15206219e+01] [-9.92237284e-03 9.99950772e-01 -3.34080768e-06 -1.19491123e-01] [ 2.68051493e-03 2.99393381e-05 9.99996407e-01 -5.47245757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.548001144999997 meters 0.06557445638033282 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.12, Z:-0.55 [[ 9.99930521e-01 1.14281926e-02 -2.88945202e-03 2.15498796e+01] [-1.14282488e-02 9.99934695e-01 -2.95091484e-06 -1.19051204e-01] [ 2.88922961e-03 3.59720865e-05 9.99995826e-01 -5.45874497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.578001144999995 meters 0.06650779071244702 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.11, Z:-0.55 [[ 9.99873343e-01 1.54832198e-02 -3.68352739e-03 2.15785825e+01] [-1.54833373e-02 9.99880126e-01 -3.38414367e-06 -1.14509887e-01] [ 3.68303343e-03 6.04170120e-05 9.99993216e-01 -5.49994220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.608001144999996 meters 0.06628178242308826 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.12, Z:-0.55 [[ 9.99854255e-01 1.65556797e-02 -4.16872802e-03 2.16077443e+01] [-1.65558411e-02 9.99862943e-01 -4.21421477e-06 -1.15174999e-01] [ 4.16808689e-03 7.32303993e-05 9.99991311e-01 -5.49386130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.638001144999997 meters 0.06617651195239851 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.11, Z:-0.55 [[ 9.99816627e-01 1.85211098e-02 -4.86631732e-03 2.16368630e+01] [-1.85213540e-02 9.99828465e-01 -5.10362219e-06 -1.14750879e-01] [ 4.86538805e-03 9.52334719e-05 9.99988159e-01 -5.47827270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.668001144999995 meters 0.06617651195239851 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.11, Z:-0.55 [[ 9.99821290e-01 1.82676663e-02 -4.86631303e-03 2.16641621e+01] [-1.82679285e-02 9.99833127e-01 -9.42478821e-06 -1.14549831e-01] [ 4.86532880e-03 9.83205622e-05 9.99988159e-01 -5.48271514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.698001144999996 meters 0.06628373691800424 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.11, Z:-0.55 [[ 9.99724954e-01 2.28912366e-02 -5.09976874e-03 2.16938835e+01] [-2.28915662e-02 9.99737954e-01 -6.26169736e-06 -1.11680760e-01] [ 5.09828903e-03 1.23001669e-04 9.99986996e-01 -5.45666596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.728001144999997 meters 0.06719645672539525 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.11, Z:-0.55 [[ 9.99681752e-01 2.47792653e-02 -4.73100467e-03 2.17217913e+01] [-2.47795758e-02 9.99692939e-01 -7.00549019e-06 -1.07015747e-01] [ 4.72937837e-03 1.24235549e-04 9.99988809e-01 -5.47144079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.758001144999994 meters 0.06695637211029526 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.11, Z:-0.55 [[ 9.99624264e-01 2.70346280e-02 -4.52315257e-03 2.17505024e+01] [-2.70349502e-02 9.99634489e-01 -1.01110164e-05 -1.06458767e-01] [ 4.52122596e-03 1.32390422e-04 9.99989770e-01 -5.45414209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.788001144999996 meters 0.06743010787006129 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.10, Z:-0.55 [[ 9.99583337e-01 2.85100953e-02 -4.50864235e-03 2.17777434e+01] [-2.85104231e-02 9.99593495e-01 -8.43067525e-06 -1.03324183e-01] [ 4.50656921e-03 1.36970464e-04 9.99989836e-01 -5.45748339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.818001144999997 meters 0.06904075321265343 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.10, Z:-0.55 [[ 9.99505955e-01 3.10865997e-02 -4.63342344e-03 2.18061808e+01] [-3.10869707e-02 9.99516683e-01 -8.04352016e-06 -9.78535272e-02] [ 4.63093398e-03 1.52078645e-04 9.99989266e-01 -5.48291040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.848001144999994 meters 0.06780732996489047 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.10, Z:-0.55 [[ 9.99483093e-01 3.16486591e-02 -5.64883456e-03 2.18345130e+01] [-3.16492421e-02 9.99499037e-01 -1.38304076e-05 -1.01830159e-01] [ 5.64556699e-03 1.92604591e-04 9.99984045e-01 -5.47002053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.878001144999995 meters 0.06777823964150795 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.10, Z:-0.55 [[ 9.99454635e-01 3.22802289e-02 -6.95841469e-03 2.18632300e+01] [-3.22811342e-02 9.99478828e-01 -1.77985621e-05 -1.03431135e-01] [ 6.95421362e-03 2.42414373e-04 9.99975790e-01 -5.47715360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.908001144999997 meters 0.06756536949044238 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.10, Z:-0.55 [[ 9.99485649e-01 3.13872417e-02 -6.57863376e-03 2.18915032e+01] [-3.13880424e-02 9.99507274e-01 -1.84725212e-05 -1.03748216e-01] [ 6.57481249e-03 2.24953455e-04 9.99978360e-01 -5.48128826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.938001144999994 meters 0.06791305233717507 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.10, Z:-0.55 [[ 9.99523295e-01 3.03587078e-02 -5.61533333e-03 2.19193074e+01] [-3.03592672e-02 9.99539051e-01 -1.43949484e-05 -1.01855071e-01] [ 5.61230794e-03 1.84865491e-04 9.99984234e-01 -5.48626647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.968001144999995 meters 0.06727406990978506 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.10, Z:-0.55 [[ 9.99540203e-01 2.98825683e-02 -5.13946389e-03 2.19482180e+01] [-2.98830490e-02 9.99553402e-01 -1.67442829e-05 -1.04649201e-01] [ 5.13666825e-03 1.70319435e-04 9.99986793e-01 -5.48190727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.998001144999996 meters 0.06727681166435401 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.11, Z:-0.55 [[ 9.99576201e-01 2.88729862e-02 -3.71079759e-03 2.19762725e+01] [-2.88732366e-02 9.99583081e-01 -1.39171753e-05 -1.05242255e-01] [ 3.70884866e-03 1.21054014e-04 9.99993115e-01 -5.48698753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.028001144999994 meters 0.06708207045272659 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.10, Z:-0.55 [[ 9.99608744e-01 2.77487295e-02 -3.51665703e-03 2.20053109e+01] [-2.77489507e-02 9.99614924e-01 -1.41182760e-05 -1.03651585e-01] [ 3.51491108e-03 1.11696294e-04 9.99993816e-01 -5.47627197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.058001144999995 meters 0.06731099535014283 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.10, Z:-0.55 [[ 9.99641730e-01 2.66114807e-02 -2.87064901e-03 2.20327107e+01] [-2.66116214e-02 9.99645848e-01 -1.08157693e-05 -1.00475635e-01] [ 2.86934454e-03 8.72045189e-05 9.99995880e-01 -5.47138407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.088001144999996 meters 0.06700058701066566 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.10, Z:-0.55 [[ 9.99667163e-01 2.56570310e-02 -2.69817108e-03 2.20617752e+01] [-2.56571582e-02 9.99670801e-01 -1.25455449e-05 -1.00452158e-01] [ 2.69696097e-03 8.17687716e-05 9.99996360e-01 -5.46540675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.118001144999994 meters 0.06713615594522498 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.10, Z:-0.55 [[ 9.99701625e-01 2.42873124e-02 -2.60520624e-03 2.20894056e+01] [-2.42874212e-02 9.99705017e-01 -1.01433000e-05 -1.00126694e-01] [ 2.60419139e-03 7.34140147e-05 9.99996606e-01 -5.48778971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.148001144999995 meters 0.06549671313099045 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.11, Z:-0.55 [[ 9.99825730e-01 1.84909382e-02 -2.56811926e-03 2.21193280e+01] [-1.84910253e-02 9.99829026e-01 -1.01695530e-05 -1.09488701e-01] [ 2.56749213e-03 5.76549389e-05 9.99996702e-01 -5.50272961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.178001144999996 meters 0.06525599572311157 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.11, Z:-0.55 [[ 9.99891964e-01 1.42962559e-02 -3.41712571e-03 2.21475275e+01] [-1.42963844e-02 9.99897801e-01 -1.31795280e-05 -1.11226763e-01] [ 3.41658807e-03 6.20306469e-05 9.99994162e-01 -5.53613051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.208001144999997 meters 0.06452577837276792 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.12, Z:-0.55 [[ 9.99959039e-01 8.49606226e-03 -3.12033957e-03 2.21762038e+01] [-8.49614192e-03 9.99963907e-01 -1.22743692e-05 -1.16067506e-01] [ 3.12012266e-03 3.87847143e-05 9.99995132e-01 -5.52987108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.238001144999995 meters 0.06402545532845345 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.12, Z:-0.55 [[ 9.99988762e-01 3.82280631e-03 -2.80394522e-03 2.22054403e+01] [-3.82285221e-03 9.99992693e-01 -1.10115146e-05 -1.19617578e-01] [ 2.80388264e-03 2.17304591e-05 9.99996069e-01 -5.52113958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.268001144999996 meters 0.06419547802854467 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.13, Z:-0.56 [[ 9.99978528e-01 -4.42614333e-03 -4.83243344e-03 2.22334597e+01] [ 4.42610102e-03 9.99990205e-01 -1.94504086e-05 -1.27634105e-01] [ 4.83247219e-03 -1.93884763e-06 9.99988324e-01 -5.55614832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.298001144999997 meters 0.06447627341595641 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.13, Z:-0.56 [[ 9.99959982e-01 -7.19081515e-03 -5.32230285e-03 2.22649465e+01] [ 7.19081455e-03 9.99974146e-01 -1.92491197e-05 -1.32313792e-01] [ 5.32230366e-03 -1.90233433e-05 9.99985836e-01 -5.59675532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.328001144999995 meters 0.0648152792691417 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.14, Z:-0.56 [[ 9.99919715e-01 -1.12855616e-02 -5.76192700e-03 2.22967648e+01] [ 1.12856523e-02 9.99936315e-01 -1.67816873e-05 -1.36757390e-01] [ 5.76174945e-03 -4.82467647e-05 9.99983400e-01 -5.62291770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.358001144999996 meters 0.06511216495081788 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.14, Z:-0.56 [[ 9.99903014e-01 -1.24333011e-02 -6.27501511e-03 2.23289757e+01] [ 1.24334171e-02 9.99922702e-01 -2.05231924e-05 -1.37326795e-01] [ 6.27478523e-03 -5.74986784e-05 9.99980312e-01 -5.64113224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.388001144999997 meters 0.06532876124355623 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.14, Z:-0.57 [[ 9.99877762e-01 -1.36999059e-02 -7.53489012e-03 2.23604292e+01] [ 1.37001084e-02 9.99906149e-01 -2.47532497e-05 -1.37427199e-01] [ 7.53452208e-03 -7.84785873e-05 9.99971612e-01 -5.65192821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.418001144999995 meters 0.06527592585218214 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.14, Z:-0.56 [[ 9.99875175e-01 -1.42178068e-02 -6.89114198e-03 2.23930447e+01] [ 1.42179936e-02 9.99898919e-01 -2.18817519e-05 -1.36118877e-01] [ 6.89075653e-03 -7.60991923e-05 9.99976256e-01 -5.63022736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.448001144999996 meters 0.06471818279202596 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.13, Z:-0.56 [[ 9.99884412e-01 -1.38835610e-02 -6.19757874e-03 2.24251265e+01] [ 1.38837094e-02 9.99903616e-01 -1.90805471e-05 -1.31237801e-01] [ 6.19724630e-03 -6.69670403e-05 9.99980795e-01 -5.56372485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.478001144999997 meters 0.06476362432907905 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.13, Z:-0.56 [[ 9.99896774e-01 -1.30678186e-02 -5.97270501e-03 2.24560684e+01] [ 1.30679422e-02 9.99914611e-01 -1.83297245e-05 -1.30611893e-01] [ 5.97243454e-03 -5.97231317e-05 9.99982163e-01 -5.57961954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.508001144999994 meters 0.0646105332457731 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.13, Z:-0.56 [[ 9.99904374e-01 -1.28517092e-02 -5.10644535e-03 2.24881368e+01] [ 1.28518005e-02 9.99917412e-01 -1.49426812e-05 -1.32260621e-01] [ 5.10621566e-03 -5.06857646e-05 9.99986962e-01 -5.59576239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.538001144999996 meters 0.06473233180058545 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.13, Z:-0.56 [[ 9.99905859e-01 -1.25703841e-02 -5.50078705e-03 2.25200542e+01] [ 1.25704873e-02 9.99920988e-01 -1.58173271e-05 -1.32962544e-01] [ 5.50055126e-03 -5.33317356e-05 9.99984870e-01 -5.60966771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.568001144999997 meters 0.06478879048622004 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.14, Z:-0.56 [[ 9.99910264e-01 -1.24074756e-02 -5.05159392e-03 2.25518315e+01] [ 1.24075627e-02 9.99923023e-01 -1.40934567e-05 -1.35671258e-01] [ 5.05137993e-03 -4.85857765e-05 9.99987241e-01 -5.62492963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.598001144999994 meters 0.06473337802608127 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.14, Z:-0.56 [[ 9.99915660e-01 -1.20294727e-02 -4.89529840e-03 2.25826387e+01] [ 1.20295500e-02 9.99927642e-01 -1.36546788e-05 -1.35779920e-01] [ 4.89510844e-03 -4.52347097e-05 9.99988018e-01 -5.63611592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.628001144999995 meters 0.06479655631911423 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.14, Z:-0.56 [[ 9.99913813e-01 -1.19490424e-02 -5.43936620e-03 2.26144540e+01] [ 1.19491394e-02 9.99928606e-01 -1.46683451e-05 -1.35190996e-01] [ 5.43915313e-03 -5.03286642e-05 9.99985206e-01 -5.63927076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.658001144999997 meters 0.06465065122978197 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.13, Z:-0.56 [[ 9.99913176e-01 -1.19539276e-02 -5.54467498e-03 2.26468764e+01] [ 1.19540303e-02 9.99928548e-01 -1.46121139e-05 -1.33390456e-01] [ 5.54445348e-03 -5.16703677e-05 9.99984628e-01 -5.62372978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.688001144999994 meters 0.06461771851838076 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.13, Z:-0.56 [[ 9.99916587e-01 -1.20018496e-02 -4.77220571e-03 2.26790135e+01] [ 1.20019286e-02 9.99927974e-01 -1.20767551e-05 -1.32255852e-01] [ 4.77200693e-03 -4.51999244e-05 9.99988613e-01 -5.60986742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.718001144999995 meters 0.06467562818792631 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.13, Z:-0.56 [[ 9.99921684e-01 -1.18094046e-02 -4.14281349e-03 2.27112231e+01] [ 1.18094657e-02 9.99930266e-01 -9.71873457e-06 -1.32458567e-01] [ 4.14263937e-03 -3.92064405e-05 9.99991418e-01 -5.61679417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.748001144999996 meters 0.0647747539007907 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.13, Z:-0.56 [[ 9.99921925e-01 -1.17027865e-02 -4.38058853e-03 2.27424782e+01] [ 1.17028520e-02 9.99931519e-01 -1.06763627e-05 -1.34031995e-01] [ 4.38041349e-03 -4.05898503e-05 9.99990405e-01 -5.64283011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.778001144999994 meters 0.06469448792148841 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.14, Z:-0.57 [[ 9.99929470e-01 -1.17022973e-02 -2.02752950e-03 2.27745911e+01] [ 1.17023130e-02 9.99931526e-01 -4.11498483e-06 -1.35746000e-01] [ 2.02743882e-03 -1.96120903e-05 9.99997945e-01 -5.65036304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.808001144999995 meters 0.06480267210239914 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.14, Z:-0.56 [[ 9.99927599e-01 -1.19637053e-02 -1.29092884e-03 2.28057805e+01] [ 1.19637122e-02 9.99928432e-01 -2.44175685e-06 -1.37316166e-01] [ 1.29086566e-03 -1.30027210e-05 9.99999167e-01 -5.64920377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.838001144999996 meters 0.06455080093903688 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.14, Z:-0.56 [[ 9.99933702e-01 -1.15144600e-02 -8.96653971e-05 2.28379373e+01] [ 1.15144601e-02 9.99933706e-01 8.36976481e-07 -1.36177449e-01] [ 8.96498154e-05 -1.86936963e-06 9.99999996e-01 -5.62764477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.868001144999994 meters 0.06446600766482764 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.14, Z:-0.56 [[ 9.99938597e-01 -1.10773399e-02 -3.09333937e-04 2.28713868e+01] [ 1.10773407e-02 9.99938644e-01 8.63840627e-07 -1.35871926e-01] [ 3.09305388e-04 -4.29038499e-06 9.99999952e-01 -5.62577271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.898001144999995 meters 0.0642449077494253 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.13, Z:-0.56 [[ 9.99960566e-01 -8.80127007e-03 1.18528918e-03 2.29035174e+01] [ 8.80127147e-03 9.99961268e-01 4.03743559e-06 -1.33607971e-01] [-1.18527881e-03 6.39477546e-06 9.99999298e-01 -5.61965326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.928001144999996 meters 0.06427618698149305 Centerline is valid? [True, True] Translation: X:22.93, Y:-0.13, Z:-0.56 [[ 9.99951602e-01 -9.82404234e-03 5.30200167e-04 2.29349946e+01] [ 9.82404267e-03 9.99951743e-01 1.98848205e-06 -1.34153755e-01] [-5.30194116e-04 3.22032325e-06 9.99999859e-01 -5.61740948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.958001144999994 meters 0.064522952423579 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.13, Z:-0.56 [[ 9.99950003e-01 -9.93780008e-03 -1.11015135e-03 2.29664525e+01] [ 9.93780443e-03 9.99950619e-01 -1.59546134e-06 -1.33866253e-01] [ 1.11011239e-03 -9.43708544e-06 9.99999384e-01 -5.63209521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.988001144999995 meters 0.06479312283155224 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.13, Z:-0.57 [[ 9.99964988e-01 -7.69288790e-03 -3.29276245e-03 2.29978173e+01] [ 7.69290932e-03 9.99970409e-01 -6.15949248e-06 -1.33955024e-01] [ 3.29271240e-03 -1.91716461e-05 9.99994579e-01 -5.70940219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.018001144999996 meters 0.06487531890419938 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.13, Z:-0.57 [[ 9.99960926e-01 -6.94166938e-03 -5.47345921e-03 2.30294568e+01] [ 6.94171585e-03 9.99975906e-01 -1.05075756e-05 -1.33608921e-01] [ 5.47340027e-03 -2.74880335e-05 9.99985020e-01 -5.73451803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.048001144999997 meters 0.06484221104270059 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.13, Z:-0.57 [[ 9.99961698e-01 -6.21716781e-03 -6.16037656e-03 2.30620325e+01] [ 6.21721634e-03 9.99980673e-01 -1.12723826e-05 -1.33003253e-01] [ 6.16032758e-03 -2.70284430e-05 9.99981025e-01 -5.74764134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.078001144999995 meters 0.06427884707136158 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.13, Z:-0.57 [[ 9.99986045e-01 -3.30468042e-03 -4.12180413e-03 2.30935013e+01] [ 3.30467731e-03 9.99994540e-01 -7.56497224e-06 -1.27383748e-01] [ 4.12180662e-03 -6.05636594e-06 9.99991505e-01 -5.68996952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.108001144999996 meters 0.06408646025330704 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.12, Z:-0.57 [[ 9.99996607e-01 -1.19001796e-03 -2.31735689e-03 2.31234719e+01] [ 1.19001130e-03 9.99999292e-01 -4.25152967e-06 -1.24631203e-01] [ 2.31736031e-03 1.49383437e-06 9.99997315e-01 -5.68127602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.138001144999997 meters 0.06400048485829135 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.12, Z:-0.57 [[ 9.99996576e-01 -9.04131983e-04 -2.45556473e-03 2.31537144e+01] [ 9.04122949e-04 9.99999591e-01 -4.78908236e-06 -1.24743184e-01] [ 2.45556806e-03 2.56893354e-06 9.99996985e-01 -5.67349560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.168001144999995 meters 0.06403410018644994 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.12, Z:-0.57 [[ 9.99998198e-01 2.21371317e-04 -1.88523274e-03 2.31833925e+01] [-2.21378460e-04 9.99999975e-01 -3.58049164e-06 -1.24248753e-01] [ 1.88523190e-03 3.99783511e-06 9.99998223e-01 -5.67526733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.198001144999996 meters 0.0640040200993079 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.12, Z:-0.57 [[ 9.99995113e-01 3.10060124e-03 -3.99264469e-04 2.32123571e+01] [-3.10060212e-03 9.99995193e-01 -1.58760793e-06 -1.20724317e-01] [ 3.99257627e-04 2.82556043e-06 9.99999920e-01 -5.65635077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.228001144999997 meters 0.06400311111891321 Centerline is valid? [True, True] Translation: X:23.24, Y:-0.12, Z:-0.56 [[ 9.99989223e-01 4.62764069e-03 3.72163191e-04 2.32403219e+01] [-4.62763972e-03 9.99989292e-01 -3.45722977e-06 -1.18852216e-01] [-3.72175204e-04 1.73495535e-06 9.99999931e-01 -5.64487584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.258001144999994 meters 0.06404099449865405 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.12, Z:-0.57 [[ 9.99985616e-01 5.36273690e-03 9.87618291e-05 2.32681447e+01] [-5.36273682e-03 9.99985620e-01 -1.10528936e-06 -1.18490278e-01] [-9.87663364e-05 5.75639766e-07 9.99999995e-01 -5.66738376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.288001144999996 meters 0.06428118443699535 Centerline is valid? [True, True] Translation: X:23.30, Y:-0.12, Z:-0.57 [[ 9.99980558e-01 6.18253122e-03 -8.12394279e-04 2.32961801e+01] [-6.18253593e-03 9.99980888e-01 -3.27884931e-06 -1.19349896e-01] [ 8.12358481e-04 8.30144238e-06 9.99999670e-01 -5.69550084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.318001144999997 meters 0.06479291148840174 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.12, Z:-0.58 [[ 9.99972995e-01 6.98947346e-03 -2.27096299e-03 2.33237271e+01] [-6.98950735e-03 9.99975573e-01 -6.98306369e-06 -1.20540062e-01] [ 2.27085871e-03 2.28557876e-05 9.99997421e-01 -5.75123446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.348001144999994 meters 0.06460729589468553 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.12, Z:-0.57 [[ 9.99963910e-01 8.11375516e-03 -2.51919279e-03 2.33527241e+01] [-8.11379990e-03 9.99967083e-01 -7.54156356e-06 -1.21420472e-01] [ 2.51904867e-03 2.79815176e-05 9.99996827e-01 -5.72863596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.378001144999995 meters 0.06476258865893449 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.12, Z:-0.57 [[ 9.99947830e-01 9.70531670e-03 -3.18491884e-03 2.33804009e+01] [-9.70539700e-03 9.99952901e-01 -9.75843597e-06 -1.18861813e-01] [ 3.18467413e-03 4.06688287e-05 9.99994928e-01 -5.73297667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.408001144999997 meters 0.06506548776814275 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.11, Z:-0.57 [[ 9.99895137e-01 1.43261026e-02 -2.11594965e-03 2.34095179e+01] [-1.43261553e-02 9.99897375e-01 -9.75566149e-06 -1.10880926e-01] [ 2.11559274e-03 4.00680618e-05 9.99997761e-01 -5.68724834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.438001144999994 meters 0.06529438269859518 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.11, Z:-0.57 [[ 9.99859801e-01 1.67068300e-02 -1.12230860e-03 2.34381697e+01] [-1.67068454e-02 9.99860431e-01 -4.34089270e-06 -1.06865721e-01] [ 1.12207944e-03 2.30905203e-05 9.99999370e-01 -5.67624792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.468001144999995 meters 0.06569642940229868 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.10, Z:-0.57 [[ 9.99822406e-01 1.88333190e-02 -6.79790810e-04 2.34672553e+01] [-1.88333255e-02 9.99822637e-01 -3.07287305e-06 -1.03889545e-01] [ 6.79612368e-04 1.58750489e-05 9.99999769e-01 -5.68269925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.498001144999996 meters 0.06566942814872591 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.10, Z:-0.57 [[ 9.99777151e-01 2.11057896e-02 -4.39571792e-04 2.34956301e+01] [-2.11057929e-02 9.99777248e-01 -2.68795940e-06 -1.03920222e-01] [ 4.39417145e-04 1.19648716e-05 9.99999903e-01 -5.68455986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.528001144999994 meters 0.06582165423509469 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.11, Z:-0.57 [[ 9.99788286e-01 2.05006547e-02 -1.76248151e-03 2.35229043e+01] [-2.05006987e-02 9.99789839e-01 -6.89826352e-06 -1.06141997e-01] [ 1.76196969e-03 4.30289056e-05 9.99998447e-01 -5.71224017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.558001144999995 meters 0.06595454588040243 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.11, Z:-0.57 [[ 9.99788191e-01 2.04822410e-02 -2.01259876e-03 2.35519549e+01] [-2.04823035e-02 9.99790216e-01 -1.04611841e-05 -1.05574179e-01] [ 2.01196228e-03 5.16816269e-05 9.99997975e-01 -5.72159794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.588001144999996 meters 0.06595454588040243 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.11, Z:-0.57 [[ 9.99793411e-01 2.02258585e-02 -2.01259463e-03 2.35792517e+01] [-2.02259226e-02 9.99795435e-01 -1.15035745e-05 -1.05319250e-01] [ 2.01195025e-03 5.22077811e-05 9.99997975e-01 -5.72605997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.618001144999994 meters 0.06621092630631274 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.10, Z:-0.57 [[ 9.99789392e-01 2.03910556e-02 -2.31864495e-03 2.36072883e+01] [-2.03911351e-02 9.99792079e-01 -1.06663333e-05 -1.04660271e-01] [ 2.31794536e-03 5.79438894e-05 9.99997312e-01 -5.74258130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.648001144999995 meters 0.06611415927625759 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.11, Z:-0.57 [[ 9.99780940e-01 2.07720973e-02 -2.56736873e-03 2.36355869e+01] [-2.07721945e-02 9.99784235e-01 -1.12066325e-05 -1.06184716e-01] [ 2.56658200e-03 6.45340602e-05 9.99996704e-01 -5.74361915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.678001144999996 meters 0.0660132546470184 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.11, Z:-0.57 [[ 9.99811100e-01 1.94013254e-02 -1.16352471e-03 2.36638536e+01] [-1.94013450e-02 9.99811776e-01 -5.61418683e-06 -1.06345298e-01] [ 1.16319678e-03 2.81870706e-05 9.99999323e-01 -5.74949838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.708001144999994 meters 0.06615215090915173 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.11, Z:-0.58 [[ 9.99820321e-01 1.88769099e-02 -1.72876637e-03 2.36905280e+01] [-1.88769551e-02 9.99821814e-01 -9.83423803e-06 -1.05914654e-01] [ 1.72827269e-03 4.24663161e-05 9.99998506e-01 -5.75758237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.738001144999995 meters 0.06543558233848541 Centerline is valid? [True, True] Translation: X:23.72, Y:-0.11, Z:-0.58 [[ 9.99852565e-01 1.71299692e-02 -1.18837330e-03 2.37198215e+01] [-1.71299881e-02 9.99853271e-01 -5.69430356e-06 -1.08466391e-01] [ 1.18810138e-03 2.60502844e-05 9.99999294e-01 -5.75153653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.768001144999996 meters 0.065654827856524 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.11, Z:-0.58 [[ 9.99869034e-01 1.61011239e-02 -1.63385541e-03 2.37477768e+01] [-1.61011588e-02 9.99870368e-01 -8.18464507e-06 -1.06734563e-01] [ 1.63351182e-03 3.44905384e-05 9.99998665e-01 -5.76275658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.798001144999994 meters 0.06566843952411612 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.11, Z:-0.58 [[ 9.99882582e-01 1.52542669e-02 -1.45917993e-03 2.37760483e+01] [-1.52542933e-02 9.99883646e-01 -6.95567116e-06 -1.06221839e-01] [ 1.45890404e-03 2.92136130e-05 9.99998935e-01 -5.77655848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.828001144999995 meters 0.06559957743868033 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.11, Z:-0.58 [[ 9.99889087e-01 1.48666681e-02 -8.91867199e-04 2.38051492e+01] [-1.48666784e-02 9.99889485e-01 -4.84373661e-06 -1.06598071e-01] [ 8.91696624e-04 1.81023022e-05 9.99999602e-01 -5.78093283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.858001144999996 meters 0.06466361549323575 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.11, Z:-0.57 [[ 9.99899051e-01 1.42071771e-02 -2.07783249e-04 2.38339320e+01] [-1.42071778e-02 9.99899073e-01 -1.74273879e-06 -1.10759401e-01] [ 2.07737519e-04 4.69457643e-06 9.99999978e-01 -5.74924753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.888001144999997 meters 0.06473194750261876 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.11, Z:-0.58 [[ 9.99894964e-01 1.44820723e-02 5.75150798e-04 2.38611989e+01] [-1.44820754e-02 9.99895129e-01 1.17098615e-06 -1.09093282e-01] [-5.75073523e-04 -9.50024037e-06 9.99999835e-01 -5.75584498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.918001144999995 meters 0.06510996657821451 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.11, Z:-0.58 [[ 9.99893482e-01 1.45549948e-02 1.08485595e-03 2.38891574e+01] [-1.45550072e-02 9.99894070e-01 3.56678089e-06 -1.05602403e-01] [-1.08468911e-03 -1.93564871e-05 9.99999412e-01 -5.77248467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.948001144999996 meters 0.06543727293592297 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.10, Z:-0.58 [[ 9.99874277e-01 1.58436824e-02 6.39348667e-04 2.39182470e+01] [-1.58436868e-02 9.99874481e-01 1.92072869e-06 -1.03811578e-01] [-6.39237986e-04 -1.20501273e-05 9.99999796e-01 -5.77400817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.978001144999997 meters 0.06499475104052437 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.10, Z:-0.57 [[ 9.99851992e-01 1.71811089e-02 8.96957471e-04 2.39472232e+01] [-1.71811186e-02 9.99852394e-01 3.11918987e-06 -1.03004106e-01] [-8.96771483e-04 -1.85294609e-05 9.99999598e-01 -5.74935021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.008001144999994 meters 0.06522254177998933 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.10, Z:-0.57 [[ 9.99834707e-01 1.81714398e-02 5.97387300e-04 2.39759541e+01] [-1.81714441e-02 9.99834886e-01 1.75947297e-06 -1.01597725e-01] [-5.97256691e-04 -1.26145721e-05 9.99999822e-01 -5.74091157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.038001144999996 meters 0.06579716787366327 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.10, Z:-0.58 [[ 9.99801877e-01 1.99044427e-02 1.42612557e-04 2.40032511e+01] [-1.99044427e-02 9.99801887e-01 -1.62741645e-06 -9.90844534e-02] [-1.42616697e-04 -1.21152946e-06 9.99999990e-01 -5.75477592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.068001144999997 meters 0.066575766871112 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.10, Z:-0.58 [[ 9.99730448e-01 2.32169832e-02 -4.89581864e-05 2.40326285e+01] [-2.32169833e-02 9.99730450e-01 -7.66953113e-07 -9.82389491e-02] [ 4.89271833e-05 1.90340778e-06 9.99999999e-01 -5.77506649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.098001144999994 meters 0.06683048642695773 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.10, Z:-0.58 [[ 9.99709855e-01 2.40786941e-02 -6.50036031e-04 2.40618028e+01] [-2.40787019e-02 9.99710066e-01 -4.27700257e-06 -9.84834136e-02] [ 6.49744578e-04 1.99277854e-05 9.99999789e-01 -5.79213091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.128001144999995 meters 0.06701987241239392 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.10, Z:-0.58 [[ 9.99695878e-01 2.46550499e-02 -5.30039944e-04 2.40905839e+01] [-2.46550568e-02 9.99696018e-01 -6.40433447e-06 -9.88637624e-02] [ 5.29720923e-04 1.94705517e-05 9.99999860e-01 -5.79642031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.158001144999997 meters 0.06664624492541733 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.10, Z:-0.58 [[ 9.99680790e-01 2.52148816e-02 -1.58960961e-03 2.41194450e+01] [-2.52149331e-02 9.99682053e-01 -1.23354737e-05 -1.00728293e-01] [ 1.58879316e-03 5.24134360e-05 9.99998736e-01 -5.79973098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.188001144999994 meters 0.06743924404844504 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.10, Z:-0.58 [[ 9.99636074e-01 2.69300751e-02 -1.57830473e-03 2.41466249e+01] [-2.69301249e-02 9.99637318e-01 -1.02826319e-05 -9.95484366e-02] [ 1.57745540e-03 5.27828332e-05 9.99998754e-01 -5.80092419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.218001144999995 meters 0.06820228311112218 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.10, Z:-0.58 [[ 9.99636874e-01 2.68287995e-02 -2.51711011e-03 2.41746465e+01] [-2.68289232e-02 9.99640040e-01 -1.53945949e-05 -9.65986446e-02] [ 2.51579103e-03 8.29203586e-05 9.99996832e-01 -5.82700348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.248001144999996 meters 0.0675852905880846 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.10, Z:-0.58 [[ 9.99642529e-01 2.65035972e-02 -3.51757155e-03 2.42034749e+01] [-2.65038461e-02 9.99648711e-01 -2.41686119e-05 -9.88180612e-02] [ 3.51569531e-03 1.17389147e-04 9.99993813e-01 -5.81740860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.278001144999994 meters 0.06866443842738726 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.10, Z:-0.59 [[ 9.99630199e-01 2.68394017e-02 -4.37169821e-03 2.42306145e+01] [-2.68397782e-02 9.99639748e-01 -2.74569665e-05 -9.53822409e-02] [ 4.36938636e-03 1.44782223e-04 9.99990444e-01 -5.85076657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.308001144999995 meters 0.06797356079282058 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.10, Z:-0.59 [[ 9.99625929e-01 2.64800270e-02 -6.84180595e-03 2.42589087e+01] [-2.64809432e-02 9.99649317e-01 -4.33367582e-05 -1.00689818e-01] [ 6.83825909e-03 2.24498022e-04 9.99976594e-01 -5.87800314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.338001144999996 meters 0.06841260046115845 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.10, Z:-0.59 [[ 9.99636067e-01 2.59115351e-02 -7.50502715e-03 2.42857215e+01] [-2.59126253e-02 9.99664210e-01 -4.80477215e-05 -1.00313935e-01] [ 7.50126205e-03 2.42505192e-04 9.99971836e-01 -5.91008088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.368001144999994 meters 0.06741832353782883 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.10, Z:-0.59 [[ 9.99660997e-01 2.46214775e-02 -8.46608064e-03 2.43145885e+01] [-2.46228481e-02 9.99696810e-01 -5.76901031e-05 -1.04419703e-01] [ 8.46209340e-03 2.66129564e-04 9.99964160e-01 -5.89705127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.398001144999995 meters 0.06667127951925966 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.11, Z:-0.59 [[ 9.99765204e-01 2.05333964e-02 -6.92214064e-03 2.43441969e+01] [-2.05341967e-02 9.99789150e-01 -4.45574857e-05 -1.06724410e-01] [ 6.91976619e-03 1.86687621e-04 9.99976041e-01 -5.89558095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.428001144999996 meters 0.06625245502897731 Centerline is valid? [True, True] Translation: X:24.37, Y:-0.11, Z:-0.59 [[ 9.99811560e-01 1.83144482e-02 -6.43622660e-03 2.43719755e+01] [-1.83151043e-02 9.99832263e-01 -4.30084101e-05 -1.07851623e-01] [ 6.43435933e-03 1.60880467e-04 9.99979286e-01 -5.88777351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.458001144999994 meters 0.06576703800797713 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.11, Z:-0.59 [[ 9.99859347e-01 1.60607690e-02 -4.83093809e-03 2.44003657e+01] [-1.60611293e-02 9.99871011e-01 -3.58019496e-05 -1.10024821e-01] [ 4.82973994e-03 1.13387235e-04 9.99988330e-01 -5.87277676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.488001144999995 meters 0.06543786298418273 Centerline is valid? [True, True] Translation: X:24.43, Y:-0.11, Z:-0.59 [[ 9.99912329e-01 1.30468284e-02 -2.26139332e-03 2.44290166e+01] [-1.30468980e-02 9.99914885e-01 -1.60467203e-05 -1.12615444e-01] [ 2.26099149e-03 4.55494816e-05 9.99997443e-01 -5.86820587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.518001144999996 meters 0.06478954072210559 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.12, Z:-0.59 [[ 9.99931296e-01 1.15980483e-02 -1.69982033e-03 2.44575611e+01] [-1.15980866e-02 9.99932740e-01 -1.26615777e-05 -1.15670908e-01] [ 1.69955915e-03 3.23753713e-05 9.99998555e-01 -5.85599471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.548001144999994 meters 0.065119590693978 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.11, Z:-0.59 [[ 9.99946173e-01 1.02604004e-02 -1.54130962e-03 2.44857726e+01] [-1.02604306e-02 9.99947360e-01 -1.16822472e-05 -1.14818086e-01] [ 1.54110862e-03 2.74961188e-05 9.99998812e-01 -5.88811333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.578001144999995 meters 0.06488443845199787 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.12, Z:-0.59 [[ 9.99955012e-01 9.44108660e-03 -9.16783258e-04 2.45149979e+01] [-9.44109737e-03 9.99955432e-01 -7.41379141e-06 -1.16776439e-01] [ 9.16672405e-04 1.60688979e-05 9.99999580e-01 -5.88672227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.608001144999996 meters 0.06448202329892903 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.12, Z:-0.59 [[ 9.99968852e-01 7.87169257e-03 5.75966003e-04 2.45438010e+01] [-7.87169559e-03 9.99969018e-01 2.96814220e-06 -1.18121781e-01] [-5.75924794e-04 -7.50187879e-06 9.99999834e-01 -5.88147184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.638001144999993 meters 0.0646547844514529 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.12, Z:-0.59 [[ 9.99963501e-01 8.41056864e-03 1.50285655e-03 2.45713509e+01] [-8.41059215e-03 9.99964630e-01 9.32993122e-06 -1.16639187e-01] [-1.50272493e-03 -2.19695042e-05 9.99998871e-01 -5.88834430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.668001144999995 meters 0.0645526945092904 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.12, Z:-0.59 [[ 9.99962678e-01 8.48405145e-03 1.63176531e-03 2.46005544e+01] [-8.48408008e-03 9.99964009e-01 1.06206478e-05 -1.16536869e-01] [-1.63161647e-03 -2.44642789e-05 9.99998669e-01 -5.88083695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.698001144999996 meters 0.0647538268482396 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.11, Z:-0.59 [[ 9.99954787e-01 9.19968661e-03 2.40613865e-03 2.46278165e+01] [-9.19975292e-03 9.99957681e-01 1.64901043e-05 -1.12357820e-01] [-2.40588512e-03 -3.86252398e-05 9.99997105e-01 -5.88310075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.728001144999997 meters 0.06470275147486279 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.11, Z:-0.59 [[ 9.99945587e-01 1.00967009e-02 2.62308709e-03 2.46565327e+01] [-1.00967829e-02 9.99949026e-01 1.80232433e-05 -1.11250186e-01] [-2.62277141e-03 -4.45070036e-05 9.99996560e-01 -5.87797042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.758001144999994 meters 0.06491010942638331 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.11, Z:-0.59 [[ 9.99939049e-01 1.06000584e-02 3.08807004e-03 2.46849894e+01] [-1.06001757e-02 9.99943816e-01 2.16047485e-05 -1.10175465e-01] [-3.08766753e-03 -5.43375166e-05 9.99995232e-01 -5.88409851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.788001144999996 meters 0.0649783428297278 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.11, Z:-0.59 [[ 9.99943194e-01 1.04940901e-02 1.86646612e-03 2.47140852e+01] [-1.04941322e-02 9.99944935e-01 1.27621225e-05 -1.09468309e-01] [-1.86622942e-03 -3.23483397e-05 9.99998258e-01 -5.89911235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.818001144999997 meters 0.06490900396243496 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.11, Z:-0.59 [[ 9.99962028e-01 8.66476235e-03 9.29963871e-04 2.47416803e+01] [-8.66477159e-03 9.99962460e-01 5.90239685e-06 -1.07929847e-01] [-9.29877817e-04 -1.39600973e-05 9.99999568e-01 -5.92056040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.848001144999994 meters 0.06494896503764283 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.11, Z:-0.59 [[ 9.99970241e-01 7.64879616e-03 1.00658999e-03 2.47698711e+01] [-7.64880639e-03 9.99970747e-01 6.30889231e-06 -1.07119540e-01] [-1.00651229e-03 -1.40079165e-05 9.99999493e-01 -5.92372228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.878001144999995 meters 0.06446188583828133 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.11, Z:-0.59 [[ 9.99974875e-01 6.89802210e-03 1.63287714e-03 2.47983729e+01] [-6.89804980e-03 9.99976208e-01 1.13325850e-05 -1.09294823e-01] [-1.63276012e-03 -2.25959681e-05 9.99998667e-01 -5.90619918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.908001144999997 meters 0.06425556502728054 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.11, Z:-0.59 [[ 9.99989974e-01 3.65079961e-03 2.59298156e-03 2.48262083e+01] [-3.65086008e-03 9.99993335e-01 1.85907219e-05 -1.10426898e-01] [-2.59289641e-03 -2.80571484e-05 9.99996638e-01 -5.92912172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.938001144999994 meters 0.06420783830287427 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.11, Z:-0.60 [[ 9.99993626e-01 2.69826500e-03 2.33820158e-03 2.48549203e+01] [-2.69831282e-03 9.99996359e-01 1.72954451e-05 -1.09001767e-01] [-2.33814640e-03 -2.36045342e-05 9.99997266e-01 -5.95585632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.968001144999995 meters 0.06415599742303757 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.11, Z:-0.60 [[ 9.99996295e-01 1.29741783e-03 2.39287932e-03 2.48843325e+01] [-1.29746656e-03 9.99999158e-01 1.88106149e-05 -1.08954073e-01] [-2.39285290e-03 -2.19152261e-05 9.99997137e-01 -5.97382272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.998001144999996 meters 0.06400418473949966 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.11, Z:-0.60 [[ 9.99999501e-01 -4.12598148e-04 9.10243164e-04 2.49143896e+01] [ 4.12591924e-04 9.99999915e-01 7.02562347e-06 -1.10153182e-01] [-9.10245985e-04 -6.65006099e-06 9.99999586e-01 -5.97284507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.028001144999994 meters 0.06386946937794513 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.11, Z:-0.60 [[ 9.99996338e-01 -2.69876214e-03 2.02624546e-04 2.49448090e+01] [ 2.69876183e-03 9.99996358e-01 1.82479854e-06 -1.09071791e-01] [-2.02628732e-04 -1.27795647e-06 9.99999979e-01 -5.98277318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.058001144999995 meters 0.06376604931479804 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.11, Z:-0.60 [[ 9.99985567e-01 -5.37215364e-03 -8.01245578e-05 2.49771540e+01] [ 5.37215391e-03 9.99985570e-01 3.11351088e-06 -1.10521151e-01] [ 8.01066753e-05 -3.54390739e-06 9.99999997e-01 -5.98241281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.088001144999996 meters 0.06377659795696639 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.11, Z:-0.60 [[ 9.99971405e-01 -7.47164760e-03 1.16797778e-03 2.50088618e+01] [ 7.47164136e-03 9.99972087e-01 9.70820975e-06 -1.12694348e-01] [-1.16801772e-03 -9.81221053e-07 9.99999318e-01 -5.98839875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.118001144999994 meters 0.06371383051390928 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.12, Z:-0.60 [[ 9.99939495e-01 -1.04000014e-02 3.58408854e-03 2.50408583e+01] [ 1.03999699e-02 9.99945918e-01 2.74059932e-05 -1.16228376e-01] [-3.58417973e-03 9.87007807e-06 9.99993577e-01 -5.95442526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.148001144999995 meters 0.06380254751635868 Centerline is valid? [True, True] Translation: X:25.07, Y:-0.12, Z:-0.60 [[ 9.99929809e-01 -1.09713494e-02 4.47276451e-03 2.50722082e+01] [ 1.09713096e-02 9.99939813e-01 3.34287003e-05 -1.17082979e-01] [-4.47286206e-03 1.56457304e-05 9.99989997e-01 -5.96881320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.178001144999996 meters 0.06374133436695496 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.12, Z:-0.60 [[ 9.99934893e-01 -1.06600252e-02 4.07114364e-03 2.51043677e+01] [ 1.06599887e-02 9.99943180e-01 3.06667199e-05 -1.17267227e-01] [-4.07123923e-03 1.27336217e-05 9.99991712e-01 -5.98176732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.208001144999994 meters 0.06364753288152658 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.12, Z:-0.60 [[ 9.99947503e-01 -9.56263881e-03 3.68055576e-03 2.51377620e+01] [ 9.56260122e-03 9.99954277e-01 2.78133129e-05 -1.16312126e-01] [-3.68065344e-03 7.38383418e-06 9.99993226e-01 -5.97880724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.238001144999995 meters 0.06376255265485481 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.11, Z:-0.60 [[ 9.99975961e-01 -6.71090130e-03 1.74402463e-03 2.51686297e+01] [ 6.71088862e-03 9.99977482e-01 1.31255053e-05 -1.13466553e-01] [-1.74407344e-03 -1.42123482e-06 9.99998479e-01 -6.01239049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.268001144999996 meters 0.06385883137087409 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.11, Z:-0.60 [[ 9.99984779e-01 -5.42330296e-03 1.01424594e-03 2.52009155e+01] [ 5.42329749e-03 9.99985294e-01 8.14850593e-06 -1.12171586e-01] [-1.01427522e-03 -2.64782443e-06 9.99999486e-01 -6.01145833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.298001144999994 meters 0.06393668947685681 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.11, Z:-0.60 [[ 9.99986871e-01 -5.09941822e-03 5.04044352e-04 2.52323113e+01] [ 5.09941671e-03 9.99986998e-01 4.28688990e-06 -1.12747876e-01] [-5.04059659e-04 -1.71650143e-06 9.99999873e-01 -6.01745713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.328001144999995 meters 0.064229865472625 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.11, Z:-0.60 [[ 9.99999352e-01 8.44245957e-04 7.63866351e-04 2.52640220e+01] [-8.44251433e-04 9.99999644e-01 6.84533846e-06 -1.09309184e-01] [-7.63860300e-04 -7.49022929e-06 9.99999708e-01 -6.02311207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.358001144999996 meters 0.06452697470430667 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.11, Z:-0.60 [[ 9.99991922e-01 4.01862577e-03 7.50431219e-05 2.52931295e+01] [-4.01862580e-03 9.99991925e-01 2.49366900e-07 -1.05758331e-01] [-7.50415139e-05 -5.50935112e-07 9.99999997e-01 -6.03536197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.388001144999993 meters 0.06458529490327575 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.10, Z:-0.60 [[ 9.99975413e-01 7.00355017e-03 3.51625679e-04 2.53217646e+01] [-7.00355011e-03 9.99975475e-01 -1.39048285e-06 -1.03644831e-01] [-3.51626794e-04 -1.07217940e-06 9.99999938e-01 -6.01473640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.418001144999995 meters 0.06534918262331818 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.10, Z:-0.60 [[ 9.99954694e-01 9.51777506e-03 1.48943450e-04 2.53488864e+01] [-9.51777508e-03 9.99954705e-01 -5.78894873e-07 -9.80793224e-02] [-1.48942213e-04 -8.38741610e-07 9.99999989e-01 -6.03247527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.448001144999996 meters 0.0663074429364008 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.09, Z:-0.61 [[ 9.99914966e-01 1.29024368e-02 -1.89422044e-03 2.53777817e+01] [-1.29024875e-02 9.99916759e-01 -1.45217578e-05 -9.44929807e-02] [ 1.89387539e-03 3.89606784e-05 9.99998206e-01 -6.05070553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.478001144999993 meters 0.0663074429364008 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.09, Z:-0.61 [[ 9.99916198e-01 1.28066017e-02 -1.89421346e-03 2.54052085e+01] [-1.28066540e-02 9.99917991e-01 -1.54726987e-05 -9.41589668e-02] [ 1.89385996e-03 3.97299384e-05 9.99998206e-01 -6.05516713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.508001144999994 meters 0.06647968576754687 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.09, Z:-0.61 [[ 9.99903438e-01 1.34756190e-02 -3.39457821e-03 2.54323873e+01] [-1.34757901e-02 9.99909197e-01 -2.75501977e-05 -9.37184455e-02] [ 3.39389872e-03 7.32921609e-05 9.99994238e-01 -6.06913303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.538001144999996 meters 0.06679432917551341 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.09, Z:-0.61 [[ 9.99896539e-01 1.38324117e-02 -3.94650057e-03 2.54596342e+01] [-1.38326451e-02 9.99904324e-01 -3.18426660e-05 -9.26432574e-02] [ 3.94568253e-03 8.64299132e-05 9.99992212e-01 -6.09635772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.568001144999997 meters 0.06623190956866945 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.09, Z:-0.61 [[ 9.99887201e-01 1.40638785e-02 -5.27180898e-03 2.54882455e+01] [-1.40642924e-02 9.99901092e-01 -4.14459952e-05 -9.46594861e-02] [ 5.27070467e-03 1.15585583e-04 9.99986103e-01 -6.08895281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.598001144999994 meters 0.06641333674531703 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.09, Z:-0.61 [[ 9.99882889e-01 1.42371458e-02 -5.61348476e-03 2.55159564e+01] [-1.42376214e-02 9.99898639e-01 -4.47728965e-05 -9.35545800e-02] [ 5.61227833e-03 1.24690324e-04 9.99984243e-01 -6.09769418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.628001144999995 meters 0.06632871231275218 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.09, Z:-0.61 [[ 9.99887821e-01 1.31271468e-02 -7.21274440e-03 2.55432884e+01] [-1.31279046e-02 9.99913824e-01 -5.77240669e-05 -9.32177178e-02] [ 7.21136508e-03 1.52405812e-04 9.99973986e-01 -6.10487620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.658001144999997 meters 0.06683973562351106 Centerline is valid? [True, True] Translation: X:25.57, Y:-0.09, Z:-0.61 [[ 9.99909630e-01 1.18348120e-02 -6.37729213e-03 2.55709580e+01] [-1.18353876e-02 9.99929958e-01 -5.25249461e-05 -9.09523331e-02] [ 6.37622383e-03 1.27997924e-04 9.99979663e-01 -6.12548293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.688001144999994 meters 0.06652796595374183 Centerline is valid? [True, True] Translation: X:25.60, Y:-0.09, Z:-0.61 [[ 9.99926729e-01 1.03892913e-02 -6.21286061e-03 2.55994683e+01] [-1.03898066e-02 9.99946023e-01 -5.06696509e-05 -9.18946208e-02] [ 6.21199883e-03 1.15216359e-04 9.99980699e-01 -6.12354650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.718001144999995 meters 0.06529376692889106 Centerline is valid? [True, True] Translation: X:25.63, Y:-0.10, Z:-0.61 [[ 9.99967290e-01 6.62187450e-03 -4.64431061e-03 2.56282732e+01] [-6.62212462e-03 9.99978073e-01 -3.84799189e-05 -9.72563876e-02] [ 4.64395396e-03 6.92338638e-05 9.99989214e-01 -6.09958625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.748001144999996 meters 0.06521234319621659 Centerline is valid? [True, True] Translation: X:25.66, Y:-0.10, Z:-0.61 [[ 9.99978647e-01 4.52900162e-03 -4.71104061e-03 2.56564488e+01] [-4.52923866e-03 9.99989742e-01 -3.96487251e-05 -9.81468609e-02] [ 4.71081271e-03 6.09853057e-05 9.99988902e-01 -6.12048695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.778001144999994 meters 0.0646839461558713 Centerline is valid? [True, True] Translation: X:25.69, Y:-0.10, Z:-0.61 [[ 9.99989872e-01 1.82391783e-03 -4.11459372e-03 2.56853479e+01] [-1.82407641e-03 9.99998336e-01 -3.47880598e-05 -1.00192280e-01] [ 4.11452342e-03 4.22930408e-05 9.99991534e-01 -6.11802680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.808001144999995 meters 0.06414074485410799 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.10, Z:-0.61 [[ 9.99983188e-01 -4.26497239e-03 -3.92867654e-03 2.57132232e+01] [ 4.26487367e-03 9.99990905e-01 -3.35049814e-05 -1.04186994e-01] [ 3.92878370e-03 1.67491090e-05 9.99992282e-01 -6.13569097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.838001144999996 meters 0.06377548002659629 Centerline is valid? [True, True] Translation: X:25.74, Y:-0.11, Z:-0.61 [[ 9.99965446e-01 -7.05333220e-03 -4.39958623e-03 2.57445121e+01] [ 7.05324349e-03 9.99975125e-01 -3.56787744e-05 -1.06687893e-01] [ 4.39972844e-03 4.64618862e-06 9.99990321e-01 -6.09776006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.868001144999994 meters 0.06398896889301758 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.11, Z:-0.61 [[ 9.99952829e-01 -9.19756392e-03 -3.12152116e-03 2.57754091e+01] [ 9.19753156e-03 9.99957702e-01 -2.47220157e-05 -1.08323735e-01] [ 3.12161651e-03 -3.98943987e-06 9.99995128e-01 -6.12719292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.898001144999995 meters 0.06387633333559777 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.11, Z:-0.61 [[ 9.99927189e-01 -1.16815465e-02 -3.02636229e-03 2.58084181e+01] [ 1.16815309e-02 9.99931768e-01 -2.28294483e-05 -1.10472739e-01] [ 3.02642248e-03 -1.25247584e-05 9.99995420e-01 -6.10565999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.928001144999996 meters 0.06416720097187746 Centerline is valid? [True, True] Translation: X:25.84, Y:-0.11, Z:-0.61 [[ 9.99914238e-01 -1.27451318e-02 -3.01296773e-03 2.58399385e+01] [ 1.27451192e-02 9.99918777e-01 -2.33908112e-05 -1.12592630e-01] [ 3.01302113e-03 -1.50118277e-05 9.99995461e-01 -6.14482379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.958001144999994 meters 0.06398772944401271 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.11, Z:-0.61 [[ 9.99902821e-01 -1.34194130e-02 -3.77732216e-03 2.58725476e+01] [ 1.34193992e-02 9.99909955e-01 -2.90181642e-05 -1.12359454e-01] [ 3.77737144e-03 -2.16740496e-05 9.99992865e-01 -6.13020854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.988001144999995 meters 0.06385555637571824 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.11, Z:-0.61 [[ 9.99905395e-01 -1.29404018e-02 -4.66340639e-03 2.59043077e+01] [ 1.29403817e-02 9.99916269e-01 -3.44953790e-05 -1.11492669e-01] [ 4.66346231e-03 -2.58541431e-05 9.99989126e-01 -6.14733939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.018001144999996 meters 0.06395786979637677 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.11, Z:-0.62 [[ 9.99908880e-01 -1.22827566e-02 -5.60048974e-03 2.59349514e+01] [ 1.22827074e-02 9.99924564e-01 -4.31797119e-05 -1.10866025e-01] [ 5.60059763e-03 -2.56133996e-05 9.99984316e-01 -6.16410811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.048001144999994 meters 0.06379785098617784 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.11, Z:-0.62 [[ 9.99917996e-01 -1.13874329e-02 -5.85901027e-03 2.59670426e+01] [ 1.13873690e-02 9.99935161e-01 -4.42751283e-05 -1.10233531e-01] [ 5.85913455e-03 -2.24472144e-05 9.99982835e-01 -6.17882790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.078001144999995 meters 0.06384425456499632 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.11, Z:-0.62 [[ 9.99920239e-01 -1.03902810e-02 -7.18042499e-03 2.59985896e+01] [ 1.03901581e-02 9.99946019e-01 -5.44245691e-05 -1.09933133e-01] [ 7.18060287e-03 -2.01855229e-05 9.99974219e-01 -6.20028372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.108001144999996 meters 0.06404696872150493 Centerline is valid? [True, True] Translation: X:26.03, Y:-0.11, Z:-0.62 [[ 9.99926375e-01 -9.49773720e-03 -7.55236978e-03 2.60306523e+01] [ 9.49758098e-03 9.99954895e-01 -5.65512823e-05 -1.09186800e-01] [ 7.55256624e-03 -1.51821248e-05 9.99971479e-01 -6.20986185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.138001144999993 meters 0.0639638923042057 Centerline is valid? [True, True] Translation: X:26.06, Y:-0.11, Z:-0.62 [[ 9.99928624e-01 -8.55567158e-03 -8.33947203e-03 2.60625521e+01] [ 8.55545212e-03 9.99963400e-01 -6.19906816e-05 -1.08802092e-01] [ 8.33969718e-03 -9.36169674e-06 9.99965224e-01 -6.21717126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.168001144999995 meters 0.0639592329201707 Centerline is valid? [True, True] Translation: X:26.09, Y:-0.11, Z:-0.62 [[ 9.99948195e-01 -5.94676501e-03 -8.26096972e-03 2.60927225e+01] [ 5.94645521e-03 9.99982318e-01 -6.20636899e-05 -1.07086263e-01] [ 8.26119273e-03 1.29369882e-05 9.99965876e-01 -6.22513137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.198001144999996 meters 0.06382011966992225 Centerline is valid? [True, True] Translation: X:26.12, Y:-0.10, Z:-0.62 [[ 9.99961883e-01 -4.15219655e-03 -7.68056099e-03 2.61229693e+01] [ 4.15187394e-03 9.99991379e-01 -5.79479999e-05 -1.04365352e-01] [ 7.68073539e-03 2.60570702e-05 9.99970502e-01 -6.20796671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.228001144999993 meters 0.06374333997339303 Centerline is valid? [True, True] Translation: X:26.15, Y:-0.10, Z:-0.62 [[ 9.99975087e-01 -2.25882636e-03 -6.68757385e-03 2.61526131e+01] [ 2.25853437e-03 9.99997448e-01 -5.12129348e-05 -1.01533345e-01] [ 6.68767247e-03 3.61075435e-05 9.99977637e-01 -6.19990369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.258001144999994 meters 0.06371956849244625 Centerline is valid? [True, True] Translation: X:26.18, Y:-0.10, Z:-0.62 [[ 9.99978913e-01 -1.60569448e-03 -6.29245510e-03 2.61817266e+01] [ 1.60541923e-03 9.99998710e-01 -4.87938677e-05 -9.96433512e-02] [ 6.29252533e-03 3.86908104e-05 9.99980201e-01 -6.19300709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.288001144999996 meters 0.06364025146790882 Centerline is valid? [True, True] Translation: X:26.21, Y:-0.10, Z:-0.62 [[ 9.99981678e-01 1.04260411e-04 -6.05253701e-03 2.62107030e+01] [-1.04572754e-04 9.99999993e-01 -5.12890060e-05 -9.75605000e-02] [ 6.05253162e-03 5.19209968e-05 9.99981682e-01 -6.18081834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.318001144999993 meters 0.06408666960718211 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.10, Z:-0.62 [[ 9.99974342e-01 3.98540077e-03 -5.95243843e-03 2.62378774e+01] [-3.98576256e-03 9.99992056e-01 -4.89187216e-05 -9.50567849e-02] [ 5.95219618e-03 7.26424726e-05 9.99982283e-01 -6.19565258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.348001144999994 meters 0.06446934937680619 Centerline is valid? [True, True] Translation: X:26.27, Y:-0.09, Z:-0.62 [[ 9.99961744e-01 5.30156863e-03 -6.95730838e-03 2.62664571e+01] [-5.30209225e-03 9.99985942e-01 -5.68197130e-05 -9.43423515e-02] [ 6.95690934e-03 9.37058301e-05 9.99975796e-01 -6.21700661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.378001144999995 meters 0.06454559540306784 Centerline is valid? [True, True] Translation: X:26.29, Y:-0.09, Z:-0.62 [[ 9.99956108e-01 6.11957843e-03 -7.09454453e-03 2.62948541e+01] [-6.12014648e-03 9.99981270e-01 -5.83606338e-05 -9.36993662e-02] [ 7.09405451e-03 1.01777724e-04 9.99974832e-01 -6.23492281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.408001144999997 meters 0.06531503604955126 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.09, Z:-0.63 [[ 9.99915519e-01 9.37683980e-03 -9.00160530e-03 2.63235886e+01] [-9.37788979e-03 9.99956024e-01 -7.44425810e-05 -9.06753899e-02] [ 9.00051140e-03 1.58852354e-04 9.99959482e-01 -6.27379645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.438001144999994 meters 0.06538144825460986 Centerline is valid? [True, True] Translation: X:26.35, Y:-0.09, Z:-0.63 [[ 9.99895945e-01 1.10523841e-02 -9.27056204e-03 2.63519834e+01] [-1.10535746e-02 9.99938904e-01 -7.71891814e-05 -8.89123576e-02] [ 9.26914252e-03 1.79653998e-04 9.99957024e-01 -6.26171464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.468001144999995 meters 0.0661756305237362 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.08, Z:-0.63 [[ 9.99860784e-01 1.42138231e-02 -8.73959861e-03 2.63796019e+01] [-1.42150107e-02 9.99898959e-01 -7.37761812e-05 -8.25604138e-02] [ 8.73766691e-03 1.97999398e-04 9.99961806e-01 -6.26863551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.498001144999996 meters 0.06661823423261935 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.08, Z:-0.63 [[ 9.99849036e-01 1.51642405e-02 -8.48238078e-03 2.64072126e+01] [-1.51653987e-02 9.99884996e-01 -7.22336095e-05 -8.05455237e-02] [ 8.48030991e-03 2.00861391e-04 9.99964021e-01 -6.27476729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.528001144999994 meters 0.06686401131841968 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.08, Z:-0.63 [[ 9.99846809e-01 1.58976370e-02 -7.32287603e-03 2.64359115e+01] [-1.58985224e-02 9.99873609e-01 -6.27196170e-05 -7.91520243e-02] [ 7.32095339e-03 1.79132918e-04 9.99973185e-01 -6.27686926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.558001144999995 meters 0.06555186174571527 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.08, Z:-0.62 [[ 9.99855853e-01 1.55037568e-02 -6.92142218e-03 2.64648440e+01] [-1.55045423e-02 9.99879796e-01 -5.98529873e-05 -8.19618324e-02] [ 6.91966225e-03 1.67157843e-04 9.99976045e-01 -6.24116812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.588001144999996 meters 0.06586940631423721 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.08, Z:-0.63 [[ 9.99879590e-01 1.42160030e-02 -6.22185908e-03 2.64930443e+01] [-1.42166160e-02 9.99898937e-01 -5.43068419e-05 -7.96598577e-02] [ 6.22045825e-03 1.42754084e-04 9.99980643e-01 -6.25535435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.618001144999994 meters 0.06456780708418325 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.09, Z:-0.62 [[ 9.99932660e-01 1.02235479e-02 -5.49126853e-03 2.65215760e+01] [-1.02239679e-02 9.99947733e-01 -4.84097346e-05 -8.56097816e-02] [ 5.49048660e-03 1.04549028e-04 9.99984922e-01 -6.24676255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.648001144999995 meters 0.06437288975508862 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.09, Z:-0.63 [[ 9.99953079e-01 7.50741630e-03 -6.12191748e-03 2.65506730e+01] [-7.50788906e-03 9.99971814e-01 -5.42454703e-05 -8.85673150e-02] [ 6.12133768e-03 1.00205602e-04 9.99981259e-01 -6.26767104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.678001144999996 meters 0.06383733389338841 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.09, Z:-0.63 [[ 9.99969418e-01 3.89587729e-03 -6.78121163e-03 2.65793080e+01] [-3.89637699e-03 9.99992407e-01 -6.04803250e-05 -9.35258754e-02] [ 6.78092452e-03 8.69006324e-05 9.99977005e-01 -6.26433661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.708001144999994 meters 0.06391586921146698 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.10, Z:-0.63 [[ 9.99961305e-01 -2.56576044e-03 -8.41459468e-03 2.66073803e+01] [ 2.56521379e-03 9.99996707e-01 -7.57566240e-05 -9.91455936e-02] [ 8.41476134e-03 5.41684583e-05 9.99964594e-01 -6.32794381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.738001144999995 meters 0.06384390524214978 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.10, Z:-0.63 [[ 9.99951394e-01 -4.79341886e-03 -8.61588529e-03 2.66366377e+01] [ 4.79292643e-03 9.99988511e-01 -7.78005839e-05 -1.01377205e-01] [ 8.61615924e-03 3.65014979e-05 9.99962880e-01 -6.34021581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.768001144999996 meters 0.06383842286822876 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.10, Z:-0.63 [[ 9.99930268e-01 -6.93605060e-03 -9.55773011e-03 2.66660692e+01] [ 6.93554551e-03 9.99975945e-01 -8.59902834e-05 -1.03360507e-01] [ 9.55809663e-03 1.96962149e-05 9.99954320e-01 -6.33715664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.798001144999994 meters 0.06393246265791819 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.10, Z:-0.64 [[ 9.99919227e-01 -8.38896055e-03 -9.54801810e-03 2.66961958e+01] [ 8.38852792e-03 9.99964812e-01 -8.53587519e-05 -1.04598776e-01] [ 9.54839819e-03 5.25804090e-06 9.99954413e-01 -6.35085145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.828001144999995 meters 0.0638622805038414 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.10, Z:-0.64 [[ 9.99928937e-01 -7.99419841e-03 -8.84390164e-03 2.67268646e+01] [ 7.99382484e-03 9.99968046e-01 -7.75901115e-05 -1.02617139e-01] [ 8.84423931e-03 6.88799718e-06 9.99960889e-01 -6.35208677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.858001144999996 meters 0.06385138700683193 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.10, Z:-0.63 [[ 9.99945090e-01 -6.30906450e-03 -8.36741765e-03 2.67579992e+01] [ 6.30867032e-03 9.99980097e-01 -7.35025359e-05 -9.94411996e-02] [ 8.36771485e-03 2.07112205e-05 9.99964990e-01 -6.34184802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.888001144999993 meters 0.06385196615911061 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.10, Z:-0.63 [[ 9.99962551e-01 -4.31314308e-03 -7.50286926e-03 2.67883943e+01] [ 4.31276929e-03 9.99990698e-01 -6.59988949e-05 -9.53585594e-02] [ 7.50308413e-03 3.36382792e-05 9.99971851e-01 -6.34288599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.918001144999995 meters 0.06391396540155576 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.09, Z:-0.63 [[ 9.99969733e-01 -2.61839936e-03 -7.32651449e-03 2.68178918e+01] [ 2.61798992e-03 9.99996571e-01 -6.54746205e-05 -9.18917134e-02] [ 7.32666081e-03 4.62918976e-05 9.99973159e-01 -6.34208464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.948001144999996 meters 0.06389074770287657 Centerline is valid? [True, True] Translation: X:26.85, Y:-0.09, Z:-0.63 [[ 9.99970328e-01 -2.56788705e-03 -7.26283615e-03 2.68456017e+01] [ 2.56747328e-03 9.99996702e-01 -6.62943349e-05 -9.14794123e-02] [ 7.26298244e-03 4.76452300e-05 9.99973623e-01 -6.34332583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.978001144999993 meters 0.06406587829944267 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.09, Z:-0.64 [[ 9.99974515e-01 -1.95990952e-03 -6.86497589e-03 2.68730358e+01] [ 1.95952127e-03 9.99998078e-01 -6.32802517e-05 -9.06523276e-02] [ 6.86508672e-03 4.98265727e-05 9.99976434e-01 -6.35812169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.008001144999994 meters 0.06395123248883433 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.09, Z:-0.63 [[ 9.99982150e-01 6.11669507e-04 -5.94349380e-03 2.69020216e+01] [-6.12029680e-04 9.99999811e-01 -5.87809107e-05 -8.88897354e-02] [ 5.94345672e-03 6.24174560e-05 9.99982336e-01 -6.34649460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.038001144999996 meters 0.0643467612584946 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.09, Z:-0.64 [[ 9.99981481e-01 2.05229657e-03 -5.72944458e-03 2.69300548e+01] [-2.05264448e-03 9.99997892e-01 -5.48436458e-05 -8.62997164e-02] [ 5.72931995e-03 6.66031429e-05 9.99983585e-01 -6.37248151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.068001144999993 meters 0.06404146781894236 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.09, Z:-0.63 [[ 9.99975906e-01 3.63214496e-03 -5.91558977e-03 2.69589248e+01] [-3.63256628e-03 9.99993400e-01 -6.04802719e-05 -8.59982335e-02] [ 5.91533106e-03 8.19675867e-05 9.99982501e-01 -6.34980352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.098001144999994 meters 0.0644891524999832 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.08, Z:-0.64 [[ 9.99970819e-01 5.05171567e-03 -5.73065603e-03 2.69868527e+01] [-5.05212352e-03 9.99987236e-01 -5.66961832e-05 -8.25739163e-02] [ 5.73029648e-03 8.56465109e-05 9.99983578e-01 -6.37255589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.128001144999995 meters 0.06464848734421345 Centerline is valid? [True, True] Translation: X:27.02, Y:-0.08, Z:-0.64 [[ 9.99955883e-01 7.00555559e-03 -6.25737435e-03 2.70152918e+01] [-7.00607997e-03 9.99975455e-01 -6.18858007e-05 -8.12551702e-02] [ 6.25678722e-03 1.05722736e-04 9.99980421e-01 -6.37601025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.158001144999997 meters 0.06470435489952593 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.08, Z:-0.64 [[ 9.99955113e-01 7.03270390e-03 -6.34932322e-03 2.70441996e+01] [-7.03324686e-03 9.99975264e-01 -6.31901643e-05 -8.10522168e-02] [ 6.34872177e-03 1.07843686e-04 9.99979841e-01 -6.37978885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.188001144999994 meters 0.06460215391146962 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.08, Z:-0.64 [[ 9.99961471e-01 6.38784664e-03 -6.02091844e-03 2.70721600e+01] [-6.38832801e-03 9.99979593e-01 -6.07198685e-05 -8.07901030e-02] [ 6.02040770e-03 9.91811310e-05 9.99981872e-01 -6.38248465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.218001144999995 meters 0.06458163905262389 Centerline is valid? [True, True] Translation: X:27.10, Y:-0.08, Z:-0.64 [[ 9.99975058e-01 5.37787383e-03 -4.57849240e-03 2.71002528e+01] [-5.37814733e-03 9.99985537e-01 -4.74238966e-05 -8.13531674e-02] [ 4.57817114e-03 7.20465203e-05 9.99989518e-01 -6.38287532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.248001144999996 meters 0.06459271107321582 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.08, Z:-0.64 [[ 9.99975040e-01 4.86655221e-03 -5.12203495e-03 2.71277467e+01] [-4.86688631e-03 9.99988155e-01 -5.27652204e-05 -8.23678393e-02] [ 5.12171750e-03 7.76922652e-05 9.99986881e-01 -6.39956169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.278001144999994 meters 0.06432416280016685 Centerline is valid? [True, True] Translation: X:27.16, Y:-0.08, Z:-0.64 [[ 9.99981911e-01 3.78204079e-03 -4.67691111e-03 2.71570965e+01] [-3.78230668e-03 9.99992846e-01 -4.80094472e-05 -8.49325100e-02] [ 4.67669608e-03 6.56980909e-05 9.99989062e-01 -6.40478265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.308001144999995 meters 0.0641488851591153 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.09, Z:-0.64 [[ 9.99979461e-01 5.95120996e-04 -6.38151437e-03 2.71847434e+01] [-5.95556353e-04 9.99999820e-01 -6.63215085e-05 -8.90029722e-02] [ 6.38147375e-03 7.01206977e-05 9.99979636e-01 -6.43096220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.338001144999996 meters 0.06364860455185954 Centerline is valid? [True, True] Translation: X:27.21, Y:-0.09, Z:-0.64 [[ 9.99972414e-01 -1.56000828e-03 -7.26207116e-03 2.72137387e+01] [ 1.55950093e-03 9.99998781e-01 -7.55242095e-05 -9.21430357e-02] [ 7.26218013e-03 6.41969193e-05 9.99973628e-01 -6.40153460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.368001144999994 meters 0.06357875720033458 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.09, Z:-0.64 [[ 9.99971616e-01 -2.73801803e-03 -7.01929101e-03 2.72429901e+01] [ 2.73756950e-03 9.99996250e-01 -7.35063085e-05 -9.27027776e-02] [ 7.01946595e-03 5.42884251e-05 9.99975362e-01 -6.40179651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.398001144999995 meters 0.06357875720033458 Centerline is valid? [True, True] Translation: X:27.27, Y:-0.09, Z:-0.64 [[ 9.99970946e-01 -2.97267349e-03 -7.01924527e-03 2.72711369e+01] [ 2.97220006e-03 9.99995580e-01 -7.78779668e-05 -9.22829367e-02] [ 7.01944575e-03 5.70131030e-05 9.99975362e-01 -6.40637732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.428001144999996 meters 0.06346693067869574 Centerline is valid? [True, True] Translation: X:27.30, Y:-0.09, Z:-0.64 [[ 9.99953445e-01 -6.90475882e-03 -6.74032205e-03 2.73001884e+01] [ 6.90442854e-03 9.99976162e-01 -7.22691976e-05 -9.44626951e-02] [ 6.74066038e-03 2.57277612e-05 9.99977281e-01 -6.40702455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.458001144999994 meters 0.06346798012169604 Centerline is valid? [True, True] Translation: X:27.33, Y:-0.10, Z:-0.64 [[ 9.99933699e-01 -8.82459551e-03 -7.39762400e-03 2.73314773e+01] [ 8.82426255e-03 9.99961062e-01 -7.76484882e-05 -9.69805891e-02] [ 7.39802117e-03 1.23647636e-05 9.99972634e-01 -6.41169263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.488001144999995 meters 0.06374382225364075 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.10, Z:-0.64 [[ 9.99909595e-01 -1.12877530e-02 -7.30672941e-03 2.73636662e+01] [ 1.12875015e-02 9.99936291e-01 -7.56479820e-05 -1.00798821e-01] [ 7.30711781e-03 -6.83357647e-06 9.99973303e-01 -6.43118642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.518001144999996 meters 0.06402764390548946 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.11, Z:-0.65 [[ 9.99855995e-01 -1.47327847e-02 -8.42226717e-03 2.73955701e+01] [ 1.47325762e-02 9.99891466e-01 -8.67983793e-05 -1.06629443e-01] [ 8.42263185e-03 -3.72958128e-05 9.99964528e-01 -6.47162321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.548001144999994 meters 0.06421106214112322 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.11, Z:-0.65 [[ 9.99840891e-01 -1.56492587e-02 -8.56111819e-03 2.74271136e+01] [ 1.56490899e-02 9.99877542e-01 -8.67091338e-05 -1.07253983e-01] [ 8.56142674e-03 -4.72783708e-05 9.99963349e-01 -6.48689662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.578001144999995 meters 0.06415307481792094 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.11, Z:-0.65 [[ 9.99837283e-01 -1.60365463e-02 -8.26050334e-03 2.74589287e+01] [ 1.60364019e-02 9.99871405e-01 -8.37240966e-05 -1.06755306e-01] [ 8.26078372e-03 -4.87582779e-05 9.99965878e-01 -6.48739100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.608001144999996 meters 0.06398961343369443 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.11, Z:-0.65 [[ 9.99858792e-01 -1.52934448e-02 -6.96464806e-03 2.74912180e+01] [ 1.52933284e-02 9.99883048e-01 -6.99620759e-05 -1.05567667e-01] [ 6.96490349e-03 -3.65604535e-05 9.99975744e-01 -6.48230718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.638001144999993 meters 0.06364655233933196 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.10, Z:-0.65 [[ 9.99910256e-01 -1.24921560e-02 -4.83999150e-03 2.75231712e+01] [ 1.24920702e-02 9.99921970e-01 -4.79571151e-05 -1.01385629e-01] [ 4.84021293e-03 -1.25087024e-05 9.99988286e-01 -6.46157351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.668001144999995 meters 0.06351342774631452 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.10, Z:-0.65 [[ 9.99935612e-01 -1.05053662e-02 -4.29047826e-03 2.75555039e+01] [ 1.05052822e-02 9.99944817e-01 -4.21030119e-05 -9.86506019e-02] [ 4.29068381e-03 -2.97238400e-06 9.99990795e-01 -6.46554175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.698001144999996 meters 0.06358147278224842 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.09, Z:-0.65 [[ 9.99969912e-01 -5.55994268e-03 -5.40946314e-03 2.75877303e+01] [ 5.55973725e-03 9.99984543e-01 -5.30141363e-05 -9.23879277e-02] [ 5.40967428e-03 2.29373475e-05 9.99985367e-01 -6.46210813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.728001144999993 meters 0.06380396289806484 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.09, Z:-0.65 [[ 9.99980186e-01 -1.93564647e-03 -5.99012589e-03 2.76184844e+01] [ 1.93532459e-03 9.99998125e-01 -5.95320398e-05 -8.71086590e-02] [ 5.99022989e-03 4.79380222e-05 9.99982057e-01 -6.46456453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.758001144999994 meters 0.06407516135492027 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.08, Z:-0.65 [[ 9.99979830e-01 1.58226739e-03 -6.15117369e-03 2.76473082e+01] [-1.58270699e-03 9.99998745e-01 -6.65989165e-05 -8.15491536e-02] [ 6.15106060e-03 7.63330788e-05 9.99981079e-01 -6.45963392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.788001144999996 meters 0.06454567765303204 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.08, Z:-0.65 [[ 9.99965025e-01 5.12175804e-03 -6.61190810e-03 2.76751049e+01] [-5.12232896e-03 9.99986878e-01 -6.94161608e-05 -7.60796333e-02] [ 6.61146581e-03 1.03282101e-04 9.99978139e-01 -6.46657187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.818001144999993 meters 0.06546360924854039 Centerline is valid? [True, True] Translation: X:27.70, Y:-0.07, Z:-0.65 [[ 9.99919822e-01 9.93816180e-03 -7.84749778e-03 2.77041432e+01] [-9.93911111e-03 9.99950602e-01 -8.19796172e-05 -6.91491658e-02] [ 7.84629541e-03 1.59970197e-04 9.99969205e-01 -6.48575408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.848001144999994 meters 0.06587584369756447 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.07, Z:-0.65 [[ 9.99889165e-01 1.18760660e-02 -8.97868006e-03 2.77328145e+01] [-1.18773934e-02 9.99929457e-01 -9.45369023e-05 -6.69266863e-02] [ 8.97692395e-03 2.01169740e-04 9.99959686e-01 -6.49867848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.878001144999995 meters 0.06626459368043426 Centerline is valid? [True, True] Translation: X:27.76, Y:-0.07, Z:-0.65 [[ 9.99883913e-01 1.20437719e-02 -9.33314047e-03 2.77603519e+01] [-1.20452225e-02 9.99927449e-01 -9.92269874e-05 -6.50449460e-02] [ 9.33126827e-03 2.11635222e-04 9.99956440e-01 -6.52180344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.908001144999993 meters 0.06557400997370491 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.07, Z:-0.65 [[ 9.99917444e-01 1.00789553e-02 -7.96991699e-03 2.77888669e+01] [-1.00799543e-02 9.99949192e-01 -8.51864203e-05 -6.92097619e-02] [ 7.96865347e-03 1.65515787e-04 9.99968236e-01 -6.50860499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.938001144999994 meters 0.06536086403612693 Centerline is valid? [True, True] Translation: X:27.82, Y:-0.07, Z:-0.65 [[ 9.99927592e-01 9.36552499e-03 -7.55625027e-03 2.78172388e+01] [-9.36640701e-03 9.99956131e-01 -8.13476555e-05 -7.22195010e-02] [ 7.55515692e-03 1.52116681e-04 9.99971448e-01 -6.51041791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.968001144999995 meters 0.06504898118294689 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.07, Z:-0.65 [[ 9.99937887e-01 8.80492039e-03 -6.83343586e-03 2.78460287e+01] [-8.80563253e-03 9.99961227e-01 -7.41346082e-05 -7.48908110e-02] [ 6.83251816e-03 1.34302729e-04 9.99976649e-01 -6.51980981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.998001144999996 meters 0.06492983081380968 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.08, Z:-0.65 [[ 9.99954157e-01 7.48126476e-03 -5.97625028e-03 2.78740738e+01] [-7.48179113e-03 9.99972009e-01 -6.57237182e-05 -7.70458970e-02] [ 5.97559130e-03 1.10433761e-04 9.99982140e-01 -6.52123318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.028001145 meters 0.06423670436379836 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.08, Z:-0.65 [[ 9.99981455e-01 3.42824230e-03 -5.03359008e-03 2.79033295e+01] [-3.42856397e-03 9.99994121e-01 -5.52760937e-05 -8.15347489e-02] [ 5.03337099e-03 7.25330542e-05 9.99987330e-01 -6.48299151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.05800114499999 meters 0.06403651610053977 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.08, Z:-0.65 [[ 9.99982512e-01 1.54031050e-03 -5.70985686e-03 2.79318367e+01] [-1.54069664e-03 9.99998811e-01 -6.32302173e-05 -8.42341780e-02] [ 5.70975268e-03 7.20262689e-05 9.99983697e-01 -6.48657077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.08800114499999 meters 0.0639583823271383 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.09, Z:-0.65 [[ 9.99981878e-01 -3.25013211e-04 -6.01141868e-03 2.79594041e+01] [ 3.24614784e-04 9.99999945e-01 -6.72539845e-05 -8.69849003e-02] [ 6.01144021e-03 6.53013704e-05 9.99981929e-01 -6.50122950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.118001144999994 meters 0.06392414664752526 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.09, Z:-0.65 [[ 9.99978338e-01 -1.57866446e-03 -6.38988665e-03 2.79878897e+01] [ 1.57823384e-03 9.99998752e-01 -7.24328079e-05 -8.94508815e-02] [ 6.38999302e-03 6.23465035e-05 9.99979582e-01 -6.51116952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.148001144999995 meters 0.06402373044352495 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.09, Z:-0.65 [[ 9.99976167e-01 -2.93684987e-03 -6.24824442e-03 2.80158509e+01] [ 2.93646281e-03 9.99995686e-01 -7.11200055e-05 -9.19516096e-02] [ 6.24842633e-03 5.27705732e-05 9.99980477e-01 -6.51984690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.178001144999996 meters 0.0637568791237526 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.10, Z:-0.65 [[ 9.99970763e-01 -5.02065470e-03 -5.76760821e-03 2.80444774e+01] [ 5.02036089e-03 9.99987396e-01 -6.54191811e-05 -9.56265777e-02] [ 5.76786396e-03 3.64617938e-05 9.99983365e-01 -6.53222472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.208001145 meters 0.06390583578694657 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.10, Z:-0.65 [[ 9.99968778e-01 -5.70020868e-03 -5.47272929e-03 2.80746748e+01] [ 5.69995838e-03 9.99983753e-01 -6.13310998e-05 -9.69833187e-02] [ 5.47298997e-03 3.01348558e-05 9.99985023e-01 -6.54003661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23800114499999 meters 0.06384703102432025 Centerline is valid? [True, True] Translation: X:28.11, Y:-0.10, Z:-0.65 [[ 9.99961411e-01 -6.68906890e-03 -5.69492283e-03 2.81063712e+01] [ 6.68881986e-03 9.99977628e-01 -6.27756009e-05 -9.80657552e-02] [ 5.69521533e-03 2.46808655e-05 9.99983782e-01 -6.54287993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.26800114499999 meters 0.06362083859653342 Centerline is valid? [True, True] Translation: X:28.14, Y:-0.10, Z:-0.65 [[ 9.99952265e-01 -7.80672686e-03 -5.87560370e-03 2.81390034e+01] [ 7.80648506e-03 9.99969527e-01 -6.40861038e-05 -9.94761508e-02] [ 5.87592495e-03 1.82152322e-05 9.99982736e-01 -6.52602261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.29800114499999 meters 0.06356446905432811 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.10, Z:-0.65 [[ 9.99947733e-01 -8.44201832e-03 -5.76749478e-03 2.81703197e+01] [ 8.44179608e-03 9.99964365e-01 -6.28774595e-05 -1.00425152e-01] [ 5.76782007e-03 1.41861583e-05 9.99983366e-01 -6.53888125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.328001144999995 meters 0.06358669274108285 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.10, Z:-0.65 [[ 9.99925548e-01 -1.04203851e-02 -6.34930908e-03 2.82015471e+01] [ 1.04201570e-02 9.99945706e-01 -6.90071831e-05 -1.02243934e-01] [ 6.34968343e-03 2.84124818e-06 9.99979841e-01 -6.54741915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.358001144999996 meters 0.06373010958839721 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.11, Z:-0.66 [[ 9.99894302e-01 -1.29044000e-02 -6.69790251e-03 2.82335291e+01] [ 1.29042064e-02 9.99916735e-01 -7.21217807e-05 -1.05718485e-01] [ 6.69827550e-03 -1.43169589e-05 9.99977566e-01 -6.55829232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.388001145 meters 0.06379285943494499 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.11, Z:-0.66 [[ 9.99876840e-01 -1.39041981e-02 -7.27862388e-03 2.82643401e+01] [ 1.39039959e-02 9.99903332e-01 -7.83864879e-05 -1.07505701e-01] [ 7.27901017e-03 -2.28251230e-05 9.99973507e-01 -6.58329692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.418001145 meters 0.0639059688501707 Centerline is valid? [True, True] Translation: X:28.30, Y:-0.11, Z:-0.66 [[ 9.99868360e-01 -1.44387848e-02 -7.40161842e-03 2.82966845e+01] [ 1.44385957e-02 9.99895755e-01 -7.89805537e-05 -1.08616595e-01] [ 7.40198722e-03 -2.78988193e-05 9.99972605e-01 -6.58138796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44800114499999 meters 0.06365845336577451 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.11, Z:-0.66 [[ 9.99879683e-01 -1.32451810e-02 -8.07369239e-03 2.83293109e+01] [ 1.32449208e-02 9.99912279e-01 -8.56953021e-05 -1.06118792e-01] [ 8.07411920e-03 -2.12504248e-05 9.99967404e-01 -6.57019498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47800114499999 meters 0.06350867449660515 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.10, Z:-0.66 [[ 9.99900114e-01 -1.13140665e-02 -8.47075785e-03 2.83617922e+01] [ 1.13137152e-02 9.99935994e-01 -8.93927303e-05 -1.02615137e-01] [ 8.47122706e-03 -6.45194077e-06 9.99964118e-01 -6.56983016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.508001144999994 meters 0.06350051021691538 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.10, Z:-0.66 [[ 9.99922123e-01 -8.81109902e-03 -8.83812881e-03 2.83934643e+01] [ 8.81061996e-03 9.99961181e-01 -9.31378499e-05 -9.88761985e-02] [ 8.83860637e-03 1.52612025e-05 9.99960939e-01 -6.56156874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.538001144999996 meters 0.06372844985789675 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.09, Z:-0.66 [[ 9.99945144e-01 -4.39527782e-03 -9.50740711e-03 2.84237638e+01] [ 4.39452740e-03 9.99990339e-01 -9.98196480e-05 -9.30699192e-02] [ 9.50775399e-03 5.80336112e-05 9.99954799e-01 -6.56447053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.568001145 meters 0.06377091939812835 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.09, Z:-0.66 [[ 9.99949671e-01 -2.60706827e-03 -9.68805024e-03 2.84525335e+01] [ 2.60613884e-03 9.99996598e-01 -1.08558658e-04 -9.03483296e-02] [ 9.68830030e-03 8.33047901e-05 9.99953064e-01 -6.56321175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.598001145 meters 0.06428571405736397 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.09, Z:-0.66 [[ 9.99943617e-01 -1.27031734e-03 -1.05427212e-02 2.84799358e+01] [ 1.26916237e-03 9.99999188e-01 -1.16240645e-04 -8.66562774e-02] [ 1.05428603e-02 1.02853665e-04 9.99944417e-01 -6.59396669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.62800114499999 meters 0.06461183293972086 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.08, Z:-0.66 [[ 9.99948646e-01 2.93872074e-03 -9.69893122e-03 2.85082269e+01] [-2.93990490e-03 9.99995673e-01 -1.07837229e-04 -8.40280805e-02] [ 9.69857234e-03 1.36345626e-04 9.99952958e-01 -6.60157130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65800114499999 meters 0.06475706804306797 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.08, Z:-0.66 [[ 9.99947997e-01 3.92671432e-03 -9.41189880e-03 2.85365827e+01] [-3.92787673e-03 9.99992280e-01 -1.05022344e-04 -8.28890037e-02] [ 9.41141375e-03 1.41985661e-04 9.99955702e-01 -6.61423717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.688001144999994 meters 0.06482819594269862 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.08, Z:-0.66 [[ 9.99945599e-01 4.58947322e-03 -9.36677292e-03 2.85655730e+01] [-4.59065937e-03 9.99989457e-01 -1.05138054e-04 -8.25482097e-02] [ 9.36619164e-03 1.48131999e-04 9.99956125e-01 -6.61823440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.718001144999995 meters 0.06463664704373079 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.08, Z:-0.66 [[ 9.99952342e-01 3.11894258e-03 -9.25124124e-03 2.85930150e+01] [-3.12005415e-03 9.99995127e-01 -1.05724145e-04 -8.24944325e-02] [ 9.25086641e-03 1.34583480e-04 9.99957201e-01 -6.61752859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.748001144999996 meters 0.06441698241125018 Centerline is valid? [True, True] Translation: X:28.62, Y:-0.08, Z:-0.66 [[ 9.99962128e-01 9.84992054e-04 -8.64715377e-03 2.86216023e+01] [-9.85882120e-04 9.99999509e-01 -9.86696684e-05 -8.32513410e-02] [ 8.64705234e-03 1.07191006e-04 9.99962608e-01 -6.61169806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.778001145 meters 0.06424316416998767 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.08, Z:-0.66 [[ 9.99963523e-01 -1.50873021e-03 -8.40694365e-03 2.86497650e+01] [ 1.50796903e-03 9.99998858e-01 -9.68793130e-05 -8.46248758e-02] [ 8.40708022e-03 8.41983684e-05 9.99964656e-01 -6.62029010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.80800114499999 meters 0.06403723853806279 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.09, Z:-0.66 [[ 9.99969191e-01 -4.02074263e-03 -6.74165420e-03 2.86785377e+01] [ 4.02030755e-03 9.99991915e-01 -7.80858590e-05 -8.68299952e-02] [ 6.74191366e-03 5.09799300e-05 9.99977272e-01 -6.61190624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83800114499999 meters 0.0636135470708981 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.10, Z:-0.66 [[ 9.99934476e-01 -1.02125829e-02 -5.17180971e-03 2.87079945e+01] [ 1.02124101e-02 9.99947850e-01 -5.98279815e-05 -9.56588171e-02] [ 5.17215100e-03 7.00741970e-06 9.99986624e-01 -6.59313489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.868001144999994 meters 0.06385774977295802 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.10, Z:-0.66 [[ 9.99919735e-01 -1.21210702e-02 -3.68813259e-03 2.87390745e+01] [ 1.21210002e-02 9.99926537e-01 -4.13076000e-05 -9.99413855e-02] [ 3.68836235e-03 -3.39957162e-06 9.99993198e-01 -6.64104278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.898001144999995 meters 0.0639723267610933 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.10, Z:-0.66 [[ 9.99882936e-01 -1.48262859e-02 -3.78103723e-03 2.87717755e+01] [ 1.48262334e-02 9.99890084e-01 -4.19257742e-05 -1.03538116e-01] [ 3.78124324e-03 -1.41376742e-05 9.99992851e-01 -6.64732267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.928001144999996 meters 0.06390824789992813 Centerline is valid? [True, True] Translation: X:28.80, Y:-0.11, Z:-0.66 [[ 9.99838791e-01 -1.78533750e-02 -1.91048845e-03 2.88037716e+01] [ 1.78533684e-02 9.99840616e-01 -2.04861807e-05 -1.05998378e-01] [ 1.91054970e-03 -1.36257761e-05 9.99998175e-01 -6.61642386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.958001145 meters 0.06400732871326596 Centerline is valid? [True, True] Translation: X:28.84, Y:-0.11, Z:-0.66 [[ 9.99818168e-01 -1.89417675e-02 -2.20001563e-03 2.88355721e+01] [ 1.89417614e-02 9.99820588e-01 -2.36034431e-05 -1.05836232e-01] [ 2.20006802e-03 -1.80730199e-05 9.99997580e-01 -6.61423173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98800114499999 meters 0.06411893722237395 Centerline is valid? [True, True] Translation: X:28.87, Y:-0.11, Z:-0.66 [[ 9.99809391e-01 -1.94045399e-02 -2.15519131e-03 2.88686882e+01] [ 1.94045369e-02 9.99811714e-01 -2.23337778e-05 -1.05089093e-01] [ 2.15521889e-03 -1.94909685e-05 9.99997677e-01 -6.61492615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01800114499999 meters 0.06420202192474113 Centerline is valid? [True, True] Translation: X:28.90, Y:-0.10, Z:-0.66 [[ 9.99809722e-01 -1.93340553e-02 -2.59120253e-03 2.89010248e+01] [ 1.93340488e-02 9.99813079e-01 -2.75628958e-05 -1.04343710e-01] [ 2.59125108e-03 -2.25407849e-05 9.99996642e-01 -6.62828936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.04800114499999 meters 0.06457076440821657 Centerline is valid? [True, True] Translation: X:28.93, Y:-0.10, Z:-0.67 [[ 9.99818782e-01 -1.87376187e-02 -3.36216571e-03 2.89317047e+01] [ 1.87376030e-02 9.99824435e-01 -3.61942799e-05 -1.03436035e-01] [ 3.36225363e-03 -2.68112054e-05 9.99994347e-01 -6.66452411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.078001144999995 meters 0.06460110502600121 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.10, Z:-0.67 [[ 9.99844332e-01 -1.71042296e-02 -4.33084160e-03 2.89628148e+01] [ 1.71041880e-02 9.99853712e-01 -4.66501405e-05 -1.01218205e-01] [ 4.33100597e-03 -2.74326502e-05 9.99990621e-01 -6.69387669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.108001144999996 meters 0.06447177331121907 Centerline is valid? [True, True] Translation: X:28.99, Y:-0.10, Z:-0.67 [[ 9.99875830e-01 -1.49194656e-02 -5.07290529e-03 2.89948600e+01] [ 1.49193827e-02 9.99888698e-01 -5.41880115e-05 -9.75057109e-02] [ 5.07314913e-03 -2.15033325e-05 9.99987131e-01 -6.71514556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.138001145 meters 0.06454362221518478 Centerline is valid? [True, True] Translation: X:29.03, Y:-0.09, Z:-0.68 [[ 9.99941076e-01 -8.17438586e-03 -7.14310509e-03 2.90266291e+01] [ 8.17404974e-03 9.99966589e-01 -7.62483664e-05 -8.80212396e-02] [ 7.14348971e-03 1.78557772e-05 9.99974485e-01 -6.75106613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16800114499999 meters 0.06465388415967524 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.08, Z:-0.68 [[ 9.99957137e-01 -4.63196171e-03 -8.01678013e-03 2.90575167e+01] [ 4.63142116e-03 9.99989271e-01 -8.59907259e-05 -8.20383960e-02] [ 8.01709242e-03 4.88579550e-05 9.99967861e-01 -6.75358017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19800114499999 meters 0.0651179303140862 Centerline is valid? [True, True] Translation: X:29.09, Y:-0.07, Z:-0.68 [[ 9.99977451e-01 2.11117685e-04 -6.71216277e-03 2.90861618e+01] [-2.11616082e-04 9.99999975e-01 -7.35427084e-05 -7.46462599e-02] [ 6.71214708e-03 7.49614517e-05 9.99977470e-01 -6.76281453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.22800114499999 meters 0.06615205115546291 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.06, Z:-0.67 [[ 9.99947681e-01 8.04640254e-03 -6.31594057e-03 2.91150824e+01] [-8.04700222e-03 9.99967620e-01 -6.95408952e-05 -6.28685764e-02] [ 6.31517650e-03 1.20361645e-04 9.99980052e-01 -6.73376515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.258001144999994 meters 0.066917536770482 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.06, Z:-0.67 [[ 9.99916597e-01 1.15697321e-02 -5.73938955e-03 2.91429424e+01] [-1.15702962e-02 9.99933060e-01 -6.50892984e-05 -5.61425438e-02] [ 5.73825229e-03 1.31490307e-04 9.99983527e-01 -6.72871447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.288001144999996 meters 0.066917536770482 Centerline is valid? [True, True] Translation: X:29.17, Y:-0.06, Z:-0.67 [[ 9.99917686e-01 1.14752166e-02 -5.73938773e-03 2.91703723e+01] [-1.14757800e-02 9.99934149e-01 -6.52456837e-05 -5.57095907e-02] [ 5.73826108e-03 1.31104264e-04 9.99983527e-01 -6.73318535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.318001145 meters 0.06712410042781115 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.05, Z:-0.67 [[ 9.99877492e-01 1.45019552e-02 -5.89010224e-03 2.92002775e+01] [-1.45025960e-02 9.99894830e-01 -6.61014495e-05 -5.30485028e-02] [ 5.88852418e-03 1.51515125e-04 9.99982651e-01 -6.72002746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.348001145 meters 0.06793537486843299 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.05, Z:-0.67 [[ 9.99837664e-01 1.68256815e-02 -6.44535647e-03 2.92302250e+01] [-1.68264981e-02 9.99858422e-01 -7.24851438e-05 -5.14220209e-02] [ 6.44322434e-03 1.80926156e-04 9.99979226e-01 -6.74726282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37800114499999 meters 0.06866096897071562 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.05, Z:-0.68 [[ 9.99849659e-01 1.63514296e-02 -5.76980078e-03 2.92584283e+01] [-1.63520815e-02 9.99866294e-01 -6.58261476e-05 -5.09097449e-02] [ 5.76795297e-03 1.60164504e-04 9.99983352e-01 -6.77803796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.40800114499999 meters 0.06776473033076302 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.05, Z:-0.68 [[ 9.99889231e-01 1.43799928e-02 -3.83943752e-03 2.92878657e+01] [-1.43802679e-02 9.99896598e-01 -4.40448150e-05 -5.39781689e-02] [ 3.83840715e-03 9.92520762e-05 9.99992628e-01 -6.76575636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.438001144999994 meters 0.0677171152020653 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.06, Z:-0.68 [[ 9.99909445e-01 1.31323011e-02 -2.94001417e-03 2.93155924e+01] [-1.31324597e-02 9.99913765e-01 -3.46327319e-05 -5.53348143e-02] [ 2.93930583e-03 7.32392133e-05 9.99995678e-01 -6.77171117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.468001144999995 meters 0.06684050196579899 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.06, Z:-0.68 [[ 9.99936543e-01 1.08663128e-02 -2.97202273e-03 2.93442281e+01] [-1.08664647e-02 9.99940958e-01 -3.49525535e-05 -5.96434651e-02] [ 2.97146745e-03 6.72457155e-05 9.99995583e-01 -6.76328962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.498001144999996 meters 0.0663848316809744 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.06, Z:-0.68 [[ 9.99966073e-01 7.98787515e-03 -2.01171668e-03 2.93723061e+01] [-7.98793979e-03 9.99968096e-01 -2.40986179e-05 -6.24013623e-02] [ 2.01146000e-03 4.01672720e-05 9.99997976e-01 -6.76478362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.528001145 meters 0.06529241307448362 Centerline is valid? [True, True] Translation: X:29.40, Y:-0.07, Z:-0.67 [[ 9.99998427e-01 1.74732173e-03 -3.05388811e-04 2.94025713e+01] [-1.74732296e-03 9.99998473e-01 -3.76137155e-06 -6.98828997e-02] [ 3.05381772e-04 4.29497852e-06 9.99999953e-01 -6.73729301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.55800114499999 meters 0.06529241307448362 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.07, Z:-0.67 [[ 9.99998480e-01 1.71635898e-03 -3.05385804e-04 2.94317134e+01] [-1.71636029e-03 9.99998527e-01 -4.02232400e-06 -6.95037009e-02] [ 3.05378450e-04 4.54646996e-06 9.99999953e-01 -6.74202925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.58800114499999 meters 0.06475854096335744 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.08, Z:-0.67 [[ 9.99990934e-01 -4.23405052e-03 4.52466835e-04 2.94617005e+01] [ 4.23404883e-03 9.99991036e-01 4.69663942e-06 -8.13804425e-02] [-4.52482665e-04 -2.78083017e-06 9.99999898e-01 -6.74207897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.618001144999994 meters 0.06464688193513471 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.09, Z:-0.68 [[ 9.99974846e-01 -7.08098579e-03 4.09719505e-04 2.94939360e+01] [ 7.08098296e-03 9.99974929e-01 8.36610652e-06 -8.70791286e-02] [-4.09768473e-04 -5.46467924e-06 9.99999916e-01 -6.76542290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.648001144999995 meters 0.06471592756399569 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.09, Z:-0.68 [[ 9.99955821e-01 -9.39929118e-03 9.89664495e-05 2.95258581e+01] [ 9.39929098e-03 9.99955826e-01 2.43962683e-06 -9.14544517e-02] [-9.89850086e-05 -1.50930459e-06 9.99999995e-01 -6.78687938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.678001144999996 meters 0.06486752315469417 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.09, Z:-0.68 [[ 9.99940817e-01 -1.08696883e-02 -4.60137275e-04 2.95582218e+01] [ 1.08696876e-02 9.99940923e-01 -4.09143906e-06 -9.41833902e-02] [ 4.60154564e-04 -9.10351503e-07 9.99999894e-01 -6.79469492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.708001145 meters 0.06476947162788878 Centerline is valid? [True, True] Translation: X:29.59, Y:-0.10, Z:-0.68 [[ 9.99904397e-01 -1.38228700e-02 -3.53200068e-04 2.95905997e+01] [ 1.38228699e-02 9.99904460e-01 -2.60264741e-06 -9.62321823e-02] [ 3.53202299e-04 -2.27984000e-06 9.99999938e-01 -6.78213741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73800114499999 meters 0.06478912728706053 Centerline is valid? [True, True] Translation: X:29.62, Y:-0.10, Z:-0.68 [[ 9.99889233e-01 -1.48780956e-02 4.04896359e-04 2.96232115e+01] [ 1.48780946e-02 9.99889315e-01 5.51324864e-06 -9.65898255e-02] [-4.04933570e-04 5.11448389e-07 9.99999918e-01 -6.77676596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.76800114499999 meters 0.06493748204552376 Centerline is valid? [True, True] Translation: X:29.65, Y:-0.10, Z:-0.68 [[ 9.99872673e-01 -1.59519946e-02 4.14639709e-04 2.96548620e+01] [ 1.59519937e-02 9.99872759e-01 5.33456324e-06 -9.84823351e-02] [-4.14672047e-04 1.28044604e-06 9.99999914e-01 -6.78761810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.79800114499999 meters 0.06534403074617724 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.10, Z:-0.68 [[ 9.99847411e-01 -1.74641131e-02 -4.00145868e-04 2.96872371e+01] [ 1.74641131e-02 9.99847491e-01 -3.34172692e-06 -1.02725864e-01] [ 4.00143203e-04 -3.64697571e-06 9.99999920e-01 -6.82594458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.828001144999995 meters 0.0655473528115543 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.10, Z:-0.69 [[ 9.99834318e-01 -1.80688518e-02 -2.20281206e-03 2.97181417e+01] [ 1.80688474e-02 9.99836745e-01 -2.19002002e-05 -1.03937945e-01] [ 2.20284815e-03 -1.79057030e-05 9.99997574e-01 -6.86081320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.858001144999996 meters 0.06583403965168713 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.11, Z:-0.69 [[ 9.99825029e-01 -1.83786223e-02 -3.48390392e-03 2.97506662e+01] [ 1.83786069e-02 9.99831098e-01 -3.64199354e-05 -1.05536466e-01] [ 3.48398483e-03 -2.76157378e-05 9.99993931e-01 -6.89351365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.888001145 meters 0.06639517954899275 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.11, Z:-0.69 [[ 9.99798075e-01 -1.89209179e-02 -6.76813196e-03 2.97814077e+01] [ 1.89208639e-02 9.99820982e-01 -7.20031243e-05 -1.06327348e-01] [ 6.76828271e-03 -5.60703189e-05 9.99977093e-01 -6.94287968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91800114499999 meters 0.06623781194862269 Centerline is valid? [True, True] Translation: X:29.81, Y:-0.10, Z:-0.69 [[ 9.99815378e-01 -1.79170817e-02 -6.94180172e-03 2.98136479e+01] [ 1.79170071e-02 9.99839475e-01 -7.29422115e-05 -1.03911591e-01] [ 6.94199430e-03 -5.14475658e-05 9.99975903e-01 -6.94415323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.94800114499999 meters 0.06633814218785782 Centerline is valid? [True, True] Translation: X:29.85, Y:-0.10, Z:-0.69 [[ 9.99829158e-01 -1.66887807e-02 -7.94605636e-03 2.98454926e+01] [ 1.66886468e-02 9.99860731e-01 -8.31601816e-05 -1.01449507e-01] [ 7.94633757e-03 -4.94629535e-05 9.99968426e-01 -6.94750153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97800114499999 meters 0.06607523940582011 Centerline is valid? [True, True] Translation: X:29.88, Y:-0.10, Z:-0.69 [[ 9.99878560e-01 -1.37289368e-02 -7.37439565e-03 2.98769961e+01] [ 1.37287422e-02 9.99905753e-01 -7.70166958e-05 -9.57091979e-02] [ 7.37475800e-03 -2.42338337e-05 9.99972806e-01 -6.94528516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.008001144999994 meters 0.06575550268192044 Centerline is valid? [True, True] Translation: X:29.91, Y:-0.09, Z:-0.69 [[ 9.99913597e-01 -1.15180776e-02 -6.33503593e-03 2.99093747e+01] [ 1.15178947e-02 9.99933665e-01 -6.53573803e-05 -9.21441635e-02] [ 6.33536849e-03 -7.61454336e-06 9.99979931e-01 -6.91632959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.038001144999996 meters 0.06595333654874556 Centerline is valid? [True, True] Translation: X:29.94, Y:-0.09, Z:-0.69 [[ 9.99932802e-01 -9.73183415e-03 -6.29941855e-03 2.99408880e+01] [ 9.73161811e-03 9.99952645e-01 -6.49472178e-05 -8.87149846e-02] [ 6.29975229e-03 3.63931790e-06 9.99980156e-01 -6.94792022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.068001145 meters 0.06613530555749957 Centerline is valid? [True, True] Translation: X:29.97, Y:-0.08, Z:-0.69 [[ 9.99970872e-01 -5.77443390e-03 -4.99117854e-03 2.99719264e+01] [ 5.77425066e-03 9.99983328e-01 -5.11238362e-05 -8.30774705e-02] [ 4.99139054e-03 2.23020311e-05 9.99987543e-01 -6.94928559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.098001145 meters 0.06603963463368719 Centerline is valid? [True, True] Translation: X:30.00, Y:-0.08, Z:-0.69 [[ 9.99979146e-01 -4.52705973e-03 -4.60572484e-03 3.00034980e+01] [ 4.52689037e-03 9.99989752e-01 -4.71964070e-05 -8.23755738e-02] [ 4.60589131e-03 2.63458114e-05 9.99989392e-01 -6.92568043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.12800114499999 meters 0.06610558091319965 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.08, Z:-0.69 [[ 9.99984453e-01 -3.82394759e-03 -4.05843661e-03 3.00339336e+01] [ 3.82380976e-03 9.99992688e-01 -4.17204293e-05 -8.18120650e-02] [ 4.05856647e-03 2.62010911e-05 9.99991764e-01 -6.93235067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15800114499999 meters 0.06598461327552091 Centerline is valid? [True, True] Translation: X:30.06, Y:-0.08, Z:-0.69 [[ 9.99993454e-01 -3.42948334e-03 -1.15343527e-03 3.00646344e+01] [ 3.42947217e-03 9.99994119e-01 -1.16631750e-05 -8.02170441e-02] [ 1.15346848e-03 7.70742446e-06 9.99999335e-01 -6.92137459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.188001144999994 meters 0.06597824264227879 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.08, Z:-0.69 [[ 9.99993982e-01 -3.40526101e-03 -6.63260329e-04 3.00964946e+01] [ 3.40525790e-03 9.99994202e-01 -5.81410509e-06 -7.95420638e-02] [ 6.63276282e-04 3.55549762e-06 9.99999780e-01 -6.91440845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.218001144999995 meters 0.06594134800838254 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.08, Z:-0.69 [[ 9.99994306e-01 -3.24487703e-03 -9.26304093e-04 3.01275472e+01] [ 3.24487122e-03 9.99994735e-01 -7.78572486e-06 -7.88295820e-02] [ 9.26324480e-04 4.77994304e-06 9.99999571e-01 -6.91633106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.248001144999996 meters 0.06597488592410262 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.08, Z:-0.69 [[ 9.99990842e-01 -4.13850646e-03 -1.09024268e-03 3.01590607e+01] [ 4.13849769e-03 9.99991436e-01 -1.03003037e-05 -7.99772096e-02] [ 1.09027597e-03 5.78824260e-06 9.99999406e-01 -6.92393402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.278001145 meters 0.06596226111986032 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.08, Z:-0.69 [[ 9.99987696e-01 -4.86586205e-03 -9.64920787e-04 3.01915589e+01] [ 4.86585588e-03 9.99988162e-01 -8.73767287e-06 -8.14987438e-02] [ 9.64951880e-04 4.04239987e-06 9.99999534e-01 -6.93275610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.30800114499999 meters 0.06614696262725399 Centerline is valid? [True, True] Translation: X:30.22, Y:-0.08, Z:-0.70 [[ 9.99976305e-01 -6.43042468e-03 -2.45731238e-03 3.02227435e+01] [ 6.43038606e-03 9.99979325e-01 -2.36159595e-05 -8.46845634e-02] [ 2.45741344e-03 7.81393268e-06 9.99996981e-01 -6.96797522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33800114499999 meters 0.06614696262725399 Centerline is valid? [True, True] Translation: X:30.25, Y:-0.08, Z:-0.70 [[ 9.99976685e-01 -6.37105514e-03 -2.45731385e-03 3.02544578e+01] [ 6.37101672e-03 9.99979705e-01 -2.34653817e-05 -8.44587661e-02] [ 2.45741348e-03 7.80924697e-06 9.99996981e-01 -6.97312029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.368001144999994 meters 0.06614823573404194 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.09, Z:-0.70 [[ 9.99973468e-01 -6.91938702e-03 -2.27726954e-03 3.02861945e+01] [ 6.91935590e-03 9.99976061e-01 -2.15452009e-05 -8.55313264e-02] [ 2.27736410e-03 5.78739079e-06 9.99997407e-01 -6.97945963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.398001144999995 meters 0.0665765379548994 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.09, Z:-0.70 [[ 9.99959869e-01 -7.56919055e-03 -4.79249250e-03 3.03176873e+01] [ 7.56905491e-03 9.99971353e-01 -4.64379689e-05 -8.68904050e-02] [ 4.79270671e-03 1.01614664e-05 9.99988515e-01 -7.01935711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.428001144999996 meters 0.06668189310305973 Centerline is valid? [True, True] Translation: X:30.35, Y:-0.09, Z:-0.70 [[ 9.99950783e-01 -8.14679830e-03 -5.66218521e-03 3.03497507e+01] [ 8.14662064e-03 9.99966814e-01 -5.44412623e-05 -8.83632586e-02] [ 5.66244083e-03 8.31090799e-06 9.99983968e-01 -7.04419214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.458001145 meters 0.06681119959690908 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.09, Z:-0.71 [[ 9.99942448e-01 -8.97965817e-03 -5.87078025e-03 3.03822533e+01] [ 8.97948330e-03 9.99959682e-01 -5.61456616e-05 -9.06614823e-02] [ 5.87104772e-03 3.42585712e-06 9.99982765e-01 -7.06220125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48800114499999 meters 0.06668534781094831 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.09, Z:-0.71 [[ 9.99945644e-01 -9.32124148e-03 -4.67151677e-03 3.04140049e+01] [ 9.32113661e-03 9.99956556e-01 -4.42211489e-05 -9.27903931e-02] [ 4.67172601e-03 6.74899324e-07 9.99989087e-01 -7.05018243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51800114499999 meters 0.06659713772905868 Centerline is valid? [True, True] Translation: X:30.45, Y:-0.09, Z:-0.70 [[ 9.99952553e-01 -8.61843966e-03 -4.54030323e-03 3.04459481e+01] [ 8.61833461e-03 9.99962861e-01 -4.27004412e-05 -9.15119826e-02] [ 4.54050262e-03 3.56856266e-06 9.99989692e-01 -7.04861858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.54800114499999 meters 0.06668355195004609 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.09, Z:-0.70 [[ 9.99965983e-01 -6.92200863e-03 -4.48546110e-03 3.04776496e+01] [ 6.92189020e-03 9.99976043e-01 -4.19254345e-05 -8.88592613e-02] [ 4.48564384e-03 1.08761391e-05 9.99989939e-01 -7.04641244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.578001144999995 meters 0.0669098308214423 Centerline is valid? [True, True] Translation: X:30.51, Y:-0.09, Z:-0.71 [[ 9.99976989e-01 -4.74666800e-03 -4.84672945e-03 3.05093709e+01] [ 4.74650817e-03 9.99988734e-01 -4.44783094e-05 -8.64110563e-02] [ 4.84688597e-03 2.14722450e-05 9.99988254e-01 -7.06192715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.608001144999996 meters 0.06723282287046596 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.08, Z:-0.71 [[ 9.99978847e-01 -2.60793178e-03 -5.95848156e-03 3.05400265e+01] [ 2.60764385e-03 9.99996599e-01 -5.60912762e-05 -8.44491293e-02] [ 5.95860758e-03 4.05524919e-05 9.99982247e-01 -7.08409417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.638001145 meters 0.06728631096906425 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.08, Z:-0.71 [[ 9.99977131e-01 -2.94527606e-03 -6.08789857e-03 3.05683671e+01] [ 2.94495436e-03 9.99995662e-01 -6.18054577e-05 -8.39305321e-02] [ 6.08805419e-03 4.38754608e-05 9.99981467e-01 -7.08679769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66800114499999 meters 0.06755590729086149 Centerline is valid? [True, True] Translation: X:30.60, Y:-0.08, Z:-0.71 [[ 9.99967372e-01 -2.79646995e-03 -7.57862479e-03 3.05973639e+01] [ 2.79599152e-03 9.99996088e-01 -7.37228348e-05 -8.30388074e-02] [ 7.57880131e-03 5.25306587e-05 9.99971279e-01 -7.10043363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69800114499999 meters 0.0676835107165759 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.08, Z:-0.71 [[ 9.99960359e-01 -3.12135399e-03 -8.33891176e-03 3.06263512e+01] [ 3.12075154e-03 9.99995127e-01 -8.52563343e-05 -8.30726155e-02] [ 8.33913724e-03 5.92292829e-05 9.99965227e-01 -7.11572690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72800114499999 meters 0.0681312633381402 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.08, Z:-0.71 [[ 9.99948911e-01 -3.80761848e-03 -9.36361615e-03 3.06538792e+01] [ 3.80687583e-03 9.99992749e-01 -9.71346211e-05 -8.39919191e-02] [ 9.36391811e-03 6.14835346e-05 9.99956156e-01 -7.14129613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.758001144999994 meters 0.0681999154622737 Centerline is valid? [True, True] Translation: X:30.68, Y:-0.08, Z:-0.72 [[ 9.99950398e-01 -3.92579772e-03 -9.15366472e-03 3.06820027e+01] [ 3.92507036e-03 9.99992292e-01 -9.74241230e-05 -8.46901585e-02] [ 9.15397664e-03 6.14905125e-05 9.99958100e-01 -7.15079527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.788001144999996 meters 0.06823476037594176 Centerline is valid? [True, True] Translation: X:30.71, Y:-0.09, Z:-0.72 [[ 9.99953630e-01 -4.41602224e-03 -8.55779016e-03 3.07098021e+01] [ 4.41541829e-03 9.99990248e-01 -8.94655413e-05 -8.76492131e-02] [ 8.55810179e-03 5.16751696e-05 9.99963377e-01 -7.16120483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.818001145 meters 0.06709982142566714 Centerline is valid? [True, True] Translation: X:30.74, Y:-0.09, Z:-0.71 [[ 9.99950874e-01 -4.88503714e-03 -8.62475394e-03 3.07383339e+01] [ 4.88440264e-03 9.99988067e-01 -9.46297811e-05 -9.03738074e-02] [ 8.62511329e-03 5.24983614e-05 9.99962802e-01 -7.05961320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84800114499999 meters 0.06727756998712608 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.09, Z:-0.71 [[ 9.99960144e-01 -4.57765183e-03 -7.66517529e-03 3.07670909e+01] [ 4.57715758e-03 9.99989521e-01 -8.20206323e-05 -8.97563899e-02] [ 7.66547044e-03 4.69326481e-05 9.99970619e-01 -7.09000441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87800114499999 meters 0.06698547565470207 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.09, Z:-0.71 [[ 9.99959544e-01 -4.95090330e-03 -7.50994008e-03 3.07970101e+01] [ 4.95043941e-03 9.99987743e-01 -8.03583073e-05 -9.01870732e-02] [ 7.51024588e-03 4.31775530e-05 9.99971797e-01 -7.05927407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.90800114499999 meters 0.06683264241264031 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.09, Z:-0.71 [[ 9.99958387e-01 -6.92451754e-03 -5.93935756e-03 3.08263786e+01] [ 6.92426603e-03 9.99976025e-01 -6.29088219e-05 -9.14463559e-02] [ 5.93965078e-03 2.17805122e-05 9.99982360e-01 -7.06216022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.938001144999994 meters 0.06651912985332954 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.09, Z:-0.70 [[ 9.99951560e-01 -8.08227366e-03 -5.61733617e-03 3.08586491e+01] [ 8.08207381e-03 9.99967338e-01 -5.82779205e-05 -9.37522842e-02] [ 5.61762371e-03 1.28753720e-05 9.99984221e-01 -7.01990135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.968001144999995 meters 0.06657521519571843 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.10, Z:-0.70 [[ 9.99936116e-01 -9.38979473e-03 -6.29256184e-03 3.08904755e+01] [ 9.38957143e-03 9.99955915e-01 -6.50289318e-05 -9.55322622e-02] [ 6.29289504e-03 5.94031860e-06 9.99980200e-01 -7.02533095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.998001144999996 meters 0.06673167001036205 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.10, Z:-0.70 [[ 9.99921985e-01 -1.07935465e-02 -6.28669293e-03 3.09217370e+01] [ 1.07933516e-02 9.99941748e-01 -6.49306280e-05 -9.79443690e-02] [ 6.28702755e-03 -2.92892496e-06 9.99980236e-01 -7.04089206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.028001145 meters 0.0667306460062064 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.10, Z:-0.71 [[ 9.99912253e-01 -1.16740964e-02 -6.26117878e-03 3.09536270e+01] [ 1.16739243e-02 9.99931855e-01 -6.40288565e-05 -1.00149883e-01] [ 6.26149959e-03 -9.06928903e-06 9.99980397e-01 -7.05034852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05800114499999 meters 0.06693810497094795 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.10, Z:-0.71 [[ 9.99896529e-01 -1.22798139e-02 -7.49245598e-03 3.09857444e+01] [ 1.22795868e-02 9.99924600e-01 -7.63202400e-05 -1.04612662e-01] [ 7.49282825e-03 -1.56919205e-05 9.99971928e-01 -7.06497517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.08800114499999 meters 0.06719603391314846 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.11, Z:-0.71 [[ 9.99900681e-01 -1.18585511e-02 -7.61595426e-03 3.10164125e+01] [ 1.18583048e-02 9.99929685e-01 -7.75004175e-05 -1.06056983e-01] [ 7.61633779e-03 -1.28195868e-05 9.99970995e-01 -7.10305470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.118001144999994 meters 0.06681389209315354 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.11, Z:-0.71 [[ 9.99913077e-01 -1.02572350e-02 -8.28418631e-03 3.10484462e+01] [ 1.02568944e-02 9.99947393e-01 -8.35963487e-05 -1.05299422e-01] [ 8.28460797e-03 -1.38094191e-06 9.99965682e-01 -7.07640581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.148001144999995 meters 0.06690560921947551 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.10, Z:-0.71 [[ 9.99933708e-01 -8.64397046e-03 -7.60669614e-03 3.10793764e+01] [ 8.64363526e-03 9.99962640e-01 -7.69420943e-05 -1.04023587e-01] [ 7.60707704e-03 1.11874866e-05 9.99971066e-01 -7.07116276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.178001144999996 meters 0.0670380799927385 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.10, Z:-0.71 [[ 9.99943112e-01 -7.50292503e-03 -7.58149306e-03 3.11106948e+01] [ 7.50256390e-03 9.99971852e-01 -7.60736581e-05 -1.02169448e-01] [ 7.58185044e-03 1.91886943e-05 9.99971257e-01 -7.09510325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.208001145 meters 0.0670380799927385 Centerline is valid? [True, True] Translation: X:31.14, Y:-0.10, Z:-0.71 [[ 9.99943333e-01 -7.47335166e-03 -7.58149243e-03 3.11415542e+01] [ 7.47298921e-03 9.99972074e-01 -7.61349375e-05 -1.01899144e-01] [ 7.58184969e-03 1.94742120e-05 9.99971257e-01 -7.10011111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23800114499999 meters 0.06697196590365656 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.10, Z:-0.71 [[ 9.99962225e-01 -4.90937054e-03 -7.17260252e-03 3.11725951e+01] [ 4.90898218e-03 9.99987948e-01 -7.17501447e-05 -1.00263306e-01] [ 7.17286833e-03 3.65372564e-05 9.99974274e-01 -7.07611976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.26800114499999 meters 0.06717615691796074 Centerline is valid? [True, True] Translation: X:31.20, Y:-0.10, Z:-0.71 [[ 9.99971329e-01 -2.01762190e-03 -7.29861727e-03 3.12018459e+01] [ 2.01713630e-03 9.99997963e-01 -7.38940722e-05 -9.82671851e-02] [ 7.29875150e-03 5.91696478e-05 9.99973362e-01 -7.07044704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.29800114499999 meters 0.06732587952998799 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.10, Z:-0.71 [[ 9.99971881e-01 -4.71375974e-04 -7.48437538e-03 3.12299705e+01] [ 4.70803479e-04 9.99999886e-01 -7.82536255e-05 -9.69627813e-02] [ 7.48441141e-03 7.47277550e-05 9.99971989e-01 -7.08075326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.328001144999995 meters 0.067545804207481 Centerline is valid? [True, True] Translation: X:31.26, Y:-0.10, Z:-0.71 [[ 9.99958271e-01 3.43920351e-04 -9.12898422e-03 3.12586832e+01] [-3.44834325e-04 9.99999936e-01 -9.85439870e-05 -9.62486400e-02] [ 9.12894974e-03 1.01687862e-04 9.99958325e-01 -7.10388779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.358001144999996 meters 0.0678713392284028 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.09, Z:-0.71 [[ 9.99956543e-01 2.31291601e-03 -9.03121578e-03 3.12875141e+01] [-2.31390801e-03 9.99997318e-01 -9.93941866e-05 -9.42189900e-02] [ 9.03096166e-03 1.20287270e-04 9.99959213e-01 -7.12560785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.388001145 meters 0.06835496505562867 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.09, Z:-0.72 [[ 9.99930489e-01 5.32785138e-03 -1.05181424e-02 3.13160420e+01] [-5.32933454e-03 9.99985793e-01 -1.12986325e-04 -9.14735537e-02] [ 1.05173910e-02 1.69033171e-04 9.99944676e-01 -7.15100134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41800114499999 meters 0.06857608886973265 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.09, Z:-0.72 [[ 9.99923537e-01 5.77307642e-03 -1.09358308e-02 3.13452169e+01] [-5.77471582e-03 9.99983319e-01 -1.18339685e-04 -9.02716147e-02] [ 1.09349652e-02 1.81481951e-04 9.99940195e-01 -7.15737362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.44800114499999 meters 0.06862248540927283 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.09, Z:-0.72 [[ 9.99916867e-01 6.66448149e-03 -1.10382987e-02 3.13725883e+01] [-6.66621756e-03 9.99977773e-01 -1.20491221e-04 -8.96780796e-02] [ 1.10372503e-02 1.94064905e-04 9.99939069e-01 -7.15417268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47800114499999 meters 0.06817417999711284 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.09, Z:-0.71 [[ 9.99911498e-01 6.61907979e-03 -1.15405111e-02 3.14018405e+01] [-6.62097966e-03 9.99978073e-01 -1.26427171e-04 -9.27594810e-02] [ 1.15394213e-02 2.02825471e-04 9.99933398e-01 -7.13274625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.508001144999994 meters 0.06795601892202924 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.09, Z:-0.71 [[ 9.99927253e-01 5.49551615e-03 -1.07372179e-02 3.14297880e+01] [-5.49710821e-03 9.99984884e-01 -1.18767755e-04 -9.41190472e-02] [ 1.07364029e-02 1.77782764e-04 9.99942347e-01 -7.13751871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.538001144999996 meters 0.06845563532973309 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.09, Z:-0.72 [[ 9.99936927e-01 3.35826337e-03 -1.07174943e-02 3.14580345e+01] [-3.35973103e-03 9.99994349e-01 -1.18939213e-04 -9.41782520e-02] [ 1.07170343e-02 1.54939609e-04 9.99942559e-01 -7.18268296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.568001145 meters 0.06750524229296123 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.10, Z:-0.71 [[ 9.99946906e-01 1.02351589e-03 -1.02536792e-02 3.14869787e+01] [-1.02474340e-03 9.99999468e-01 -1.14460790e-04 -9.84188403e-02] [ 1.02535566e-02 1.24962103e-04 9.99947423e-01 -7.14976814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59800114499999 meters 0.06726975484372276 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.10, Z:-0.72 [[ 9.99944020e-01 -4.42361893e-03 -9.61189159e-03 3.15151719e+01] [ 4.42278579e-03 9.99990214e-01 -1.07932756e-04 -1.04324360e-01] [ 9.61227498e-03 6.54153765e-05 9.99953799e-01 -7.15628913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.62800114499999 meters 0.06708110956363697 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.11, Z:-0.72 [[ 9.99927702e-01 -7.54567676e-03 -9.36232088e-03 3.15437656e+01] [ 7.54502131e-03 9.99971530e-01 -1.05328421e-04 -1.08085958e-01] [ 9.36284912e-03 3.46818958e-05 9.99956167e-01 -7.16275686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65800114499999 meters 0.06706086929220166 Centerline is valid? [True, True] Translation: X:31.57, Y:-0.11, Z:-0.72 [[ 9.99914564e-01 -1.03027194e-02 -8.04478322e-03 3.15731835e+01] [ 1.03023268e-02 9.99946926e-01 -9.02420073e-05 -1.11979932e-01] [ 8.04528599e-03 7.35431153e-06 9.99967636e-01 -7.16060787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.688001144999994 meters 0.06706592378603268 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.12, Z:-0.72 [[ 9.99876804e-01 -1.35365198e-02 -7.94601306e-03 3.16055473e+01] [ 1.35362523e-02 9.99908377e-01 -8.74494172e-05 -1.16349510e-01] [ 7.94646878e-03 -2.01205939e-05 9.99968426e-01 -7.16727699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.718001144999995 meters 0.06780774914669675 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.12, Z:-0.72 [[ 9.99796964e-01 -1.84299768e-02 -8.14652914e-03 3.16369693e+01] [ 1.84298618e-02 9.99830152e-01 -8.91893425e-05 -1.22978097e-01] [ 8.14678922e-03 -6.09681723e-05 9.99966813e-01 -7.21005399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.748001144999996 meters 0.0675414885533597 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.12, Z:-0.72 [[ 9.99765963e-01 -2.02577617e-02 -7.59224842e-03 3.16704311e+01] [ 2.02577239e-02 9.99794788e-01 -8.18786456e-05 -1.23161781e-01] [ 7.59234908e-03 -7.19421897e-05 9.99971175e-01 -7.17404313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.778001145 meters 0.06788865393171249 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.12, Z:-0.72 [[ 9.99707631e-01 -2.26772323e-02 -8.39017738e-03 3.17010590e+01] [ 2.26772640e-02 9.99742834e-01 -9.13641300e-05 -1.24556082e-01] [ 8.39009160e-03 -9.89288498e-05 9.99964798e-01 -7.17478546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80800114499999 meters 0.06779648949914867 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.13, Z:-0.72 [[ 9.99653295e-01 -2.53175685e-02 -7.23263608e-03 3.17330533e+01] [ 2.53176689e-02 9.99679453e-01 -7.76980287e-05 -1.27270728e-01] [ 7.23228481e-03 -1.05442395e-04 9.99973841e-01 -7.15482846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83800114499999 meters 0.06800654059872593 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.13, Z:-0.72 [[ 9.99630806e-01 -2.62958601e-02 -6.83951642e-03 3.17654908e+01] [ 2.62959761e-02 9.99654198e-01 -7.29929836e-05 -1.29907961e-01] [ 6.83907072e-03 -1.06885725e-04 9.99976608e-01 -7.17713574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.868001144999994 meters 0.0680587033336937 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.13, Z:-0.72 [[ 9.99615481e-01 -2.70153819e-02 -6.24966885e-03 3.17981099e+01] [ 2.70155002e-02 9.99635013e-01 -6.55067764e-05 -1.31501840e-01] [ 6.24915749e-03 -1.03356342e-04 9.99980468e-01 -7.18430417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.898001144999995 meters 0.06821195032941492 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.13, Z:-0.72 [[ 9.99595231e-01 -2.75620640e-02 -7.05036369e-03 3.18292953e+01] [ 2.75622236e-02 9.99620087e-01 -7.45433500e-05 -1.29964820e-01] [ 7.04973973e-03 -1.19810523e-04 9.99975143e-01 -7.17795315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.928001144999996 meters 0.06820804321753587 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.13, Z:-0.72 [[ 9.99614449e-01 -2.68008698e-02 -7.25723286e-03 3.18616376e+01] [ 2.68010237e-02 9.99640785e-01 -7.60691022e-05 -1.27166635e-01] [ 7.25666468e-03 -1.18461496e-04 9.99973663e-01 -7.17455637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.958001145 meters 0.0682405582448927 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.12, Z:-0.72 [[ 9.99625431e-01 -2.60297598e-02 -8.45275440e-03 3.18932122e+01] [ 2.60299407e-02 9.99661160e-01 -8.86299031e-05 -1.24697325e-01] [ 8.45219728e-03 -1.31427990e-04 9.99964271e-01 -7.18684838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98800114499999 meters 0.06797669891753279 Centerline is valid? [True, True] Translation: X:31.93, Y:-0.12, Z:-0.72 [[ 9.99657197e-01 -2.49486823e-02 -7.94052522e-03 3.19251569e+01] [ 2.49488142e-02 9.99688726e-01 -8.24663189e-05 -1.21727995e-01] [ 7.94011097e-03 -1.15668639e-04 9.99968470e-01 -7.19199743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01800114499999 meters 0.06758910526534392 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.12, Z:-0.72 [[ 9.99667431e-01 -2.41675843e-02 -8.99749369e-03 3.19572414e+01] [ 2.41677263e-02 9.99707914e-01 -9.29583844e-05 -1.17602865e-01] [ 8.99711222e-03 -1.24521495e-04 9.99959517e-01 -7.18163809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.04800114499999 meters 0.06753505262265663 Centerline is valid? [True, True] Translation: X:31.99, Y:-0.12, Z:-0.72 [[ 9.99698027e-01 -2.33023252e-02 -7.80105376e-03 3.19892311e+01] [ 2.33024106e-02 9.99728459e-01 -7.99561884e-05 -1.16629597e-01] [ 7.80079862e-03 -1.01851314e-04 9.99969568e-01 -7.18887870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.078001144999995 meters 0.06750593281446257 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.12, Z:-0.72 [[ 9.99709527e-01 -2.30941966e-02 -6.89348454e-03 3.20213031e+01] [ 2.30942622e-02 9.99733290e-01 -7.00830038e-05 -1.16108787e-01] [ 6.89326448e-03 -8.91372931e-05 9.99976237e-01 -7.19945111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.108001144999996 meters 0.06751480971353838 Centerline is valid? [True, True] Translation: X:32.05, Y:-0.12, Z:-0.72 [[ 9.99715020e-01 -2.28153272e-02 -7.02421180e-03 3.20543114e+01] [ 2.28153969e-02 9.99739692e-01 -7.02218030e-05 -1.15301625e-01] [ 7.02398548e-03 -9.00583889e-05 9.99975327e-01 -7.20637887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.138001145 meters 0.06738712847591247 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.11, Z:-0.72 [[ 9.99730930e-01 -2.18408831e-02 -7.81304700e-03 3.20857816e+01] [ 2.18409349e-02 9.99761455e-01 -7.86992446e-05 -1.12298771e-01] [ 7.81290210e-03 -9.19661821e-05 9.99969475e-01 -7.22255853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16800114499999 meters 0.06728068821924432 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.11, Z:-0.72 [[ 9.99746405e-01 -2.08333608e-02 -8.54963938e-03 3.21182266e+01] [ 2.08333922e-02 9.99782958e-01 -8.54011804e-05 -1.08773541e-01] [ 8.54956294e-03 -9.27384671e-05 9.99963448e-01 -7.22651610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19800114499999 meters 0.06692769948352681 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.10, Z:-0.72 [[ 9.99765081e-01 -1.92942053e-02 -9.87504162e-03 3.21499567e+01] [ 1.92941733e-02 9.99813845e-01 -9.85178342e-05 -1.01052517e-01] [ 9.87510415e-03 -9.20360739e-05 9.99951236e-01 -7.18408307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22800114499999 meters 0.06712238909200693 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.10, Z:-0.72 [[ 9.99789618e-01 -1.74202240e-02 -1.08284846e-02 3.21809302e+01] [ 1.74200981e-02 9.99848253e-01 -1.05959432e-04 -9.93192512e-02] [ 1.08286872e-02 -8.26961232e-05 9.99941365e-01 -7.23287172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.258001144999994 meters 0.06708752665194721 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.10, Z:-0.73 [[ 9.99838546e-01 -1.49994536e-02 -9.89432949e-03 3.22125299e+01] [ 1.49992301e-02 9.99887501e-01 -9.68020569e-05 -9.62363053e-02] [ 9.89466836e-03 -5.16208969e-05 9.99951045e-01 -7.25684524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.288001144999996 meters 0.06649399642071875 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.09, Z:-0.72 [[ 9.99865856e-01 -1.38842247e-02 -8.68897143e-03 3.22451835e+01] [ 1.38840165e-02 9.99903609e-01 -8.42888024e-05 -9.12468381e-02] [ 8.68930417e-03 -3.63603270e-05 9.99962247e-01 -7.21308791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.318001145 meters 0.06640083913018179 Centerline is valid? [True, True] Translation: X:32.28, Y:-0.09, Z:-0.72 [[ 9.99876787e-01 -1.31846741e-02 -8.51907532e-03 3.22778299e+01] [ 1.31844534e-02 9.99913078e-01 -8.20688415e-05 -8.81723852e-02] [ 8.51941688e-03 -3.02606223e-05 9.99963709e-01 -7.20456857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34800114499999 meters 0.06622809946871962 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.09, Z:-0.72 [[ 9.99901311e-01 -1.16797439e-02 -7.80716937e-03 3.23088326e+01] [ 1.16795254e-02 9.99931789e-01 -7.35799029e-05 -8.53645429e-02] [ 7.80749624e-03 -1.76113916e-05 9.99969521e-01 -7.20438802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37800114499999 meters 0.06622809946871962 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.09, Z:-0.72 [[ 9.99902056e-01 -1.16157925e-02 -7.80716725e-03 3.23405525e+01] [ 1.16155704e-02 9.99932534e-01 -7.37947904e-05 -8.51408435e-02] [ 7.80749772e-03 -1.68971383e-05 9.99969521e-01 -7.20952868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40800114499999 meters 0.06619489360259379 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.08, Z:-0.72 [[ 9.99941181e-01 -7.94535042e-03 -7.38279179e-03 3.23712285e+01] [ 7.94505282e-03 9.99968435e-01 -6.96389381e-05 -7.95350904e-02] [ 7.38311205e-03 1.09781714e-05 9.99972744e-01 -7.22080456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.438001144999994 meters 0.06621675501354045 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.08, Z:-0.72 [[ 9.99942713e-01 -7.34385647e-03 -7.78703812e-03 3.24029830e+01] [ 7.34350663e-03 9.99973033e-01 -7.35173106e-05 -7.65130070e-02] [ 7.78736803e-03 1.63289329e-05 9.99969678e-01 -7.22939468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.468001144999995 meters 0.06638784054590005 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.07, Z:-0.72 [[ 9.99943693e-01 -6.10751583e-03 -8.67803163e-03 3.24340678e+01] [ 6.10703664e-03 9.99981349e-01 -8.17161191e-05 -7.33467740e-02] [ 8.67836885e-03 2.87144608e-05 9.99962342e-01 -7.24042248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.498001144999996 meters 0.06638442838343357 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.07, Z:-0.73 [[ 9.99942307e-01 -5.40376291e-03 -9.28344247e-03 3.24638004e+01] [ 5.40317830e-03 9.99985399e-01 -8.80522960e-05 -7.10104005e-02] [ 9.28378273e-03 3.78871211e-05 9.99956904e-01 -7.25195192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52800114499999 meters 0.06630680388914979 Centerline is valid? [True, True] Translation: X:32.49, Y:-0.07, Z:-0.73 [[ 9.99955717e-01 -4.51816918e-03 -8.25534247e-03 3.24931885e+01] [ 4.51767091e-03 9.99989792e-01 -7.90039335e-05 -6.86204298e-02] [ 8.25561515e-03 4.17055144e-05 9.99965921e-01 -7.25859606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55800114499999 meters 0.06642018659608956 Centerline is valid? [True, True] Translation: X:32.52, Y:-0.07, Z:-0.73 [[ 9.99953474e-01 -4.41701655e-03 -8.57550574e-03 3.25215533e+01] [ 4.41647308e-03 9.99990244e-01 -8.23099438e-05 -6.67431263e-02] [ 8.57578564e-03 4.44326240e-05 9.99963226e-01 -7.26975657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.58800114499999 meters 0.06618115689501788 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.07, Z:-0.73 [[ 9.99952112e-01 -4.68329023e-03 -8.59302338e-03 3.25505771e+01] [ 4.68271115e-03 9.99989032e-01 -8.75089613e-05 -6.60265425e-02] [ 8.59333896e-03 4.72661243e-05 9.99963075e-01 -7.26241074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.618001144999994 meters 0.06648746315168806 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.07, Z:-0.73 [[ 9.99938779e-01 -5.46377728e-03 -9.62213213e-03 3.25791254e+01] [ 5.46311062e-03 9.99985073e-01 -9.55672726e-05 -6.53793464e-02] [ 9.62251066e-03 4.29946497e-05 9.99953702e-01 -7.30590058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.648001144999995 meters 0.066680744176414 Centerline is valid? [True, True] Translation: X:32.61, Y:-0.07, Z:-0.73 [[ 9.99903831e-01 -8.37073413e-03 -1.10570686e-02 3.26077850e+01] [ 8.37002615e-03 9.99964965e-01 -1.10303857e-04 -6.75968960e-02] [ 1.10576046e-02 1.77452953e-05 9.99938863e-01 -7.34920976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.678001144999996 meters 0.06651918656306655 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.07, Z:-0.73 [[ 9.99882259e-01 -1.01041408e-02 -1.15488131e-02 3.26385211e+01] [ 1.01034960e-02 9.99948952e-01 -1.14178467e-04 -6.85063243e-02] [ 1.15493773e-02 -2.51836355e-06 9.99933304e-01 -7.32806434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.708001145 meters 0.06650070151218082 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.07, Z:-0.73 [[ 9.99885435e-01 -1.10585135e-02 -1.03357211e-02 3.26690944e+01] [ 1.10580523e-02 9.99938853e-01 -1.01769604e-04 -6.84759564e-02] [ 1.03362146e-02 -1.25350005e-05 9.99946580e-01 -7.32509306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73800114499999 meters 0.0664252726646879 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.07, Z:-0.73 [[ 9.99881978e-01 -1.20268232e-02 -9.55961966e-03 3.27015386e+01] [ 1.20264865e-02 9.99927675e-01 -9.27090955e-05 -6.86023388e-02] [ 9.56004326e-03 -2.22704830e-05 9.99954301e-01 -7.31352761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.76800114499999 meters 0.06627759585799844 Centerline is valid? [True, True] Translation: X:32.73, Y:-0.07, Z:-0.73 [[ 9.99874779e-01 -1.37010703e-02 -7.91875849e-03 3.27337488e+01] [ 1.37008972e-02 9.99906135e-01 -7.61040548e-05 -6.87988398e-02] [ 7.91905790e-03 -3.23995712e-05 9.99968643e-01 -7.31238283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.79800114499999 meters 0.06613117711376189 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.07, Z:-0.73 [[ 9.99875908e-01 -1.38133697e-02 -7.57363793e-03 3.27662757e+01] [ 1.38132189e-02 9.99904590e-01 -7.22313643e-05 -6.83159904e-02] [ 7.57391309e-03 -3.23939174e-05 9.99971317e-01 -7.30026215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.828001144999995 meters 0.06618496612002399 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.07, Z:-0.73 [[ 9.99879736e-01 -1.38103824e-02 -7.05593237e-03 3.27982290e+01] [ 1.38102550e-02 9.99904632e-01 -6.67793462e-05 -6.79527982e-02] [ 7.05618170e-03 -3.06729104e-05 9.99975104e-01 -7.31649278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.858001144999996 meters 0.06623030996096244 Centerline is valid? [True, True] Translation: X:32.83, Y:-0.07, Z:-0.73 [[ 9.99883556e-01 -1.32805002e-02 -7.51685036e-03 3.28301896e+01] [ 1.32803440e-02 9.99911810e-01 -7.07029494e-05 -6.62877128e-02] [ 7.51712642e-03 -2.91316421e-05 9.99971746e-01 -7.32888218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.888001145 meters 0.06640293398498631 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.07, Z:-0.74 [[ 9.99860676e-01 -1.43971350e-02 -8.44692881e-03 3.28612623e+01] [ 1.43969777e-02 9.99896355e-01 -7.94381989e-05 -6.60612740e-02] [ 8.44719701e-03 -4.21831141e-05 9.99964321e-01 -7.35121525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91800114499999 meters 0.06652216166982228 Centerline is valid? [True, True] Translation: X:32.89, Y:-0.07, Z:-0.74 [[ 9.99856606e-01 -1.49558342e-02 -7.94295551e-03 3.28940016e+01] [ 1.49557221e-02 9.99888154e-01 -7.35014297e-05 -6.65628527e-02] [ 7.94316640e-03 -4.53017457e-05 9.99968452e-01 -7.35974377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.94800114499999 meters 0.06653488727551417 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.07, Z:-0.74 [[ 9.99837417e-01 -1.60068811e-02 -8.30178868e-03 3.29263126e+01] [ 1.60067968e-02 9.99871880e-01 -7.66020610e-05 -6.70309647e-02] [ 8.30195122e-03 -5.62954379e-05 9.99965537e-01 -7.37054118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97800114499999 meters 0.06660618486473037 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.07, Z:-0.74 [[ 9.99817853e-01 -1.72492647e-02 -8.16851186e-03 3.29573843e+01] [ 1.72492258e-02 9.99851218e-01 -7.52254000e-05 -6.56686645e-02] [ 8.16859412e-03 -6.56888074e-05 9.99966634e-01 -7.38346250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.008001144999994 meters 0.06669704010704079 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.06, Z:-0.74 [[ 9.99813937e-01 -1.69752524e-02 -9.16150399e-03 3.29898288e+01] [ 1.69751988e-02 9.99855907e-01 -8.36230609e-05 -6.39935282e-02] [ 9.16160340e-03 -7.19108495e-05 9.99958029e-01 -7.39211913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.038001144999996 meters 0.0666931097359991 Centerline is valid? [True, True] Translation: X:33.02, Y:-0.06, Z:-0.74 [[ 9.99836828e-01 -1.63513867e-02 -7.67791950e-03 3.30208930e+01] [ 1.63513327e-02 9.99866306e-01 -6.98126315e-05 -6.30604461e-02] [ 7.67803454e-03 -5.57429764e-05 9.99970522e-01 -7.40297553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.068001145 meters 0.06627449260249807 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.06, Z:-0.74 [[ 9.99855789e-01 -1.57259028e-02 -6.41071782e-03 3.30533937e+01] [ 1.57258573e-02 9.99876339e-01 -5.75018130e-05 -6.20353636e-02] [ 6.41082934e-03 -4.33205130e-05 9.99979449e-01 -7.39823770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09800114499999 meters 0.06627449260249807 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.06, Z:-0.74 [[ 9.99857280e-01 -1.56308136e-02 -6.41072799e-03 3.30859729e+01] [ 1.56307734e-02 9.99877830e-01 -5.63763851e-05 -6.18740614e-02] [ 6.41082601e-03 -4.38362974e-05 9.99979449e-01 -7.40352271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12800114499999 meters 0.06597512166636943 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.06, Z:-0.74 [[ 9.99918584e-01 -1.21003025e-02 -4.05074171e-03 3.31175262e+01] [ 1.21002587e-02 9.99926789e-01 -3.53248579e-05 -5.66386373e-02] [ 4.05087260e-03 -1.36930409e-05 9.99991795e-01 -7.39369118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15800114499999 meters 0.06579486675449328 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.05, Z:-0.74 [[ 9.99942170e-01 -9.94270136e-03 -4.09858983e-03 3.31497088e+01] [ 9.94263931e-03 9.99950570e-01 -3.55148798e-05 -5.15222700e-02] [ 4.09874035e-03 -5.23797432e-06 9.99991600e-01 -7.37824883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.188001144999994 meters 0.06569997406180132 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.05, Z:-0.74 [[ 9.99959456e-01 -8.19409039e-03 -3.73401363e-03 3.31819502e+01] [ 8.19402788e-03 9.99966428e-01 -3.20406669e-05 -4.74705075e-02] [ 3.73415082e-03 1.44275604e-06 9.99993028e-01 -7.37448310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.218001144999995 meters 0.06592259974002673 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.04, Z:-0.74 [[ 9.99969833e-01 -5.78269596e-03 -5.18580759e-03 3.32128409e+01] [ 5.78254086e-03 9.99983280e-01 -4.49027151e-05 -4.41716492e-02] [ 5.18598054e-03 1.49142162e-05 9.99986553e-01 -7.41680706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.248001144999996 meters 0.06606039985980586 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.04, Z:-0.74 [[ 9.99968201e-01 -5.31970683e-03 -5.94122188e-03 3.32439500e+01] [ 5.31949397e-03 9.99985850e-01 -5.16305468e-05 -4.40735073e-02] [ 5.94141247e-03 2.00246110e-05 9.99982349e-01 -7.44085696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27800114499999 meters 0.06610465745323103 Centerline is valid? [True, True] Translation: X:33.27, Y:-0.04, Z:-0.75 [[ 9.99969991e-01 -4.42166329e-03 -6.36124258e-03 3.32740454e+01] [ 4.42139992e-03 9.99990224e-01 -5.54648876e-05 -4.27285510e-02] [ 6.36142564e-03 2.73376258e-05 9.99979766e-01 -7.45215839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30800114499999 meters 0.06606560176933392 Centerline is valid? [True, True] Translation: X:33.30, Y:-0.04, Z:-0.75 [[ 9.99975465e-01 -3.75411981e-03 -5.91396792e-03 3.33040561e+01] [ 3.75387916e-03 9.99992953e-01 -5.17919581e-05 -3.99344515e-02] [ 5.91412068e-03 2.95903665e-05 9.99982511e-01 -7.45334920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33800114499999 meters 0.06601914649615855 Centerline is valid? [True, True] Translation: X:33.33, Y:-0.04, Z:-0.74 [[ 9.99975622e-01 -2.80834697e-03 -6.39285452e-03 3.33333446e+01] [ 2.80804430e-03 9.99996056e-01 -5.63207191e-05 -3.69667057e-02] [ 6.39298748e-03 3.83679274e-05 9.99979564e-01 -7.44073838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.368001144999994 meters 0.0658136499045915 Centerline is valid? [True, True] Translation: X:33.36, Y:-0.04, Z:-0.74 [[ 9.99986247e-01 -2.89152231e-03 -4.37552234e-03 3.33625231e+01] [ 2.89137223e-03 9.99995819e-01 -4.06257157e-05 -3.61116677e-02] [ 4.37562151e-03 2.79738932e-05 9.99990427e-01 -7.42684723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.398001144999995 meters 0.0657622295570049 Centerline is valid? [True, True] Translation: X:33.39, Y:-0.04, Z:-0.74 [[ 9.99991168e-01 -2.80762421e-03 -3.12758973e-03 3.33919851e+01] [ 2.80755018e-03 9.99996058e-01 -2.80598968e-05 -3.62668285e-02] [ 3.12765618e-03 1.92787839e-05 9.99995109e-01 -7.42346000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.428001144999996 meters 0.06576346986857953 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.04, Z:-0.74 [[ 9.99992694e-01 -3.11833173e-03 -2.21089153e-03 3.34228784e+01] [ 3.11829587e-03 9.99995138e-01 -1.96675589e-05 -3.70685563e-02] [ 2.21094211e-03 1.27732013e-05 9.99997556e-01 -7.42607911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.458001145 meters 0.06580114098356078 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.04, Z:-0.74 [[ 9.99990202e-01 -3.65285777e-03 -2.50067165e-03 3.34540330e+01] [ 3.65281492e-03 9.99993328e-01 -2.17036343e-05 -3.88118566e-02] [ 2.50073424e-03 1.25689309e-05 9.99996873e-01 -7.44012455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48800114499999 meters 0.06578609715499478 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.04, Z:-0.74 [[ 9.99984559e-01 -5.23351249e-03 -1.86898516e-03 3.34851038e+01] [ 5.23349403e-03 9.99986305e-01 -1.47682295e-05 -4.26101981e-02] [ 1.86903685e-03 4.98667882e-06 9.99998253e-01 -7.44874183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51800114499999 meters 0.06537540225016707 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.05, Z:-0.74 [[ 9.99980867e-01 -6.05834445e-03 -1.24994804e-03 3.35173625e+01] [ 6.05833694e-03 9.99981648e-01 -9.79526336e-06 -4.56437435e-02] [ 1.24998445e-03 2.22246953e-06 9.99999219e-01 -7.40138760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.54800114499999 meters 0.06539553714182955 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.05, Z:-0.74 [[ 9.99970779e-01 -7.48253811e-03 -1.56586127e-03 3.35485448e+01] [ 7.48252733e-03 9.99972005e-01 -1.27428706e-05 -4.76664758e-02] [ 1.56591278e-03 1.02589847e-06 9.99998774e-01 -7.42196543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.578001144999995 meters 0.06526138460797322 Centerline is valid? [True, True] Translation: X:33.58, Y:-0.05, Z:-0.74 [[ 9.99954274e-01 -9.53384992e-03 -7.45865211e-04 3.35805063e+01] [ 9.53384859e-03 9.99954552e-01 -5.33744212e-06 -5.13167643e-02] [ 7.45882199e-04 -1.77376793e-06 9.99999722e-01 -7.40714102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.608001144999996 meters 0.06533112563327309 Centerline is valid? [True, True] Translation: X:33.61, Y:-0.05, Z:-0.74 [[ 9.99946676e-01 -1.02729306e-02 -1.05417155e-03 3.36122308e+01] [ 1.02729277e-02 9.99947232e-01 -8.19006035e-06 -5.26266768e-02] [ 1.05420006e-03 -2.63980450e-06 9.99999444e-01 -7.41263218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.638001145 meters 0.06532855462104868 Centerline is valid? [True, True] Translation: X:33.64, Y:-0.05, Z:-0.74 [[ 9.99932869e-01 -1.15704940e-02 -6.16978621e-04 3.36433934e+01] [ 1.15704934e-02 9.99933060e-01 -4.43565544e-06 -5.44935920e-02] [ 6.16988642e-04 -2.70338941e-06 9.99999810e-01 -7.41369060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66800114499999 meters 0.0655566362078022 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.06, Z:-0.74 [[ 9.99913662e-01 -1.31049175e-02 -9.64073237e-04 3.36746099e+01] [ 1.31049165e-02 9.99914127e-01 -7.34428014e-06 -5.74825418e-02] [ 9.64086696e-04 -5.29045325e-06 9.99999535e-01 -7.43050434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69800114499999 meters 0.06550130751477519 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.06, Z:-0.74 [[ 9.99897975e-01 -1.42274359e-02 -1.27231660e-03 3.37072435e+01] [ 1.42274352e-02 9.99898785e-01 -9.60568727e-06 -6.04778704e-02] [ 1.27232449e-03 -8.49709472e-06 9.99999191e-01 -7.44066797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72800114499999 meters 0.06586637032209476 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.06, Z:-0.74 [[ 9.99857186e-01 -1.66994444e-02 -2.59548295e-03 3.37390943e+01] [ 1.66994474e-02 9.99860554e-01 -2.05155813e-05 -6.48976615e-02] [ 2.59546362e-03 -2.28304795e-05 9.99996632e-01 -7.44884959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.758001144999994 meters 0.06598677468683126 Centerline is valid? [True, True] Translation: X:33.77, Y:-0.07, Z:-0.75 [[ 9.99845004e-01 -1.72730602e-02 -3.40736291e-03 3.37715707e+01] [ 1.72730683e-02 9.99850809e-01 -2.70508562e-05 -6.59581723e-02] [ 3.40732181e-03 -3.18089488e-05 9.99994195e-01 -7.45750571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.788001144999996 meters 0.06592420157782616 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.07, Z:-0.75 [[ 9.99873469e-01 -1.56764741e-02 -2.70091342e-03 3.38025791e+01] [ 1.56764735e-02 9.99877116e-01 -2.13631622e-05 -6.56684043e-02] [ 2.70091642e-03 -2.09803387e-05 9.99996352e-01 -7.46595248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.818001145 meters 0.06552290923139643 Centerline is valid? [True, True] Translation: X:33.83, Y:-0.06, Z:-0.75 [[ 9.99928678e-01 -1.16101979e-02 -2.80042220e-03 3.38348110e+01] [ 1.16101826e-02 9.99932599e-01 -2.17102017e-05 -6.29757658e-02] [ 2.80048551e-03 -1.08047599e-05 9.99996079e-01 -7.45563245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84800114499999 meters 0.06543989303496074 Centerline is valid? [True, True] Translation: X:33.87, Y:-0.06, Z:-0.75 [[ 9.99949536e-01 -9.48697710e-03 -3.30482265e-03 3.38662534e+01] [ 9.48694322e-03 9.99954998e-01 -2.59276001e-05 -6.16212806e-02] [ 3.30491990e-03 -5.42637310e-06 9.99994539e-01 -7.48501668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87800114499999 meters 0.0652366929976577 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.06, Z:-0.75 [[ 9.99966314e-01 -7.03675984e-03 -4.22556833e-03 3.38988276e+01] [ 7.03668408e-03 9.99975242e-01 -3.27966422e-05 -5.92009595e-02] [ 4.22569450e-03 3.06154800e-06 9.99991072e-01 -7.45826162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90800114499999 meters 0.06587075343847604 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.05, Z:-0.74 [[ 9.99978104e-01 5.28060564e-03 -3.98831123e-03 3.39290856e+01] [-5.28077383e-03 9.99986056e-01 -3.16410628e-05 -4.58913279e-02] [ 3.98808854e-03 5.27017396e-05 9.99992046e-01 -7.44941146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.938001144999994 meters 0.0663342903280955 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.04, Z:-0.74 [[ 9.99937598e-01 1.06902732e-02 -3.24328278e-03 3.39579693e+01] [-1.06904279e-02 9.99942855e-01 -3.03725045e-05 -4.19594682e-02] [ 3.24277275e-03 6.50426900e-05 9.99994740e-01 -7.43894752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.968001144999995 meters 0.06696717031612452 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.04, Z:-0.75 [[ 9.99895918e-01 1.40009710e-02 -3.48226752e-03 3.39871834e+01] [-1.40011589e-02 9.99901979e-01 -2.95798376e-05 -3.92195887e-02] [ 3.48151204e-03 7.83325398e-05 9.99993936e-01 -7.45102816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.998001144999996 meters 0.06765404874776872 Centerline is valid? [True, True] Translation: X:34.02, Y:-0.04, Z:-0.75 [[ 9.99846659e-01 1.69609291e-02 -4.35733011e-03 3.40154328e+01] [-1.69612528e-02 9.99856147e-01 -3.73471198e-05 -3.74299226e-02] [ 4.35606985e-03 1.11247171e-04 9.99990506e-01 -7.46755623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02800114499999 meters 0.06800240955948325 Centerline is valid? [True, True] Translation: X:34.05, Y:-0.04, Z:-0.75 [[ 9.99790323e-01 1.96552636e-02 -5.74295379e-03 3.40453105e+01] [-1.96558666e-02 9.99806804e-01 -4.85709777e-05 -3.72680213e-02] [ 5.74088959e-03 1.61443527e-04 9.99983508e-01 -7.47112019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05800114499999 meters 0.06829457109500393 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.04, Z:-0.75 [[ 9.99722352e-01 2.20213234e-02 -8.38335585e-03 3.40742456e+01] [-2.20226952e-02 9.99757468e-01 -7.13417513e-05 -4.02527931e-02] [ 8.37975158e-03 2.55946034e-04 9.99964857e-01 -7.48894059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08800114499999 meters 0.06857024238844478 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.04, Z:-0.75 [[ 9.99730125e-01 2.15611597e-02 -8.64827643e-03 3.41018786e+01] [-2.15626124e-02 9.99767497e-01 -7.47602373e-05 -4.12192001e-02] [ 8.64465376e-03 2.61219494e-04 9.99962600e-01 -7.50501676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.118001144999994 meters 0.0674883713175733 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.05, Z:-0.75 [[ 9.99817952e-01 1.73816053e-02 -7.87038188e-03 3.41318264e+01] [-1.73826775e-02 9.99848908e-01 -6.78424796e-05 -4.95411654e-02] [ 7.86801351e-03 2.04638439e-04 9.99969026e-01 -7.49040725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.148001144999995 meters 0.06689984770878801 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.05, Z:-0.75 [[ 9.99866832e-01 1.42131065e-02 -8.01907813e-03 3.41603490e+01] [-1.42141246e-02 9.99898972e-01 -6.99698271e-05 -5.42544143e-02] [ 8.01727349e-03 1.83944685e-04 9.99967844e-01 -7.48567437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.178001144999996 meters 0.06652552574162605 Centerline is valid? [True, True] Translation: X:34.19, Y:-0.06, Z:-0.75 [[ 9.99908632e-01 1.08038561e-02 -8.12424962e-03 3.41882127e+01] [-1.08048027e-02 9.99941624e-01 -7.26360259e-05 -5.90554341e-02] [ 8.12299061e-03 1.60410303e-04 9.99966995e-01 -7.49611120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20800114499999 meters 0.06595831829433511 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.07, Z:-0.75 [[ 9.99935440e-01 8.33594623e-03 -7.72195413e-03 3.42173888e+01] [-8.33672609e-03 9.99965247e-01 -6.88091100e-05 -6.55793991e-02] [ 7.72111218e-03 1.33180484e-04 9.99970183e-01 -7.47662962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23800114499999 meters 0.06549700570177079 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.08, Z:-0.75 [[ 9.99974671e-01 3.29665824e-03 -6.30792474e-03 3.42451669e+01] [-3.29708415e-03 9.99994563e-01 -5.71229565e-05 -7.50674991e-02] [ 6.30770213e-03 7.79192683e-05 9.99980103e-01 -7.48847527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26800114499999 meters 0.06501812205809106 Centerline is valid? [True, True] Translation: X:34.27, Y:-0.08, Z:-0.75 [[ 9.99985038e-01 5.44069757e-04 -5.44320022e-03 3.42742545e+01] [-5.44347483e-04 9.99999851e-01 -4.95411690e-05 -8.09154817e-02] [ 5.44317245e-03 5.25034201e-05 9.99985184e-01 -7.47528055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.29800114499999 meters 0.0646631485595709 Centerline is valid? [True, True] Translation: X:34.30, Y:-0.09, Z:-0.75 [[ 9.99983943e-01 -2.38260671e-03 -5.14160188e-03 3.43034545e+01] [ 2.38239567e-03 9.99997161e-01 -4.71708742e-05 -8.71832387e-02] [ 5.14169968e-03 3.49207868e-05 9.99986781e-01 -7.47351191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.328001144999995 meters 0.06472511296601065 Centerline is valid? [True, True] Translation: X:34.33, Y:-0.09, Z:-0.75 [[ 9.99970453e-01 -5.51887260e-03 -5.35127146e-03 3.43321568e+01] [ 5.51868920e-03 9.99984771e-01 -4.90388740e-05 -9.35195020e-02] [ 5.35146061e-03 1.95054211e-05 9.99985681e-01 -7.49757152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.358001144999996 meters 0.06426879261694558 Centerline is valid? [True, True] Translation: X:34.36, Y:-0.10, Z:-0.75 [[ 9.99945243e-01 -8.89033813e-03 -5.52020380e-03 3.43639564e+01] [ 8.89020248e-03 9.99960480e-01 -4.91113379e-05 -1.01091165e-01] [ 5.52042226e-03 3.29191386e-08 9.99984762e-01 -7.47356003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.388001145 meters 0.06452257726303184 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.11, Z:-0.75 [[ 9.99878419e-01 -1.42315913e-02 -6.37256157e-03 3.43957161e+01] [ 1.42315454e-02 9.99898725e-01 -5.25594501e-05 -1.11356397e-01] [ 6.37266419e-03 -3.81383394e-05 9.99979694e-01 -7.49690618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41800114499999 meters 0.06449873083280536 Centerline is valid? [True, True] Translation: X:34.43, Y:-0.11, Z:-0.75 [[ 9.99847746e-01 -1.61978141e-02 -6.48972074e-03 3.44279985e+01] [ 1.61977948e-02 9.99868806e-01 -5.55295687e-05 -1.14608042e-01] [ 6.48976879e-03 -4.95980512e-05 9.99978940e-01 -7.48065538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44800114499999 meters 0.06444419171981239 Centerline is valid? [True, True] Translation: X:34.46, Y:-0.12, Z:-0.75 [[ 9.99820269e-01 -1.81181199e-02 -5.58233404e-03 3.44614950e+01] [ 1.81181424e-02 9.99835852e-01 -4.65353844e-05 -1.18034209e-01] [ 5.58226084e-03 -5.46145026e-05 9.99984418e-01 -7.47001129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47800114499999 meters 0.0645326981968182 Centerline is valid? [True, True] Translation: X:34.49, Y:-0.12, Z:-0.75 [[ 9.99784852e-01 -1.99614082e-02 -5.63847973e-03 3.44930164e+01] [ 1.99614575e-02 9.99800749e-01 -4.75426584e-05 -1.22257869e-01] [ 5.63830528e-03 -6.50198438e-05 9.99984103e-01 -7.47354462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.508001144999994 meters 0.06457830403117062 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.13, Z:-0.75 [[ 9.99740316e-01 -2.24842607e-02 -3.70931129e-03 3.45256589e+01] [ 2.24843023e-02 9.99747196e-01 -3.04852385e-05 -1.29478152e-01] [ 3.70905900e-03 -5.29239545e-05 9.99993120e-01 -7.45311778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.538001144999996 meters 0.06484094792489356 Centerline is valid? [True, True] Translation: X:34.56, Y:-0.13, Z:-0.75 [[ 9.99722926e-01 -2.33557313e-02 -2.92941782e-03 3.45579850e+01] [ 2.33557631e-02 9.99727217e-01 -2.33477216e-05 -1.34124669e-01] [ 2.92916403e-03 -4.50775361e-05 9.99995709e-01 -7.46376666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.568001145 meters 0.06454675022854472 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.14, Z:-0.74 [[ 9.99709097e-01 -2.39895401e-02 -2.49471283e-03 3.45911207e+01] [ 2.39895670e-02 9.99712209e-01 -1.91594858e-05 -1.35554728e-01] [ 2.49445450e-03 -4.06931683e-05 9.99996888e-01 -7.43816661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59800114499999 meters 0.06450023311918913 Centerline is valid? [True, True] Translation: X:34.62, Y:-0.14, Z:-0.74 [[ 9.99713004e-01 -2.37969331e-02 -2.75959765e-03 3.46245649e+01] [ 2.37969655e-02 9.99716812e-01 -2.10985239e-05 -1.36304654e-01] [ 2.75931824e-03 -4.45775812e-05 9.99996192e-01 -7.44195682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62800114499999 meters 0.06450051679103937 Centerline is valid? [True, True] Translation: X:34.66, Y:-0.14, Z:-0.75 [[ 9.99753463e-01 -2.20707522e-02 -2.42789737e-03 3.46554364e+01] [ 2.20707709e-02 9.99756411e-01 -1.90594577e-05 -1.38984260e-01] [ 2.42772662e-03 -3.45308079e-05 9.99997052e-01 -7.45001440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65800114499999 meters 0.06442929893696003 Centerline is valid? [True, True] Translation: X:34.69, Y:-0.14, Z:-0.75 [[ 9.99755532e-01 -2.19323607e-02 -2.80148987e-03 3.46864420e+01] [ 2.19323851e-02 9.99759456e-01 -2.20110657e-05 -1.41761444e-01] [ 2.80129874e-03 -3.94376698e-05 9.99996076e-01 -7.45752443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.688001144999994 meters 0.06406519321280538 Centerline is valid? [True, True] Translation: X:34.72, Y:-0.14, Z:-0.74 [[ 9.99788287e-01 -2.05380682e-02 -1.25279757e-03 3.47184428e+01] [ 2.05380729e-02 9.99789071e-01 -9.07239036e-06 -1.42869826e-01] [ 1.25271965e-03 -1.66595782e-05 9.99999215e-01 -7.44143967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.718001144999995 meters 0.06368216439048764 Centerline is valid? [True, True] Translation: X:34.75, Y:-0.14, Z:-0.74 [[ 9.99812535e-01 -1.93592786e-02 -3.35867038e-04 3.47508573e+01] [ 1.93592792e-02 9.99812592e-01 -1.63264510e-06 -1.42461120e-01] [ 3.35835700e-04 -4.86980471e-06 9.99999944e-01 -7.42384029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.748001144999996 meters 0.06333647445428567 Centerline is valid? [True, True] Translation: X:34.78, Y:-0.14, Z:-0.74 [[ 9.99862200e-01 -1.65989015e-02 2.41418532e-04 3.47825561e+01] [ 1.65989013e-02 9.99862229e-01 2.96324269e-06 -1.43711326e-01] [-2.41434458e-04 1.04444803e-06 9.99999971e-01 -7.41919573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77800114499999 meters 0.06333650943740611 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.15, Z:-0.74 [[ 9.99872564e-01 -1.59636092e-02 1.37770961e-04 3.48153046e+01] [ 1.59636090e-02 9.99872573e-01 2.58531739e-06 -1.45214654e-01] [-1.37794676e-04 -3.85666171e-07 9.99999991e-01 -7.42171459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80800114499999 meters 0.06334071592546395 Centerline is valid? [True, True] Translation: X:34.85, Y:-0.15, Z:-0.74 [[ 9.99880252e-01 -1.54728462e-02 -2.69662661e-04 3.48475724e+01] [ 1.54728465e-02 9.99880288e-01 -8.45963238e-07 -1.47135341e-01] [ 2.69643469e-04 -3.32658704e-06 9.99999964e-01 -7.43707452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83800114499999 meters 0.06319722099811237 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.15, Z:-0.74 [[ 9.99882410e-01 -1.52670564e-02 -1.44331939e-03 3.48801790e+01] [ 1.52670578e-02 9.99883452e-01 -1.00651251e-05 -1.52642101e-01] [ 1.44330484e-03 -1.19712990e-05 9.99998958e-01 -7.44657575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.868001144999994 meters 0.06315544037877897 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.16, Z:-0.75 [[ 9.99895687e-01 -1.43328604e-02 -1.78450325e-03 3.49130517e+01] [ 1.43328618e-02 9.99897279e-01 -1.19981770e-05 -1.55340839e-01] [ 1.78449192e-03 -1.35801130e-05 9.99998408e-01 -7.45919262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.898001144999995 meters 0.06301014080954626 Centerline is valid? [True, True] Translation: X:34.95, Y:-0.16, Z:-0.75 [[ 9.99898025e-01 -1.41772742e-02 -1.71594646e-03 3.49450478e+01] [ 1.41772751e-02 9.99899497e-01 -1.16225204e-05 -1.57589961e-01] [ 1.71593878e-03 -1.27061100e-05 9.99998528e-01 -7.46873045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.928001144999996 meters 0.06279907315774097 Centerline is valid? [True, True] Translation: X:34.98, Y:-0.16, Z:-0.74 [[ 9.99883242e-01 -1.52156398e-02 -1.40959987e-03 3.49782974e+01] [ 1.52156424e-02 9.99884235e-01 -8.89280763e-06 -1.59420533e-01] [ 1.40957200e-03 -1.25561982e-05 9.99999006e-01 -7.43704410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95800114499999 meters 0.06295852729154612 Centerline is valid? [True, True] Translation: X:35.01, Y:-0.16, Z:-0.74 [[ 9.99860375e-01 -1.65814138e-02 -2.07041863e-03 3.50092037e+01] [ 1.65814193e-02 9.99862519e-01 -1.44962270e-05 -1.61953444e-01] [ 2.07037435e-03 -1.98362765e-05 9.99997857e-01 -7.44856108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98800114499999 meters 0.06296907163379876 Centerline is valid? [True, True] Translation: X:35.04, Y:-0.16, Z:-0.74 [[ 9.99832703e-01 -1.81371149e-02 -2.36866094e-03 3.50411215e+01] [ 1.81371272e-02 9.99835509e-01 -1.62847250e-05 -1.64262522e-01] [ 2.36856667e-03 -2.66787041e-05 9.99997195e-01 -7.44647657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01800114499999 meters 0.06296907163379876 Centerline is valid? [True, True] Translation: X:35.07, Y:-0.16, Z:-0.75 [[ 9.99834456e-01 -1.80402242e-02 -2.36866640e-03 3.50736894e+01] [ 1.80402380e-02 9.99837262e-01 -1.55265184e-05 -1.64128009e-01] [ 2.36856103e-03 -2.72073576e-05 9.99997195e-01 -7.45176085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.04800114499999 meters 0.06308128549711733 Centerline is valid? [True, True] Translation: X:35.10, Y:-0.17, Z:-0.75 [[ 9.99810383e-01 -1.93579452e-02 -2.11369739e-03 3.51047696e+01] [ 1.93579581e-02 9.99812617e-01 -1.43780072e-05 -1.68172013e-01] [ 2.11357965e-03 -2.65415846e-05 9.99997766e-01 -7.46303400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.078001144999995 meters 0.06323736463614643 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.17, Z:-0.75 [[ 9.99761894e-01 -2.17207734e-02 -2.08898539e-03 3.51364464e+01] [ 2.17207913e-02 9.99764076e-01 -1.41018371e-05 -1.72416239e-01] [ 2.08879885e-03 -3.12759362e-05 9.99997818e-01 -7.47582731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.108001144999996 meters 0.06355538616885374 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.18, Z:-0.75 [[ 9.99668433e-01 -2.56391938e-02 -2.37808988e-03 3.51685106e+01] [ 2.56392289e-02 9.99671261e-01 -1.57365100e-05 -1.80690108e-01] [ 2.37771158e-03 -4.52410985e-05 9.99997172e-01 -7.51460870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.138001145 meters 0.0637574854664602 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.18, Z:-0.75 [[ 9.99643831e-01 -2.64560963e-02 -3.50523435e-03 3.51995375e+01] [ 2.64561866e-02 9.99649974e-01 -2.06131407e-05 -1.83052135e-01] [ 3.50455277e-03 -7.21293350e-05 9.99993856e-01 -7.54502779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16800114499999 meters 0.06394999573046535 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.18, Z:-0.76 [[ 9.99624641e-01 -2.69584376e-02 -4.88047709e-03 3.52312610e+01] [ 2.69586078e-02 9.99636550e-01 -3.09157737e-05 -1.83192028e-01] [ 4.87953672e-03 -1.00666699e-04 9.99988090e-01 -7.56428391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19800114499999 meters 0.0644471157073075 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.18, Z:-0.76 [[ 9.99599394e-01 -2.71095863e-02 -8.13157531e-03 3.52621461e+01] [ 2.71100504e-02 9.99632454e-01 -5.31707324e-05 -1.81549643e-01] [ 8.13002801e-03 -1.67297984e-04 9.99966937e-01 -7.59759081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22800114499999 meters 0.0642726994342574 Centerline is valid? [True, True] Translation: X:35.29, Y:-0.18, Z:-0.76 [[ 9.99593345e-01 -2.69567405e-02 -9.29941955e-03 3.52939300e+01] [ 2.69573449e-02 9.99636583e-01 -6.03645111e-05 -1.79302241e-01] [ 9.29766721e-03 -1.90347697e-04 9.99956758e-01 -7.59639434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.258001144999994 meters 0.06487561836325488 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.18, Z:-0.76 [[ 9.99590006e-01 -2.68129660e-02 -1.00441120e-02 3.53253257e+01] [ 2.68136651e-02 9.99640447e-01 -6.50797967e-05 -1.79173787e-01] [ 1.00422456e-02 -2.04266341e-04 9.99949555e-01 -7.63625726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.288001144999996 meters 0.06455647657284717 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.18, Z:-0.76 [[ 9.99596709e-01 -2.66060429e-02 -9.92661821e-03 3.53574872e+01] [ 2.66067244e-02 9.99645976e-01 -6.34285684e-05 -1.76654049e-01] [ 9.92479154e-03 -2.00711807e-04 9.99950728e-01 -7.63526811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.318001145 meters 0.06475983678134517 Centerline is valid? [True, True] Translation: X:35.39, Y:-0.17, Z:-0.77 [[ 9.99594992e-01 -2.65682295e-02 -1.01970855e-02 3.53897052e+01] [ 2.65689528e-02 9.99646981e-01 -6.45503346e-05 -1.74988598e-01] [ 1.01952007e-02 -2.06401691e-04 9.99948006e-01 -7.65170866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34800114499999 meters 0.06513260678458659 Centerline is valid? [True, True] Translation: X:35.42, Y:-0.17, Z:-0.77 [[ 9.99551324e-01 -2.78266594e-02 -1.10827706e-02 3.54212305e+01] [ 2.78275930e-02 9.99612735e-01 -6.99890080e-05 -1.70378967e-01] [ 1.10804262e-02 -2.38449224e-04 9.99938582e-01 -7.67004900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37800114499999 meters 0.06541599804218495 Centerline is valid? [True, True] Translation: X:35.45, Y:-0.17, Z:-0.77 [[ 9.99526857e-01 -2.84315615e-02 -1.17348919e-02 3.54532685e+01] [ 2.84326608e-02 9.99595707e-01 -7.31751720e-05 -1.67711372e-01] [ 1.17322280e-02 -2.60513651e-04 9.99931141e-01 -7.68712259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40800114499999 meters 0.06589012729071446 Centerline is valid? [True, True] Translation: X:35.48, Y:-0.17, Z:-0.77 [[ 9.99482081e-01 -2.95462306e-02 -1.27511151e-02 3.54848644e+01] [ 2.95476225e-02 9.99563371e-01 -7.92616412e-05 -1.66275741e-01] [ 1.27478895e-02 -2.97544546e-04 9.99918698e-01 -7.71387390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.438001144999994 meters 0.06587039179029572 Centerline is valid? [True, True] Translation: X:35.52, Y:-0.16, Z:-0.78 [[ 9.99444394e-01 -2.98287552e-02 -1.48710560e-02 3.55167982e+01] [ 2.98306963e-02 9.99554962e-01 -9.13189537e-05 -1.60811120e-01] [ 1.48671617e-02 -3.52345739e-04 9.99889416e-01 -7.75088131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.468001144999995 meters 0.06681681450274113 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.16, Z:-0.78 [[ 9.99439206e-01 -2.95953271e-02 -1.56649386e-02 3.55477264e+01] [ 2.95974593e-02 9.99561895e-01 -9.57549846e-05 -1.60570983e-01] [ 1.56609096e-02 -3.67941096e-04 9.99877293e-01 -7.80555401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.498001144999996 meters 0.0664132506137187 Centerline is valid? [True, True] Translation: X:35.58, Y:-0.16, Z:-0.78 [[ 9.99457730e-01 -2.95546373e-02 -1.45178925e-02 3.55798314e+01] [ 2.95564817e-02 9.99563108e-01 -8.75468657e-05 -1.56023776e-01] [ 1.45141371e-02 -3.41598432e-04 9.99894606e-01 -7.78692001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52800114499999 meters 0.06624271841589423 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.15, Z:-0.78 [[ 9.99464317e-01 -2.98648966e-02 -1.33853276e-02 3.56121401e+01] [ 2.98665044e-02 9.99553893e-01 -7.98051153e-05 -1.51421420e-01] [ 1.33817397e-02 -3.20010581e-04 9.99910409e-01 -7.76577795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55800114499999 meters 0.06695156974343602 Centerline is valid? [True, True] Translation: X:35.64, Y:-0.15, Z:-0.78 [[ 9.99459614e-01 -3.07448423e-02 -1.16290527e-02 3.56438713e+01] [ 3.07461302e-02 9.99527224e-01 -6.80635755e-05 -1.49890811e-01] [ 1.16256473e-02 -2.89521572e-04 9.99932378e-01 -7.77210579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.58800114499999 meters 0.06653514300232496 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.14, Z:-0.77 [[ 9.99493427e-01 -3.06812712e-02 -8.45868899e-03 3.56756810e+01] [ 3.06819522e-02 9.99529197e-01 -4.92763446e-05 -1.44959135e-01] [ 8.45621848e-03 -2.10277709e-04 9.99964223e-01 -7.74435258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.618001144999994 meters 0.0664832163602597 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.14, Z:-0.77 [[ 9.99514158e-01 -3.05317369e-02 -6.26580950e-03 3.57079090e+01] [ 3.05321129e-02 9.99533786e-01 -3.56650863e-05 -1.44667084e-01] [ 6.26397720e-03 -1.55660644e-04 9.99980369e-01 -7.74046156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.648001144999995 meters 0.06603504894989669 Centerline is valid? [True, True] Translation: X:35.74, Y:-0.14, Z:-0.77 [[ 9.99527817e-01 -3.03420884e-02 -4.84779572e-03 3.57401374e+01] [ 3.03423140e-02 9.99539566e-01 -2.70339972e-05 -1.42729756e-01] [ 4.84638389e-03 -1.20072108e-04 9.99988249e-01 -7.72812380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.678001144999996 meters 0.06570031685443986 Centerline is valid? [True, True] Translation: X:35.77, Y:-0.14, Z:-0.77 [[ 9.99572140e-01 -2.89852619e-02 -3.92328894e-03 3.57717997e+01] [ 2.89854009e-02 9.99579835e-01 -2.14443667e-05 -1.36611578e-01] [ 3.92226208e-03 -9.22829113e-05 9.99992304e-01 -7.71154410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70800114499999 meters 0.06583933514081623 Centerline is valid? [True, True] Translation: X:35.80, Y:-0.13, Z:-0.77 [[ 9.99608275e-01 -2.77829555e-02 -3.37703033e-03 3.58031229e+01] [ 2.77830620e-02 9.99613976e-01 -1.53758821e-05 -1.34995218e-01] [ 3.37615390e-03 -7.84543842e-05 9.99994298e-01 -7.71459266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73800114499999 meters 0.06500412282027748 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.13, Z:-0.77 [[ 9.99642521e-01 -2.66828879e-02 -1.68928028e-03 3.58353557e+01] [ 2.66829121e-02 9.99643948e-01 -8.20740728e-06 -1.31746114e-01] [ 1.68889780e-03 -3.68704439e-05 9.99998573e-01 -7.69460902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.76800114499999 meters 0.0651273018200728 Centerline is valid? [True, True] Translation: X:35.87, Y:-0.13, Z:-0.77 [[ 9.99670669e-01 -2.56603593e-02 -3.16438430e-04 3.58665629e+01] [ 2.56603611e-02 9.99670719e-01 1.60926892e-06 -1.33130944e-01] [ 3.16292938e-04 -9.72866333e-06 9.99999950e-01 -7.70735118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.79800114499999 meters 0.06387936063191266 Centerline is valid? [True, True] Translation: X:35.90, Y:-0.13, Z:-0.77 [[ 9.99720184e-01 -2.36545301e-02 1.29348813e-04 3.58988773e+01] [ 2.36545301e-02 9.99720192e-01 1.73676973e-06 -1.28914344e-01] [-1.29353703e-04 1.32340163e-06 9.99999992e-01 -7.66631413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.828001144999995 meters 0.06365572430277801 Centerline is valid? [True, True] Translation: X:35.93, Y:-0.13, Z:-0.77 [[ 9.99733593e-01 -2.30552568e-02 1.09428891e-03 3.59310204e+01] [ 2.30552633e-02 9.99734192e-01 6.67599444e-06 -1.27871215e-01] [-1.09415196e-03 1.85549031e-05 9.99999401e-01 -7.65326210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.858001144999996 meters 0.06351811484073545 Centerline is valid? [True, True] Translation: X:35.96, Y:-0.13, Z:-0.77 [[ 9.99745448e-01 -2.25178482e-02 1.40930514e-03 3.59627708e+01] [ 2.25178590e-02 9.99746441e-01 8.19139937e-06 -1.28572091e-01] [-1.40913225e-03 2.35452201e-05 9.99999007e-01 -7.65338690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.888001145 meters 0.06320382854557506 Centerline is valid? [True, True] Translation: X:35.99, Y:-0.13, Z:-0.77 [[ 9.99780256e-01 -2.06569412e-02 3.56793458e-03 3.59940039e+01] [ 2.06569987e-02 9.99786621e-01 2.07196029e-05 -1.31998655e-01] [-3.56760127e-03 5.29877703e-05 9.99993635e-01 -7.66630222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91800114499999 meters 0.06308484736858876 Centerline is valid? [True, True] Translation: X:36.02, Y:-0.13, Z:-0.77 [[ 9.99797758e-01 -1.98043084e-02 3.49755646e-03 3.60249001e+01] [ 1.98043610e-02 9.99803874e-01 1.96035667e-05 -1.33479415e-01] [-3.49725873e-03 4.96672687e-05 9.99993883e-01 -7.67617294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.94800114499999 meters 0.06288643335627508 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.13, Z:-0.77 [[ 9.99818482e-01 -1.87695984e-02 3.27177605e-03 3.60570513e+01] [ 1.87696464e-02 9.99823835e-01 1.60266766e-05 -1.34441687e-01] [-3.27150049e-03 4.53863121e-05 9.99994648e-01 -7.68033032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97800114499999 meters 0.06253281067418937 Centerline is valid? [True, True] Translation: X:36.09, Y:-0.13, Z:-0.77 [[ 9.99844950e-01 -1.73478341e-02 3.02145642e-03 3.60891681e+01] [ 1.73478688e-02 9.99849514e-01 1.47171113e-05 -1.33908455e-01] [-3.02125704e-03 3.77010002e-05 9.99995435e-01 -7.67378524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.008001144999994 meters 0.062493808774412296 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.14, Z:-0.77 [[ 9.99897848e-01 -1.42518679e-02 1.08558843e-03 3.61198718e+01] [ 1.42518701e-02 9.99898437e-01 5.64049217e-06 -1.36719401e-01] [-1.08555856e-03 9.83174929e-06 9.99999411e-01 -7.69648786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.038001144999996 meters 0.062381970142783225 Centerline is valid? [True, True] Translation: X:36.15, Y:-0.14, Z:-0.77 [[ 9.99923779e-01 -1.23415872e-02 -3.48828042e-04 3.61524577e+01] [ 1.23415877e-02 9.99923840e-01 -5.43883932e-07 -1.38242824e-01] [ 3.48808187e-04 -3.76124940e-06 9.99999939e-01 -7.72111508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.068001145 meters 0.062125152730720064 Centerline is valid? [True, True] Translation: X:36.18, Y:-0.14, Z:-0.77 [[ 9.99944483e-01 -1.03381629e-02 -2.03780520e-03 3.61847874e+01] [ 1.03381684e-02 9.99946560e-01 -7.81350575e-06 -1.39095715e-01] [ 2.03777707e-03 -1.32541013e-05 9.99997924e-01 -7.71832599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09800114499999 meters 0.06208795996585884 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.14, Z:-0.77 [[ 9.99954262e-01 -8.57366461e-03 -4.23857189e-03 3.62171219e+01] [ 8.57366910e-03 9.99963245e-01 -1.71122882e-05 -1.40562321e-01] [ 4.23856282e-03 -1.92286073e-05 9.99991017e-01 -7.73869809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12800114499999 meters 0.062236072698135664 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.14, Z:-0.78 [[ 9.99954559e-01 -3.69846004e-03 -8.78645063e-03 3.62476131e+01] [ 3.69827565e-03 9.99993161e-01 -3.72337543e-05 -1.43966448e-01] [ 8.78652825e-03 4.73734593e-06 9.99961398e-01 -7.77341210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15800114499999 meters 0.06257692581518777 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.15, Z:-0.78 [[ 9.99945865e-01 -1.07826091e-03 -1.03491620e-02 3.62754341e+01] [ 1.07784051e-03 9.99999418e-01 -4.61990488e-05 -1.45200870e-01] [ 1.03492058e-02 3.50418017e-05 9.99946445e-01 -7.82237053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.188001144999994 meters 0.06261533295522298 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.15, Z:-0.78 [[ 9.99940173e-01 2.41642959e-03 -1.06682721e-02 3.63041739e+01] [-2.41712033e-03 9.99997077e-01 -5.18536689e-05 -1.45513198e-01] [ 1.06681156e-02 7.76370640e-05 9.99943091e-01 -7.82669215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.218001144999995 meters 0.06242021112573949 Centerline is valid? [True, True] Translation: X:36.33, Y:-0.15, Z:-0.78 [[ 9.99925502e-01 5.55003564e-03 -1.08714260e-02 3.63332277e+01] [-5.55096342e-03 9.99984592e-01 -5.51683638e-05 -1.46241140e-01] [ 1.08709523e-02 1.15511142e-04 9.99940903e-01 -7.80034085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.248001144999996 meters 0.06261266226377034 Centerline is valid? [True, True] Translation: X:36.36, Y:-0.15, Z:-0.78 [[ 9.99881517e-01 1.03439153e-02 -1.13998289e-02 3.63613392e+01] [-1.03452249e-02 9.99946485e-01 -5.59110286e-05 -1.48039284e-01] [ 1.13986405e-02 1.73838198e-04 9.99935018e-01 -7.79047837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27800114499999 meters 0.06254203954351656 Centerline is valid? [True, True] Translation: X:36.39, Y:-0.15, Z:-0.78 [[ 9.99869647e-01 1.24592816e-02 -1.02691174e-02 3.63904165e+01] [-1.24604629e-02 9.99922364e-01 -5.10622627e-05 -1.49051676e-01] [ 1.02676840e-02 1.79013563e-04 9.99947270e-01 -7.77741597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30800114499999 meters 0.062394285537561205 Centerline is valid? [True, True] Translation: X:36.42, Y:-0.15, Z:-0.78 [[ 9.99871942e-01 1.32119626e-02 -9.03015159e-03 3.64196724e+01] [-1.32129125e-02 9.99912705e-01 -4.55436948e-05 -1.50463905e-01] [ 9.02876158e-03 1.64852466e-04 9.99959226e-01 -7.75829124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33800114499999 meters 0.06235386024623132 Centerline is valid? [True, True] Translation: X:36.45, Y:-0.15, Z:-0.77 [[ 9.99873641e-01 1.41481668e-02 -7.24787488e-03 3.64483440e+01] [-1.41488079e-02 9.99899900e-01 -3.71726981e-05 -1.52690056e-01] [ 7.24662344e-03 1.39716790e-04 9.99973733e-01 -7.74359620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.368001144999994 meters 0.06239075596019117 Centerline is valid? [True, True] Translation: X:36.48, Y:-0.16, Z:-0.77 [[ 9.99875637e-01 1.42764877e-02 -6.70024565e-03 3.64769702e+01] [-1.42770414e-02 9.99898077e-01 -3.48216658e-05 -1.56612638e-01] [ 6.69906561e-03 1.30477020e-04 9.99977552e-01 -7.74798456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.398001144999995 meters 0.061742855590416756 Centerline is valid? [True, True] Translation: X:36.51, Y:-0.17, Z:-0.78 [[ 9.99908918e-01 1.15255242e-02 -7.02264010e-03 3.65062428e+01] [-1.15260649e-02 9.99933572e-01 -3.65290041e-05 -1.70323078e-01] [ 7.02175259e-03 1.17469083e-04 9.99975340e-01 -7.75948346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.428001144999996 meters 0.06145528133723413 Centerline is valid? [True, True] Translation: X:36.54, Y:-0.18, Z:-0.78 [[ 9.99918838e-01 1.04311806e-02 -7.31490639e-03 3.65354404e+01] [-1.04317428e-02 9.99945587e-01 -3.87135007e-05 -1.76660771e-01] [ 7.31410453e-03 1.15017581e-04 9.99973245e-01 -7.76699819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45800114499999 meters 0.061232264464043146 Centerline is valid? [True, True] Translation: X:36.56, Y:-0.18, Z:-0.78 [[ 9.99938728e-01 7.90799726e-03 -7.74623675e-03 3.65642766e+01] [-7.90855520e-03 9.99968726e-01 -4.13971320e-05 -1.81629522e-01] [ 7.74566712e-03 1.02656136e-04 9.99969997e-01 -7.77160272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48800114499999 meters 0.061041363901217185 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.19, Z:-0.78 [[ 9.99941593e-01 5.70684973e-03 -9.17832378e-03 3.65930119e+01] [-5.70754363e-03 9.99983711e-01 -4.94101305e-05 -1.85597661e-01] [ 9.17789230e-03 1.01792928e-04 9.99957877e-01 -7.77315993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51800114499999 meters 0.0607369247389579 Centerline is valid? [True, True] Translation: X:36.62, Y:-0.20, Z:-0.78 [[ 9.99950624e-01 -3.87143430e-04 -9.92969763e-03 3.66209533e+01] [ 3.86622890e-04 9.99999924e-01 -5.43419906e-05 -1.97132926e-01] [ 9.92971791e-03 5.05002591e-05 9.99950698e-01 -7.78490106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.54800114499999 meters 0.06079836416411565 Centerline is valid? [True, True] Translation: X:36.65, Y:-0.20, Z:-0.78 [[ 9.99940253e-01 -4.19652849e-03 -1.00935361e-02 3.66491098e+01] [ 4.19617598e-03 9.99991194e-01 -5.61016455e-05 -2.04878744e-01] [ 1.00936826e-02 1.37440401e-05 9.99949057e-01 -7.80283550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.578001144999995 meters 0.060507283285501166 Centerline is valid? [True, True] Translation: X:36.68, Y:-0.22, Z:-0.78 [[ 9.99889054e-01 -1.07980379e-02 -1.02607255e-02 3.66778050e+01] [ 1.07980183e-02 9.99941698e-01 -5.73143304e-05 -2.21348221e-01] [ 1.02607461e-02 -5.34875294e-05 9.99947356e-01 -7.81013315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.608001144999996 meters 0.060789523893086686 Centerline is valid? [True, True] Translation: X:36.71, Y:-0.23, Z:-0.78 [[ 9.99861362e-01 -1.29882896e-02 -1.04192491e-02 3.67083764e+01] [ 1.29884027e-02 9.99915646e-01 -5.68152554e-05 -2.28474809e-01] [ 1.04191082e-02 -7.85220245e-05 9.99945717e-01 -7.83697036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63800114499999 meters 0.0605524486538214 Centerline is valid? [True, True] Translation: X:36.74, Y:-0.23, Z:-0.78 [[ 9.99835113e-01 -1.51161580e-02 -1.00622424e-02 3.67397481e+01] [ 1.51163767e-02 9.99885740e-01 -5.43213473e-05 -2.33687432e-01] [ 1.00619139e-02 -9.77922569e-05 9.99949373e-01 -7.82366763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66800114499999 meters 0.06026985247578691 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.24, Z:-0.78 [[ 9.99793973e-01 -1.73802064e-02 -1.04852140e-02 3.67724355e+01] [ 1.73805810e-02 9.99848945e-01 -5.54003437e-05 -2.36184758e-01] [ 1.04845930e-02 -1.26850181e-04 9.99945027e-01 -7.79245755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69800114499999 meters 0.060401599466504086 Centerline is valid? [True, True] Translation: X:36.80, Y:-0.24, Z:-0.78 [[ 9.99744431e-01 -2.04584739e-02 -9.61894992e-03 3.68040634e+01] [ 2.04589473e-02 9.99790693e-01 -4.91897174e-05 -2.43178671e-01] [ 9.61794295e-03 -1.47616444e-04 9.99953736e-01 -7.79169482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.72800114499999 meters 0.06088358399713456 Centerline is valid? [True, True] Translation: X:36.84, Y:-0.25, Z:-0.78 [[ 9.99726406e-01 -2.13827275e-02 -9.48111947e-03 3.68357043e+01] [ 2.13832253e-02 9.99771352e-01 -4.88750042e-05 -2.49683125e-01] [ 9.47999671e-03 -1.53875282e-04 9.99955052e-01 -7.83423907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.758001144999994 meters 0.06014348012261872 Centerline is valid? [True, True] Translation: X:36.87, Y:-0.25, Z:-0.78 [[ 9.99740125e-01 -2.11953012e-02 -8.39289924e-03 3.68683396e+01] [ 2.11956925e-02 9.99775345e-01 -4.23390217e-05 -2.50949180e-01] [ 8.39191112e-03 -1.35565292e-04 9.99964778e-01 -7.79519770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.788001144999996 meters 0.06014641265259981 Centerline is valid? [True, True] Translation: X:36.90, Y:-0.26, Z:-0.78 [[ 9.99759771e-01 -2.05641803e-02 -7.58381795e-03 3.69000041e+01] [ 2.05644860e-02 9.99788528e-01 -3.76738845e-05 -2.55700264e-01] [ 7.58298892e-03 -1.18292484e-04 9.99971242e-01 -7.81569613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.818001145 meters 0.059892513345644126 Centerline is valid? [True, True] Translation: X:36.93, Y:-0.26, Z:-0.78 [[ 9.99828763e-01 -1.73004129e-02 -6.56806540e-03 3.69310029e+01] [ 1.73005729e-02 9.99850333e-01 -3.24601585e-05 -2.56643859e-01] [ 6.56764395e-03 -8.11766943e-05 9.99978429e-01 -7.81015321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84800114499999 meters 0.05954707044247042 Centerline is valid? [True, True] Translation: X:36.96, Y:-0.25, Z:-0.78 [[ 9.99860873e-01 -1.53123527e-02 -6.61561426e-03 3.69637560e+01] [ 1.53124798e-02 9.99882757e-01 -3.14318515e-05 -2.53876995e-01] [ 6.61531992e-03 -6.98739816e-05 9.99978116e-01 -7.78896034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87800114499999 meters 0.05972267919815435 Centerline is valid? [True, True] Translation: X:36.99, Y:-0.25, Z:-0.78 [[ 9.99882832e-01 -1.37341106e-02 -6.75992656e-03 3.69947438e+01] [ 1.37342138e-02 9.99905681e-01 -3.11527798e-05 -2.53125926e-01] [ 6.75971682e-03 -6.16931473e-05 9.99977151e-01 -7.80131169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.90800114499999 meters 0.05972267919815435 Centerline is valid? [True, True] Translation: X:37.03, Y:-0.25, Z:-0.78 [[ 9.99883675e-01 -1.36725653e-02 -6.75992501e-03 3.70264510e+01] [ 1.36726651e-02 9.99906524e-01 -3.14617183e-05 -2.53040163e-01] [ 6.75972329e-03 -6.09681320e-05 9.99977151e-01 -7.80645376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.938001144999994 meters 0.05967334142850527 Centerline is valid? [True, True] Translation: X:37.06, Y:-0.25, Z:-0.78 [[ 9.99930167e-01 -1.01161523e-02 -6.10936849e-03 3.70579221e+01] [ 1.01161682e-02 9.99948830e-01 -2.83111835e-05 -2.52800508e-01] [ 6.10934228e-03 -3.34941927e-05 9.99981337e-01 -7.81311997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.968001144999995 meters 0.059472480037699435 Centerline is valid? [True, True] Translation: X:37.09, Y:-0.25, Z:-0.78 [[ 9.99929197e-01 -9.40876047e-03 -7.28530519e-03 3.70904621e+01] [ 9.40876892e-03 9.99955736e-01 -3.31139493e-05 -2.53863811e-01] [ 7.28529427e-03 -3.54341483e-05 9.99973461e-01 -7.79524003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.998001144999996 meters 0.05995809214413459 Centerline is valid? [True, True] Translation: X:37.12, Y:-0.26, Z:-0.79 [[ 9.99935047e-01 -8.02020089e-03 -8.09805369e-03 3.71202886e+01] [ 8.02015944e-03 9.99967837e-01 -3.75927908e-05 -2.56376948e-01] [ 8.09809474e-03 -2.73573328e-05 9.99967210e-01 -7.86529953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02800114499999 meters 0.059760950929528454 Centerline is valid? [True, True] Translation: X:37.15, Y:-0.26, Z:-0.78 [[ 9.99939633e-01 -6.65402421e-03 -8.74384648e-03 3.71509653e+01] [ 6.65392118e-03 9.99977862e-01 -4.08742065e-05 -2.56332821e-01] [ 8.74392488e-03 -1.73091262e-05 9.99961771e-01 -7.84868417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05800114499999 meters 0.05994281025580118 Centerline is valid? [True, True] Translation: X:37.18, Y:-0.25, Z:-0.78 [[ 9.99943755e-01 -3.47802332e-03 -1.00194855e-02 3.71792841e+01] [ 3.47771632e-03 9.99993952e-01 -4.80638690e-05 -2.51545862e-01] [ 1.00195921e-02 1.32162374e-05 9.99949803e-01 -7.84994278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08800114499999 meters 0.060056322429099265 Centerline is valid? [True, True] Translation: X:37.21, Y:-0.25, Z:-0.79 [[ 9.99948485e-01 -2.23314430e-03 -9.90156194e-03 3.72073011e+01] [ 2.23272735e-03 9.99997506e-01 -5.31632874e-05 -2.49342583e-01] [ 9.90165596e-03 3.10530606e-05 9.99950977e-01 -7.85636288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.118001144999994 meters 0.06016435717708831 Centerline is valid? [True, True] Translation: X:37.24, Y:-0.25, Z:-0.79 [[ 9.99938498e-01 -1.10145871e-03 -1.10356831e-02 3.72358375e+01] [ 1.10085631e-03 9.99999392e-01 -6.06617079e-05 -2.49111050e-01] [ 1.10357432e-02 4.85092758e-05 9.99939103e-01 -7.86687993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.148001144999995 meters 0.060298425954979896 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.25, Z:-0.79 [[ 9.99937793e-01 1.30832481e-04 -1.11531985e-02 3.72641227e+01] [-1.31508794e-04 9.99999990e-01 -5.99050973e-05 -2.50284437e-01] [ 1.11531905e-02 6.13681144e-05 9.99937799e-01 -7.87749584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.178001144999996 meters 0.06057845333953606 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.25, Z:-0.79 [[ 9.99928808e-01 3.28281485e-03 -1.14718140e-02 3.72913224e+01] [-3.28375226e-03 9.99994606e-01 -6.28787602e-05 -2.51224613e-01] [ 1.14715457e-02 1.00544879e-04 9.99934195e-01 -7.90390498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20800114499999 meters 0.06064448092485543 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.25, Z:-0.79 [[ 9.99928074e-01 5.19643971e-03 -1.08094520e-02 3.73187834e+01] [-5.19744017e-03 9.99986491e-01 -6.44645784e-05 -2.49076596e-01] [ 1.08089710e-02 1.20641422e-04 9.99941574e-01 -7.90134589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23800114499999 meters 0.0606062849254411 Centerline is valid? [True, True] Translation: X:37.35, Y:-0.25, Z:-0.79 [[ 9.99915818e-01 6.58876122e-03 -1.11779000e-02 3.73470847e+01] [-6.58990776e-03 9.99978284e-01 -6.57427263e-05 -2.46600387e-01] [ 1.11772241e-02 1.39398522e-04 9.99937523e-01 -7.88348845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26800114499999 meters 0.06064236029711251 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.24, Z:-0.79 [[ 9.99904366e-01 8.47089481e-03 -1.09317649e-02 3.73761168e+01] [-8.47214964e-03 9.99964108e-01 -6.84825447e-05 -2.42902360e-01] [ 1.09307925e-02 1.61091544e-04 9.99940244e-01 -7.86522666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.29800114499999 meters 0.060633956634792416 Centerline is valid? [True, True] Translation: X:37.40, Y:-0.24, Z:-0.79 [[ 9.99915910e-01 7.69660615e-03 -1.04371867e-02 3.74046244e+01] [-7.69768948e-03 9.99970370e-01 -6.36260617e-05 -2.44831105e-01] [ 1.04363878e-02 1.43962934e-04 9.99945529e-01 -7.87022384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.328001144999995 meters 0.06050645537161569 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.25, Z:-0.79 [[ 9.99929091e-01 6.26919774e-03 -1.01247539e-02 3.74333068e+01] [-6.27015101e-03 9.99980340e-01 -6.24122024e-05 -2.48582003e-01] [ 1.01241635e-02 1.25891512e-04 9.99948741e-01 -7.87666921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.358001144999996 meters 0.060549980181318505 Centerline is valid? [True, True] Translation: X:37.46, Y:-0.25, Z:-0.79 [[ 9.99948650e-01 4.10987152e-03 -9.26319020e-03 3.74615644e+01] [-4.11058301e-03 9.99991550e-01 -5.77705329e-05 -2.52127089e-01] [ 9.26287450e-03 9.58446786e-05 9.99957094e-01 -7.90174885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38800114499999 meters 0.06015732554414314 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.26, Z:-0.79 [[ 9.99954958e-01 -1.42632575e-03 -9.38337196e-03 3.74908018e+01] [ 1.42582358e-03 9.99998982e-01 -6.02066631e-05 -2.59589698e-01] [ 9.38344827e-03 4.68249183e-05 9.99955973e-01 -7.91233643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41800114499999 meters 0.0599796595225144 Centerline is valid? [True, True] Translation: X:37.52, Y:-0.26, Z:-0.79 [[ 9.99951850e-01 -4.85824911e-03 -8.52616368e-03 3.75199738e+01] [ 4.85795934e-03 9.99988199e-01 -5.46957521e-05 -2.61713912e-01] [ 8.52632878e-03 1.32733620e-05 9.99963650e-01 -7.90395922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44800114499999 meters 0.05985457528434305 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.26, Z:-0.79 [[ 9.99939632e-01 -8.05121018e-03 -7.47729472e-03 3.75482589e+01] [ 8.05107219e-03 9.99967588e-01 -4.85554016e-05 -2.62795081e-01] [ 7.47744329e-03 -1.16477692e-05 9.99972043e-01 -7.88147578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47800114499999 meters 0.05979898603016492 Centerline is valid? [True, True] Translation: X:37.58, Y:-0.26, Z:-0.79 [[ 9.99917782e-01 -1.14236689e-02 -5.82488591e-03 3.75788008e+01] [ 1.14236470e-02 9.99934747e-01 -3.70322854e-05 -2.64233181e-01] [ 5.82492886e-03 -2.95121995e-05 9.99983035e-01 -7.87194351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.508001144999994 meters 0.06022674173774194 Centerline is valid? [True, True] Translation: X:37.61, Y:-0.27, Z:-0.79 [[ 9.99831297e-01 -1.71096173e-02 -6.68116891e-03 3.76094506e+01] [ 1.71097321e-02 9.99853617e-01 -3.99902878e-05 -2.73505058e-01] [ 6.68087512e-03 -7.43294686e-05 9.99977680e-01 -7.91468449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.538001144999996 meters 0.06049264506763972 Centerline is valid? [True, True] Translation: X:37.64, Y:-0.28, Z:-0.79 [[ 9.99790337e-01 -1.91985252e-02 -7.12023877e-03 3.76418101e+01] [ 1.91987053e-02 9.99815687e-01 -4.30584915e-05 -2.78263701e-01] [ 7.11975308e-03 -9.36499020e-05 9.99974650e-01 -7.94401311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.568001145 meters 0.060817312692405756 Centerline is valid? [True, True] Translation: X:37.67, Y:-0.28, Z:-0.80 [[ 9.99736832e-01 -2.12782242e-02 -8.57344571e-03 3.76736796e+01] [ 2.12785645e-02 9.99773584e-01 -5.15301716e-05 -2.81342572e-01] [ 8.57260102e-03 -1.30914007e-04 9.99963246e-01 -7.96527331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59800114499999 meters 0.061138013407288944 Centerline is valid? [True, True] Translation: X:37.71, Y:-0.28, Z:-0.80 [[ 9.99671203e-01 -2.38101133e-02 -9.51651836e-03 3.77057605e+01] [ 2.38106518e-02 9.99716485e-01 -5.67318068e-05 -2.82046335e-01] [ 9.51517107e-03 -1.69881351e-04 9.99954715e-01 -7.97932463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62800114499999 meters 0.06148654958655258 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.28, Z:-0.80 [[ 9.99615592e-01 -2.57187253e-02 -1.03544555e-02 3.77377655e+01] [ 2.57194706e-02 9.99669198e-01 -6.11942267e-05 -2.82307037e-01] [ 1.03526040e-02 -2.05140410e-04 9.99946389e-01 -7.99014574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65800114499999 meters 0.06229541666517133 Centerline is valid? [True, True] Translation: X:37.77, Y:-0.28, Z:-0.80 [[ 9.99488664e-01 -2.98995519e-02 -1.13326115e-02 3.77675565e+01] [ 2.99007240e-02 9.99552871e-01 -6.60344871e-05 -2.82263202e-01] [ 1.13295188e-02 -2.72852567e-04 9.99935782e-01 -8.00409207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.688001144999994 meters 0.06269823551513633 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.28, Z:-0.80 [[ 9.99420187e-01 -3.19987008e-02 -1.16349496e-02 3.78000803e+01] [ 3.20000836e-02 9.99487864e-01 -6.73455300e-05 -2.83474384e-01] [ 1.16311459e-02 -3.05012877e-04 9.99932309e-01 -8.01866019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.718001144999995 meters 0.062270517493843706 Centerline is valid? [True, True] Translation: X:37.83, Y:-0.28, Z:-0.80 [[ 9.99355107e-01 -3.37202823e-02 -1.23415094e-02 3.78322950e+01] [ 3.37219790e-02 9.99431250e-01 -7.06560545e-05 -2.81888888e-01] [ 1.23368727e-02 -3.45569633e-04 9.99923838e-01 -8.00146711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.748001144999996 meters 0.06249481872016574 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.28, Z:-0.80 [[ 9.99290272e-01 -3.56334856e-02 -1.22150227e-02 3.78647706e+01] [ 3.56353000e-02 9.99364859e-01 -6.91479072e-05 -2.83387285e-01] [ 1.22097284e-02 -3.66187167e-04 9.99925391e-01 -8.01726773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77800114499999 meters 0.06346138047256443 Centerline is valid? [True, True] Translation: X:37.90, Y:-0.29, Z:-0.80 [[ 9.99143875e-01 -3.96932314e-02 -1.16603959e-02 3.78951826e+01] [ 3.96951546e-02 9.99211835e-01 -6.65526223e-05 -2.85769761e-01] [ 1.16538473e-02 -3.96365574e-04 9.99932013e-01 -8.03105171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80800114499999 meters 0.06393233337932526 Centerline is valid? [True, True] Translation: X:37.93, Y:-0.29, Z:-0.80 [[ 9.99063220e-01 -4.19526537e-02 -1.06139715e-02 3.79268460e+01] [ 4.19543853e-02 9.99119525e-01 -5.95527497e-05 -2.85132413e-01] [ 1.06071245e-02 -3.85805688e-04 9.99943668e-01 -8.02695270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83800114499999 meters 0.06421216281186952 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.28, Z:-0.80 [[ 9.99012076e-01 -4.34804334e-02 -9.18283858e-03 3.79587182e+01] [ 4.34818024e-02 9.99054218e-01 -5.06050472e-05 -2.84527848e-01] [ 9.17635395e-03 -3.48731319e-04 9.99957836e-01 -8.01981783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.868001144999994 meters 0.06561997565627589 Centerline is valid? [True, True] Translation: X:37.99, Y:-0.29, Z:-0.80 [[ 9.98841098e-01 -4.74204974e-02 -8.23154579e-03 3.79887654e+01] [ 4.74217236e-02 9.98874956e-01 -4.62653752e-05 -2.85706755e-01] [ 8.22447887e-03 -3.44142331e-04 9.99966119e-01 -8.03573366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.898001144999995 meters 0.0660453803737071 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.29, Z:-0.81 [[ 9.98782191e-01 -4.86318238e-02 -8.31150655e-03 3.80211084e+01] [ 4.86331282e-02 9.98816708e-01 -4.52175712e-05 -2.85681432e-01] [ 8.30387063e-03 -3.59052059e-04 9.99965458e-01 -8.05052615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.928001144999996 meters 0.06657061979490815 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.29, Z:-0.81 [[ 9.98733206e-01 -4.96710352e-02 -8.04805370e-03 3.80534272e+01] [ 4.96722960e-02 9.98765569e-01 -4.32723270e-05 -2.85221173e-01] [ 8.04026831e-03 -3.56547796e-04 9.99967613e-01 -8.06086915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95800114499999 meters 0.06703149312383447 Centerline is valid? [True, True] Translation: X:38.09, Y:-0.28, Z:-0.81 [[ 9.98707184e-01 -5.02819367e-02 -7.46235686e-03 3.80852278e+01] [ 5.02830655e-02 9.98735006e-01 -3.63957681e-05 -2.82640196e-01] [ 7.45474707e-03 -3.38881464e-04 9.99972156e-01 -8.05978066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98800114499999 meters 0.06721173000053117 Centerline is valid? [True, True] Translation: X:38.12, Y:-0.27, Z:-0.81 [[ 9.98746544e-01 -4.97203759e-02 -5.76410901e-03 3.81168302e+01] [ 4.97210505e-02 9.98763143e-01 -2.62963460e-05 -2.74753523e-01] [ 5.75828710e-03 -2.60334171e-04 9.99983387e-01 -8.05537221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01800114499999 meters 0.06739352727198886 Centerline is valid? [True, True] Translation: X:38.15, Y:-0.27, Z:-0.81 [[ 9.98771002e-01 -4.93152148e-02 -4.94919638e-03 3.81489749e+01] [ 4.93157000e-02 9.98783240e-01 -2.40289725e-05 -2.72507036e-01] [ 4.94435939e-03 -2.20073643e-04 9.99987752e-01 -8.06475879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.04800114499999 meters 0.06754195006362475 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.27, Z:-0.81 [[ 9.98800068e-01 -4.87723859e-02 -4.43605443e-03 3.81811626e+01] [ 4.87727854e-02 9.98809899e-01 -1.81462702e-05 -2.71036707e-01] [ 4.43166011e-03 -1.98234235e-04 9.99990160e-01 -8.07177555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.078001144999995 meters 0.0675728609353062 Centerline is valid? [True, True] Translation: X:38.21, Y:-0.27, Z:-0.81 [[ 9.98822795e-01 -4.83421744e-02 -4.00731865e-03 3.82138218e+01] [ 4.83424939e-02 9.98830818e-01 -1.71717593e-05 -2.68261783e-01] [ 4.00346349e-03 -1.76572233e-04 9.99991971e-01 -8.07679577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.108001144999996 meters 0.06659198386331079 Centerline is valid? [True, True] Translation: X:38.25, Y:-0.26, Z:-0.81 [[ 9.98850348e-01 -4.77861686e-02 -3.80330172e-03 3.82463271e+01] [ 4.77864619e-02 9.98857574e-01 -1.37652625e-05 -2.57357518e-01] [ 3.79961452e-03 -1.67996896e-04 9.99992767e-01 -8.07374823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13800114499999 meters 0.06715223908850844 Centerline is valid? [True, True] Translation: X:38.28, Y:-0.26, Z:-0.81 [[ 9.98814173e-01 -4.83501048e-02 -5.70219635e-03 3.82770764e+01] [ 4.83507572e-02 9.98830418e-01 -2.34788678e-05 -2.55538825e-01] [ 5.69666237e-03 -2.52254485e-04 9.99983742e-01 -8.10040753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16800114499999 meters 0.06733174760122913 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.25, Z:-0.81 [[ 9.98810907e-01 -4.84136938e-02 -5.73461842e-03 3.83093559e+01] [ 4.84143712e-02 9.98827337e-01 -2.07085040e-05 -2.53583818e-01] [ 5.72889622e-03 -2.56954065e-04 9.99983557e-01 -8.12066692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19800114499999 meters 0.0674142470177568 Centerline is valid? [True, True] Translation: X:38.34, Y:-0.25, Z:-0.81 [[ 9.98805183e-01 -4.83973640e-02 -6.77504061e-03 3.83415368e+01] [ 4.83983148e-02 9.98828115e-01 -2.36345224e-05 -2.50945967e-01] [ 6.76824489e-03 -3.04294265e-04 9.99977049e-01 -8.13590688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22800114499999 meters 0.06569202200984565 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.24, Z:-0.81 [[ 9.98843642e-01 -4.75039530e-02 -7.39954879e-03 3.83734018e+01] [ 4.75050740e-02 9.98870996e-01 -2.42949332e-05 -2.38026886e-01] [ 7.39234878e-03 -3.27249274e-04 9.99972623e-01 -8.11709634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.258001144999994 meters 0.06809318699118165 Centerline is valid? [True, True] Translation: X:38.40, Y:-0.24, Z:-0.82 [[ 9.98896654e-01 -4.62824342e-02 -7.96304181e-03 3.84048135e+01] [ 4.62837022e-02 9.98928335e-01 -2.50784031e-05 -2.41240999e-01] [ 7.95566878e-03 -3.43508323e-04 9.99968294e-01 -8.16813907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.288001144999996 meters 0.0677209165529588 Centerline is valid? [True, True] Translation: X:38.44, Y:-0.24, Z:-0.82 [[ 9.98974645e-01 -4.45564460e-02 -8.02377161e-03 3.84359160e+01] [ 4.45576567e-02 9.99006814e-01 -2.78995807e-05 -2.37582273e-01] [ 8.01704562e-03 -3.29649487e-04 9.99967809e-01 -8.17964687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31800114499999 meters 0.06545908086532609 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.23, Z:-0.82 [[ 9.99025671e-01 -4.33070847e-02 -8.49741708e-03 3.84682524e+01] [ 4.33084063e-02 9.99061750e-01 -2.84933276e-05 -2.27888455e-01] [ 8.49067835e-03 -3.39544026e-04 9.99963896e-01 -8.15094992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34800114499999 meters 0.06680187773528541 Centerline is valid? [True, True] Translation: X:38.50, Y:-0.22, Z:-0.82 [[ 9.99202566e-01 -3.90841455e-02 -8.16465273e-03 3.84981942e+01] [ 3.90852169e-02 9.99235881e-01 -2.83653967e-05 -2.24241226e-01] [ 8.15952259e-03 -2.90774445e-04 9.99966668e-01 -8.19608532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37800114499999 meters 0.06474478718967086 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.21, Z:-0.82 [[ 9.99287471e-01 -3.67600093e-02 -8.55879359e-03 3.85303059e+01] [ 3.67611146e-02 9.99324081e-01 -2.81894822e-05 -2.14255741e-01] [ 8.55404478e-03 -2.86461396e-04 9.99963372e-01 -8.16463399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.40800114499999 meters 0.06419371220394962 Centerline is valid? [True, True] Translation: X:38.56, Y:-0.21, Z:-0.82 [[ 9.99354155e-01 -3.47971513e-02 -8.96835726e-03 3.85624328e+01] [ 3.47982908e-02 9.99394356e-01 -2.90052229e-05 -2.09207267e-01] [ 8.96393492e-03 -2.83097014e-04 9.99959783e-01 -8.16984118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.438001144999994 meters 0.0639818345786429 Centerline is valid? [True, True] Translation: X:38.59, Y:-0.21, Z:-0.82 [[ 9.99410610e-01 -3.29512940e-02 -9.62518565e-03 3.85932637e+01] [ 3.29525221e-02 9.99456918e-01 -3.10145974e-05 -2.05494218e-01] [ 9.62098035e-03 -2.86177825e-04 9.99953676e-01 -8.18920928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.468001144999995 meters 0.06555604283410289 Centerline is valid? [True, True] Translation: X:38.62, Y:-0.20, Z:-0.83 [[ 9.99484442e-01 -2.98957943e-02 -1.17085836e-02 3.86246556e+01] [ 2.98974066e-02 9.99552972e-01 -3.73534201e-05 -2.02108182e-01] [ 1.17044663e-02 -3.12722123e-04 9.99931451e-01 -8.26565540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.498001144999996 meters 0.06388887497361775 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.19, Z:-0.82 [[ 9.99498728e-01 -2.89024962e-02 -1.29204357e-02 3.86573565e+01] [ 2.89043890e-02 9.99582180e-01 -4.02497788e-05 -1.92281356e-01] [ 1.29162006e-02 -3.33227698e-04 9.99916527e-01 -8.21683643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52800114499999 meters 0.0644509501269882 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.19, Z:-0.82 [[ 9.99525994e-01 -2.76834958e-02 -1.34688876e-02 3.86888441e+01] [ 2.76854466e-02 9.99616684e-01 -4.16327106e-05 -1.89467367e-01] [ 1.34648773e-02 -3.31279191e-04 9.99909290e-01 -8.24094161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55800114499999 meters 0.06552491853150398 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.19, Z:-0.83 [[ 9.99542834e-01 -2.67081496e-02 -1.41703222e-02 3.87211513e+01] [ 2.67102320e-02 9.99643217e-01 -4.23171154e-05 -1.89032571e-01] [ 1.41663967e-02 -3.36194823e-04 9.99899595e-01 -8.29604081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58800114499999 meters 0.06587228466555553 Centerline is valid? [True, True] Translation: X:38.75, Y:-0.19, Z:-0.83 [[ 9.99541583e-01 -2.68251888e-02 -1.40368174e-02 3.87519141e+01] [ 2.68272665e-02 9.99640083e-01 -4.02850655e-05 -1.85373310e-01] [ 1.40328460e-02 -3.36302844e-04 9.99901478e-01 -8.31323276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.618001144999994 meters 0.06412882635568486 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.18, Z:-0.82 [[ 9.99532824e-01 -2.72139426e-02 -1.39117090e-02 3.87838908e+01] [ 2.72160265e-02 9.99629575e-01 -3.95373710e-05 -1.77643919e-01] [ 1.39076317e-02 -3.39102540e-04 9.99903227e-01 -8.24029547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.648001144999995 meters 0.06444200980507932 Centerline is valid? [True, True] Translation: X:38.82, Y:-0.18, Z:-0.82 [[ 9.99516250e-01 -2.82182026e-02 -1.30766826e-02 3.88171584e+01] [ 2.82201533e-02 9.99601732e-01 -3.53592728e-05 -1.76794875e-01] [ 1.30724723e-02 -3.33683820e-04 9.99914496e-01 -8.24636047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.678001144999996 meters 0.06484241429380594 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.17, Z:-0.82 [[ 9.99496577e-01 -2.94075965e-02 -1.19073949e-02 3.88493248e+01] [ 2.94093132e-02 9.99567452e-01 -3.09462651e-05 -1.73762203e-01] [ 1.19031545e-02 -3.19257620e-04 9.99929104e-01 -8.23657329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70800114499999 meters 0.06482716818258583 Centerline is valid? [True, True] Translation: X:38.88, Y:-0.17, Z:-0.82 [[ 9.99518507e-01 -2.90467701e-02 -1.09105117e-02 3.88814592e+01] [ 2.90481930e-02 9.99578012e-01 -2.80594456e-05 -1.69771539e-01] [ 1.09067227e-02 -2.88884716e-04 9.99940478e-01 -8.22038603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73800114499999 meters 0.06475154382161308 Centerline is valid? [True, True] Translation: X:38.91, Y:-0.17, Z:-0.82 [[ 9.99551717e-01 -2.81183960e-02 -1.02820269e-02 3.89141522e+01] [ 2.81196311e-02 9.99604565e-01 -2.44558928e-05 -1.65979830e-01] [ 1.02786487e-02 -2.64681875e-04 9.99947138e-01 -8.21438246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.76800114499999 meters 0.06504245219858319 Centerline is valid? [True, True] Translation: X:38.95, Y:-0.16, Z:-0.82 [[ 9.99551040e-01 -2.83281449e-02 -9.75885958e-03 3.89455731e+01] [ 2.83292813e-02 9.99598645e-01 -2.17897016e-05 -1.64052010e-01] [ 9.75556007e-03 -2.54681559e-04 9.99952381e-01 -8.22375867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.79800114499999 meters 0.06553366329017211 Centerline is valid? [True, True] Translation: X:38.98, Y:-0.16, Z:-0.83 [[ 9.99548536e-01 -2.82826797e-02 -1.01397607e-02 3.89768347e+01] [ 2.82839150e-02 9.99599930e-01 -2.15782705e-05 -1.64037531e-01] [ 1.01363143e-02 -2.65223600e-04 9.99948591e-01 -8.26865309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.828001144999995 meters 0.06553366329017211 Centerline is valid? [True, True] Translation: X:39.01, Y:-0.16, Z:-0.83 [[ 9.99551111e-01 -2.81915314e-02 -1.01397617e-02 3.90094128e+01] [ 2.81927671e-02 9.99602505e-01 -2.10780845e-05 -1.64074220e-01] [ 1.01363254e-02 -2.64799318e-04 9.99948591e-01 -8.27393412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.858001144999996 meters 0.06594802322076064 Centerline is valid? [True, True] Translation: X:39.04, Y:-0.16, Z:-0.83 [[ 9.99513667e-01 -2.91273050e-02 -1.11368526e-02 3.90417244e+01] [ 2.91288541e-02 9.99575665e-01 -2.31233622e-05 -1.63739936e-01] [ 1.11328003e-02 -3.01291637e-04 9.99937983e-01 -8.30042771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88800114499999 meters 0.06663633677019705 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.16, Z:-0.83 [[ 9.99468338e-01 -3.04476264e-02 -1.16612200e-02 3.90740257e+01] [ 3.04494359e-02 9.99536308e-01 -2.23770799e-05 -1.62273194e-01] [ 1.16564941e-02 -3.32712389e-04 9.99932005e-01 -8.30375290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91800114499999 meters 0.06738207318814698 Centerline is valid? [True, True] Translation: X:39.11, Y:-0.16, Z:-0.83 [[ 9.99397138e-01 -3.28483967e-02 -1.12402620e-02 3.91058059e+01] [ 3.28502446e-02 9.99460285e-01 -2.02361155e-05 -1.61111332e-01] [ 1.12348602e-02 -3.49021442e-04 9.99936826e-01 -8.29519307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94800114499999 meters 0.06906937805688881 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.16, Z:-0.83 [[ 9.99263959e-01 -3.70536449e-02 -9.92811675e-03 3.91356199e+01] [ 3.70552983e-02 9.99313216e-01 -1.74193129e-05 -1.62600040e-01] [ 9.92194373e-03 -3.50482836e-04 9.99950715e-01 -8.29498956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97800114499999 meters 0.06963194105127589 Centerline is valid? [True, True] Translation: X:39.17, Y:-0.16, Z:-0.83 [[ 9.99224557e-01 -3.80640339e-02 -1.00704206e-02 3.91681331e+01] [ 3.80657938e-02 9.99275235e-01 -1.69282541e-05 -1.64185038e-01] [ 1.00637663e-02 -3.66423429e-04 9.99949292e-01 -8.31425794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.008001144999994 meters 0.07064122163640674 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.16, Z:-0.83 [[ 9.99189433e-01 -3.91106148e-02 -9.53085133e-03 3.91989008e+01] [ 3.91122687e-02 9.99234822e-01 -1.28788517e-05 -1.64758067e-01] [ 9.52406224e-03 -3.59904805e-04 9.99954580e-01 -8.34453769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.038001144999996 meters 0.06932895120764304 Centerline is valid? [True, True] Translation: X:39.23, Y:-0.16, Z:-0.83 [[ 9.99167337e-01 -3.95897464e-02 -9.86330583e-03 3.92308330e+01] [ 3.95915295e-02 9.99215948e-01 -1.44861076e-05 -1.57593998e-01] [ 9.85614599e-03 -3.76029318e-04 9.99951356e-01 -8.31437062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06800114499999 meters 0.06942945075551403 Centerline is valid? [True, True] Translation: X:39.26, Y:-0.15, Z:-0.83 [[ 9.99173208e-01 -3.94243827e-02 -9.93066776e-03 3.92634972e+01] [ 3.94261965e-02 9.99222485e-01 -1.31246476e-05 -1.53905551e-01] [ 9.92346395e-03 -3.78414663e-04 9.99950690e-01 -8.30812640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09800114499999 meters 0.0717776236173858 Centerline is valid? [True, True] Translation: X:39.29, Y:-0.16, Z:-0.84 [[ 9.99165998e-01 -3.96622788e-02 -9.70628412e-03 3.92941671e+01] [ 3.96640357e-02 9.99213072e-01 -1.14930591e-05 -1.56535811e-01] [ 9.69910182e-03 -3.73506927e-04 9.99952893e-01 -8.35221719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12800114499999 meters 0.07023029889355299 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.15, Z:-0.83 [[ 9.99200004e-01 -3.90102436e-02 -8.80646182e-03 3.93263060e+01] [ 3.90116642e-02 9.99238755e-01 -1.04777268e-05 -1.49360289e-01] [ 8.80016668e-03 -3.33085387e-04 9.99961222e-01 -8.34655403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15800114499999 meters 0.07241549200434508 Centerline is valid? [True, True] Translation: X:39.36, Y:-0.15, Z:-0.84 [[ 9.99206621e-01 -3.87376821e-02 -9.24775925e-03 3.93585240e+01] [ 3.87392821e-02 9.99249352e-01 -6.12272631e-06 -1.53707495e-01] [ 9.24105462e-03 -3.52133685e-04 9.99957239e-01 -8.39312644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.188001144999994 meters 0.07059876201389693 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.15, Z:-0.84 [[ 9.99211677e-01 -3.88474306e-02 -8.17930846e-03 3.93907284e+01] [ 3.88486708e-02 9.99245105e-01 -7.25207960e-06 -1.46809009e-01] [ 8.17341567e-03 -3.10508899e-04 9.99966549e-01 -8.36155004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.218001144999995 meters 0.07108110013102491 Centerline is valid? [True, True] Translation: X:39.42, Y:-0.14, Z:-0.84 [[ 9.99184494e-01 -3.97098823e-02 -7.31243196e-03 3.94225485e+01] [ 3.97109247e-02 9.99211210e-01 -2.65041479e-06 -1.44903281e-01] [ 7.30676924e-03 -2.87735181e-04 9.99973264e-01 -8.35133132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.248001144999996 meters 0.07003450584872445 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.13, Z:-0.83 [[ 9.99162618e-01 -4.03901831e-02 -6.53424793e-03 3.94547686e+01] [ 4.03910231e-02 9.99183950e-01 -3.41988309e-06 -1.34922306e-01] [ 6.52905378e-03 -2.60507939e-04 9.99978652e-01 -8.31143035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27800114499999 meters 0.07239347219995619 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.14, Z:-0.84 [[ 9.99201128e-01 -3.94343606e-02 -6.48361555e-03 3.94856353e+01] [ 3.94351928e-02 9.99222130e-01 5.05926048e-07 -1.38918739e-01] [ 6.47855220e-03 -2.56188151e-04 9.99978981e-01 -8.35857012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30800114499999 meters 0.07020264409445592 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.13, Z:-0.83 [[ 9.99247116e-01 -3.84023486e-02 -5.51904271e-03 3.95184407e+01] [ 3.84029282e-02 9.99262335e-01 -9.54083462e-07 -1.32332259e-01] [ 5.51500815e-03 -2.10994036e-04 9.99984770e-01 -8.34492985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33800114499999 meters 0.07127840157676997 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.13, Z:-0.84 [[ 9.99339208e-01 -3.56604684e-02 -7.03401633e-03 3.95497759e+01] [ 3.56613644e-02 9.99363931e-01 1.96237854e-06 -1.31767343e-01] [ 7.02947223e-03 -2.52803701e-04 9.99975261e-01 -8.40984810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.368001144999994 meters 0.06923356403276637 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.12, Z:-0.84 [[ 9.99409243e-01 -3.35773307e-02 -7.32991544e-03 3.95819729e+01] [ 3.35782328e-02 9.99436092e-01 -7.03728052e-10 -1.21854288e-01] [ 7.32578207e-03 -2.46124904e-04 9.99973136e-01 -8.38465368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.398001144999995 meters 0.06889962510743228 Centerline is valid? [True, True] Translation: X:39.61, Y:-0.12, Z:-0.84 [[ 9.99444634e-01 -3.20410319e-02 -9.15399147e-03 3.96141644e+01] [ 3.20423774e-02 9.99486511e-01 3.25233355e-07 -1.15735317e-01] [ 9.14928058e-03 -2.93640702e-04 9.99958101e-01 -8.39135749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.428001144999996 meters 0.0684426384680187 Centerline is valid? [True, True] Translation: X:39.65, Y:-0.11, Z:-0.84 [[ 9.99504190e-01 -2.99924819e-02 -9.58259187e-03 3.96460456e+01] [ 2.99938676e-02 9.99550083e-01 8.98439778e-07 -1.10375462e-01] [ 9.57825355e-03 -2.88316986e-04 9.99954086e-01 -8.39276612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45800114499999 meters 0.06784352578207381 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.10, Z:-0.84 [[ 9.99637335e-01 -2.52446586e-02 -9.37584922e-03 3.96767103e+01] [ 2.52457746e-02 9.99681275e-01 6.78316801e-07 -1.03629250e-01] [ 9.37284377e-03 -2.37378647e-04 9.99956046e-01 -8.42755076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48800114499999 meters 0.0673777074928053 Centerline is valid? [True, True] Translation: X:39.71, Y:-0.10, Z:-0.84 [[ 9.99699753e-01 -2.25884785e-02 -9.49554401e-03 3.97086288e+01] [ 2.25895176e-02 9.99744824e-01 2.17226462e-06 -1.01149735e-01] [ 9.49307191e-03 -2.16671371e-04 9.99954916e-01 -8.44853887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51800114499999 meters 0.06708428184907626 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.10, Z:-0.85 [[ 9.99744252e-01 -2.07078428e-02 -9.08933114e-03 3.97409059e+01] [ 2.07087206e-02 9.99785551e-01 2.45594335e-06 -9.72779836e-02] [ 9.08733109e-03 -1.90683734e-04 9.99958691e-01 -8.46266907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.54800114499999 meters 0.06683647608818874 Centerline is valid? [True, True] Translation: X:39.77, Y:-0.09, Z:-0.85 [[ 9.99782100e-01 -1.83551678e-02 -9.94182802e-03 3.97729630e+01] [ 1.83561070e-02 9.99831512e-01 3.21601344e-06 -9.24758049e-02] [ 9.94009392e-03 -1.85708572e-04 9.99950579e-01 -8.47150190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.578001144999995 meters 0.06558546172297054 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.08, Z:-0.84 [[ 9.99868646e-01 -1.39890116e-02 -8.18523765e-03 3.98042561e+01] [ 1.39895016e-02 9.99902142e-01 2.60945744e-06 -8.12577264e-02] [ 8.18440015e-03 -1.17116510e-04 9.99966500e-01 -8.42074187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.608001144999996 meters 0.06517169990320829 Centerline is valid? [True, True] Translation: X:39.84, Y:-0.08, Z:-0.84 [[ 9.99905490e-01 -1.10260446e-02 -8.21199887e-03 3.98364326e+01] [ 1.10264467e-02 9.99939207e-01 3.68643548e-06 -7.68048203e-02] [ 8.21145899e-03 -9.42352545e-05 9.99966281e-01 -8.42495577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63800114499999 meters 0.06514802801006234 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.07, Z:-0.84 [[ 9.99926352e-01 -8.16101230e-03 -8.98269112e-03 3.98672403e+01] [ 8.16137836e-03 9.99966695e-01 4.09627075e-06 -7.29282399e-02] [ 8.98235852e-03 -7.74071100e-05 9.99959655e-01 -8.44182039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66800114499999 meters 0.06489945926823446 Centerline is valid? [True, True] Translation: X:39.90, Y:-0.07, Z:-0.85 [[ 9.99953385e-01 -3.61090435e-03 -8.95479067e-03 3.98979807e+01] [ 3.61108227e-03 9.99993480e-01 3.70073453e-06 -6.52034364e-02] [ 8.95471892e-03 -3.60370479e-05 9.99959905e-01 -8.45996561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69800114499999 meters 0.06475138676791113 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.06, Z:-0.85 [[ 9.99950898e-01 -3.45948299e-03 -9.28620375e-03 3.99262951e+01] [ 3.45961287e-03 9.99994016e-01 -2.07780958e-06 -6.18907936e-02] [ 9.28615537e-03 -3.00489624e-05 9.99956882e-01 -8.45718355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72800114499999 meters 0.06471033255238798 Centerline is valid? [True, True] Translation: X:39.95, Y:-0.06, Z:-0.84 [[ 9.99960474e-01 -3.41288281e-03 -8.20995010e-03 3.99545524e+01] [ 3.41296459e-03 9.99994176e-01 -4.04942465e-06 -5.99286968e-02] [ 8.20991610e-03 -2.39710044e-05 9.99966298e-01 -8.44429992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.758001144999994 meters 0.06507398272666456 Centerline is valid? [True, True] Translation: X:39.98, Y:-0.06, Z:-0.85 [[ 9.99950329e-01 -4.81371274e-03 -8.72745557e-03 3.99819436e+01] [ 4.81387475e-03 9.99988413e-01 -2.44391417e-06 -6.13228305e-02] [ 8.72736621e-03 -3.95690852e-05 9.99961915e-01 -8.47126950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.788001144999996 meters 0.06516155922495363 Centerline is valid? [True, True] Translation: X:40.01, Y:-0.06, Z:-0.85 [[ 9.99951765e-01 -5.96020767e-03 -7.80667351e-03 4.00103388e+01] [ 5.96034303e-03 9.99982237e-01 -5.92643380e-06 -6.27625726e-02] [ 7.80657016e-03 -4.06043041e-05 9.99969527e-01 -8.48680817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81800114499999 meters 0.06512082268796648 Centerline is valid? [True, True] Translation: X:40.04, Y:-0.06, Z:-0.85 [[ 9.99953388e-01 -7.15265467e-03 -6.48545587e-03 4.00405714e+01] [ 7.15279090e-03 9.99974418e-01 -2.19084842e-06 -6.38561750e-02] [ 6.48530564e-03 -4.41983634e-05 9.99978969e-01 -8.47849989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84800114499999 meters 0.06519026483252337 Centerline is valid? [True, True] Translation: X:40.07, Y:-0.06, Z:-0.85 [[ 9.99948630e-01 -8.26420065e-03 -5.86852311e-03 4.00721917e+01] [ 8.26433733e-03 9.99965850e-01 -9.59289787e-07 -6.45328186e-02] [ 5.86833063e-03 -4.75402141e-05 9.99982780e-01 -8.47587146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87800114499999 meters 0.06527526307891521 Centerline is valid? [True, True] Translation: X:40.10, Y:-0.06, Z:-0.85 [[ 9.99927838e-01 -1.05227921e-02 -5.79571691e-03 4.01032332e+01] [ 1.05229650e-02 9.99944632e-01 -6.64975811e-07 -6.45478834e-02] [ 5.79540301e-03 -6.03231984e-05 9.99983205e-01 -8.47223277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90800114499999 meters 0.0654604239679784 Centerline is valid? [True, True] Translation: X:40.14, Y:-0.06, Z:-0.85 [[ 9.99922422e-01 -1.06154155e-02 -6.51635401e-03 4.01355155e+01] [ 1.06156396e-02 9.99943653e-01 -1.96879877e-07 -6.47376091e-02] [ 6.51598892e-03 -6.89784011e-05 9.99978768e-01 -8.48147943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.938001144999994 meters 0.06566995560252777 Centerline is valid? [True, True] Translation: X:40.17, Y:-0.07, Z:-0.85 [[ 9.99916221e-01 -1.10500322e-02 -6.74142252e-03 4.01667602e+01] [ 1.10502820e-02 9.99938944e-01 -1.81871492e-07 -6.50351889e-02] [ 6.74101293e-03 -7.43127640e-05 9.99977276e-01 -8.50012840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.968001144999995 meters 0.06582430620946035 Centerline is valid? [True, True] Translation: X:40.20, Y:-0.07, Z:-0.85 [[ 9.99898483e-01 -1.23671015e-02 -7.07660157e-03 4.01989521e+01] [ 1.23674168e-02 9.99923521e-01 7.94030606e-07 -6.59650775e-02] [ 7.07605053e-03 -8.83132311e-05 9.99974961e-01 -8.51687368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99800114499999 meters 0.0669001549704389 Centerline is valid? [True, True] Translation: X:40.23, Y:-0.07, Z:-0.85 [[ 9.99830954e-01 -1.69291181e-02 -7.17409716e-03 4.02296695e+01] [ 1.69295557e-02 9.99856685e-01 2.70436176e-07 -7.06261454e-02] [ 7.17306442e-03 -1.21724668e-04 9.99974266e-01 -8.53140364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02800114499999 meters 0.0666576355174505 Centerline is valid? [True, True] Translation: X:40.26, Y:-0.07, Z:-0.85 [[ 9.99797309e-01 -1.88489131e-02 -7.07520246e-03 4.02614093e+01] [ 1.88493913e-02 9.99822334e-01 9.11970924e-07 -7.13441228e-02] [ 7.07392825e-03 -1.34275046e-04 9.99974970e-01 -8.51500913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05800114499999 meters 0.06811477505763433 Centerline is valid? [True, True] Translation: X:40.29, Y:-0.08, Z:-0.86 [[ 9.99765429e-01 -2.03071269e-02 -7.53039192e-03 4.02926047e+01] [ 2.03077123e-02 9.99793777e-01 1.27600700e-06 -7.75277577e-02] [ 7.52881307e-03 -1.54200740e-04 9.99971646e-01 -8.57646046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.08800114499999 meters 0.06857934006108098 Centerline is valid? [True, True] Translation: X:40.33, Y:-0.08, Z:-0.86 [[ 9.99733403e-01 -2.17531600e-02 -7.74101614e-03 4.03251964e+01] [ 2.17538268e-02 9.99763358e-01 1.93357415e-06 -7.96548894e-02] [ 7.73914223e-03 -1.70329783e-04 9.99970038e-01 -8.59136584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.118001144999994 meters 0.0674547632761561 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.07, Z:-0.85 [[ 9.99744585e-01 -2.15012230e-02 -6.96151275e-03 4.03577211e+01] [ 2.15017603e-02 9.99768810e-01 2.33921136e-06 -7.47575371e-02] [ 6.95985303e-03 -1.52023392e-04 9.99975768e-01 -8.54269885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.148001144999995 meters 0.06819416726466627 Centerline is valid? [True, True] Translation: X:40.39, Y:-0.07, Z:-0.86 [[ 9.99759925e-01 -2.07563191e-02 -7.01911462e-03 4.03889232e+01] [ 2.07568474e-02 9.99784553e-01 2.42029083e-06 -7.49585923e-02] [ 7.01755214e-03 -1.48114401e-04 9.99975366e-01 -8.56854309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.178001144999996 meters 0.06772609566049302 Centerline is valid? [True, True] Translation: X:40.42, Y:-0.07, Z:-0.86 [[ 9.99799899e-01 -1.90597997e-02 -6.07337793e-03 4.04208365e+01] [ 1.90601678e-02 9.99818338e-01 2.72889599e-06 -7.15415196e-02] [ 6.07222262e-03 -1.18487953e-04 9.99981557e-01 -8.55584990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20800114499999 meters 0.06709883414921412 Centerline is valid? [True, True] Translation: X:40.45, Y:-0.07, Z:-0.86 [[ 9.99850381e-01 -1.62660586e-02 -5.88480516e-03 4.04526588e+01] [ 1.62663580e-02 9.99867694e-01 3.01154733e-06 -6.72329440e-02] [ 5.88397758e-03 -9.87354443e-05 9.99982684e-01 -8.55829506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23800114499999 meters 0.06698121952795977 Centerline is valid? [True, True] Translation: X:40.48, Y:-0.07, Z:-0.86 [[ 9.99870885e-01 -1.48924660e-02 -6.03560224e-03 4.04834042e+01] [ 1.48927559e-02 9.99889097e-01 3.08574444e-06 -6.60096683e-02] [ 6.03488692e-03 -9.29720968e-05 9.99981786e-01 -8.57513671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.26800114499999 meters 0.06672392391627703 Centerline is valid? [True, True] Translation: X:40.52, Y:-0.06, Z:-0.86 [[ 9.99891686e-01 -1.34491633e-02 -5.97806347e-03 4.05157387e+01] [ 1.34494253e-02 9.99909552e-01 3.62837445e-06 -6.42519532e-02] [ 5.97747397e-03 -8.40294996e-05 9.99982131e-01 -8.59110703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.29800114499999 meters 0.06659396839856431 Centerline is valid? [True, True] Translation: X:40.55, Y:-0.06, Z:-0.86 [[ 9.99906203e-01 -1.24568301e-02 -5.69321212e-03 4.05479526e+01] [ 1.24570555e-02 9.99922408e-01 4.13266700e-06 -6.19755236e-02] [ 5.69271889e-03 -7.50529387e-05 9.99983794e-01 -8.60269930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.328001144999995 meters 0.06607259795908758 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.06, Z:-0.86 [[ 9.99911330e-01 -1.09684812e-02 -7.55152061e-03 4.05800075e+01] [ 1.09688347e-02 9.99939841e-01 5.39886441e-06 -5.64335488e-02] [ 7.55100710e-03 -8.82297672e-05 9.99971487e-01 -8.59847599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.358001144999996 meters 0.06565533553541233 Centerline is valid? [True, True] Translation: X:40.61, Y:-0.05, Z:-0.86 [[ 9.99922663e-01 -9.65055066e-03 -7.84444066e-03 4.06119480e+01] [ 9.65089570e-03 9.99953429e-01 6.13181403e-06 -5.40102198e-02] [ 7.84401616e-03 -8.18372185e-05 9.99969232e-01 -8.58477457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38800114499999 meters 0.06601771406875018 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.06, Z:-0.86 [[ 9.99930872e-01 -8.73306957e-03 -7.87307198e-03 4.06435143e+01] [ 8.73338954e-03 9.99961863e-01 6.26248814e-06 -5.51073350e-02] [ 7.87271704e-03 -7.50206598e-05 9.99969007e-01 -8.62879357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41800114499999 meters 0.06541142196011995 Centerline is valid? [True, True] Translation: X:40.68, Y:-0.05, Z:-0.86 [[ 9.99949350e-01 -7.68569145e-03 -6.49826904e-03 4.06752908e+01] [ 7.68588779e-03 9.99970463e-01 5.24138945e-06 -5.04110228e-02] [ 6.49803682e-03 -5.51860906e-05 9.99978886e-01 -8.58068112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44800114499999 meters 0.06520522574181303 Centerline is valid? [True, True] Translation: X:40.71, Y:-0.05, Z:-0.86 [[ 9.99956096e-01 -7.43379396e-03 -5.70485452e-03 4.07072671e+01] [ 7.43394640e-03 9.99972368e-01 5.51559313e-06 -4.84382497e-02] [ 5.70465588e-03 -4.79249337e-05 9.99983727e-01 -8.57375437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47800114499999 meters 0.06518918532596066 Centerline is valid? [True, True] Translation: X:40.74, Y:-0.05, Z:-0.86 [[ 9.99965035e-01 -6.55058679e-03 -5.19790732e-03 4.07398217e+01] [ 6.55070354e-03 9.99978544e-01 5.43605387e-06 -4.73574023e-02] [ 5.19776019e-03 -3.94858137e-05 9.99986491e-01 -8.58023996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.508001144999994 meters 0.06522987318903019 Centerline is valid? [True, True] Translation: X:40.77, Y:-0.05, Z:-0.86 [[ 9.99962310e-01 -6.56545562e-03 -5.68100688e-03 4.07720947e+01] [ 6.56559682e-03 9.99978446e-01 6.20538722e-06 -4.82903554e-02] [ 5.68084370e-03 -4.35043541e-05 9.99983863e-01 -8.59531986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.538001144999996 meters 0.0655590539911056 Centerline is valid? [True, True] Translation: X:40.80, Y:-0.05, Z:-0.86 [[ 9.99957768e-01 -7.17028655e-03 -5.74888434e-03 4.08029957e+01] [ 7.17044111e-03 9.99974292e-01 6.27463442e-06 -5.24149036e-02] [ 5.74869156e-03 -4.74964061e-05 9.99983475e-01 -8.63064655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56800114499999 meters 0.06578876862772728 Centerline is valid? [True, True] Translation: X:40.84, Y:-0.05, Z:-0.86 [[ 9.99948509e-01 -8.40392666e-03 -5.68793741e-03 4.08356193e+01] [ 8.40410132e-03 9.99964685e-01 6.80495302e-06 -5.36591004e-02] [ 5.68767935e-03 -5.46066049e-05 9.99983824e-01 -8.63549828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59800114499999 meters 0.06554600422204125 Centerline is valid? [True, True] Translation: X:40.87, Y:-0.05, Z:-0.86 [[ 9.99931801e-01 -9.95776019e-03 -6.10220835e-03 4.08676124e+01] [ 9.95799252e-03 9.99950418e-01 7.68964102e-06 -5.25242302e-02] [ 6.10182921e-03 -6.84548616e-05 9.99981381e-01 -8.60562664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62800114499999 meters 0.06579499389455101 Centerline is valid? [True, True] Translation: X:40.90, Y:-0.05, Z:-0.86 [[ 9.99916979e-01 -1.10801624e-02 -6.57768421e-03 4.08988861e+01] [ 1.10804564e-02 9.99938610e-01 8.25881649e-06 -5.31188514e-02] [ 6.57718890e-03 -8.11418742e-05 9.99978367e-01 -8.60685201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65800114499999 meters 0.06667709094909917 Centerline is valid? [True, True] Translation: X:40.93, Y:-0.06, Z:-0.87 [[ 9.99900022e-01 -1.27654585e-02 -6.08182487e-03 4.09301452e+01] [ 1.27657432e-02 9.99918515e-01 7.98567716e-06 -5.88922802e-02] [ 6.08122735e-03 -8.56238932e-05 9.99981506e-01 -8.65584144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.688001144999994 meters 0.06642083020782473 Centerline is valid? [True, True] Translation: X:40.96, Y:-0.06, Z:-0.86 [[ 9.99891799e-01 -1.34614240e-02 -5.93122629e-03 4.09624317e+01] [ 1.34617109e-02 9.99909387e-01 8.44637361e-06 -5.93259544e-02] [ 5.93057514e-03 -8.82899132e-05 9.99982410e-01 -8.64513445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.718001144999995 meters 0.06642083020782473 Centerline is valid? [True, True] Translation: X:40.99, Y:-0.06, Z:-0.87 [[ 9.99892662e-01 -1.33972264e-02 -5.93122577e-03 4.09941539e+01] [ 1.33975144e-02 9.99910249e-01 8.82639266e-06 -5.94542071e-02] [ 5.93057518e-03 -8.82891280e-05 9.99982410e-01 -8.65028039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74800114499999 meters 0.06644546006479735 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.06, Z:-0.87 [[ 9.99887040e-01 -1.37548140e-02 -6.05905144e-03 4.10258840e+01] [ 1.37551235e-02 9.99905394e-01 9.39967864e-06 -6.08474245e-02] [ 6.05834893e-03 -9.27416175e-05 9.99981644e-01 -8.65939521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77800114499999 meters 0.06646915018621428 Centerline is valid? [True, True] Translation: X:41.06, Y:-0.06, Z:-0.87 [[ 9.99880221e-01 -1.44082333e-02 -5.65219388e-03 4.10578277e+01] [ 1.44085156e-02 9.99896192e-01 9.22676933e-06 -6.16233467e-02] [ 5.65147420e-03 -9.06653879e-05 9.99984026e-01 -8.66411789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80800114499999 meters 0.06664238355297976 Centerline is valid? [True, True] Translation: X:41.09, Y:-0.06, Z:-0.87 [[ 9.99870487e-01 -1.44137050e-02 -7.15919979e-03 4.10888662e+01] [ 1.44141566e-02 9.99896111e-01 1.14845036e-05 -6.09281913e-02] [ 7.15829049e-03 -1.14676843e-04 9.99974373e-01 -8.66960962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83800114499999 meters 0.06688164088403 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.06, Z:-0.87 [[ 9.99862591e-01 -1.43599051e-02 -8.28202213e-03 4.11197446e+01] [ 1.43605098e-02 9.99896882e-01 1.35492705e-05 -6.13547427e-02] [ 8.28097354e-03 -1.32481469e-04 9.99965703e-01 -8.68548424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.868001144999994 meters 0.06646244103002745 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.06, Z:-0.87 [[ 9.99866921e-01 -1.36707464e-02 -8.90234913e-03 4.11517117e+01] [ 1.36714246e-02 9.99906542e-01 1.53271375e-05 -5.93390433e-02] [ 8.90130760e-03 -1.37032893e-04 9.99960373e-01 -8.68449821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.898001144999995 meters 0.0663740619403685 Centerline is valid? [True, True] Translation: X:41.18, Y:-0.06, Z:-0.87 [[ 9.99889320e-01 -1.25515491e-02 -7.98791304e-03 4.11839359e+01] [ 1.25520643e-02 9.99921220e-01 1.43629312e-05 -5.80490128e-02] [ 7.98710347e-03 -1.14626139e-04 9.99968096e-01 -8.68869447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.928001144999996 meters 0.06633534020427417 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.06, Z:-0.87 [[ 9.99889143e-01 -1.13388700e-02 -9.65045502e-03 4.12160792e+01] [ 1.13395695e-02 9.99935705e-01 1.77740078e-05 -5.52972519e-02] [ 9.64963300e-03 -1.27204043e-04 9.99953433e-01 -8.70410454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95800114499999 meters 0.06628904462224287 Centerline is valid? [True, True] Translation: X:41.25, Y:-0.06, Z:-0.87 [[ 9.99897751e-01 -1.04920062e-02 -9.71619120e-03 4.12469999e+01] [ 1.04926732e-02 9.99944950e-01 1.76758995e-05 -5.50901409e-02] [ 9.71547087e-03 -1.19622912e-04 9.99952797e-01 -8.72272620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98800114499999 meters 0.06640515209086893 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.06, Z:-0.87 [[ 9.99898676e-01 -1.01833462e-02 -9.94668015e-03 4.12796258e+01] [ 1.01840416e-02 9.99948141e-01 1.92582759e-05 -5.53853105e-02] [ 9.94596821e-03 -1.20553729e-04 9.99950530e-01 -8.73679034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01800114499999 meters 0.06603454519348148 Centerline is valid? [True, True] Translation: X:41.31, Y:-0.05, Z:-0.87 [[ 9.99933255e-01 -8.50214277e-03 -7.82296209e-03 4.13101284e+01] [ 8.50251798e-03 9.99963853e-01 1.47047268e-05 -5.24463771e-02] [ 7.82255429e-03 -8.12186211e-05 9.99969400e-01 -8.72645955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.04800114499999 meters 0.06564976151446211 Centerline is valid? [True, True] Translation: X:41.34, Y:-0.05, Z:-0.87 [[ 9.99950799e-01 -7.21340992e-03 -6.80930127e-03 4.13416875e+01] [ 7.21366787e-03 9.99973981e-01 1.33217611e-05 -4.87578192e-02] [ 6.80902801e-03 -6.24411434e-05 9.99976816e-01 -8.70319087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.078001144999995 meters 0.06556458006661998 Centerline is valid? [True, True] Translation: X:41.37, Y:-0.05, Z:-0.87 [[ 9.99961546e-01 -5.76730964e-03 -6.60642414e-03 4.13734910e+01] [ 5.76752241e-03 9.99983368e-01 1.31560815e-05 -4.64446345e-02] [ 6.60623839e-03 -5.12582749e-05 9.99978177e-01 -8.69795317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.108001144999996 meters 0.06533964899623435 Centerline is valid? [True, True] Translation: X:41.40, Y:-0.04, Z:-0.87 [[ 9.99978626e-01 -4.56040398e-03 -4.68510268e-03 4.14043943e+01] [ 4.56049599e-03 9.99989601e-01 8.95511224e-06 -4.48244187e-02] [ 4.68501312e-03 -3.03213128e-05 9.99989025e-01 -8.68440805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13800114499999 meters 0.06506030078477837 Centerline is valid? [True, True] Translation: X:41.44, Y:-0.04, Z:-0.87 [[ 9.99982915e-01 -3.81901322e-03 -4.42536441e-03 4.14358413e+01] [ 3.81909111e-03 9.99992707e-01 9.15045965e-06 -4.29076040e-02] [ 4.42529719e-03 -2.60511732e-05 9.99990208e-01 -8.67477074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16800114499999 meters 0.06531183221334148 Centerline is valid? [True, True] Translation: X:41.47, Y:-0.04, Z:-0.87 [[ 9.99980632e-01 -3.84378611e-03 -4.89498963e-03 4.14660323e+01] [ 3.84388047e-03 9.99992612e-01 9.86999436e-06 -4.36102437e-02] [ 4.89491553e-03 -2.86855583e-05 9.99988019e-01 -8.70794921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19800114499999 meters 0.06532651159211028 Centerline is valid? [True, True] Translation: X:41.50, Y:-0.04, Z:-0.87 [[ 9.99979080e-01 -3.80980908e-03 -5.22728562e-03 4.14966993e+01] [ 3.80991472e-03 9.99992742e-01 1.02529714e-05 -4.42580778e-02] [ 5.22720862e-03 -3.01682694e-05 9.99986338e-01 -8.71065693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.22800114499999 meters 0.06527573120569956 Centerline is valid? [True, True] Translation: X:41.53, Y:-0.05, Z:-0.87 [[ 9.99975824e-01 -4.72353127e-03 -5.10282618e-03 4.15276082e+01] [ 4.72364385e-03 9.99988843e-01 1.00088525e-05 -4.63601686e-02] [ 5.10272197e-03 -3.41125441e-05 9.99986980e-01 -8.70422455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.258001144999994 meters 0.06549934378312293 Centerline is valid? [True, True] Translation: X:41.56, Y:-0.05, Z:-0.87 [[ 9.99981262e-01 -4.22273528e-03 -4.43211540e-03 4.15576180e+01] [ 4.22281677e-03 9.99991084e-01 9.02769203e-06 -4.63560063e-02] [ 4.43203776e-03 -2.77435341e-05 9.99990178e-01 -8.72698386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.288001144999996 meters 0.0652419673999433 Centerline is valid? [True, True] Translation: X:41.59, Y:-0.05, Z:-0.87 [[ 9.99986633e-01 -3.24664156e-03 -4.02397775e-03 4.15885960e+01] [ 3.24670238e-03 9.99994729e-01 8.58344137e-06 -4.51793680e-02] [ 4.02392867e-03 -2.16479848e-05 9.99991904e-01 -8.71611880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31800114499999 meters 0.06512300999203467 Centerline is valid? [True, True] Translation: X:41.62, Y:-0.04, Z:-0.87 [[ 9.99985128e-01 -3.61071301e-03 -4.08747303e-03 4.16191926e+01] [ 3.61077673e-03 9.99993481e-01 8.20962130e-06 -4.45665108e-02] [ 4.08741674e-03 -2.29684517e-05 9.99991646e-01 -8.70290494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34800114499999 meters 0.0653231757564828 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.05, Z:-0.87 [[ 9.99983298e-01 -3.90436123e-03 -4.26135847e-03 4.16500002e+01] [ 3.90443315e-03 9.99992378e-01 8.55886729e-06 -4.86085814e-02] [ 4.26129257e-03 -2.51969136e-05 9.99990920e-01 -8.73281775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37800114499999 meters 0.06527970529780734 Centerline is valid? [True, True] Translation: X:41.68, Y:-0.05, Z:-0.87 [[ 9.99980614e-01 -4.09299011e-03 -4.69252733e-03 4.16801013e+01] [ 4.09307940e-03 9.99991623e-01 9.42486274e-06 -4.97835427e-02] [ 4.69244944e-03 -2.86315669e-05 9.99988990e-01 -8.72371398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40800114499999 meters 0.06536519694735445 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.05, Z:-0.87 [[ 9.99985440e-01 -4.00496671e-03 -3.61673650e-03 4.17106125e+01] [ 4.00502036e-03 9.99991980e-01 7.59145971e-06 -5.11443625e-02] [ 3.61667709e-03 -2.20764525e-05 9.99993460e-01 -8.73660742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.438001144999994 meters 0.06508450099977146 Centerline is valid? [True, True] Translation: X:41.74, Y:-0.05, Z:-0.87 [[ 9.99989862e-01 -3.13278755e-03 -3.23455593e-03 4.17418590e+01] [ 3.13282722e-03 9.99995093e-01 7.19635759e-06 -4.99423422e-02] [ 3.23451752e-03 -1.73295895e-05 9.99994769e-01 -8.71690164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.468001144999995 meters 0.064978033531867 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.05, Z:-0.87 [[ 9.99997047e-01 -1.57901147e-03 -1.84726297e-03 4.17718072e+01] [ 1.57902119e-03 9.99998753e-01 3.80197220e-06 -4.93634022e-02] [ 1.84725466e-03 -6.71882834e-06 9.99998294e-01 -8.71865892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49800114499999 meters 0.06497631516271692 Centerline is valid? [True, True] Translation: X:41.80, Y:-0.05, Z:-0.87 [[ 9.99996609e-01 -5.49303772e-04 -2.54546126e-03 4.18018323e+01] [ 5.49318888e-04 9.99999849e-01 5.23897957e-06 -5.03048702e-02] [ 2.54545800e-03 -6.63723176e-06 9.99996760e-01 -8.73324878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52800114499999 meters 0.06498175024508059 Centerline is valid? [True, True] Translation: X:41.83, Y:-0.05, Z:-0.87 [[ 9.99994768e-01 1.76946675e-05 -3.23484244e-03 4.18311712e+01] [-1.76752816e-05 1.00000000e+00 6.02143288e-06 -5.12295837e-02] [ 3.23484255e-03 -5.96422463e-06 9.99994768e-01 -8.74115404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55800114499999 meters 0.06509781804543556 Centerline is valid? [True, True] Translation: X:41.86, Y:-0.05, Z:-0.87 [[ 9.99990281e-01 -3.26348355e-04 -4.39678138e-03 4.18599333e+01] [ 3.26386825e-04 9.99999947e-01 8.03201443e-06 -5.13788524e-02] [ 4.39677853e-03 -9.46698788e-06 9.99990334e-01 -8.74962438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.58800114499999 meters 0.06512948277811144 Centerline is valid? [True, True] Translation: X:41.89, Y:-0.05, Z:-0.88 [[ 9.99981604e-01 -6.94263652e-04 -6.02566798e-03 4.18883150e+01] [ 6.94339658e-04 9.99999759e-01 1.05217507e-05 -5.15432832e-02] [ 6.02565923e-03 -1.47054174e-05 9.99981845e-01 -8.75876522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.618001144999994 meters 0.06514078984078311 Centerline is valid? [True, True] Translation: X:41.92, Y:-0.05, Z:-0.88 [[ 9.99984508e-01 -2.59979382e-04 -5.56028421e-03 4.19167891e+01] [ 2.60015604e-04 9.99999966e-01 5.79145158e-06 -5.20098860e-02] [ 5.56028252e-03 -7.23712251e-06 9.99984541e-01 -8.76878444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.648001144999995 meters 0.06541056424022196 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.05, Z:-0.88 [[ 9.99978330e-01 3.63235587e-04 -6.57320551e-03 4.19449114e+01] [-3.63182056e-04 9.99999934e-01 9.33745423e-06 -5.28641939e-02] [ 6.57320847e-03 -6.94998160e-06 9.99978396e-01 -8.80003025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67800114499999 meters 0.06554077629756765 Centerline is valid? [True, True] Translation: X:41.97, Y:-0.05, Z:-0.88 [[ 9.99977781e-01 2.43145418e-03 -6.20685043e-03 4.19724637e+01] [-2.43147359e-03 9.99997044e-01 4.41894826e-06 -5.40492704e-02] [ 6.20684283e-03 1.06729428e-05 9.99980737e-01 -8.82490544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70800114499999 meters 0.06560281063168033 Centerline is valid? [True, True] Translation: X:42.00, Y:-0.05, Z:-0.88 [[ 9.99970914e-01 3.78191242e-03 -6.62336514e-03 4.20009962e+01] [-3.78196818e-03 9.99992848e-01 4.10614038e-06 -5.25274894e-02] [ 6.62333330e-03 2.09433353e-05 9.99978065e-01 -8.82728367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73800114499999 meters 0.06530086401581175 Centerline is valid? [True, True] Translation: X:42.03, Y:-0.05, Z:-0.88 [[ 9.99958493e-01 5.58957747e-03 -7.19501195e-03 4.20297984e+01] [-5.58967375e-03 9.99984378e-01 6.72754879e-06 -5.03427296e-02] [ 7.19493715e-03 3.34904998e-05 9.99974116e-01 -8.79930688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76800114499999 meters 0.06572070410406564 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.05, Z:-0.88 [[ 9.99937020e-01 7.61010961e-03 -8.24878056e-03 4.20578819e+01] [-7.61031942e-03 9.99971041e-01 5.95327009e-06 -4.68277211e-02] [ 8.24858699e-03 5.68229597e-05 9.99965978e-01 -8.83083237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.79800114499999 meters 0.06571784191662217 Centerline is valid? [True, True] Translation: X:42.09, Y:-0.05, Z:-0.88 [[ 9.99912419e-01 9.95094179e-03 -8.72538617e-03 4.20866996e+01] [-9.95126139e-03 9.99950485e-01 6.78661983e-06 -4.68286316e-02] [ 8.72502166e-03 8.00425730e-05 9.99961933e-01 -8.81910790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.828001144999995 meters 0.0661156122192379 Centerline is valid? [True, True] Translation: X:42.11, Y:-0.05, Z:-0.89 [[ 9.99915119e-01 1.01216171e-02 -8.20414502e-03 4.21143785e+01] [-1.01219133e-02 9.99948772e-01 5.41428470e-06 -4.66760758e-02] [ 8.20377954e-03 7.76278196e-05 9.99966345e-01 -8.85670316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.858001144999996 meters 0.06578447804115244 Centerline is valid? [True, True] Translation: X:42.14, Y:-0.05, Z:-0.88 [[ 9.99905426e-01 1.11840600e-02 -8.00352158e-03 4.21435525e+01] [-1.11843782e-02 9.99937453e-01 5.01302451e-06 -4.80799319e-02] [ 8.00307705e-03 8.45018615e-05 9.99967971e-01 -8.82920265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88800114499999 meters 0.06561176964575172 Centerline is valid? [True, True] Translation: X:42.17, Y:-0.05, Z:-0.88 [[ 9.99908020e-01 1.17132196e-02 -6.83752089e-03 4.21721208e+01] [-1.17134682e-02 9.99931395e-01 3.68977543e-06 -5.00425343e-02] [ 6.83709502e-03 7.64016471e-05 9.99976624e-01 -8.81861771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91800114499999 meters 0.06540296607988602 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.05, Z:-0.88 [[ 9.99903146e-01 1.20006629e-02 -7.04854700e-03 4.22005864e+01] [-1.20009376e-02 9.99927986e-01 3.33360594e-06 -5.22313070e-02] [ 7.04807941e-03 8.12558894e-05 9.99975159e-01 -8.81001515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94800114499999 meters 0.0655514594943855 Centerline is valid? [True, True] Translation: X:42.23, Y:-0.05, Z:-0.88 [[ 9.99913176e-01 1.17363427e-02 -5.99162259e-03 4.22283889e+01] [-1.17365420e-02 9.99931124e-01 1.91177386e-06 -5.31989731e-02] [ 5.99123235e-03 6.84093220e-05 9.99982050e-01 -8.82795726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97800114499999 meters 0.0652457911695205 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.06, Z:-0.88 [[ 9.99931568e-01 1.07200617e-02 -4.68395941e-03 4.22575394e+01] [-1.07201736e-02 9.99942537e-01 1.21199881e-06 -5.75417470e-02] [ 4.68370325e-03 4.90009424e-05 9.99989030e-01 -8.80184143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.008001144999994 meters 0.06482754892273897 Centerline is valid? [True, True] Translation: X:42.29, Y:-0.06, Z:-0.88 [[ 9.99943991e-01 9.79860391e-03 -4.00039153e-03 4.22864764e+01] [-9.79867988e-03 9.99951992e-01 6.09874727e-07 -5.97795923e-02] [ 4.00020545e-03 3.85887154e-05 9.99991998e-01 -8.78228717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.038001144999996 meters 0.06472229485931465 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.06, Z:-0.88 [[ 9.99958962e-01 8.65022041e-03 -2.69209918e-03 4.23157389e+01] [-8.65025120e-03 9.99962586e-01 2.05500795e-07 -6.13440407e-02] [ 2.69200023e-03 2.30818418e-05 9.99996376e-01 -8.77316670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06800114499999 meters 0.06470224152992779 Centerline is valid? [True, True] Translation: X:42.34, Y:-0.06, Z:-0.88 [[ 9.99969572e-01 7.65552592e-03 -1.49938191e-03 4.23433867e+01] [-7.65553582e-03 9.99970696e-01 -8.63755127e-07 -6.31343969e-02] [ 1.49933136e-03 1.23423008e-05 9.99998876e-01 -8.78477498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09800114499999 meters 0.06459097512520663 Centerline is valid? [True, True] Translation: X:42.37, Y:-0.07, Z:-0.88 [[ 9.99988803e-01 4.36964096e-03 -1.81672401e-03 4.23726227e+01] [-4.36964878e-03 9.99990453e-01 -3.32325394e-07 -7.33080640e-02] [ 1.81670522e-03 8.27076754e-06 9.99998350e-01 -8.81355895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12800114499999 meters 0.0647194529407816 Centerline is valid? [True, True] Translation: X:42.40, Y:-0.08, Z:-0.89 [[ 9.99993621e-01 2.49750790e-03 -2.55366769e-03 4.23999403e+01] [-2.49751824e-03 9.99996881e-01 -8.59797224e-07 -7.85804762e-02] [ 2.55365758e-03 7.23762337e-06 9.99996739e-01 -8.85118197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15800114499999 meters 0.0647621674597545 Centerline is valid? [True, True] Translation: X:42.43, Y:-0.08, Z:-0.89 [[ 9.99992145e-01 4.18123123e-04 -3.94145553e-03 4.24284049e+01] [-4.18128841e-04 9.99999913e-01 -6.26748683e-07 -8.24852287e-02] [ 3.94145492e-03 2.27477999e-06 9.99992232e-01 -8.86032435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.188001144999994 meters 0.06456971156771536 Centerline is valid? [True, True] Translation: X:42.46, Y:-0.09, Z:-0.88 [[ 9.99990183e-01 -2.32265019e-03 -3.77340541e-03 4.24570843e+01] [ 2.32266336e-03 9.99997303e-01 -8.92773602e-07 -8.66062950e-02] [ 3.77339731e-03 -7.87158565e-06 9.99992881e-01 -8.83197985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.218001144999995 meters 0.06464287941102177 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.09, Z:-0.88 [[ 9.99989151e-01 -3.19512549e-03 -3.38950115e-03 4.24869899e+01] [ 3.19514321e-03 9.99994896e-01 -1.87300416e-07 -8.84227122e-02] [ 3.38948444e-03 -1.06426432e-05 9.99994256e-01 -8.83705340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24800114499999 meters 0.06457412522531714 Centerline is valid? [True, True] Translation: X:42.52, Y:-0.09, Z:-0.88 [[ 9.99988936e-01 -3.38519227e-03 -3.26637343e-03 4.25170776e+01] [ 3.38521054e-03 9.99994270e-01 6.45472918e-08 -9.00980854e-02] [ 3.26635449e-03 -1.11219083e-05 9.99994665e-01 -8.83338752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27800114499999 meters 0.06455825306118705 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.09, Z:-0.88 [[ 9.99985474e-01 -3.56360223e-03 -4.04370276e-03 4.25478479e+01] [ 3.56363169e-03 9.99993650e-01 7.99082083e-08 -9.22993067e-02] [ 4.04367680e-03 -1.44901743e-05 9.99991824e-01 -8.82823922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30800114499999 meters 0.06450918217360019 Centerline is valid? [True, True] Translation: X:42.58, Y:-0.10, Z:-0.88 [[ 9.99987804e-01 -2.88793681e-03 -4.00643962e-03 4.25785278e+01] [ 2.88796467e-03 9.99995830e-01 1.16927471e-06 -9.66480867e-02] [ 4.00641953e-03 -1.27397165e-05 9.99991974e-01 -8.84271902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33800114499999 meters 0.06453753843469474 Centerline is valid? [True, True] Translation: X:42.61, Y:-0.10, Z:-0.88 [[ 9.99990425e-01 -2.09254549e-03 -3.84337928e-03 4.26090720e+01] [ 2.09256203e-03 9.99997811e-01 2.82893505e-07 -9.72757262e-02] [ 3.84337028e-03 -8.32540035e-06 9.99992614e-01 -8.84156213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.368001144999994 meters 0.06468719976692137 Centerline is valid? [True, True] Translation: X:42.64, Y:-0.10, Z:-0.89 [[ 9.99990186e-01 -1.36767900e-03 -4.21402471e-03 4.26380878e+01] [ 1.36769650e-03 9.99999065e-01 1.27062204e-06 -9.71770320e-02] [ 4.21401903e-03 -7.03411640e-06 9.99991121e-01 -8.85270949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.398001144999995 meters 0.0646302895993924 Centerline is valid? [True, True] Translation: X:42.67, Y:-0.10, Z:-0.89 [[ 9.99985071e-01 1.21199402e-03 -5.32817345e-03 4.26681318e+01] [-1.21201138e-03 9.99999266e-01 -2.97478402e-08 -9.78872509e-02] [ 5.32816950e-03 6.48755427e-06 9.99985805e-01 -8.85175498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42800114499999 meters 0.06464787493034264 Centerline is valid? [True, True] Translation: X:42.70, Y:-0.10, Z:-0.89 [[ 9.99985133e-01 2.22615602e-03 -4.97769141e-03 4.26956449e+01] [-2.22620751e-03 9.99997522e-01 -4.80192298e-06 -9.81378561e-02] [ 4.97766839e-03 1.58832256e-05 9.99987611e-01 -8.85967531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45800114499999 meters 0.06484587781133773 Centerline is valid? [True, True] Translation: X:42.72, Y:-0.10, Z:-0.89 [[ 9.99977663e-01 3.93008314e-03 -5.40637345e-03 4.27237129e+01] [-3.93015418e-03 9.99992277e-01 -2.51654715e-06 -9.85579554e-02] [ 5.40632180e-03 2.37643722e-05 9.99985385e-01 -8.87070034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48800114499999 meters 0.06467133415856895 Centerline is valid? [True, True] Translation: X:42.75, Y:-0.10, Z:-0.89 [[ 9.99971410e-01 5.69159024e-03 -4.97854889e-03 4.27510550e+01] [-5.69167788e-03 9.99983802e-01 -3.43452530e-06 -9.78065711e-02] [ 4.97844870e-03 3.17707237e-05 9.99987607e-01 -8.85572503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51800114499999 meters 0.06476902192893873 Centerline is valid? [True, True] Translation: X:42.78, Y:-0.10, Z:-0.89 [[ 9.99971517e-01 5.92020483e-03 -4.68154372e-03 4.27788504e+01] [-5.92028451e-03 9.99982475e-01 -3.16367149e-06 -9.76277798e-02] [ 4.68144295e-03 3.08796522e-05 9.99989042e-01 -8.86239091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.54800114499999 meters 0.06486441804142604 Centerline is valid? [True, True] Translation: X:42.81, Y:-0.10, Z:-0.89 [[ 9.99968707e-01 5.59511240e-03 -5.59281328e-03 4.28074931e+01] [-5.59522031e-03 9.99984347e-01 -3.64931876e-06 -9.95250726e-02] [ 5.59270531e-03 3.49422270e-05 9.99984360e-01 -8.87245578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.578001144999995 meters 0.06470522029296565 Centerline is valid? [True, True] Translation: X:42.84, Y:-0.11, Z:-0.89 [[ 9.99972275e-01 4.92043771e-03 -5.58917267e-03 4.28365168e+01] [-4.92053710e-03 9.99987894e-01 -4.03216875e-06 -1.06800477e-01] [ 5.58908517e-03 3.15337885e-05 9.99984380e-01 -8.88641589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.608001144999996 meters 0.06457885795507048 Centerline is valid? [True, True] Translation: X:42.86, Y:-0.11, Z:-0.89 [[ 9.99979214e-01 4.36465942e-03 -4.74574181e-03 4.28642319e+01] [-4.36472840e-03 9.99990475e-01 -4.17912334e-06 -1.09238902e-01] [ 4.74567836e-03 2.48929105e-05 9.99988739e-01 -8.89354742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63800114499999 meters 0.06457885795507048 Centerline is valid? [True, True] Translation: X:42.89, Y:-0.11, Z:-0.89 [[ 9.99979608e-01 4.27344165e-03 -4.74574131e-03 4.28916704e+01] [-4.27351275e-03 9.99990868e-01 -4.84053535e-06 -1.09108529e-01] [ 4.74567729e-03 2.51214226e-05 9.99988739e-01 -8.89801273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66800114499999 meters 0.06456332169323462 Centerline is valid? [True, True] Translation: X:42.92, Y:-0.11, Z:-0.89 [[ 9.99985293e-01 3.35744160e-03 -4.25924154e-03 4.29200972e+01] [-3.35749018e-03 9.99994364e-01 -4.25661263e-06 -1.11299947e-01] [ 4.25920324e-03 1.85569117e-05 9.99990929e-01 -8.89430854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69800114499999 meters 0.06431162273509974 Centerline is valid? [True, True] Translation: X:42.95, Y:-0.12, Z:-0.89 [[ 9.99994459e-01 1.18356160e-03 -3.11139046e-03 4.29493734e+01] [-1.18357751e-03 9.99999300e-01 -3.27087762e-06 -1.16198134e-01] [ 3.11138441e-03 6.95343127e-06 9.99995160e-01 -8.87320821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.72800114499999 meters 0.06412327185238682 Centerline is valid? [True, True] Translation: X:42.98, Y:-0.12, Z:-0.89 [[ 9.99995808e-01 -6.35510454e-05 -2.89486387e-03 4.29786398e+01] [ 6.35410709e-05 9.99999998e-01 -3.53754974e-06 -1.19008541e-01] [ 2.89486408e-03 3.35359216e-06 9.99995810e-01 -8.85974650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.758001144999994 meters 0.06411182366551192 Centerline is valid? [True, True] Translation: X:43.01, Y:-0.12, Z:-0.89 [[ 9.99994747e-01 -1.76238333e-03 -2.72025312e-03 4.30074128e+01] [ 1.76238100e-03 9.99998447e-01 -3.25342691e-06 -1.21768484e-01] [ 2.72025463e-03 -1.54071259e-06 9.99996300e-01 -8.87107714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.788001144999996 meters 0.06415882974961334 Centerline is valid? [True, True] Translation: X:43.04, Y:-0.13, Z:-0.89 [[ 9.99991456e-01 -3.49795597e-03 -2.20256926e-03 4.30376501e+01] [ 3.49795998e-03 9.99993882e-01 -2.02989101e-06 -1.25485449e-01] [ 2.20256289e-03 -5.67462547e-06 9.99997574e-01 -8.87591687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81800114499999 meters 0.06438029452662908 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.13, Z:-0.89 [[ 9.99969200e-01 -7.39216111e-03 -2.63731025e-03 4.30693316e+01] [ 7.39218192e-03 9.99972677e-01 -1.85743513e-06 -1.34052399e-01] [ 2.63725193e-03 -1.76380993e-05 9.99996522e-01 -8.89204260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84800114499999 meters 0.06460250272789642 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.14, Z:-0.89 [[ 9.99948628e-01 -9.39259438e-03 -3.81067806e-03 4.31005407e+01] [ 9.39265310e-03 9.99955888e-01 -2.48617178e-06 -1.38720735e-01] [ 3.81053331e-03 -3.33063330e-05 9.99992739e-01 -8.91730425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87800114499999 meters 0.06468897615016224 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.14, Z:-0.89 [[ 9.99921270e-01 -1.17012346e-02 -4.53165101e-03 4.31329539e+01] [ 1.17013434e-02 9.99931537e-01 -2.51828608e-06 -1.42227726e-01] [ 4.53137022e-03 -5.05083167e-05 9.99989732e-01 -8.91371497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90800114499999 meters 0.06470395174424856 Centerline is valid? [True, True] Translation: X:43.16, Y:-0.15, Z:-0.89 [[ 9.99894926e-01 -1.33544877e-02 -5.63872105e-03 4.31649784e+01] [ 1.33546830e-02 9.99910822e-01 -3.00864750e-06 -1.45474980e-01] [ 5.63825838e-03 -7.22950010e-05 9.99984102e-01 -8.91350186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.938001144999994 meters 0.06473834060407713 Centerline is valid? [True, True] Translation: X:43.20, Y:-0.15, Z:-0.89 [[ 9.99875738e-01 -1.53210140e-02 -3.71138958e-03 4.31964858e+01] [ 1.53211132e-02 9.99882625e-01 -1.71857741e-06 -1.49485975e-01] [ 3.71098028e-03 -5.51442559e-05 9.99993113e-01 -8.90305648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.968001144999995 meters 0.06477467996121877 Centerline is valid? [True, True] Translation: X:43.23, Y:-0.15, Z:-0.89 [[ 9.99863190e-01 -1.60197223e-02 -4.11941630e-03 4.32279497e+01] [ 1.60198508e-02 9.99871674e-01 -1.81284964e-06 -1.50305845e-01] [ 4.11891671e-03 -6.41798326e-05 9.99991515e-01 -8.90055921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99800114499999 meters 0.0651907799388763 Centerline is valid? [True, True] Translation: X:43.26, Y:-0.15, Z:-0.89 [[ 9.99815366e-01 -1.86721024e-02 -4.53731618e-03 4.32596842e+01] [ 1.86722862e-02 9.99825658e-01 -1.87050344e-06 -1.53698649e-01] [ 4.53656006e-03 -8.28519080e-05 9.99989706e-01 -8.90062165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02800114499999 meters 0.0648027962927073 Centerline is valid? [True, True] Translation: X:43.29, Y:-0.15, Z:-0.89 [[ 9.99786779e-01 -1.99354933e-02 -5.38258545e-03 4.32919543e+01] [ 1.99357729e-02 9.99801263e-01 -1.70571413e-06 -1.54054185e-01] [ 5.38154973e-03 -1.05600651e-04 9.99985514e-01 -8.88570760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05800114499999 meters 0.06495182954234409 Centerline is valid? [True, True] Translation: X:43.32, Y:-0.16, Z:-0.89 [[ 9.99755457e-01 -2.15521857e-02 -4.95271753e-03 4.33238016e+01] [ 2.15524443e-02 9.99767719e-01 -1.15148401e-06 -1.56165592e-01] [ 4.95159192e-03 -1.05591966e-04 9.99987735e-01 -8.88195693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08800114499999 meters 0.06571356286667078 Centerline is valid? [True, True] Translation: X:43.36, Y:-0.16, Z:-0.89 [[ 9.99743564e-01 -2.23423511e-02 -3.69136711e-03 4.33550921e+01] [ 2.23425066e-02 9.99750375e-01 8.91596989e-07 -1.61261104e-01] [ 3.69042573e-03 -8.33657623e-05 9.99993187e-01 -8.91175177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.118001144999994 meters 0.06578952892107445 Centerline is valid? [True, True] Translation: X:43.39, Y:-0.16, Z:-0.89 [[ 9.99730138e-01 -2.30402754e-02 -2.96600491e-03 4.33878874e+01] [ 2.30403792e-02 9.99734535e-01 8.33650924e-07 -1.62530951e-01] [ 2.96519833e-03 -6.91713038e-05 9.99995601e-01 -8.91092852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.148001144999995 meters 0.06532430755762474 Centerline is valid? [True, True] Translation: X:43.42, Y:-0.16, Z:-0.89 [[ 9.99739917e-01 -2.24859723e-02 -3.80516473e-03 4.34201902e+01] [ 2.24861367e-02 9.99747155e-01 4.23657012e-07 -1.60502087e-01] [ 3.80419308e-03 -8.59870011e-05 9.99992760e-01 -8.90456206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17800114499999 meters 0.06546372743146164 Centerline is valid? [True, True] Translation: X:43.45, Y:-0.16, Z:-0.89 [[ 9.99749108e-01 -2.17829907e-02 -5.21746665e-03 4.34512653e+01] [ 2.17832964e-02 9.99762716e-01 1.77437327e-06 -1.59971539e-01] [ 5.21618998e-03 -1.15427551e-04 9.99986389e-01 -8.92865519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20800114499999 meters 0.06557979954006181 Centerline is valid? [True, True] Translation: X:43.48, Y:-0.16, Z:-0.89 [[ 9.99746592e-01 -2.12223563e-02 -7.50752763e-03 4.34834407e+01] [ 2.12229634e-02 9.99774768e-01 1.20211109e-06 -1.58776048e-01] [ 7.50581118e-03 -1.60533791e-04 9.99971818e-01 -8.94427959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23800114499999 meters 0.06528700359992357 Centerline is valid? [True, True] Translation: X:43.52, Y:-0.16, Z:-0.89 [[ 9.99757436e-01 -2.01228642e-02 -8.95209473e-03 4.35152867e+01] [ 2.01236868e-02 9.99797498e-01 1.81787684e-06 -1.55546986e-01] [ 8.95024533e-03 -1.81966587e-04 9.99959929e-01 -8.94810282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26800114499999 meters 0.06506357746771661 Centerline is valid? [True, True] Translation: X:43.55, Y:-0.15, Z:-0.90 [[ 9.99767633e-01 -1.91068147e-02 -9.98041966e-03 4.35470712e+01] [ 1.91077919e-02 9.99817429e-01 2.56146772e-06 -1.53909094e-01] [ 9.97854859e-03 -1.93264655e-04 9.99950194e-01 -8.95397703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.29800114499999 meters 0.06494562737746488 Centerline is valid? [True, True] Translation: X:43.58, Y:-0.15, Z:-0.90 [[ 9.99780952e-01 -1.83854202e-02 -1.00011973e-02 4.35779702e+01] [ 1.83863676e-02 9.99830956e-01 2.78546602e-06 -1.52628297e-01] [ 9.99945546e-03 -1.86670546e-04 9.99949987e-01 -8.96135721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.328001144999995 meters 0.06456580428712534 Centerline is valid? [True, True] Translation: X:43.61, Y:-0.15, Z:-0.90 [[ 9.99840236e-01 -1.58611627e-02 -8.24167053e-03 4.36087363e+01] [ 1.58617214e-02 9.99874195e-01 2.43248056e-06 -1.47829467e-01] [ 8.24059510e-03 -1.33159174e-04 9.99966037e-01 -8.95349590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.358001144999996 meters 0.06434464151049733 Centerline is valid? [True, True] Translation: X:43.64, Y:-0.15, Z:-0.90 [[ 9.99873148e-01 -1.42544911e-02 -7.10621489e-03 4.36408403e+01] [ 1.42548730e-02 9.99898394e-01 3.10057296e-06 -1.45340330e-01] [ 7.10544866e-03 -1.04398370e-04 9.99974751e-01 -8.95339990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38800114499999 meters 0.06425958079545488 Centerline is valid? [True, True] Translation: X:43.67, Y:-0.14, Z:-0.90 [[ 9.99898140e-01 -1.25824497e-02 -6.73732805e-03 4.36733220e+01] [ 1.25827582e-02 9.99920834e-01 3.41227620e-06 -1.42363641e-01] [ 6.73675175e-03 -8.81860986e-05 9.99977304e-01 -8.97130474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41800114499999 meters 0.06422216860266398 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.14, Z:-0.90 [[ 9.99914787e-01 -1.05305359e-02 -7.71528231e-03 4.37052596e+01] [ 1.05308819e-02 9.99944549e-01 4.22987009e-06 -1.39786335e-01] [ 7.71480994e-03 -8.54782368e-05 9.99970237e-01 -9.00155374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44800114499999 meters 0.06406723657999769 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.14, Z:-0.90 [[ 9.99933243e-01 -8.41645299e-03 -7.91663166e-03 4.37364912e+01] [ 8.41676235e-03 9.99964578e-01 5.76053182e-06 -1.36691127e-01] [ 7.91630275e-03 -7.23925545e-05 9.99968663e-01 -9.02193283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47800114499999 meters 0.06411126545064519 Centerline is valid? [True, True] Translation: X:43.77, Y:-0.13, Z:-0.90 [[ 9.99941645e-01 -6.29774561e-03 -8.77754283e-03 4.37681445e+01] [ 6.29803500e-03 9.99980167e-01 5.32918753e-06 -1.28550883e-01] [ 8.77733519e-03 -6.06101485e-05 9.99961477e-01 -9.01964479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.508001144999994 meters 0.06413006897849603 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.13, Z:-0.90 [[ 9.99936315e-01 -6.70618962e-03 -9.07703727e-03 4.37978163e+01] [ 6.70650425e-03 9.99977511e-01 4.22372192e-06 -1.26230925e-01] [ 9.07680481e-03 -6.50986420e-05 9.99958803e-01 -9.02558942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.538001144999996 meters 0.06426643637295819 Centerline is valid? [True, True] Translation: X:43.83, Y:-0.13, Z:-0.90 [[ 9.99928039e-01 -7.54938148e-03 -9.32323334e-03 4.38278228e+01] [ 7.54975119e-03 9.99971500e-01 4.45994746e-06 -1.25489811e-01] [ 9.32293396e-03 -7.48477185e-05 9.99956538e-01 -9.03595495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56800114499999 meters 0.06476593503666521 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.13, Z:-0.90 [[ 9.99901107e-01 -1.13703641e-02 -8.27588474e-03 4.38574941e+01] [ 1.13707850e-02 9.99935351e-01 3.80818826e-06 -1.25956091e-01] [ 8.27530641e-03 -9.79111175e-05 9.99965754e-01 -9.04175996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59800114499999 meters 0.06456910933169309 Centerline is valid? [True, True] Translation: X:43.89, Y:-0.13, Z:-0.90 [[ 9.99875259e-01 -1.32844224e-02 -8.54340883e-03 4.38898111e+01] [ 1.32849565e-02 9.99911751e-01 5.76407863e-06 -1.25053882e-01] [ 8.54257831e-03 -1.19262174e-04 9.99963504e-01 -9.00944154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62800114499999 meters 0.06481168147034395 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.13, Z:-0.90 [[ 9.99856342e-01 -1.52529293e-02 -7.39207826e-03 4.39222794e+01] [ 1.52533874e-02 9.99883660e-01 5.58995323e-06 -1.25856625e-01] [ 7.39113301e-03 -1.18343384e-04 9.99972678e-01 -9.01284930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65800114499999 meters 0.06528403323644826 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.13, Z:-0.90 [[ 9.99816935e-01 -1.84380404e-02 -5.11218435e-03 4.39538314e+01] [ 1.84383026e-02 9.99830000e-01 4.16285011e-06 -1.28048365e-01] [ 5.11123852e-03 -9.84220902e-05 9.99986933e-01 -9.02504567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.688001144999994 meters 0.06560796085226465 Centerline is valid? [True, True] Translation: X:43.99, Y:-0.13, Z:-0.90 [[ 9.99795187e-01 -1.94927687e-02 -5.44204410e-03 4.39860498e+01] [ 1.94930844e-02 9.99809992e-01 4.97349941e-06 -1.28809695e-01] [ 5.44091312e-03 -1.11054706e-04 9.99985192e-01 -9.03883433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.718001144999995 meters 0.06598722296943825 Centerline is valid? [True, True] Translation: X:44.02, Y:-0.13, Z:-0.91 [[ 9.99784512e-01 -1.98787802e-02 -5.98034048e-03 4.40175452e+01] [ 1.98791679e-02 9.99802390e-01 5.38699599e-06 -1.28853658e-01] [ 5.97905162e-03 -1.24270028e-04 9.99982118e-01 -9.06431980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74800114499999 meters 0.06602601704811119 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.13, Z:-0.91 [[ 9.99788540e-01 -1.96978248e-02 -5.90518134e-03 4.40501367e+01] [ 1.96982074e-02 9.99805971e-01 6.61753194e-06 -1.27549533e-01] [ 5.90390522e-03 -1.22937619e-04 9.99982564e-01 -9.07879213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77800114499999 meters 0.06575449039247745 Centerline is valid? [True, True] Translation: X:44.08, Y:-0.12, Z:-0.91 [[ 9.99833097e-01 -1.70673918e-02 -6.51785728e-03 4.40810704e+01] [ 1.70678096e-02 9.99854334e-01 8.48001591e-06 -1.19175434e-01] [ 6.51676312e-03 -1.19724147e-04 9.99978759e-01 -9.08373963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80800114499999 meters 0.06564917149199198 Centerline is valid? [True, True] Translation: X:44.11, Y:-0.11, Z:-0.91 [[ 9.99863060e-01 -1.50304984e-02 -6.92429962e-03 4.41137994e+01] [ 1.50309185e-02 9.99887029e-01 8.63835877e-06 -1.14395399e-01] [ 6.92338754e-03 -1.12715759e-04 9.99976027e-01 -9.08585635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83800114499999 meters 0.06542322734707985 Centerline is valid? [True, True] Translation: X:44.15, Y:-0.11, Z:-0.91 [[ 9.99888751e-01 -1.33440704e-02 -6.66489628e-03 4.41458148e+01] [ 1.33444237e-02 9.99910959e-01 8.52876564e-06 -1.10573042e-01] [ 6.66418903e-03 -9.74670166e-05 9.99977789e-01 -9.09528979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.868001144999994 meters 0.06533136372680427 Centerline is valid? [True, True] Translation: X:44.18, Y:-0.11, Z:-0.91 [[ 9.99922671e-01 -1.08141635e-02 -6.14055421e-03 4.41774553e+01] [ 1.08144184e-02 9.99941522e-01 8.29965349e-06 -1.05403445e-01] [ 6.14010537e-03 -7.47055339e-05 9.99981147e-01 -9.12184422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.898001144999995 meters 0.06504694101797516 Centerline is valid? [True, True] Translation: X:44.21, Y:-0.10, Z:-0.91 [[ 9.99939406e-01 -9.64794456e-03 -5.30108796e-03 4.42099933e+01] [ 9.64812072e-03 9.99953456e-01 7.65900824e-06 -1.01485181e-01] [ 5.30076733e-03 -5.88040807e-05 9.99985949e-01 -9.11630949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92800114499999 meters 0.06516633026254431 Centerline is valid? [True, True] Translation: X:44.24, Y:-0.10, Z:-0.91 [[ 9.99935850e-01 -9.51408521e-03 -6.14639808e-03 4.42424848e+01] [ 9.51432094e-03 9.99954738e-01 9.11443457e-06 -9.90157139e-02] [ 6.14603317e-03 -6.75926539e-05 9.99981111e-01 -9.13091939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95800114499999 meters 0.0655792790953753 Centerline is valid? [True, True] Translation: X:44.27, Y:-0.10, Z:-0.92 [[ 9.99922691e-01 -9.59764608e-03 -7.90551537e-03 4.42743849e+01] [ 9.59804022e-03 9.99953938e-01 1.19177631e-05 -9.78760613e-02] [ 7.90503684e-03 -8.77942963e-05 9.99968751e-01 -9.16147284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98800114499999 meters 0.06585846878649687 Centerline is valid? [True, True] Translation: X:44.31, Y:-0.10, Z:-0.92 [[ 9.99910223e-01 -9.77412290e-03 -9.16583501e-03 4.43055432e+01] [ 9.77466026e-03 9.99952227e-01 1.38295543e-05 -9.53604625e-02] [ 9.16526196e-03 -1.03421236e-04 9.99957993e-01 -9.19192019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01800114499999 meters 0.06578640903967778 Centerline is valid? [True, True] Translation: X:44.34, Y:-0.09, Z:-0.92 [[ 9.99914420e-01 -9.42405018e-03 -9.07414991e-03 4.43374232e+01] [ 9.42456406e-03 9.99955588e-01 1.38711689e-05 -9.29315126e-02] [ 9.07361618e-03 -9.93898888e-05 9.99958829e-01 -9.18832809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.04800114499999 meters 0.06635091401576496 Centerline is valid? [True, True] Translation: X:44.37, Y:-0.09, Z:-0.92 [[ 9.99910980e-01 -9.23613142e-03 -9.62947777e-03 4.43685191e+01] [ 9.23670709e-03 9.99957341e-01 1.53086115e-05 -9.24781334e-02] [ 9.62892559e-03 -1.04251914e-04 9.99953635e-01 -9.23114293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.078001144999995 meters 0.06615070418162661 Centerline is valid? [True, True] Translation: X:44.40, Y:-0.09, Z:-0.92 [[ 9.99938264e-01 -7.87904558e-03 -7.83506630e-03 4.43986770e+01] [ 7.87938287e-03 9.99968957e-01 1.21812943e-05 -8.79767814e-02] [ 7.83472710e-03 -7.39160295e-05 9.99969305e-01 -9.22882520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10800114499999 meters 0.06603222154978067 Centerline is valid? [True, True] Translation: X:44.43, Y:-0.09, Z:-0.92 [[ 9.99954263e-01 -7.54239730e-03 -5.88078084e-03 4.44292884e+01] [ 7.54258001e-03 9.99971554e-01 8.89072597e-06 -8.60307738e-02] [ 5.88054650e-03 -5.32465794e-05 9.99982708e-01 -9.22967880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13800114499999 meters 0.06546800699144371 Centerline is valid? [True, True] Translation: X:44.46, Y:-0.08, Z:-0.92 [[ 9.99967075e-01 -6.60234051e-03 -4.71776087e-03 4.44604280e+01] [ 6.60245093e-03 9.99978204e-01 7.83108373e-06 -8.26499803e-02] [ 4.71760634e-03 -3.89796106e-05 9.99988871e-01 -9.19282785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16800114499999 meters 0.06536642734059749 Centerline is valid? [True, True] Translation: X:44.49, Y:-0.08, Z:-0.92 [[ 9.99974418e-01 -6.12077418e-03 -3.70136584e-03 4.44926425e+01] [ 6.12084198e-03 9.99981267e-01 6.99049153e-06 -8.15753985e-02] [ 3.70125371e-03 -2.96457881e-05 9.99993150e-01 -9.19323100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19800114499999 meters 0.0651951429343601 Centerline is valid? [True, True] Translation: X:44.53, Y:-0.08, Z:-0.92 [[ 9.99982006e-01 -5.12169567e-03 -3.12333785e-03 4.45252839e+01] [ 5.12174028e-03 9.99986884e-01 6.28564307e-06 -7.89010764e-02] [ 3.12326469e-03 -2.22824553e-05 9.99995122e-01 -9.18610079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22800114499999 meters 0.06526416987796405 Centerline is valid? [True, True] Translation: X:44.56, Y:-0.08, Z:-0.92 [[ 9.99983699e-01 -4.95575024e-03 -2.83591546e-03 4.45571412e+01] [ 4.95578626e-03 9.99987720e-01 5.67723515e-06 -7.65039014e-02] [ 2.83585250e-03 -1.97313335e-05 9.99995979e-01 -9.18670680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.258001144999994 meters 0.06523682641201342 Centerline is valid? [True, True] Translation: X:44.59, Y:-0.07, Z:-0.92 [[ 9.99985075e-01 -4.62068626e-03 -2.91534081e-03 4.45890817e+01] [ 4.62072417e-03 9.99989324e-01 6.26994538e-06 -7.35085171e-02] [ 2.91528072e-03 -1.97408376e-05 9.99995750e-01 -9.17984193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.288001144999996 meters 0.06534380227611085 Centerline is valid? [True, True] Translation: X:44.62, Y:-0.07, Z:-0.92 [[ 9.99984853e-01 -4.46064406e-03 -3.22439071e-03 4.46206947e+01] [ 4.46068887e-03 9.99990051e-01 6.70520201e-06 -7.15868939e-02] [ 3.22432872e-03 -2.10881042e-05 9.99994802e-01 -9.19875618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31800114499999 meters 0.06562384126290259 Centerline is valid? [True, True] Translation: X:44.65, Y:-0.07, Z:-0.92 [[ 9.99984044e-01 -3.92239242e-03 -4.06527591e-03 4.46524227e+01] [ 3.92245786e-03 9.99992307e-01 8.12491689e-06 -7.22855350e-02] [ 4.06521277e-03 -2.40706607e-05 9.99991737e-01 -9.23854834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34800114499999 meters 0.06587596881484047 Centerline is valid? [True, True] Translation: X:44.68, Y:-0.07, Z:-0.93 [[ 9.99981697e-01 -4.52442899e-03 -4.01679025e-03 4.46826553e+01] [ 4.52450009e-03 9.99989764e-01 8.61386358e-06 -7.44066511e-02] [ 4.01671016e-03 -2.67876738e-05 9.99991933e-01 -9.26596010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37800114499999 meters 0.06563490018754342 Centerline is valid? [True, True] Translation: X:44.71, Y:-0.07, Z:-0.92 [[ 9.99978657e-01 -4.97896454e-03 -4.23028743e-03 4.47137156e+01] [ 4.97904639e-03 9.99987604e-01 8.81639442e-06 -7.21871784e-02] [ 4.23019110e-03 -2.98790036e-05 9.99991052e-01 -9.24583054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.40800114499999 meters 0.06548846173027455 Centerline is valid? [True, True] Translation: X:44.74, Y:-0.07, Z:-0.92 [[ 9.99988142e-01 -3.72927344e-03 -3.13175935e-03 4.47449565e+01] [ 3.72931817e-03 9.99993046e-01 8.44478349e-06 -7.00726631e-02] [ 3.13170608e-03 -2.01240104e-05 9.99995096e-01 -9.24187851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.438001144999994 meters 0.06575127118010941 Centerline is valid? [True, True] Translation: X:44.78, Y:-0.07, Z:-0.93 [[ 9.99989628e-01 -3.24877954e-03 -3.19195323e-03 4.47752124e+01] [ 3.24881826e-03 9.99994723e-01 6.94678798e-06 -6.90369401e-02] [ 3.19191382e-03 -1.73167919e-05 9.99994906e-01 -9.26066823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.468001144999995 meters 0.06568046086345802 Centerline is valid? [True, True] Translation: X:44.81, Y:-0.07, Z:-0.93 [[ 9.99996164e-01 -1.63970856e-03 -2.23217886e-03 4.48057588e+01] [ 1.63972548e-03 9.99998656e-01 5.75122085e-06 -6.80991096e-02] [ 2.23216643e-03 -9.41135936e-06 9.99997509e-01 -9.27226136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49800114499999 meters 0.06555245526940243 Centerline is valid? [True, True] Translation: X:44.84, Y:-0.07, Z:-0.93 [[ 9.99998818e-01 -3.30113787e-04 -1.50146387e-03 4.48359084e+01] [ 3.30119011e-04 9.99999946e-01 3.23126362e-06 -6.59124207e-02] [ 1.50146273e-03 -3.72692158e-06 9.99998873e-01 -9.26418212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52800114499999 meters 0.06555245526940243 Centerline is valid? [True, True] Translation: X:44.87, Y:-0.07, Z:-0.93 [[ 9.99998807e-01 -3.62305488e-04 -1.50146510e-03 4.48650517e+01] [ 3.62309890e-04 9.99999934e-01 2.65999230e-06 -6.59321449e-02] [ 1.50146403e-03 -3.20398478e-06 9.99998873e-01 -9.26891630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55800114499999 meters 0.06561738142527038 Centerline is valid? [True, True] Translation: X:44.90, Y:-0.07, Z:-0.93 [[ 9.99998433e-01 -1.09532207e-03 -1.39103584e-03 4.48950192e+01] [ 1.09532644e-03 9.99999400e-01 2.38067184e-06 -6.58187581e-02] [ 1.39103239e-03 -3.90430644e-06 9.99999033e-01 -9.26619034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58800114499999 meters 0.065823703748839 Centerline is valid? [True, True] Translation: X:44.92, Y:-0.07, Z:-0.93 [[ 9.99991491e-01 -3.41789585e-03 -2.30999676e-03 4.49247023e+01] [ 3.41791542e-03 9.99994159e-01 4.52441099e-06 -6.91308405e-02] [ 2.30996781e-03 -1.24197460e-05 9.99997332e-01 -9.29144825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.618001144999994 meters 0.066065745423065 Centerline is valid? [True, True] Translation: X:44.96, Y:-0.07, Z:-0.93 [[ 9.99982639e-01 -4.89531892e-03 -3.27980647e-03 4.49561833e+01] [ 4.89537063e-03 9.99988018e-01 7.74048660e-06 -7.15478021e-02] [ 3.27972927e-03 -2.37962205e-05 9.99994621e-01 -9.31901817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.648001144999995 meters 0.06634442882186822 Centerline is valid? [True, True] Translation: X:44.99, Y:-0.07, Z:-0.93 [[ 9.99976335e-01 -5.83107255e-03 -3.65079761e-03 4.49869283e+01] [ 5.83114321e-03 9.99982999e-01 8.70875718e-06 -7.34189054e-02] [ 3.65068476e-03 -2.99968748e-05 9.99993336e-01 -9.33767137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67800114499999 meters 0.0663028258933147 Centerline is valid? [True, True] Translation: X:45.02, Y:-0.07, Z:-0.93 [[ 9.99965830e-01 -6.80806596e-03 -4.68927419e-03 4.50191228e+01] [ 6.80819502e-03 9.99976824e-01 1.15585122e-05 -7.33324768e-02] [ 4.68908682e-03 -4.34836104e-05 9.99989005e-01 -9.32879641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70800114499999 meters 0.06682098247489698 Centerline is valid? [True, True] Translation: X:45.05, Y:-0.08, Z:-0.94 [[ 9.99956669e-01 -7.54486527e-03 -5.45290682e-03 4.50502703e+01] [ 7.54505157e-03 9.99971536e-01 1.35950093e-05 -7.50469139e-02] [ 5.45264904e-03 -5.47368834e-05 9.99985133e-01 -9.36810380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73800114499999 meters 0.0668795613124388 Centerline is valid? [True, True] Translation: X:45.08, Y:-0.08, Z:-0.94 [[ 9.99960176e-01 -7.34472899e-03 -5.06968469e-03 4.50819482e+01] [ 7.34488923e-03 9.99973026e-01 1.29897782e-05 -7.52139554e-02] [ 5.06945253e-03 -5.02255333e-05 9.99987149e-01 -9.37894977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76800114499999 meters 0.06682735235741064 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.08, Z:-0.94 [[ 9.99964233e-01 -6.86022561e-03 -4.94675779e-03 4.51140980e+01] [ 6.86037380e-03 9.99976467e-01 1.29883483e-05 -7.51878270e-02] [ 4.94655228e-03 -4.69244912e-05 9.99987765e-01 -9.38072009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.79800114499999 meters 0.06632650801979782 Centerline is valid? [True, True] Translation: X:45.15, Y:-0.07, Z:-0.93 [[ 9.99968289e-01 -6.82423319e-03 -4.10486611e-03 4.51467345e+01] [ 6.82433689e-03 9.99976714e-01 1.12557295e-05 -7.25021112e-02] [ 4.10469372e-03 -3.92683618e-05 9.99991575e-01 -9.34757097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.828001144999995 meters 0.06649860687908792 Centerline is valid? [True, True] Translation: X:45.18, Y:-0.07, Z:-0.94 [[ 9.99971319e-01 -6.80705272e-03 -3.32030543e-03 4.51777221e+01] [ 6.80712180e-03 9.99976831e-01 9.50515863e-06 -7.30024041e-02] [ 3.32016380e-03 -3.21066095e-05 9.99994488e-01 -9.36612562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85800114499999 meters 0.0663098609233747 Centerline is valid? [True, True] Translation: X:45.21, Y:-0.07, Z:-0.94 [[ 9.99978577e-01 -5.96194311e-03 -2.70193737e-03 4.52101485e+01] [ 5.96198660e-03 9.99982227e-01 8.04201054e-06 -7.20154370e-02] [ 2.70184140e-03 -2.41507527e-05 9.99996350e-01 -9.36106345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88800114499999 meters 0.06613410407313228 Centerline is valid? [True, True] Translation: X:45.24, Y:-0.07, Z:-0.94 [[ 9.99990786e-01 -3.75391192e-03 -2.08246357e-03 4.52413129e+01] [ 3.75393310e-03 9.99992954e-01 6.26204454e-06 -7.03748147e-02] [ 2.08242539e-03 -1.40794158e-05 9.99997832e-01 -9.36724150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91800114499999 meters 0.06601923627381569 Centerline is valid? [True, True] Translation: X:45.27, Y:-0.07, Z:-0.94 [[ 9.99988498e-01 -2.60665623e-03 -4.02597167e-03 4.52725207e+01] [ 2.60672293e-03 9.99996602e-01 1.13199013e-05 -6.91007678e-02] [ 4.02592848e-03 -2.18143638e-05 9.99991896e-01 -9.38523070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94800114499999 meters 0.0661298385236999 Centerline is valid? [True, True] Translation: X:45.30, Y:-0.07, Z:-0.94 [[ 9.99987645e-01 -2.07443177e-03 -4.51739679e-03 4.53019078e+01] [ 2.07450635e-03 9.99997848e-01 1.18238625e-05 -6.84851366e-02] [ 4.51736254e-03 -2.11950848e-05 9.99989796e-01 -9.42572535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97800114499999 meters 0.06617687189436516 Centerline is valid? [True, True] Translation: X:45.33, Y:-0.07, Z:-0.94 [[ 9.99985124e-01 -1.53164602e-03 -5.23501321e-03 4.53311565e+01] [ 1.53173695e-03 9.99998827e-01 1.33601466e-05 -6.70038479e-02] [ 5.23498660e-03 -2.13786110e-05 9.99986297e-01 -9.43991653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.008001144999994 meters 0.06559403816804563 Centerline is valid? [True, True] Translation: X:45.36, Y:-0.07, Z:-0.94 [[ 9.99988854e-01 -1.42492043e-03 -4.50125936e-03 4.53600565e+01] [ 1.42496711e-03 9.99998985e-01 7.16214386e-06 -6.50586990e-02] [ 4.50124458e-03 -1.35762105e-05 9.99989869e-01 -9.38755301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.038001144999996 meters 0.06570630400457508 Centerline is valid? [True, True] Translation: X:45.39, Y:-0.07, Z:-0.94 [[ 9.99983842e-01 -2.13641213e-03 -5.26792242e-03 4.53889135e+01] [ 2.13650326e-03 9.99997718e-01 1.16719371e-05 -6.65167025e-02] [ 5.26788546e-03 -2.29266820e-05 9.99986124e-01 -9.39957460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06800114499999 meters 0.0660620483339606 Centerline is valid? [True, True] Translation: X:45.42, Y:-0.07, Z:-0.94 [[ 9.99981283e-01 -2.76521698e-03 -5.45770963e-03 4.54178553e+01] [ 2.76532295e-03 9.99996176e-01 1.18702800e-05 -6.84570972e-02] [ 5.45765594e-03 -2.69623875e-05 9.99985107e-01 -9.42721859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09800114499999 meters 0.06576532693795067 Centerline is valid? [True, True] Translation: X:45.45, Y:-0.07, Z:-0.94 [[ 9.99977994e-01 -3.77584071e-03 -5.45473428e-03 4.54475500e+01] [ 3.77596204e-03 9.99992871e-01 1.19439461e-05 -6.89565942e-02] [ 5.45465030e-03 -3.25405528e-05 9.99985123e-01 -9.39673022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12800114499999 meters 0.06606330027676868 Centerline is valid? [True, True] Translation: X:45.48, Y:-0.07, Z:-0.94 [[ 9.99958606e-01 -5.52416603e-03 -7.22980240e-03 4.54783196e+01] [ 5.52442989e-03 9.99984740e-01 1.65252064e-05 -6.99149138e-02] [ 7.22960078e-03 -5.64650588e-05 9.99973865e-01 -9.40276454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15800114499999 meters 0.06631310698957948 Centerline is valid? [True, True] Translation: X:45.51, Y:-0.07, Z:-0.94 [[ 9.99942752e-01 -6.77105241e-03 -8.28524910e-03 4.55088196e+01] [ 6.77144173e-03 9.99977073e-01 1.89376478e-05 -7.20376480e-02] [ 8.28493092e-03 -7.50396452e-05 9.99965677e-01 -9.42185533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.188001144999994 meters 0.06656693427402743 Centerline is valid? [True, True] Translation: X:45.54, Y:-0.07, Z:-0.95 [[ 9.99941342e-01 -6.96729566e-03 -8.29275008e-03 4.55385392e+01] [ 6.96768916e-03 9.99975725e-01 1.85614572e-05 -7.47739682e-02] [ 8.29241945e-03 -7.63416733e-05 9.99965614e-01 -9.45591148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.218001144999995 meters 0.06645991009804841 Centerline is valid? [True, True] Translation: X:45.57, Y:-0.08, Z:-0.94 [[ 9.99922092e-01 -9.31744920e-03 -8.30634444e-03 4.55686908e+01] [ 9.31792724e-03 9.99956587e-01 1.88526753e-05 -7.80214523e-02] [ 8.30580817e-03 -9.62491196e-05 9.99965502e-01 -9.44711695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24800114499999 meters 0.06626322821667899 Centerline is valid? [True, True] Translation: X:45.60, Y:-0.08, Z:-0.94 [[ 9.99927730e-01 -9.67264106e-03 -7.13972373e-03 4.56011987e+01] [ 9.67301406e-03 9.99953215e-01 1.77112996e-05 -7.73835509e-02] [ 7.13921838e-03 -8.67726675e-05 9.99974512e-01 -9.42852373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27800114499999 meters 0.06604929196478054 Centerline is valid? [True, True] Translation: X:45.63, Y:-0.08, Z:-0.94 [[ 9.99932946e-01 -9.33298147e-03 -6.85552320e-03 4.56330697e+01] [ 9.33332058e-03 9.99956443e-01 1.74734239e-05 -7.67962384e-02] [ 6.85506152e-03 -8.14570480e-05 9.99976500e-01 -9.41776282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30800114499999 meters 0.06592023184448202 Centerline is valid? [True, True] Translation: X:45.67, Y:-0.08, Z:-0.94 [[ 9.99932793e-01 -9.25724823e-03 -6.97941884e-03 4.56651837e+01] [ 9.25760076e-03 9.99957147e-01 1.82046080e-05 -7.70330143e-02] [ 6.97895122e-03 -8.28160577e-05 9.99975643e-01 -9.42418748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33800114499999 meters 0.06608672286260006 Centerline is valid? [True, True] Translation: X:45.70, Y:-0.08, Z:-0.94 [[ 9.99932627e-01 -9.59036426e-03 -6.53956556e-03 4.56963302e+01] [ 9.59068166e-03 9.99954008e-01 1.71765387e-05 -8.01585807e-02] [ 6.53910006e-03 -7.98942729e-05 9.99978617e-01 -9.43773514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.368001144999994 meters 0.06594310982936408 Centerline is valid? [True, True] Translation: X:45.73, Y:-0.08, Z:-0.94 [[ 9.99931918e-01 -1.01319005e-02 -5.78819676e-03 4.57285335e+01] [ 1.01321623e-02 9.99948668e-01 1.59078646e-05 -8.07984653e-02] [ 5.78773847e-03 -7.45537307e-05 9.99983248e-01 -9.42503616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.398001144999995 meters 0.0661040505841343 Centerline is valid? [True, True] Translation: X:45.76, Y:-0.08, Z:-0.94 [[ 9.99923319e-01 -1.06502337e-02 -6.31891796e-03 4.57593244e+01] [ 1.06505579e-02 9.99943281e-01 1.76527858e-05 -8.15035143e-02] [ 6.31837155e-03 -8.49514335e-05 9.99980035e-01 -9.42755089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42800114499999 meters 0.06647456245820807 Centerline is valid? [True, True] Translation: X:45.79, Y:-0.08, Z:-0.95 [[ 9.99902921e-01 -1.11282846e-02 -8.38507349e-03 4.57903020e+01] [ 1.11288783e-02 9.99938072e-01 2.41371166e-05 -8.30981339e-02] [ 8.38428561e-03 -1.17451235e-04 9.99964844e-01 -9.45705556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45800114499999 meters 0.06599238868698264 Centerline is valid? [True, True] Translation: X:45.82, Y:-0.08, Z:-0.94 [[ 9.99899951e-01 -1.10562540e-02 -8.82314584e-03 4.58222146e+01] [ 1.10569103e-02 9.99938870e-01 2.56020967e-05 -8.20732911e-02] [ 8.82232342e-03 -1.23156267e-04 9.99961075e-01 -9.43759973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48800114499999 meters 0.06600599215237662 Centerline is valid? [True, True] Translation: X:45.85, Y:-0.08, Z:-0.94 [[ 9.99899006e-01 -1.12193439e-02 -8.72378603e-03 4.58547720e+01] [ 1.12199967e-02 9.99937054e-01 2.58884350e-05 -8.28230827e-02] [ 8.72294645e-03 -1.23766671e-04 9.99961947e-01 -9.44559639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51800114499999 meters 0.0657962796621765 Centerline is valid? [True, True] Translation: X:45.89, Y:-0.08, Z:-0.94 [[ 9.99897889e-01 -1.14027677e-02 -8.61326416e-03 4.58860558e+01] [ 1.14034122e-02 9.99934979e-01 2.57265862e-05 -8.44478465e-02] [ 8.61241076e-03 -1.23944561e-04 9.99962905e-01 -9.44551215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.54800114499999 meters 0.06625209934252597 Centerline is valid? [True, True] Translation: X:45.92, Y:-0.09, Z:-0.95 [[ 9.99916154e-01 -1.09587616e-02 -6.89857617e-03 4.59170751e+01] [ 1.09591702e-02 9.99939946e-01 2.14335622e-05 -8.72309621e-02] [ 6.89792700e-03 -9.70344357e-05 9.99976204e-01 -9.47412501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.578001144999995 meters 0.06554646496923083 Centerline is valid? [True, True] Translation: X:45.95, Y:-0.09, Z:-0.94 [[ 9.99915395e-01 -1.08125159e-02 -7.23131942e-03 4.59493635e+01] [ 1.08129643e-02 9.99941538e-01 2.29001378e-05 -8.57994304e-02] [ 7.23064905e-03 -1.01090199e-04 9.99973853e-01 -9.43582701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60800114499999 meters 0.06538212779322687 Centerline is valid? [True, True] Translation: X:45.98, Y:-0.09, Z:-0.94 [[ 9.99919630e-01 -1.01419606e-02 -7.60752699e-03 4.59814746e+01] [ 1.01424408e-02 9.99948564e-01 2.45355549e-05 -8.58914562e-02] [ 7.60688685e-03 -1.01692475e-04 9.99971062e-01 -9.43781357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63800114499999 meters 0.06525709036142792 Centerline is valid? [True, True] Translation: X:46.01, Y:-0.09, Z:-0.94 [[ 9.99933189e-01 -8.65960915e-03 -7.65693064e-03 4.60131569e+01] [ 8.66005570e-03 9.99962501e-01 2.51663368e-05 -8.62748008e-02] [ 7.65642558e-03 -9.14741013e-05 9.99970685e-01 -9.44955798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66800114499999 meters 0.06471040322388172 Centerline is valid? [True, True] Translation: X:46.05, Y:-0.08, Z:-0.94 [[ 9.99944534e-01 -6.90715653e-03 -7.95107196e-03 4.60458485e+01] [ 6.90758650e-03 9.99976142e-01 2.66168135e-05 -8.37853589e-02] [ 7.95069842e-03 -8.15380546e-05 9.99968389e-01 -9.43086001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69800114499999 meters 0.06475216586307464 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.08, Z:-0.94 [[ 9.99944432e-01 -5.62482980e-03 -8.91596130e-03 4.60761884e+01] [ 5.62531259e-03 9.99984177e-01 2.90714896e-05 -8.32132452e-02] [ 8.91565671e-03 -7.92249435e-05 9.99960252e-01 -9.44697401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72800114499999 meters 0.06448908946040123 Centerline is valid? [True, True] Translation: X:46.11, Y:-0.08, Z:-0.94 [[ 9.99945541e-01 -3.96343022e-03 -9.65430236e-03 4.61059691e+01] [ 3.96390814e-03 9.99992143e-01 3.03687805e-05 -8.32288488e-02] [ 9.65410615e-03 -6.86358944e-05 9.99953396e-01 -9.44680708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.758001144999994 meters 0.06437527401672932 Centerline is valid? [True, True] Translation: X:46.13, Y:-0.08, Z:-0.94 [[ 9.99957916e-01 -3.05680160e-03 -8.65003747e-03 4.61345981e+01] [ 3.05710740e-03 9.99995327e-01 2.21300930e-05 -8.39786090e-02] [ 8.64992940e-03 -4.85732551e-05 9.99962587e-01 -9.44829550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78800114499999 meters 0.06423359797248245 Centerline is valid? [True, True] Translation: X:46.16, Y:-0.08, Z:-0.94 [[ 9.99961133e-01 -4.02389649e-03 -7.84482649e-03 4.61629693e+01] [ 4.02416176e-03 9.99991903e-01 1.80312200e-05 -8.49672876e-02] [ 7.84469041e-03 -4.95993700e-05 9.99969229e-01 -9.44161583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81800114499999 meters 0.06414996876821588 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.09, Z:-0.94 [[ 9.99957900e-01 -6.42776218e-03 -6.54848095e-03 4.61916506e+01] [ 6.42801116e-03 9.99979340e-01 1.69732106e-05 -8.86334773e-02] [ 6.54823656e-03 -5.90662046e-05 9.99978558e-01 -9.42017292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84800114499999 meters 0.06447822219380812 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.09, Z:-0.94 [[ 9.99946906e-01 -8.19178646e-03 -6.25132670e-03 4.62226158e+01] [ 8.19205677e-03 9.99966444e-01 1.76367028e-05 -9.28514259e-02] [ 6.25097246e-03 -6.88469896e-05 9.99980460e-01 -9.43730283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87800114499999 meters 0.06493918103092843 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.10, Z:-0.95 [[ 9.99922472e-01 -1.01330666e-02 -7.23675453e-03 4.62533132e+01] [ 1.01334808e-02 9.99948655e-01 2.05676618e-05 -9.83043203e-02] [ 7.23617454e-03 -9.38995802e-05 9.99973814e-01 -9.46654384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90800114499999 meters 0.06605427983452791 Centerline is valid? [True, True] Translation: X:46.28, Y:-0.11, Z:-0.95 [[ 9.99846387e-01 -1.53261390e-02 -8.50363426e-03 4.62830990e+01] [ 1.53269098e-02 9.99882536e-01 2.54830047e-05 -1.09867611e-01] [ 8.50224483e-03 -1.55813526e-04 9.99963843e-01 -9.50552328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.938001144999994 meters 0.06653721429797459 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.11, Z:-0.95 [[ 9.99810670e-01 -1.73789702e-02 -8.75193481e-03 4.63148615e+01] [ 1.73798641e-02 9.99848958e-01 2.60831036e-05 -1.14296911e-01] [ 8.75015961e-03 -1.78185603e-04 9.99961701e-01 -9.51543452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.968001144999995 meters 0.0670694510788309 Centerline is valid? [True, True] Translation: X:46.35, Y:-0.12, Z:-0.95 [[ 9.99777260e-01 -1.90652512e-02 -9.05246695e-03 4.63463084e+01] [ 1.90662801e-02 9.99818222e-01 2.73677456e-05 -1.17557801e-01] [ 9.05029963e-03 -1.99958520e-04 9.99959025e-01 -9.52025691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99800114499999 meters 0.06731644635794938 Centerline is valid? [True, True] Translation: X:46.38, Y:-0.12, Z:-0.95 [[ 9.99764244e-01 -1.99928256e-02 -8.47020145e-03 4.63784916e+01] [ 1.99937666e-02 9.99800104e-01 2.64193548e-05 -1.19076484e-01] [ 8.46798009e-03 -1.95764357e-04 9.99964127e-01 -9.51481585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02800114499999 meters 0.06741502235731422 Centerline is valid? [True, True] Translation: X:46.41, Y:-0.12, Z:-0.95 [[ 9.99758164e-01 -2.10244563e-02 -6.44870803e-03 4.64093544e+01] [ 2.10250249e-02 9.99778950e-01 2.03876283e-05 -1.22816719e-01] [ 6.44685390e-03 -1.55966945e-04 9.99979207e-01 -9.49374663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05800114499999 meters 0.0677106053269144 Centerline is valid? [True, True] Translation: X:46.44, Y:-0.13, Z:-0.95 [[ 9.99747469e-01 -2.19021209e-02 -5.02946587e-03 4.64418702e+01] [ 2.19024813e-02 9.99760112e-01 1.65957742e-05 -1.26404165e-01] [ 5.02789588e-03 -1.26749366e-04 9.99987352e-01 -9.49331035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08800114499999 meters 0.06874362809111194 Centerline is valid? [True, True] Translation: X:46.47, Y:-0.14, Z:-0.95 [[ 9.99690147e-01 -2.46051649e-02 -3.76772407e-03 4.64731512e+01] [ 2.46053870e-02 9.99697242e-01 1.25972936e-05 -1.35731080e-01] [ 3.76627340e-03 -1.05299699e-04 9.99992902e-01 -9.50149358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.118001144999994 meters 0.06915209378556086 Centerline is valid? [True, True] Translation: X:46.50, Y:-0.14, Z:-0.95 [[ 9.99650835e-01 -2.61376935e-02 -3.87680805e-03 4.65048834e+01] [ 2.61379407e-02 9.99658346e-01 1.31076738e-05 -1.39298215e-01] [ 3.87514091e-03 -1.14434876e-04 9.99992485e-01 -9.51266771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.148001144999995 meters 0.06983180729219066 Centerline is valid? [True, True] Translation: X:46.54, Y:-0.14, Z:-0.95 [[ 9.99617774e-01 -2.71766776e-02 -5.07283644e-03 4.65365540e+01] [ 2.71771207e-02 9.99630634e-01 1.84154871e-05 -1.42413052e-01] [ 5.07046223e-03 -1.56273536e-04 9.99987133e-01 -9.52999538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17800114499999 meters 0.07042534436396121 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.14, Z:-0.95 [[ 9.99584332e-01 -2.82005396e-02 -5.99110998e-03 4.65684485e+01] [ 2.82011718e-02 9.99602268e-01 2.10563633e-05 -1.44840027e-01] [ 5.98813332e-03 -1.90003933e-04 9.99982053e-01 -9.54955915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20800114499999 meters 0.07095996812734222 Centerline is valid? [True, True] Translation: X:46.60, Y:-0.15, Z:-0.96 [[ 9.99562149e-01 -2.87037742e-02 -7.18357224e-03 4.66005232e+01] [ 2.87046977e-02 9.99587935e-01 2.54736674e-05 -1.46764787e-01] [ 7.17988095e-03 -2.31664783e-04 9.99974197e-01 -9.56617820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23800114499999 meters 0.06814284218402458 Centerline is valid? [True, True] Translation: X:46.63, Y:-0.14, Z:-0.95 [[ 9.99588765e-01 -2.79763253e-02 -6.29487384e-03 4.66331661e+01] [ 2.79770264e-02 9.99608566e-01 2.33265432e-05 -1.41426842e-01] [ 6.29175722e-03 -1.99428802e-04 9.99980187e-01 -9.52175619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26800114499999 meters 0.06855596250610949 Centerline is valid? [True, True] Translation: X:46.66, Y:-0.14, Z:-0.95 [[ 9.99623000e-01 -2.69109037e-02 -5.44629315e-03 4.66646880e+01] [ 2.69114122e-02 9.99637822e-01 2.01004699e-05 -1.42834021e-01] [ 5.44377970e-03 -1.66660332e-04 9.99985169e-01 -9.52969239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.29800114499999 meters 0.06761555812201109 Centerline is valid? [True, True] Translation: X:46.70, Y:-0.14, Z:-0.95 [[ 9.99664807e-01 -2.55657651e-02 -4.08240680e-03 4.66974438e+01] [ 2.55660439e-02 9.99673135e-01 1.61216972e-05 -1.40383313e-01] [ 4.08066025e-03 -1.20487285e-04 9.99991667e-01 -9.51305625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.328001144999995 meters 0.06685829912419815 Centerline is valid? [True, True] Translation: X:46.73, Y:-0.14, Z:-0.95 [[ 9.99752515e-01 -2.21136023e-02 -2.42861684e-03 4.67277473e+01] [ 2.21136896e-02 9.99755462e-01 9.10720806e-06 -1.38090594e-01] [ 2.42782156e-03 -6.28106331e-05 9.99997051e-01 -9.50741236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35800114499999 meters 0.06659203168304897 Centerline is valid? [True, True] Translation: X:46.76, Y:-0.14, Z:-0.95 [[ 9.99782658e-01 -2.07506184e-02 -2.01187446e-03 4.67599231e+01] [ 2.07506775e-02 9.99784681e-01 8.47959831e-06 -1.36788747e-01] [ 2.01126531e-03 -5.02255134e-05 9.99997976e-01 -9.51044803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38800114499999 meters 0.06655152070640796 Centerline is valid? [True, True] Translation: X:46.79, Y:-0.14, Z:-0.95 [[ 9.99802731e-01 -1.97402185e-02 -2.19601800e-03 4.67917686e+01] [ 1.97402865e-02 9.99805142e-01 9.29352874e-06 -1.35795802e-01] [ 2.19540663e-03 -5.26417198e-05 9.99997589e-01 -9.52030861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41800114499999 meters 0.06587723644706892 Centerline is valid? [True, True] Translation: X:46.82, Y:-0.13, Z:-0.95 [[ 9.99838802e-01 -1.76403316e-02 -3.34495178e-03 4.68238251e+01] [ 1.76404767e-02 9.99844395e-01 1.38831144e-05 -1.33474456e-01] [ 3.34418639e-03 -7.28874205e-05 9.99994406e-01 -9.53831001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44800114499999 meters 0.06587723644706892 Centerline is valid? [True, True] Translation: X:46.86, Y:-0.13, Z:-0.95 [[ 9.99840526e-01 -1.75423520e-02 -3.34494839e-03 4.68564025e+01] [ 1.75424994e-02 9.99846118e-01 1.47421151e-05 -1.33717157e-01] [ 3.34417506e-03 -7.34185194e-05 9.99994406e-01 -9.54359548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47800114499999 meters 0.0662498477771396 Centerline is valid? [True, True] Translation: X:46.89, Y:-0.14, Z:-0.96 [[ 9.99854837e-01 -1.66595661e-02 -3.57271822e-03 4.68878692e+01] [ 1.66597261e-02 9.99861217e-01 1.50083986e-05 -1.36194139e-01] [ 3.57197235e-03 -7.45267267e-05 9.99993618e-01 -9.58180704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.508001144999994 meters 0.06632308440259001 Centerline is valid? [True, True] Translation: X:46.92, Y:-0.14, Z:-0.96 [[ 9.99865421e-01 -1.60765536e-02 -3.26862779e-03 4.69194570e+01] [ 1.60766849e-02 9.99870762e-01 1.39069188e-05 -1.37367997e-01] [ 3.26798179e-03 -6.64537464e-05 9.99994658e-01 -9.59737298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53800114499999 meters 0.0658279658777188 Centerline is valid? [True, True] Translation: X:46.95, Y:-0.14, Z:-0.96 [[ 9.99868188e-01 -1.60477693e-02 -2.46489633e-03 4.69520432e+01] [ 1.60478454e-02 9.99871225e-01 1.11149612e-05 -1.35743032e-01] [ 2.46440054e-03 -5.06697714e-05 9.99996962e-01 -9.57547158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56800114499999 meters 0.06624430039746021 Centerline is valid? [True, True] Translation: X:46.98, Y:-0.14, Z:-0.96 [[ 9.99838970e-01 -1.78735446e-02 -1.60348733e-03 4.69832197e+01] [ 1.78735794e-02 9.99840255e-01 7.40262193e-06 -1.38359902e-01] [ 1.60309887e-03 -3.60614880e-05 9.99998714e-01 -9.56821296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59800114499999 meters 0.06656687049502232 Centerline is valid? [True, True] Translation: X:47.02, Y:-0.14, Z:-0.96 [[ 9.99806358e-01 -1.95927280e-02 -1.83638393e-03 4.70150499e+01] [ 1.95927770e-02 9.99808043e-01 8.72684455e-06 -1.41145255e-01] [ 1.83586044e-03 -4.47050155e-05 9.99998314e-01 -9.57571080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62800114499999 meters 0.0671061311062539 Centerline is valid? [True, True] Translation: X:47.05, Y:-0.14, Z:-0.96 [[ 9.99773977e-01 -2.12069749e-02 -1.50324024e-03 4.70474570e+01] [ 2.12070100e-02 9.99775106e-01 7.41605350e-06 -1.44482370e-01] [ 1.50274490e-03 -3.92936082e-05 9.99998870e-01 -9.58445518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65800114499999 meters 0.07014709631721251 Centerline is valid? [True, True] Translation: X:47.08, Y:-0.16, Z:-0.96 [[ 9.99731620e-01 -2.31207490e-02 -1.45532925e-03 4.70783621e+01] [ 2.31207837e-02 9.99732679e-01 7.02220980e-06 -1.55330944e-01] [ 1.45477785e-03 -4.06686780e-05 9.99998941e-01 -9.63922346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.688001144999994 meters 0.06880448036671265 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.15, Z:-0.96 [[ 9.99662418e-01 -2.58203111e-02 -2.89154020e-03 4.71091556e+01] [ 2.58204559e-02 9.99666596e-01 1.27504326e-05 -1.51865381e-01] [ 2.89024693e-03 -8.74070144e-05 9.99995819e-01 -9.61968185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.718001144999995 meters 0.06891862011084098 Centerline is valid? [True, True] Translation: X:47.14, Y:-0.15, Z:-0.96 [[ 9.99657924e-01 -2.59567864e-02 -3.20635720e-03 4.71409676e+01] [ 2.59569681e-02 9.99663061e-01 1.50567623e-05 -1.53618540e-01] [ 3.20488603e-03 -9.82789232e-05 9.99994860e-01 -9.64477368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74800114499999 meters 0.06902299667583561 Centerline is valid? [True, True] Translation: X:47.17, Y:-0.16, Z:-0.97 [[ 9.99658673e-01 -2.59000983e-02 -3.42369747e-03 4.71727147e+01] [ 2.59003056e-02 9.99664531e-01 1.62153731e-05 -1.55303847e-01] [ 3.42212894e-03 -1.04884649e-04 9.99994139e-01 -9.66661849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77800114499999 meters 0.06918098081131856 Centerline is valid? [True, True] Translation: X:47.20, Y:-0.16, Z:-0.97 [[ 9.99648911e-01 -2.61624632e-02 -4.19299102e-03 4.72046902e+01] [ 2.61627767e-02 9.99657696e-01 1.99050154e-05 -1.55150955e-01] [ 4.19103498e-03 -1.29598315e-04 9.99991209e-01 -9.68225338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80800114499999 meters 0.06885562454774456 Centerline is valid? [True, True] Translation: X:47.24, Y:-0.15, Z:-0.97 [[ 9.99666328e-01 -2.53719108e-02 -4.84765386e-03 4.72372457e+01] [ 2.53723212e-02 9.99678071e-01 2.31653954e-05 -1.52449825e-01] [ 4.84550551e-03 -1.46153897e-04 9.99988250e-01 -9.68304207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83800114499999 meters 0.06830767951502612 Centerline is valid? [True, True] Translation: X:47.27, Y:-0.15, Z:-0.97 [[ 9.99684131e-01 -2.46614957e-02 -4.84241692e-03 4.72698298e+01] [ 2.46618984e-02 9.99695849e-01 2.34630988e-05 -1.48902720e-01] [ 4.84036546e-03 -1.42878882e-04 9.99988275e-01 -9.67502448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.868001144999994 meters 0.06875928785847926 Centerline is valid? [True, True] Translation: X:47.30, Y:-0.15, Z:-0.97 [[ 9.99707105e-01 -2.36987724e-02 -4.90636646e-03 4.73011349e+01] [ 2.36991740e-02 9.99719135e-01 2.37274078e-05 -1.48816532e-01] [ 4.90442612e-03 -1.39997291e-04 9.99987963e-01 -9.69233969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.898001144999995 meters 0.06792054848904326 Centerline is valid? [True, True] Translation: X:47.33, Y:-0.14, Z:-0.97 [[ 9.99744672e-01 -2.20939593e-02 -4.73790216e-03 4.73336706e+01] [ 2.20943186e-02 9.99755890e-01 2.34886865e-05 -1.42346372e-01] [ 4.73622664e-03 -1.28163409e-04 9.99988776e-01 -9.67510754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92800114499999 meters 0.06862262683400337 Centerline is valid? [True, True] Translation: X:47.36, Y:-0.14, Z:-0.97 [[ 9.99779151e-01 -2.08041115e-02 -2.97302850e-03 4.73647517e+01] [ 2.08042480e-02 9.99783568e-01 1.49993617e-05 -1.43821819e-01] [ 2.97207300e-03 -7.68476715e-05 9.99995580e-01 -9.70254189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95800114499999 meters 0.06700142337773089 Centerline is valid? [True, True] Translation: X:47.40, Y:-0.14, Z:-0.97 [[ 9.99795880e-01 -1.99441147e-02 -3.22977026e-03 4.73971529e+01] [ 1.99442727e-02 9.99801093e-01 1.67280720e-05 -1.37283240e-01] [ 3.22879421e-03 -8.11400765e-05 9.99994784e-01 -9.67951330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98800114499999 meters 0.06686867386654889 Centerline is valid? [True, True] Translation: X:47.43, Y:-0.14, Z:-0.97 [[ 9.99808730e-01 -1.92234887e-02 -3.60003481e-03 4.74288525e+01] [ 1.92236807e-02 9.99815208e-01 1.87543791e-05 -1.36254691e-01] [ 3.59900903e-03 -8.79567118e-05 9.99993520e-01 -9.70381841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01800114499999 meters 0.06687389033986865 Centerline is valid? [True, True] Translation: X:47.46, Y:-0.13, Z:-0.97 [[ 9.99830417e-01 -1.80517623e-02 -3.64292888e-03 4.74611752e+01] [ 1.80519520e-02 9.99837050e-01 1.91927673e-05 -1.32459811e-01] [ 3.64198880e-03 -8.49514899e-05 9.99993364e-01 -9.71857456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.04800114499999 meters 0.06703636059486202 Centerline is valid? [True, True] Translation: X:47.49, Y:-0.13, Z:-0.97 [[ 9.99844464e-01 -1.71912402e-02 -3.93804310e-03 4.74920158e+01] [ 1.71914546e-02 9.99852216e-01 2.05835208e-05 -1.30430684e-01] [ 3.93710726e-03 -8.82810083e-05 9.99992246e-01 -9.73491650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.078001144999995 meters 0.06683122280043073 Centerline is valid? [True, True] Translation: X:47.52, Y:-0.13, Z:-0.97 [[ 9.99859684e-01 -1.60740850e-02 -4.71553662e-03 4.75246974e+01] [ 1.60743834e-02 9.99870798e-01 2.53700561e-05 -1.28164804e-01] [ 4.71451957e-03 -1.01165840e-04 9.99988881e-01 -9.74330337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10800114499999 meters 0.06638962914193712 Centerline is valid? [True, True] Translation: X:47.56, Y:-0.12, Z:-0.98 [[ 9.99902663e-01 -1.29070422e-02 -5.29830733e-03 4.75555717e+01] [ 1.29073722e-02 9.99916696e-01 2.80891436e-05 -1.21667365e-01] [ 5.29750341e-03 -9.64736341e-05 9.99985963e-01 -9.75041839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13800114499999 meters 0.06615729092267546 Centerline is valid? [True, True] Translation: X:47.59, Y:-0.12, Z:-0.98 [[ 9.99921101e-01 -1.10749988e-02 -5.92754053e-03 4.75874274e+01] [ 1.10753828e-02 9.99938666e-01 3.19473110e-05 -1.17582765e-01] [ 5.92682315e-03 -9.75945706e-05 9.99982431e-01 -9.75157140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16800114499999 meters 0.06584866661947504 Centerline is valid? [True, True] Translation: X:47.62, Y:-0.11, Z:-0.97 [[ 9.99945594e-01 -9.08241176e-03 -5.13020644e-03 4.76183795e+01] [ 9.08267372e-03 9.99958751e-01 2.77659284e-05 -1.13817733e-01] [ 5.12974264e-03 -7.43604089e-05 9.99986840e-01 -9.74556331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19800114499999 meters 0.06495057221672002 Centerline is valid? [True, True] Translation: X:47.65, Y:-0.11, Z:-0.97 [[ 9.99982095e-01 -4.05176280e-03 -4.40373675e-03 4.76497872e+01] [ 4.05190712e-03 9.99991791e-01 2.38501359e-05 -1.05328190e-01] [ 4.40360397e-03 -4.16932412e-05 9.99990303e-01 -9.73208201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22800114499999 meters 0.06501465887554404 Centerline is valid? [True, True] Translation: X:47.68, Y:-0.10, Z:-0.98 [[ 9.99988975e-01 -1.47473043e-03 -4.45805731e-03 4.76800112e+01] [ 1.47485183e-03 9.99998912e-01 2.39440991e-05 -1.02630340e-01] [ 4.45801715e-03 -3.05188091e-05 9.99990063e-01 -9.76884463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.258001144999994 meters 0.06481566102301646 Centerline is valid? [True, True] Translation: X:47.71, Y:-0.10, Z:-0.98 [[ 9.99988787e-01 6.91119097e-04 -4.68479600e-03 4.77092906e+01] [-6.91013015e-04 9.99999761e-01 2.42623849e-05 -9.92374150e-02] [ 4.68481165e-03 -2.10248579e-05 9.99989026e-01 -9.78448601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28800114499999 meters 0.06482606836539437 Centerline is valid? [True, True] Translation: X:47.74, Y:-0.10, Z:-0.98 [[ 9.99981447e-01 1.83477387e-03 -5.80861655e-03 4.77378142e+01] [-1.83465419e-03 9.99998317e-01 2.59326415e-05 -9.60917631e-02] [ 5.80865435e-03 -1.52753577e-05 9.99983130e-01 -9.78928629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31800114499999 meters 0.06517155420634467 Centerline is valid? [True, True] Translation: X:47.77, Y:-0.09, Z:-0.98 [[ 9.99969170e-01 2.91310950e-03 -7.29194781e-03 4.77658409e+01] [-2.91293726e-03 9.99995757e-01 3.42424150e-05 -9.28403734e-02] [ 7.29201662e-03 -1.30003729e-05 9.99973413e-01 -9.82966257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34800114499999 meters 0.06472343322085058 Centerline is valid? [True, True] Translation: X:47.79, Y:-0.09, Z:-0.98 [[ 9.99969990e-01 3.55935513e-03 -6.88106899e-03 4.77946655e+01] [-3.55921558e-03 9.99993665e-01 3.25260564e-05 -9.21191436e-02] [ 6.88114117e-03 -8.03387231e-06 9.99976325e-01 -9.77990310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37800114499999 meters 0.06513891061692156 Centerline is valid? [True, True] Translation: X:47.82, Y:-0.09, Z:-0.98 [[ 9.99972920e-01 3.25022813e-03 -6.60263317e-03 4.78225529e+01] [-3.25009852e-03 9.99994718e-01 3.03605749e-05 -9.17947128e-02] [ 6.60269698e-03 -8.90054446e-06 9.99978202e-01 -9.84675936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40800114499999 meters 0.06476811526570384 Centerline is valid? [True, True] Translation: X:47.85, Y:-0.09, Z:-0.98 [[ 9.99982620e-01 2.95474008e-03 -5.10193621e-03 4.78513750e+01] [-2.95466042e-03 9.99995635e-01 2.31502667e-05 -8.89051436e-02] [ 5.10198234e-03 -8.07537537e-06 9.99986985e-01 -9.78835162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.438001144999994 meters 0.06455165040898841 Centerline is valid? [True, True] Translation: X:47.88, Y:-0.09, Z:-0.98 [[ 9.99989759e-01 1.52863104e-03 -4.25965828e-03 4.78800626e+01] [-1.52856458e-03 9.99998832e-01 1.88586159e-05 -8.92998821e-02] [ 4.25968213e-03 -1.23472600e-05 9.99990927e-01 -9.77389514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46800114499999 meters 0.06446183379578863 Centerline is valid? [True, True] Translation: X:47.91, Y:-0.09, Z:-0.98 [[ 9.99997430e-01 4.98497043e-04 -2.21162340e-03 4.79077165e+01] [-4.98478705e-04 9.99999876e-01 8.84302381e-06 -8.97770237e-02] [ 2.21162753e-03 -7.74055392e-06 9.99997554e-01 -9.77075757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49800114499999 meters 0.06447691409657895 Centerline is valid? [True, True] Translation: X:47.94, Y:-0.09, Z:-0.98 [[ 9.99994807e-01 -2.61214282e-03 -1.88765042e-03 4.79368633e+01] [ 2.61216260e-03 9.99996588e-01 8.01136056e-06 -9.12409733e-02] [ 1.88762305e-03 -1.29421688e-05 9.99998218e-01 -9.76031835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52800114499999 meters 0.06465453118107647 Centerline is valid? [True, True] Translation: X:47.97, Y:-0.09, Z:-0.98 [[ 9.99986832e-01 -4.44946689e-03 -2.55690911e-03 4.79680766e+01] [ 4.44951278e-03 9.99990101e-01 1.22592760e-05 -9.32313853e-02] [ 2.55682925e-03 -2.36361143e-05 9.99996731e-01 -9.77345729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55800114499999 meters 0.06491629134417108 Centerline is valid? [True, True] Translation: X:48.00, Y:-0.10, Z:-0.98 [[ 9.99979958e-01 -5.73695570e-03 -2.67782507e-03 4.79996512e+01] [ 5.73701164e-03 9.99983543e-01 1.32086039e-05 -9.50741580e-02] [ 2.67770523e-03 -2.85710528e-05 9.99996415e-01 -9.78299310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58800114499999 meters 0.06527739159691437 Centerline is valid? [True, True] Translation: X:48.03, Y:-0.10, Z:-0.98 [[ 9.99957166e-01 -8.74844748e-03 -3.02159743e-03 4.80313266e+01] [ 8.74854202e-03 9.99961731e-01 1.80741541e-05 -9.67981382e-02] [ 3.02132368e-03 -4.45079520e-05 9.99995435e-01 -9.78252380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.618001144999994 meters 0.06550810050735113 Centerline is valid? [True, True] Translation: X:48.06, Y:-0.10, Z:-0.98 [[ 9.99945206e-01 -9.87976921e-03 -3.46060230e-03 4.80630729e+01] [ 9.87989284e-03 9.99951192e-01 1.86320076e-05 -9.79921290e-02] [ 3.46024932e-03 -5.28213666e-05 9.99994012e-01 -9.78892154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.648001144999995 meters 0.06604018337688745 Centerline is valid? [True, True] Translation: X:48.09, Y:-0.10, Z:-0.98 [[ 9.99921447e-01 -1.14204297e-02 -5.16455869e-03 4.80943390e+01] [ 1.14207210e-02 9.99934781e-01 2.69009225e-05 -1.02681495e-01] [ 5.16391464e-03 -8.58817931e-05 9.99986663e-01 -9.84426711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67800114499999 meters 0.06596585261586006 Centerline is valid? [True, True] Translation: X:48.13, Y:-0.10, Z:-0.99 [[ 9.99913920e-01 -1.14664430e-02 -6.37750120e-03 4.81262447e+01] [ 1.14668891e-02 9.99934253e-01 3.33858931e-05 -1.02501542e-01] [ 6.37669907e-03 -1.06513118e-04 9.99979663e-01 -9.86342130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70800114499999 meters 0.06574162117348893 Centerline is valid? [True, True] Translation: X:48.16, Y:-0.10, Z:-0.99 [[ 9.99916279e-01 -1.05018264e-02 -7.55957991e-03 4.81580845e+01] [ 1.05024278e-02 9.99944847e-01 3.98595500e-05 -1.01015714e-01] [ 7.55874438e-03 -1.19250155e-04 9.99971425e-01 -9.86757662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73800114499999 meters 0.06562793337514615 Centerline is valid? [True, True] Translation: X:48.19, Y:-0.10, Z:-0.99 [[ 9.99917674e-01 -9.75313435e-03 -8.33793500e-03 4.81900798e+01] [ 9.75384350e-03 9.99952429e-01 4.43897364e-05 -9.88439751e-02] [ 8.33710542e-03 -1.25712995e-04 9.99965238e-01 -9.86553406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76800114499999 meters 0.06467135651298901 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.09, Z:-0.98 [[ 9.99942900e-01 -7.50989143e-03 -7.60248361e-03 4.82218329e+01] [ 7.51041498e-03 9.99971796e-01 4.03186532e-05 -9.37100030e-02] [ 7.60196640e-03 -9.74141578e-05 9.99971100e-01 -9.82044815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.79800114499999 meters 0.06456424569082245 Centerline is valid? [True, True] Translation: X:48.25, Y:-0.09, Z:-0.99 [[ 9.99960077e-01 -5.27028248e-03 -7.21585922e-03 4.82526490e+01] [ 5.27069762e-03 9.99986109e-01 3.85156959e-05 -9.32943515e-02] [ 7.21555600e-03 -7.65467702e-05 9.99973965e-01 -9.85132261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.828001144999995 meters 0.06424160204442095 Centerline is valid? [True, True] Translation: X:48.28, Y:-0.09, Z:-0.98 [[ 9.99959830e-01 -4.02659047e-03 -8.00781304e-03 4.82834245e+01] [ 4.02705719e-03 9.99991890e-01 4.21594823e-05 -9.06885116e-02] [ 8.00757834e-03 -7.44057098e-05 9.99967936e-01 -9.83926428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85800114499999 meters 0.06416528050685663 Centerline is valid? [True, True] Translation: X:48.31, Y:-0.09, Z:-0.98 [[ 9.99969502e-01 -2.65843479e-03 -7.34359558e-03 4.83125910e+01] [ 2.65875388e-03 9.99996465e-01 3.36883194e-05 -8.90395261e-02] [ 7.34348006e-03 -5.32121052e-05 9.99973035e-01 -9.84732158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88800114499999 meters 0.06413172363852959 Centerline is valid? [True, True] Translation: X:48.34, Y:-0.09, Z:-0.99 [[ 9.99961746e-01 -2.00917708e-03 -8.51287625e-03 4.83401976e+01] [ 2.00956881e-03 9.99997980e-01 3.74619134e-05 -8.85219479e-02] [ 8.51278379e-03 -5.45676909e-05 9.99963764e-01 -9.86475714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91800114499999 meters 0.06418129107575958 Centerline is valid? [True, True] Translation: X:48.37, Y:-0.09, Z:-0.99 [[ 9.99952665e-01 -2.02474193e-03 -9.51668981e-03 4.83680515e+01] [ 2.02525151e-03 9.99997948e-01 4.39094809e-05 -8.75806060e-02] [ 9.51658137e-03 -6.31810929e-05 9.99954714e-01 -9.88241672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94800114499999 meters 0.06420683187231445 Centerline is valid? [True, True] Translation: X:48.40, Y:-0.09, Z:-0.99 [[ 9.99941968e-01 -2.87574793e-03 -1.03822671e-02 4.83968679e+01] [ 2.87635281e-03 9.99995862e-01 4.33300412e-05 -8.76972395e-02] [ 1.03820995e-02 -7.31905897e-05 9.99946102e-01 -9.88442593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97800114499999 meters 0.06438240175252812 Centerline is valid? [True, True] Translation: X:48.42, Y:-0.09, Z:-0.99 [[ 9.99942055e-01 -4.38600277e-03 -9.83101860e-03 4.84233952e+01] [ 4.38662771e-03 9.99990378e-01 4.20066387e-05 -9.11918534e-02] [ 9.83073976e-03 -8.51292232e-05 9.99951673e-01 -9.90297923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.008001144999994 meters 0.06428728604806558 Centerline is valid? [True, True] Translation: X:48.45, Y:-0.09, Z:-0.99 [[ 9.99947653e-01 -5.45492641e-03 -8.65644635e-03 4.84521948e+01] [ 5.45541415e-03 9.99985119e-01 3.27330172e-05 -9.30420147e-02] [ 8.65613898e-03 -7.99558037e-05 9.99962532e-01 -9.89759173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03800114499999 meters 0.064171296902974 Centerline is valid? [True, True] Translation: X:48.48, Y:-0.09, Z:-0.99 [[ 9.99943623e-01 -6.27188388e-03 -8.56826140e-03 4.84818418e+01] [ 6.27241590e-03 9.99980328e-01 3.52215266e-05 -9.34336284e-02] [ 8.56787194e-03 -8.89632400e-05 9.99963291e-01 -9.88305774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06800114499999 meters 0.0641921436016063 Centerline is valid? [True, True] Translation: X:48.51, Y:-0.10, Z:-0.99 [[ 9.99925347e-01 -7.63503419e-03 -9.53978995e-03 4.85111579e+01] [ 7.63575741e-03 9.99970846e-01 3.93906002e-05 -9.51978982e-02] [ 9.53921108e-03 -1.12231181e-04 9.99954494e-01 -9.89348737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09800114499999 meters 0.06471217073587518 Centerline is valid? [True, True] Translation: X:48.54, Y:-0.10, Z:-0.99 [[ 9.99901558e-01 -9.34237588e-03 -1.04687728e-02 4.85404574e+01] [ 9.34333889e-03 9.99956349e-01 4.30837555e-05 -9.86397083e-02] [ 1.04679133e-02 -1.40892806e-04 9.99945200e-01 -9.91809248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12800114499999 meters 0.06460837013836938 Centerline is valid? [True, True] Translation: X:48.57, Y:-0.10, Z:-0.99 [[ 9.99901147e-01 -9.84141969e-03 -1.00420608e-02 4.85714465e+01] [ 9.84233345e-03 9.99951562e-01 4.15758964e-05 -9.96478855e-02] [ 1.00411652e-02 -1.40409097e-04 9.99949576e-01 -9.91147269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15800114499999 meters 0.06478928816254405 Centerline is valid? [True, True] Translation: X:48.60, Y:-0.10, Z:-0.99 [[ 9.99894695e-01 -1.07660484e-02 -9.73095697e-03 4.86013475e+01] [ 1.07669542e-02 9.99942034e-01 4.07010042e-05 -1.01822540e-01] [ 9.72995472e-03 -1.45469486e-04 9.99952652e-01 -9.91841637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.188001144999994 meters 0.06477314749466345 Centerline is valid? [True, True] Translation: X:48.63, Y:-0.10, Z:-0.99 [[ 9.99886996e-01 -1.15594244e-02 -9.61119534e-03 4.86334943e+01] [ 1.15603582e-02 9.99933176e-01 4.16012252e-05 -1.02730345e-01] [ 9.61007220e-03 -1.52705385e-04 9.99953811e-01 -9.90869954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21800114499999 meters 0.06469808293401685 Centerline is valid? [True, True] Translation: X:48.67, Y:-0.10, Z:-0.99 [[ 9.99890048e-01 -1.20141429e-02 -8.69211911e-03 4.86654405e+01] [ 1.20149296e-02 9.99927817e-01 3.82953618e-05 -1.03954102e-01] [ 8.69103160e-03 -1.42726351e-04 9.99962222e-01 -9.90174736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24800114499999 meters 0.06442452089778615 Centerline is valid? [True, True] Translation: X:48.70, Y:-0.10, Z:-0.99 [[ 9.99895718e-01 -1.13902714e-02 -8.87772707e-03 4.86973358e+01] [ 1.13910726e-02 9.99935119e-01 3.96875494e-05 -1.02900240e-01] [ 8.87669902e-03 -1.40810244e-04 9.99960591e-01 -9.89845455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27800114499999 meters 0.06470848206260482 Centerline is valid? [True, True] Translation: X:48.73, Y:-0.10, Z:-0.99 [[ 9.99896735e-01 -1.09163339e-02 -9.34625394e-03 4.87285914e+01] [ 1.09172024e-02 9.99940405e-01 4.19130959e-05 -1.03197459e-01] [ 9.34523941e-03 -1.43943714e-04 9.99956322e-01 -9.92652818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30800114499999 meters 0.06463680488107754 Centerline is valid? [True, True] Translation: X:48.76, Y:-0.10, Z:-0.99 [[ 9.99902143e-01 -1.00656231e-02 -9.71530857e-03 4.87612465e+01] [ 1.00665298e-02 9.99949330e-01 4.44279605e-05 -1.02985467e-01] [ 9.71436910e-03 -1.42223056e-04 9.99952804e-01 -9.93046570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33800114499999 meters 0.06463680488107754 Centerline is valid? [True, True] Translation: X:48.79, Y:-0.10, Z:-0.99 [[ 9.99902467e-01 -1.00333622e-02 -9.71530953e-03 4.87921126e+01] [ 1.00342652e-02 9.99949655e-01 4.42101297e-05 -1.03164585e-01] [ 9.71437683e-03 -1.41691810e-04 9.99952804e-01 -9.93547274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.368001144999994 meters 0.0645781919348614 Centerline is valid? [True, True] Translation: X:48.82, Y:-0.10, Z:-0.99 [[ 9.99907392e-01 -9.74418219e-03 -9.50041340e-03 4.88235696e+01] [ 9.74503570e-03 9.99952515e-01 4.35505665e-05 -1.04538906e-01] [ 9.49953790e-03 -1.36128401e-04 9.99954869e-01 -9.94451382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.398001144999995 meters 0.06440428217866687 Centerline is valid? [True, True] Translation: X:48.86, Y:-0.10, Z:-0.99 [[ 9.99896226e-01 -1.02364568e-02 -1.01366698e-02 4.88552821e+01] [ 1.02374568e-02 9.99947595e-01 4.67691495e-05 -1.04873768e-01] [ 1.01356598e-02 -1.50538015e-04 9.99948622e-01 -9.93989058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42800114499999 meters 0.06426078930472225 Centerline is valid? [True, True] Translation: X:48.89, Y:-0.10, Z:-0.99 [[ 9.99909292e-01 -9.65888820e-03 -9.38685075e-03 4.88866008e+01] [ 9.65972351e-03 9.99953343e-01 4.36518003e-05 -1.04265581e-01] [ 9.38599116e-03 -1.34322224e-04 9.99955942e-01 -9.93838399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45800114499999 meters 0.0642309567064281 Centerline is valid? [True, True] Translation: X:48.92, Y:-0.10, Z:-0.99 [[ 9.99906484e-01 -9.70377263e-03 -9.63641044e-03 4.89178237e+01] [ 9.70465795e-03 9.99952908e-01 4.51161010e-05 -1.02929777e-01] [ 9.63551884e-03 -1.38629949e-04 9.99953568e-01 -9.93426207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48800114499999 meters 0.06434133002839112 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.10, Z:-0.99 [[ 9.99909542e-01 -9.97622368e-03 -9.02123579e-03 4.89488530e+01] [ 9.97701358e-03 9.99950227e-01 4.25597039e-05 -1.04228038e-01] [ 9.02036219e-03 -1.32560846e-04 9.99959307e-01 -9.94032588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51800114499999 meters 0.06477475698550916 Centerline is valid? [True, True] Translation: X:48.98, Y:-0.11, Z:-1.00 [[ 9.99902451e-01 -1.06895949e-02 -8.99007547e-03 4.89796778e+01] [ 1.06904146e-02 9.99942855e-01 4.31226250e-05 -1.07435648e-01] [ 8.98910077e-03 -1.39226052e-04 9.99959588e-01 -9.96831483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.54800114499999 meters 0.06450326623289827 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.11, Z:-0.99 [[ 9.99906251e-01 -1.12362687e-02 -7.82532039e-03 4.90122478e+01] [ 1.12369132e-02 9.99936863e-01 3.83978913e-05 -1.07305948e-01] [ 7.82439488e-03 -1.26326737e-04 9.99969381e-01 -9.94320874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.578001144999995 meters 0.06466521833668086 Centerline is valid? [True, True] Translation: X:49.04, Y:-0.11, Z:-1.00 [[ 9.99910141e-01 -1.10750344e-02 -7.55341528e-03 4.90437795e+01] [ 1.10756340e-02 9.99938663e-01 3.75645474e-05 -1.08333636e-01] [ 7.55253595e-03 -1.21220035e-04 9.99971472e-01 -9.95282447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60800114499999 meters 0.0644717479543036 Centerline is valid? [True, True] Translation: X:49.08, Y:-0.11, Z:-1.00 [[ 9.99911850e-01 -1.10546584e-02 -7.35439727e-03 4.90758753e+01] [ 1.10552302e-02 9.99938888e-01 3.70995806e-05 -1.08045675e-01] [ 7.35353771e-03 -1.18400865e-04 9.99972955e-01 -9.95204870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63800114499999 meters 0.06421936152717696 Centerline is valid? [True, True] Translation: X:49.11, Y:-0.11, Z:-1.00 [[ 9.99922121e-01 -1.01940107e-02 -7.19962008e-03 4.91080387e+01] [ 1.01945400e-02 9.99948034e-01 3.68282854e-05 -1.07378735e-01] [ 7.19887052e-03 -1.10222232e-04 9.99974082e-01 -9.95325017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66800114499999 meters 0.06416977588360176 Centerline is valid? [True, True] Translation: X:49.14, Y:-0.11, Z:-1.00 [[ 9.99926378e-01 -8.83189591e-03 -8.32077783e-03 4.91402156e+01] [ 8.83255884e-03 9.99960991e-01 4.29268113e-05 -1.06112423e-01] [ 8.32007412e-03 -1.16417411e-04 9.99965381e-01 -9.97825756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69800114499999 meters 0.06414065713753206 Centerline is valid? [True, True] Translation: X:49.17, Y:-0.11, Z:-1.00 [[ 9.99933879e-01 -7.99262484e-03 -8.26774274e-03 4.91710325e+01] [ 7.99325179e-03 9.99968053e-01 4.27894302e-05 -1.05943271e-01] [ 8.26713660e-03 -1.08872750e-04 9.99965821e-01 -9.99618812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.72800114499999 meters 0.06399258528281747 Centerline is valid? [True, True] Translation: X:49.20, Y:-0.10, Z:-1.00 [[ 9.99937076e-01 -7.23369756e-03 -8.57426322e-03 4.92027501e+01] [ 7.23434387e-03 9.99973831e-01 4.43644569e-05 -1.04261314e-01] [ 8.57371792e-03 -1.06390834e-04 9.99963239e-01 -9.99269981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.758001144999994 meters 0.0637357358913983 Centerline is valid? [True, True] Translation: X:49.23, Y:-0.10, Z:-1.00 [[ 9.99945218e-01 -6.25141212e-03 -8.39524762e-03 4.92333986e+01] [ 6.25199617e-03 9.99980455e-01 4.33270453e-05 -1.00570998e-01] [ 8.39481268e-03 -9.58117278e-05 9.99964758e-01 -9.96404099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78800114499999 meters 0.06364736476151805 Centerline is valid? [True, True] Translation: X:49.26, Y:-0.10, Z:-1.00 [[ 9.99959222e-01 -6.24804354e-03 -6.52049913e-03 4.92624855e+01] [ 6.24839202e-03 9.99980478e-01 3.30718912e-05 -1.00043722e-01] [ 6.52016521e-03 -7.38131773e-05 9.99978741e-01 -9.95793636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81800114499999 meters 0.06333004504102309 Centerline is valid? [True, True] Translation: X:49.29, Y:-0.10, Z:-0.99 [[ 9.99970478e-01 -5.39826649e-03 -5.46820311e-03 4.92937061e+01] [ 5.39850398e-03 9.99985428e-01 2.86725001e-05 -9.88170553e-02] [ 5.46796865e-03 -5.81917699e-05 9.99985049e-01 -9.94308770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84800114499999 meters 0.0635527367451849 Centerline is valid? [True, True] Translation: X:49.32, Y:-0.10, Z:-1.00 [[ 9.99976653e-01 -5.00926396e-03 -4.64761156e-03 4.93238403e+01] [ 5.00943079e-03 9.99987452e-01 2.42562601e-05 -1.00019245e-01] [ 4.64743174e-03 -4.75375823e-05 9.99989200e-01 -9.96721923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87800114499999 meters 0.06339679710551537 Centerline is valid? [True, True] Translation: X:49.36, Y:-0.10, Z:-1.00 [[ 9.99983475e-01 -4.12592986e-03 -4.00326749e-03 4.93553798e+01] [ 4.12604824e-03 9.99991488e-01 2.13134633e-05 -9.95578442e-02] [ 4.00314548e-03 -3.78307859e-05 9.99991987e-01 -9.96965821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90800114499999 meters 0.06315110389401797 Centerline is valid? [True, True] Translation: X:49.39, Y:-0.10, Z:-1.00 [[ 9.99981677e-01 -3.74501274e-03 -4.75600193e-03 4.93866908e+01] [ 3.74517589e-03 9.99992986e-01 2.53983256e-05 -9.94348647e-02] [ 4.75587346e-03 -4.32099240e-05 9.99988690e-01 -9.97098765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.938001144999994 meters 0.06329700778190073 Centerline is valid? [True, True] Translation: X:49.42, Y:-0.10, Z:-1.00 [[ 9.99981396e-01 -3.92561218e-03 -4.66866349e-03 4.94160677e+01] [ 3.92576729e-03 9.99992294e-01 2.40613809e-05 -1.00293664e-01] [ 4.66853306e-03 -4.23890197e-05 9.99989101e-01 -9.98781208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96800114499999 meters 0.063260198993396 Centerline is valid? [True, True] Translation: X:49.45, Y:-0.10, Z:-1.00 [[ 9.99982874e-01 -4.55140808e-03 -3.67916555e-03 4.94461809e+01] [ 4.55150942e-03 9.99989642e-01 1.91714465e-05 -1.01715953e-01] [ 3.67904018e-03 -3.59168748e-05 9.99993232e-01 -9.99422707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99800114499999 meters 0.06324615007860548 Centerline is valid? [True, True] Translation: X:49.48, Y:-0.10, Z:-1.00 [[ 9.99980216e-01 -5.68542234e-03 -2.69127192e-03 4.94771934e+01] [ 5.68548624e-03 9.99983837e-01 1.60941427e-05 -1.04045023e-01] [ 2.69113692e-03 -3.13950138e-05 9.99996378e-01 -9.97814580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02800114499999 meters 0.06332008259706322 Centerline is valid? [True, True] Translation: X:49.51, Y:-0.11, Z:-1.00 [[ 9.99978099e-01 -5.97072020e-03 -2.85510298e-03 4.95097391e+01] [ 5.97079136e-03 9.99982175e-01 1.64013402e-05 -1.05219203e-01] [ 2.85495416e-03 -3.34482052e-05 9.99995924e-01 -9.97954177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05800114499999 meters 0.06310627126865674 Centerline is valid? [True, True] Translation: X:49.54, Y:-0.10, Z:-1.00 [[ 9.99985147e-01 -5.16035382e-03 -1.75416096e-03 4.95422084e+01] [ 5.16038032e-03 9.99986685e-01 1.05795632e-05 -1.04974902e-01] [ 1.75408301e-03 -1.96315438e-05 9.99998461e-01 -9.97063579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08800114499999 meters 0.0625907233956346 Centerline is valid? [True, True] Translation: X:49.57, Y:-0.10, Z:-0.99 [[ 9.99996160e-01 -2.68594509e-03 -6.82219053e-04 4.95741906e+01] [ 2.68594879e-03 9.99996393e-01 4.51606741e-06 -1.03154704e-01] [ 6.82204462e-04 -6.34845551e-06 9.99999767e-01 -9.94769154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.118001144999994 meters 0.06245351574864843 Centerline is valid? [True, True] Translation: X:49.61, Y:-0.10, Z:-0.99 [[ 9.99998862e-01 -9.47260577e-04 -1.17431205e-03 4.96057598e+01] [ 9.47269447e-04 9.99999551e-01 6.99733267e-06 -1.02087763e-01] [ 1.17430490e-03 -8.10971463e-06 9.99999310e-01 -9.94669242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14800114499999 meters 0.06250781870014525 Centerline is valid? [True, True] Translation: X:49.64, Y:-0.10, Z:-1.00 [[ 9.99998307e-01 8.26510628e-04 -1.64422499e-03 4.96361774e+01] [-8.26496808e-04 9.99999658e-01 9.08496857e-06 -1.00894335e-01] [ 1.64423193e-03 -7.72600648e-06 9.99998648e-01 -9.96188642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17800114499999 meters 0.06251860448610733 Centerline is valid? [True, True] Translation: X:49.67, Y:-0.10, Z:-1.00 [[ 9.99989867e-01 3.98239572e-03 -2.09917879e-03 4.96654242e+01] [-3.98238134e-03 9.99992070e-01 1.10315271e-05 -9.98643968e-02] [ 2.09920608e-03 -2.67168488e-06 9.99997797e-01 -9.99245244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20800114499999 meters 0.06253884675452756 Centerline is valid? [True, True] Translation: X:49.69, Y:-0.10, Z:-1.00 [[ 9.99983939e-01 4.98964261e-03 -2.68812009e-03 4.96938715e+01] [-4.98962408e-03 9.99987552e-01 1.35973183e-05 -1.00487644e-01] [ 2.68815448e-03 -1.84391169e-07 9.99996387e-01 -1.00009804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23800114499999 meters 0.06243762972458511 Centerline is valid? [True, True] Translation: X:49.72, Y:-0.10, Z:-1.00 [[ 9.99982131e-01 5.39096131e-03 -2.58379319e-03 4.97216764e+01] [-5.39094755e-03 9.99985469e-01 1.22869810e-05 -1.01238567e-01] [ 2.58382188e-03 1.64233215e-06 9.99996662e-01 -1.00118305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26800114499999 meters 0.062328594445354914 Centerline is valid? [True, True] Translation: X:49.75, Y:-0.10, Z:-1.00 [[ 9.99983254e-01 5.24891879e-03 -2.43751203e-03 4.97506010e+01] [-5.24890559e-03 9.99986224e-01 1.18123724e-05 -1.01703078e-01] [ 2.43754046e-03 9.82095929e-07 9.99997029e-01 -1.00034497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.29800114499999 meters 0.06233373667177884 Centerline is valid? [True, True] Translation: X:49.78, Y:-0.10, Z:-1.00 [[ 9.99986319e-01 4.43656032e-03 -2.77107094e-03 4.97790488e+01] [-4.43654024e-03 9.99990158e-01 1.33925547e-05 -1.02614269e-01] [ 2.77110308e-03 -1.09840379e-06 9.99996160e-01 -1.00124576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.328001144999995 meters 0.06241276919440222 Centerline is valid? [True, True] Translation: X:49.81, Y:-0.11, Z:-1.00 [[ 9.99991168e-01 2.21463187e-03 -3.57214857e-03 4.98063784e+01] [-2.21458517e-03 9.99997548e-01 1.70308142e-05 -1.06408064e-01] [ 3.57217753e-03 -9.11983653e-06 9.99993620e-01 -1.00182379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35800114499999 meters 0.062374504809632324 Centerline is valid? [True, True] Translation: X:49.84, Y:-0.11, Z:-1.00 [[ 9.99994282e-01 1.51092878e-03 -3.02554615e-03 4.98352912e+01] [-1.51089243e-03 9.99998859e-01 1.43003864e-05 -1.09045652e-01] [ 3.02556430e-03 -9.72902983e-06 9.99995423e-01 -1.00175834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38800114499999 meters 0.0625335416756047 Centerline is valid? [True, True] Translation: X:49.86, Y:-0.11, Z:-1.00 [[ 9.99993311e-01 -4.22878655e-04 -3.63295063e-03 4.98630870e+01] [ 4.22942603e-04 9.99999910e-01 1.68340335e-05 -1.13169213e-01] [ 3.63294319e-03 -1.83704505e-05 9.99993401e-01 -1.00295738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41800114499999 meters 0.06253978449206568 Centerline is valid? [True, True] Translation: X:49.89, Y:-0.11, Z:-1.00 [[ 9.99989932e-01 -1.28235911e-03 -4.30015341e-03 4.98916895e+01] [ 1.28245764e-03 9.99999177e-01 2.01558488e-05 -1.14893572e-01] [ 4.30012403e-03 -2.56704105e-05 9.99990754e-01 -1.00330493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44800114499999 meters 0.0626784641819318 Centerline is valid? [True, True] Translation: X:49.92, Y:-0.12, Z:-1.00 [[ 9.99991537e-01 -1.50414556e-03 -3.82935741e-03 4.99203610e+01] [ 1.50422521e-03 9.99998868e-01 1.79194689e-05 -1.17453703e-01] [ 3.82932612e-03 -2.36795331e-05 9.99992668e-01 -1.00459469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47800114499999 meters 0.06264418208269025 Centerline is valid? [True, True] Translation: X:49.95, Y:-0.12, Z:-1.00 [[ 9.99991908e-01 -1.58754100e-03 -3.69649331e-03 4.99497365e+01] [ 1.58761614e-03 9.99998740e-01 1.73955837e-05 -1.19699350e-01] [ 3.69646104e-03 -2.32640554e-05 9.99993168e-01 -1.00430626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.508001144999994 meters 0.06269914950327511 Centerline is valid? [True, True] Translation: X:49.98, Y:-0.12, Z:-1.01 [[ 9.99989634e-01 -1.32707119e-03 -4.35544593e-03 4.99795265e+01] [ 1.32717280e-03 9.99999119e-01 2.04398646e-05 -1.22902500e-01] [ 4.35541497e-03 -2.62200821e-05 9.99990515e-01 -1.00509493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53800114499999 meters 0.06260103708423974 Centerline is valid? [True, True] Translation: X:50.01, Y:-0.12, Z:-1.00 [[ 9.99992440e-01 -8.56097541e-04 -3.79300736e-03 5.00092224e+01] [ 8.56170459e-04 9.99999633e-01 1.76007096e-05 -1.23232738e-01] [ 3.79299090e-03 -2.08480374e-05 9.99992806e-01 -1.00427275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56800114499999 meters 0.06260708256610116 Centerline is valid? [True, True] Translation: X:50.04, Y:-0.12, Z:-1.00 [[ 9.99989178e-01 -8.26223504e-04 -4.57823962e-03 5.00375919e+01] [ 8.26327725e-04 9.99999658e-01 2.08729508e-05 -1.23178854e-01] [ 4.57822081e-03 -2.46558513e-05 9.99989520e-01 -1.00454481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59800114499999 meters 0.06260410430715585 Centerline is valid? [True, True] Translation: X:50.07, Y:-0.12, Z:-1.00 [[ 9.99993600e-01 -5.50393815e-04 -3.53511200e-03 5.00661906e+01] [ 5.50452295e-04 9.99999848e-01 1.55696527e-05 -1.23509100e-01] [ 3.53510290e-03 -1.75154635e-05 9.99993751e-01 -1.00328151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62800114499999 meters 0.06264389423772011 Centerline is valid? [True, True] Translation: X:50.10, Y:-0.13, Z:-1.00 [[ 9.99998979e-01 -1.07578741e-03 -9.40401167e-04 5.00957645e+01] [ 1.07579150e-03 9.99999421e-01 3.84874856e-06 -1.27697679e-01] [ 9.40396482e-04 -4.86042022e-06 9.99999558e-01 -1.00124146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65800114499999 meters 0.06266487821750498 Centerline is valid? [True, True] Translation: X:50.13, Y:-0.13, Z:-1.00 [[ 9.99999583e-01 -7.33444965e-04 5.43626384e-04 5.01264750e+01] [ 7.33446311e-04 9.99999731e-01 -2.27646364e-06 -1.31270853e-01] [-5.43624568e-04 2.67518345e-06 9.99999852e-01 -1.00146885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.688001144999994 meters 0.06260468826836176 Centerline is valid? [True, True] Translation: X:50.16, Y:-0.13, Z:-1.00 [[ 9.99997008e-01 -9.66657748e-04 2.24727137e-03 5.01574068e+01] [ 9.66682729e-04 9.99999533e-01 -1.00300368e-05 -1.33880159e-01] [-2.24726063e-03 1.22024052e-05 9.99997475e-01 -1.00124058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71800114499999 meters 0.062439137543828425 Centerline is valid? [True, True] Translation: X:50.19, Y:-0.13, Z:-1.00 [[ 9.99996504e-01 9.42805028e-05 2.64267566e-03 5.01890815e+01] [-9.42497636e-05 9.99999995e-01 -1.17563885e-05 -1.34946846e-01] [-2.64267676e-03 1.15072758e-05 9.99996508e-01 -1.00036609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74800114499999 meters 0.0625108466098971 Centerline is valid? [True, True] Translation: X:50.22, Y:-0.14, Z:-1.00 [[ 9.99995437e-01 1.64495962e-03 2.53360594e-03 5.02205405e+01] [-1.64493557e-03 9.99998647e-01 -1.15750635e-05 -1.35137605e-01] [-2.53362156e-03 7.40739215e-06 9.99996790e-01 -1.00096611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77800114499999 meters 0.06257276823297526 Centerline is valid? [True, True] Translation: X:50.25, Y:-0.13, Z:-1.00 [[ 9.99991709e-01 3.51756480e-03 2.05150021e-03 5.02511613e+01] [-3.51755258e-03 9.99993813e-01 -9.56073208e-06 -1.34996811e-01] [-2.05152115e-03 2.34439293e-06 9.99997896e-01 -1.00255672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80800114499999 meters 0.06269012685375526 Centerline is valid? [True, True] Translation: X:50.28, Y:-0.14, Z:-1.00 [[ 9.99987711e-01 4.80538815e-03 1.21887930e-03 5.02804702e+01] [-4.80538405e-03 9.99988454e-01 -6.28533823e-06 -1.35325862e-01] [-1.21889543e-03 4.28077860e-07 9.99999257e-01 -1.00450496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83800114499999 meters 0.06297964752605588 Centerline is valid? [True, True] Translation: X:50.31, Y:-0.14, Z:-1.01 [[ 9.99977832e-01 6.37523442e-03 -1.92139828e-03 5.03082113e+01] [-6.37523180e-03 9.99979678e-01 7.48836601e-06 -1.37716001e-01] [ 1.92140697e-03 4.76115941e-06 9.99998154e-01 -1.00890319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.868001144999994 meters 0.06278014391701958 Centerline is valid? [True, True] Translation: X:50.34, Y:-0.14, Z:-1.01 [[ 9.99976762e-01 6.76321955e-03 -8.56690132e-04 5.03368167e+01] [-6.76321953e-03 9.99977129e-01 2.92328786e-06 -1.40375227e-01] [ 8.56690309e-04 2.87076350e-06 9.99999633e-01 -1.00778760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89800114499999 meters 0.06280536576834422 Centerline is valid? [True, True] Translation: X:50.36, Y:-0.14, Z:-1.01 [[ 9.99978183e-01 6.54581485e-03 -8.86588588e-04 5.03641113e+01] [-6.54581498e-03 9.99978576e-01 2.75581774e-06 -1.42111331e-01] [ 8.86587632e-04 3.04768723e-06 9.99999607e-01 -1.00855375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92800114499999 meters 0.06289184643595475 Centerline is valid? [True, True] Translation: X:50.39, Y:-0.14, Z:-1.01 [[ 9.99980936e-01 6.16973264e-03 -2.49467090e-04 5.03914381e+01] [-6.16973287e-03 9.99980967e-01 -1.27621679e-07 -1.43630099e-01] [ 2.49461554e-04 1.66676455e-06 9.99999969e-01 -1.01022644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95800114499999 meters 0.06290134405105613 Centerline is valid? [True, True] Translation: X:50.42, Y:-0.15, Z:-1.01 [[ 9.99980552e-01 6.20279309e-03 -6.48769589e-04 5.04198967e+01] [-6.20279316e-03 9.99980762e-01 1.90375780e-06 -1.45325075e-01] [ 6.48768917e-04 2.12046280e-06 9.99999790e-01 -1.01040105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98800114499999 meters 0.06289285481079222 Centerline is valid? [True, True] Translation: X:50.45, Y:-0.15, Z:-1.01 [[ 9.99968668e-01 7.53578366e-03 -2.42397043e-03 5.04487959e+01] [-7.53578280e-03 9.99971606e-01 9.48805270e-06 -1.47761239e-01] [ 2.42397310e-03 8.77875927e-06 9.99997062e-01 -1.00965498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01800114499999 meters 0.0630069514675386 Centerline is valid? [True, True] Translation: X:50.48, Y:-0.15, Z:-1.01 [[ 9.99964391e-01 8.13470494e-03 -2.24588645e-03 5.04759063e+01] [-8.13470804e-03 9.99966913e-01 7.75707677e-06 -1.48078756e-01] [ 2.24587524e-03 1.05128300e-05 9.99997478e-01 -1.01139644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.04800114499999 meters 0.06347774738645859 Centerline is valid? [True, True] Translation: X:50.50, Y:-0.15, Z:-1.02 [[ 9.99954431e-01 9.09883750e-03 -2.88920225e-03 5.05036050e+01] [-9.09884574e-03 9.99958605e-01 1.02928971e-05 -1.48044412e-01] [ 2.88917630e-03 1.59959776e-05 9.99995826e-01 -1.01598994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.078001144999995 meters 0.06335531899710653 Centerline is valid? [True, True] Translation: X:50.53, Y:-0.15, Z:-1.02 [[ 9.99949963e-01 9.52717627e-03 -3.05033047e-03 5.05325459e+01] [-9.52718570e-03 9.99954615e-01 1.14383094e-05 -1.49933214e-01] [ 3.05030101e-03 1.76233278e-05 9.99995348e-01 -1.01572308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10800114499999 meters 0.06334272094183559 Centerline is valid? [True, True] Translation: X:50.56, Y:-0.15, Z:-1.01 [[ 9.99951015e-01 8.73109750e-03 -4.66224360e-03 5.05612648e+01] [-8.73111011e-03 9.99961883e-01 1.76484210e-05 -1.52970051e-01] [ 4.66221998e-03 2.30590057e-05 9.99989132e-01 -1.01488699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13800114499999 meters 0.0633741763799136 Centerline is valid? [True, True] Translation: X:50.59, Y:-0.15, Z:-1.02 [[ 9.99954068e-01 8.16426778e-03 -5.02055292e-03 5.05900704e+01] [-8.16427641e-03 9.99966672e-01 1.87768025e-05 -1.54238502e-01] [ 5.02053889e-03 2.22132417e-05 9.99987397e-01 -1.01624083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16800114499999 meters 0.06355952477514683 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.16, Z:-1.02 [[ 9.99959024e-01 7.12463109e-03 -5.58481165e-03 5.06173704e+01] [-7.12462866e-03 9.99974619e-01 2.03301968e-05 -1.56599491e-01] [ 5.58481475e-03 1.94603454e-05 9.99984405e-01 -1.01782300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19800114499999 meters 0.06352581660056617 Centerline is valid? [True, True] Translation: X:50.65, Y:-0.16, Z:-1.02 [[ 9.99975327e-01 5.11552743e-03 -4.81417947e-03 5.06457580e+01] [-5.11550337e-03 9.99986916e-01 1.73111904e-05 -1.60025998e-01] [ 4.81420504e-03 7.31618802e-06 9.99988412e-01 -1.01809878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22800114499999 meters 0.06356814147926036 Centerline is valid? [True, True] Translation: X:50.67, Y:-0.17, Z:-1.02 [[ 9.99989022e-01 9.48270986e-04 -4.58885341e-03 5.06741456e+01] [-9.48205228e-04 9.99999550e-01 1.65054988e-05 -1.67408810e-01] [ 4.58886700e-03 -1.21541428e-05 9.99989471e-01 -1.01813364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.258001144999994 meters 0.06356814147926036 Centerline is valid? [True, True] Translation: X:50.70, Y:-0.17, Z:-1.02 [[ 9.99989077e-01 8.87770365e-04 -4.58885535e-03 5.07024405e+01] [-8.87706395e-04 9.99999606e-01 1.59770673e-05 -1.67440346e-01] [ 4.58886773e-03 -1.19033365e-05 9.99989471e-01 -1.01859373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28800114499999 meters 0.0636420225748275 Centerline is valid? [True, True] Translation: X:50.73, Y:-0.17, Z:-1.02 [[ 9.99991586e-01 -8.79716512e-04 -4.00675825e-03 5.07310198e+01] [ 8.79777828e-04 9.99999613e-01 1.35407136e-05 -1.70417498e-01] [ 4.00674479e-03 -1.70656568e-05 9.99991973e-01 -1.01779206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31800114499999 meters 0.06367153474432823 Centerline is valid? [True, True] Translation: X:50.76, Y:-0.17, Z:-1.02 [[ 9.99988301e-01 -2.15792606e-03 -4.32919350e-03 5.07601140e+01] [ 2.15800884e-03 9.99997671e-01 1.44493857e-05 -1.73555213e-01] [ 4.32915224e-03 -2.37916545e-05 9.99990629e-01 -1.01875585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34800114499999 meters 0.06398646370476231 Centerline is valid? [True, True] Translation: X:50.79, Y:-0.18, Z:-1.02 [[ 9.99981923e-01 -3.50701418e-03 -4.88413589e-03 5.07890276e+01] [ 3.50713747e-03 9.99993850e-01 1.66777824e-05 -1.76143273e-01] [ 4.88404736e-03 -3.38068169e-05 9.99988072e-01 -1.02209432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37800114499999 meters 0.0640753522564425 Centerline is valid? [True, True] Translation: X:50.82, Y:-0.18, Z:-1.02 [[ 9.99973570e-01 -3.70170777e-03 -6.25752693e-03 5.08187864e+01] [ 3.70191454e-03 9.99993148e-01 2.14609638e-05 -1.75670822e-01] [ 6.25740460e-03 -4.46252265e-05 9.99980421e-01 -1.02304764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40800114499999 meters 0.06423468247075122 Centerline is valid? [True, True] Translation: X:50.85, Y:-0.18, Z:-1.02 [[ 9.99971750e-01 -4.08237430e-03 -6.31132851e-03 5.08488119e+01] [ 4.08259111e-03 9.99991666e-01 2.14692162e-05 -1.75802905e-01] [ 6.31118826e-03 -4.72351834e-05 9.99980083e-01 -1.02469553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.438001144999994 meters 0.06429195664866405 Centerline is valid? [True, True] Translation: X:50.88, Y:-0.18, Z:-1.03 [[ 9.99970345e-01 -5.05918543e-03 -5.80635860e-03 5.08778761e+01] [ 5.05938235e-03 9.99987201e-01 1.92264734e-05 -1.79933930e-01] [ 5.80618702e-03 -4.86024914e-05 9.99983143e-01 -1.02712378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46800114499999 meters 0.06425715313693853 Centerline is valid? [True, True] Translation: X:50.91, Y:-0.18, Z:-1.03 [[ 9.99972982e-01 -5.41373763e-03 -4.97255241e-03 5.09072959e+01] [ 5.41388275e-03 9.99985345e-01 1.57239546e-05 -1.82152972e-01] [ 4.97239441e-03 -4.26443455e-05 9.99987637e-01 -1.02779846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49800114499999 meters 0.06433769517469688 Centerline is valid? [True, True] Translation: X:50.94, Y:-0.18, Z:-1.03 [[ 9.99970044e-01 -6.01189059e-03 -4.87527582e-03 5.09381681e+01] [ 6.01204212e-03 9.99981927e-01 1.64272221e-05 -1.83290694e-01] [ 4.87508895e-03 -4.57370936e-05 9.99988116e-01 -1.02750004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52800114499999 meters 0.06441122730809992 Centerline is valid? [True, True] Translation: X:50.97, Y:-0.18, Z:-1.03 [[ 9.99966776e-01 -6.51754445e-03 -4.89582599e-03 5.09698572e+01] [ 6.51770627e-03 9.99978759e-01 1.70988007e-05 -1.83356283e-01] [ 4.89561055e-03 -4.90077883e-05 9.99988015e-01 -1.02809835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55800114499999 meters 0.06451782709593744 Centerline is valid? [True, True] Translation: X:51.00, Y:-0.18, Z:-1.03 [[ 9.99966909e-01 -6.47280756e-03 -4.92785807e-03 5.10010649e+01] [ 6.47297162e-03 9.99979050e-01 1.73437278e-05 -1.82903379e-01] [ 4.92764256e-03 -4.92410393e-05 9.99987858e-01 -1.02891837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58800114499999 meters 0.06447234644304163 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.18, Z:-1.03 [[ 9.99974717e-01 -5.19266429e-03 -4.85805706e-03 5.10322603e+01] [ 5.19281643e-03 9.99986517e-01 1.87036259e-05 -1.82204846e-01] [ 4.85789444e-03 -4.39301516e-05 9.99988199e-01 -1.03026827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.618001144999994 meters 0.06447645895759498 Centerline is valid? [True, True] Translation: X:51.06, Y:-0.18, Z:-1.03 [[ 9.99975427e-01 -3.71533124e-03 -5.94488844e-03 5.10624728e+01] [ 3.71552327e-03 9.99993097e-01 2.12569881e-05 -1.80453431e-01] [ 5.94476843e-03 -4.33448371e-05 9.99982329e-01 -1.03207577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64800114499999 meters 0.06453048230087381 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.18, Z:-1.03 [[ 9.99975389e-01 -1.89934554e-03 -6.75386802e-03 5.10924336e+01] [ 1.89954594e-03 9.99998196e-01 2.32581013e-05 -1.78130208e-01] [ 6.75381166e-03 -3.60868115e-05 9.99977192e-01 -1.03387882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67800114499999 meters 0.06432538328389402 Centerline is valid? [True, True] Translation: X:51.12, Y:-0.17, Z:-1.03 [[ 9.99968329e-01 1.82136646e-03 -7.74747307e-03 5.11215491e+01] [-1.82124810e-03 9.99998341e-01 2.23320845e-05 -1.74119742e-01] [ 7.74750089e-03 -8.22130667e-06 9.99969988e-01 -1.03364226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70800114499999 meters 0.06470921157727214 Centerline is valid? [True, True] Translation: X:51.15, Y:-0.17, Z:-1.04 [[ 9.99961900e-01 2.90840427e-03 -8.23035636e-03 5.11490635e+01] [-2.90830032e-03 9.99995771e-01 2.45983612e-05 -1.72577903e-01] [ 8.23039309e-03 -6.61076042e-07 9.99966130e-01 -1.03775758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73800114499999 meters 0.06439614074211876 Centerline is valid? [True, True] Translation: X:51.18, Y:-0.17, Z:-1.03 [[ 9.99959867e-01 4.13179299e-03 -7.94937699e-03 5.11777921e+01] [-4.13173240e-03 9.99991464e-01 2.40448456e-05 -1.70725548e-01] [ 7.94940848e-03 8.80081783e-06 9.99968403e-01 -1.03355672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76800114499999 meters 0.06440986559702555 Centerline is valid? [True, True] Translation: X:51.21, Y:-0.17, Z:-1.03 [[ 9.99961802e-01 5.06925253e-03 -7.12018991e-03 5.12052664e+01] [-5.06923361e-03 9.99987151e-01 2.07046612e-05 -1.67841871e-01] [ 7.12020338e-03 1.53900356e-05 9.99974651e-01 -1.03203216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.79800114499999 meters 0.06414410296204845 Centerline is valid? [True, True] Translation: X:51.23, Y:-0.17, Z:-1.03 [[ 9.99963464e-01 5.36164389e-03 -6.65765175e-03 5.12342269e+01] [-5.36163587e-03 9.99985626e-01 1.90518255e-05 -1.67448880e-01] [ 6.65765820e-03 1.66447750e-05 9.99977837e-01 -1.02778739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.828001144999995 meters 0.06401344560659324 Centerline is valid? [True, True] Translation: X:51.26, Y:-0.17, Z:-1.03 [[ 9.99966048e-01 6.06862655e-03 -5.57438060e-03 5.12628625e+01] [-6.06863490e-03 9.99981586e-01 1.54173020e-05 -1.67650392e-01] [ 5.57437151e-03 1.84121021e-05 9.99984463e-01 -1.02670393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85800114499999 meters 0.0641994683419003 Centerline is valid? [True, True] Translation: X:51.29, Y:-0.17, Z:-1.03 [[ 9.99968341e-01 5.38494086e-03 -5.85828834e-03 5.12903007e+01] [-5.38494207e-03 9.99985501e-01 1.55669112e-05 -1.68460057e-01] [ 5.85828723e-03 1.59801250e-05 9.99982840e-01 -1.02940749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88800114499999 meters 0.06418273843165653 Centerline is valid? [True, True] Translation: X:51.32, Y:-0.17, Z:-1.03 [[ 9.99965807e-01 5.29594243e-03 -6.35126422e-03 5.13189387e+01] [-5.29594228e-03 9.99985976e-01 1.68414071e-05 -1.69881769e-01] [ 6.35126434e-03 1.67950975e-05 9.99979830e-01 -1.02967131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91800114499999 meters 0.0643443001940624 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.17, Z:-1.03 [[ 9.99968769e-01 4.81735554e-03 -6.26525070e-03 5.13461509e+01] [-4.81735491e-03 9.99988396e-01 1.51907944e-05 -1.70524960e-01] [ 6.26525118e-03 1.49916163e-05 9.99980373e-01 -1.03287679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94800114499999 meters 0.0642483364635718 Centerline is valid? [True, True] Translation: X:51.38, Y:-0.17, Z:-1.03 [[ 9.99973326e-01 4.38814214e-03 -5.83873990e-03 5.13754058e+01] [-4.38813266e-03 9.99990372e-01 1.44345921e-05 -1.70600100e-01] [ 5.83874702e-03 1.11869582e-05 9.99982954e-01 -1.03093638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97800114499999 meters 0.06416864129843919 Centerline is valid? [True, True] Translation: X:51.40, Y:-0.17, Z:-1.03 [[ 9.99980831e-01 3.73813666e-03 -4.93602892e-03 5.14047306e+01] [-3.73812258e-03 9.99993013e-01 1.20780332e-05 -1.70810184e-01] [ 4.93603959e-03 6.37367948e-06 9.99987818e-01 -1.03052652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.008001144999994 meters 0.06416174687629432 Centerline is valid? [True, True] Translation: X:51.43, Y:-0.17, Z:-1.03 [[ 9.99990532e-01 2.37063668e-03 -3.64921789e-03 5.14337705e+01] [-2.37062231e-03 9.99997190e-01 8.26428936e-06 -1.72483960e-01] [ 3.64922723e-03 3.86706227e-07 9.99993342e-01 -1.03073585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03800114499999 meters 0.06407591538410552 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.17, Z:-1.03 [[ 9.99992820e-01 1.42502143e-03 -3.51141598e-03 5.14612264e+01] [-1.42500419e-03 9.99998985e-01 7.41216423e-06 -1.74324117e-01] [ 3.51142297e-03 -2.40832854e-06 9.99993835e-01 -1.03183684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06800114499999 meters 0.06424420027501151 Centerline is valid? [True, True] Translation: X:51.49, Y:-0.18, Z:-1.03 [[ 9.99992777e-01 -6.43049557e-04 -3.74606751e-03 5.14899835e+01] [ 6.43084126e-04 9.99999793e-01 8.02345715e-06 -1.77124711e-01] [ 3.74606157e-03 -1.04324357e-05 9.99992983e-01 -1.03276417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09800114499999 meters 0.06466859807487321 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.18, Z:-1.04 [[ 9.99992406e-01 -2.59259638e-03 -2.90970695e-03 5.15185565e+01] [ 2.59262521e-03 9.99996639e-01 6.13532698e-06 -1.80868894e-01] [ 2.90968127e-03 -1.36790600e-05 9.99995767e-01 -1.03820969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12800114499999 meters 0.0649608712386566 Centerline is valid? [True, True] Translation: X:51.55, Y:-0.19, Z:-1.04 [[ 9.99962067e-01 -7.77528473e-03 -3.92558830e-03 5.15494279e+01] [ 7.77538094e-03 9.99969771e-01 9.24807438e-06 -1.85189133e-01] [ 3.92539773e-03 -3.97706681e-05 9.99992295e-01 -1.03627855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15800114499999 meters 0.06515326564338081 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.19, Z:-1.04 [[ 9.99935913e-01 -1.05515463e-02 -4.10298743e-03 5.15811495e+01] [ 1.05516786e-02 9.99944329e-01 1.05844273e-05 -1.87683167e-01] [ 4.10264733e-03 -5.38771535e-05 9.99991583e-01 -1.03674759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.188001144999994 meters 0.06649000943366351 Centerline is valid? [True, True] Translation: X:51.61, Y:-0.20, Z:-1.04 [[ 9.99912706e-01 -1.25352309e-02 -4.17719466e-03 5.16123882e+01] [ 1.25353860e-02 9.99921429e-01 1.09489968e-05 -1.95533502e-01] [ 4.17672920e-03 -6.33107886e-05 9.99991275e-01 -1.04460181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21800114499999 meters 0.06709543087100021 Centerline is valid? [True, True] Translation: X:51.64, Y:-0.20, Z:-1.05 [[ 9.99887202e-01 -1.44681406e-02 -4.03197788e-03 5.16449970e+01] [ 1.44683023e-02 9.99895329e-01 1.09310060e-05 -1.98842228e-01] [ 4.03139770e-03 -6.92656478e-05 9.99991871e-01 -1.04605263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24800114499999 meters 0.06605955573324328 Centerline is valid? [True, True] Translation: X:51.68, Y:-0.19, Z:-1.04 [[ 9.99845489e-01 -1.69100138e-02 -4.80101476e-03 5.16774301e+01] [ 1.69102725e-02 9.99857011e-01 1.32979185e-05 -1.94383517e-01] [ 4.80010340e-03 -9.44823319e-05 9.99988475e-01 -1.03977618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27800114499999 meters 0.06634783389474075 Centerline is valid? [True, True] Translation: X:51.71, Y:-0.20, Z:-1.04 [[ 9.99834000e-01 -1.74737832e-02 -5.16131146e-03 5.17082697e+01] [ 1.74740893e-02 9.99847316e-01 1.42069013e-05 -1.95324071e-01] [ 5.16027516e-03 -1.04393760e-04 9.99986680e-01 -1.04106928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30800114499999 meters 0.06650925039173894 Centerline is valid? [True, True] Translation: X:51.74, Y:-0.20, Z:-1.04 [[ 9.99813546e-01 -1.84878799e-02 -5.57414615e-03 5.17400138e+01] [ 1.84882538e-02 9.99829078e-01 1.55396455e-05 -1.95534203e-01] [ 5.57290611e-03 -1.18592977e-04 9.99984464e-01 -1.04214640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33800114499999 meters 0.06683953445474225 Centerline is valid? [True, True] Translation: X:51.77, Y:-0.19, Z:-1.04 [[ 9.99815872e-01 -1.84948781e-02 -5.11483910e-03 5.17713008e+01] [ 1.84952016e-02 9.99828949e-01 1.59688105e-05 -1.94489982e-01] [ 5.11366886e-03 -1.10565851e-04 9.99986919e-01 -1.04227139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.368001144999994 meters 0.06705020980903513 Centerline is valid? [True, True] Translation: X:51.80, Y:-0.19, Z:-1.04 [[ 9.99815527e-01 -1.86993486e-02 -4.38705977e-03 5.18038591e+01] [ 1.86995873e-02 9.99825147e-01 1.33819916e-05 -1.92589938e-01] [ 4.38604244e-03 -9.54157300e-05 9.99990377e-01 -1.04194798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39800114499999 meters 0.06733244654418254 Centerline is valid? [True, True] Translation: X:51.84, Y:-0.19, Z:-1.04 [[ 9.99807820e-01 -1.91072446e-02 -4.38596439e-03 5.18355552e+01] [ 1.91074868e-02 9.99817435e-01 1.33275521e-05 -1.92003907e-01] [ 4.38490901e-03 -9.71297475e-05 9.99990382e-01 -1.04327546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42800114499999 meters 0.06758684955422588 Centerline is valid? [True, True] Translation: X:51.87, Y:-0.19, Z:-1.04 [[ 9.99797438e-01 -1.96797899e-02 -4.21773978e-03 5.18663151e+01] [ 1.96800199e-02 9.99806330e-01 1.30349263e-05 -1.91948642e-01] [ 4.21666641e-03 -9.60374889e-05 9.99991105e-01 -1.04480900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45800114499999 meters 0.06802812511482698 Centerline is valid? [True, True] Translation: X:51.90, Y:-0.19, Z:-1.05 [[ 9.99789171e-01 -1.99621821e-02 -4.80893310e-03 5.18977727e+01] [ 1.99624849e-02 9.99800730e-01 1.49699603e-05 -1.88559248e-01] [ 4.80767599e-03 -1.10965059e-04 9.99988437e-01 -1.04647420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48800114499999 meters 0.06839118305417458 Centerline is valid? [True, True] Translation: X:51.93, Y:-0.19, Z:-1.05 [[ 9.99777448e-01 -2.05524364e-02 -4.75933026e-03 5.19301199e+01] [ 2.05527421e-02 9.99788770e-01 1.53437145e-05 -1.87261490e-01] [ 4.75800960e-03 -1.13157587e-04 9.99988674e-01 -1.04751276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51800114499999 meters 0.06869316982574736 Centerline is valid? [True, True] Translation: X:51.96, Y:-0.19, Z:-1.05 [[ 9.99775071e-01 -2.07492807e-02 -4.39034970e-03 5.19617169e+01] [ 2.07495457e-02 9.99784705e-01 1.48019335e-05 -1.86848778e-01] [ 4.38909735e-03 -1.05896366e-04 9.99990362e-01 -1.04939745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.54800114499999 meters 0.06895184184907145 Centerline is valid? [True, True] Translation: X:51.99, Y:-0.19, Z:-1.05 [[ 9.99770486e-01 -2.10335618e-02 -4.06995856e-03 5.19944011e+01] [ 2.10337946e-02 9.99778765e-01 1.44060033e-05 -1.86808434e-01] [ 4.06875514e-03 -1.00009369e-04 9.99991718e-01 -1.05087155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57800114499999 meters 0.06782564112862223 Centerline is valid? [True, True] Translation: X:52.03, Y:-0.18, Z:-1.05 [[ 9.99773341e-01 -2.10045499e-02 -3.47500926e-03 5.20267353e+01] [ 2.10047196e-02 9.99779376e-01 1.23371243e-05 -1.81146879e-01] [ 3.47398346e-03 -8.53259232e-05 9.99993962e-01 -1.04805877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60800114499999 meters 0.06806028708641719 Centerline is valid? [True, True] Translation: X:52.06, Y:-0.18, Z:-1.05 [[ 9.99763028e-01 -2.14107709e-02 -3.93281157e-03 5.20591658e+01] [ 2.14109919e-02 9.99770758e-01 1.40753458e-05 -1.77335628e-01] [ 3.93160865e-03 -9.82774070e-05 9.99992266e-01 -1.04848350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63800114499999 meters 0.06919985267336383 Centerline is valid? [True, True] Translation: X:52.09, Y:-0.18, Z:-1.05 [[ 9.99783591e-01 -2.06791519e-02 -2.26820614e-03 5.20901178e+01] [ 2.06792241e-02 9.99786162e-01 8.40683488e-06 -1.79573443e-01] [ 2.26754726e-03 -5.53097587e-05 9.99997428e-01 -1.05141165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66800114499999 meters 0.06803821318683054 Centerline is valid? [True, True] Translation: X:52.12, Y:-0.17, Z:-1.05 [[ 9.99825006e-01 -1.86698376e-02 -1.18108860e-03 5.21224941e+01] [ 1.86698566e-02 9.99825703e-01 5.05592000e-06 -1.71476995e-01] [ 1.18078835e-03 -2.71057901e-05 9.99999303e-01 -1.04788074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69800114499999 meters 0.06799543445048732 Centerline is valid? [True, True] Translation: X:52.15, Y:-0.17, Z:-1.05 [[ 9.99838209e-01 -1.79640841e-02 -9.20513709e-04 5.21543088e+01] [ 1.79640956e-02 9.99838633e-01 4.22408445e-06 -1.70878583e-01] [ 9.20289286e-04 -2.07595973e-05 9.99999576e-01 -1.04940418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72800114499999 meters 0.06770740647863827 Centerline is valid? [True, True] Translation: X:52.19, Y:-0.17, Z:-1.05 [[ 9.99847705e-01 -1.73509873e-02 -1.87375655e-03 5.21861130e+01] [ 1.73510322e-02 9.99849459e-01 7.68734729e-06 -1.69184179e-01] [ 1.87334109e-03 -4.01977866e-05 9.99998244e-01 -1.05047093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.758001144999994 meters 0.06771514865468405 Centerline is valid? [True, True] Translation: X:52.22, Y:-0.17, Z:-1.05 [[ 9.99855405e-01 -1.68751467e-02 -2.09709586e-03 5.22175006e+01] [ 1.68752012e-02 9.99857604e-01 8.31956239e-06 -1.67807352e-01] [ 2.09665684e-03 -4.37072741e-05 9.99997801e-01 -1.05165760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78800114499999 meters 0.0675758839694419 Centerline is valid? [True, True] Translation: X:52.25, Y:-0.16, Z:-1.05 [[ 9.99877090e-01 -1.54939973e-02 -2.39593725e-03 5.22492652e+01] [ 1.54940653e-02 9.99879960e-01 9.78503572e-06 -1.62993426e-01] [ 2.39549803e-03 -4.69066411e-05 9.99997130e-01 -1.05145854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81800114499999 meters 0.0675134016830445 Centerline is valid? [True, True] Translation: X:52.28, Y:-0.16, Z:-1.05 [[ 9.99884480e-01 -1.49956570e-02 -2.48111634e-03 5.22815334e+01] [ 1.49957286e-02 9.99887558e-01 1.02509597e-05 -1.60983074e-01] [ 2.48068364e-03 -4.74559227e-05 9.99996922e-01 -1.05237686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84800114499999 meters 0.0678367129707646 Centerline is valid? [True, True] Translation: X:52.31, Y:-0.16, Z:-1.06 [[ 9.99902278e-01 -1.37632159e-02 -2.45111832e-03 5.23122347e+01] [ 1.37632818e-02 9.99905282e-01 9.99848781e-06 -1.61655040e-01] [ 2.45074854e-03 -4.37329429e-05 9.99996996e-01 -1.05533602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87800114499999 meters 0.0672657448731648 Centerline is valid? [True, True] Translation: X:52.34, Y:-0.16, Z:-1.05 [[ 9.99921114e-01 -1.22579117e-02 -2.74031650e-03 5.23445399e+01] [ 1.22579892e-02 9.99924868e-01 1.15100624e-05 -1.58468222e-01] [ 2.73996952e-03 -4.50999246e-05 9.99996245e-01 -1.05496473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90800114499999 meters 0.06670737139273258 Centerline is valid? [True, True] Translation: X:52.38, Y:-0.16, Z:-1.05 [[ 9.99940663e-01 -1.07678801e-02 -1.65051245e-03 5.23765915e+01] [ 1.07679071e-02 9.99942024e-01 7.49190767e-06 -1.55208265e-01] [ 1.65033609e-03 -2.52640279e-05 9.99998638e-01 -1.05414696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.938001144999994 meters 0.06646313081114706 Centerline is valid? [True, True] Translation: X:52.41, Y:-0.15, Z:-1.05 [[ 9.99967435e-01 -7.60694839e-03 -2.69517867e-03 5.24079290e+01] [ 7.60701012e-03 9.99971066e-01 1.26543693e-05 -1.50920397e-01] [ 2.69500442e-03 -3.31562086e-05 9.99996368e-01 -1.05421514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96800114499999 meters 0.06640960786921982 Centerline is valid? [True, True] Translation: X:52.44, Y:-0.15, Z:-1.05 [[ 9.99972254e-01 -6.70575088e-03 -3.24395450e-03 5.24397874e+01] [ 6.70583245e-03 9.99977516e-01 1.42702777e-05 -1.47878766e-01] [ 3.24378587e-03 -3.60232972e-05 9.99994738e-01 -1.05436743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99800114499999 meters 0.06629251243736639 Centerline is valid? [True, True] Translation: X:52.47, Y:-0.14, Z:-1.05 [[ 9.99984240e-01 -3.59152546e-03 -4.31524136e-03 5.24720528e+01] [ 3.59164061e-03 9.99993550e-01 1.89346108e-05 -1.41641109e-01] [ 4.31514552e-03 -3.44331085e-05 9.99990689e-01 -1.05421919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02800114499999 meters 0.06630631510908452 Centerline is valid? [True, True] Translation: X:52.50, Y:-0.14, Z:-1.06 [[ 9.99987827e-01 -2.64028948e-03 -4.16824742e-03 5.25012085e+01] [ 2.64038461e-03 9.99996514e-01 1.73193745e-05 -1.40359467e-01] [ 4.16818716e-03 -2.83249400e-05 9.99991313e-01 -1.05610903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05800114499999 meters 0.06619818916880547 Centerline is valid? [True, True] Translation: X:52.53, Y:-0.14, Z:-1.06 [[ 9.99983572e-01 -2.03537760e-03 -5.35852842e-03 5.25310652e+01] [ 2.03552203e-03 9.99997928e-01 2.14995753e-05 -1.38012905e-01] [ 5.35847356e-03 -3.24066247e-05 9.99985643e-01 -1.05540438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08800114499999 meters 0.06612961412410638 Centerline is valid? [True, True] Translation: X:52.56, Y:-0.14, Z:-1.06 [[ 9.99990531e-01 -1.77859065e-03 -3.97164495e-03 5.25594823e+01] [ 1.77866566e-03 9.99998418e-01 1.53529908e-05 -1.36933211e-01] [ 3.97161136e-03 -2.24170739e-05 9.99992113e-01 -1.05623916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.118001144999994 meters 0.06604321632728447 Centerline is valid? [True, True] Translation: X:52.59, Y:-0.14, Z:-1.06 [[ 9.99989123e-01 -2.79700810e-03 -3.73233360e-03 5.25895112e+01] [ 2.79708174e-03 9.99996088e-01 1.45097190e-05 -1.36331913e-01] [ 3.73227842e-03 -2.49492033e-05 9.99993035e-01 -1.05598028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14800114499999 meters 0.06604321632728447 Centerline is valid? [True, True] Translation: X:52.62, Y:-0.14, Z:-1.06 [[ 9.99989123e-01 -2.79701675e-03 -3.73233146e-03 5.26195137e+01] [ 2.79709237e-03 9.99996088e-01 1.50417787e-05 -1.36453121e-01] [ 3.73227478e-03 -2.54812909e-05 9.99993035e-01 -1.05646801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17800114499999 meters 0.06619596078417027 Centerline is valid? [True, True] Translation: X:52.65, Y:-0.14, Z:-1.06 [[ 9.99992321e-01 -3.06323077e-03 -2.44445716e-03 5.26489450e+01] [ 3.06326326e-03 9.99995308e-01 9.54903501e-06 -1.37101974e-01] [ 2.44441644e-03 -1.70369775e-05 9.99997012e-01 -1.05798841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20800114499999 meters 0.06621857888907713 Centerline is valid? [True, True] Translation: X:52.68, Y:-0.14, Z:-1.06 [[ 9.99989684e-01 -3.14595354e-03 -3.27639780e-03 5.26790720e+01] [ 3.14601453e-03 9.99995051e-01 1.34597616e-05 -1.37181239e-01] [ 3.27633924e-03 -2.37672179e-05 9.99994633e-01 -1.05996445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23800114499999 meters 0.06636538038417297 Centerline is valid? [True, True] Translation: X:52.71, Y:-0.14, Z:-1.06 [[ 9.99983307e-01 -4.34385140e-03 -3.80997001e-03 5.27094652e+01] [ 4.34394143e-03 9.99990565e-01 1.53532244e-05 -1.37124221e-01] [ 3.80986737e-03 -3.19032547e-05 9.99992742e-01 -1.06022473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26800114499999 meters 0.0665678181896922 Centerline is valid? [True, True] Translation: X:52.74, Y:-0.14, Z:-1.06 [[ 9.99965492e-01 -7.14043300e-03 -4.24603768e-03 5.27404801e+01] [ 7.14057278e-03 9.99974506e-01 1.77623627e-05 -1.36847430e-01] [ 4.24580260e-03 -4.80808909e-05 9.99990985e-01 -1.05830825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.29800114499999 meters 0.06668498844729609 Centerline is valid? [True, True] Translation: X:52.77, Y:-0.14, Z:-1.06 [[ 9.99952989e-01 -8.37420095e-03 -4.88797156e-03 5.27728539e+01] [ 8.37440460e-03 9.99964934e-01 2.11977285e-05 -1.38153232e-01] [ 4.88762265e-03 -6.21305836e-05 9.99988054e-01 -1.05853869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32800114499999 meters 0.06692206878961256 Centerline is valid? [True, True] Translation: X:52.80, Y:-0.14, Z:-1.06 [[ 9.99941976e-01 -9.67188950e-03 -4.74342205e-03 5.28036215e+01] [ 9.67210132e-03 9.99953224e-01 2.17177526e-05 -1.41119762e-01] [ 4.74299012e-03 -6.75953511e-05 9.99988750e-01 -1.06119920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35800114499999 meters 0.06735590029834608 Centerline is valid? [True, True] Translation: X:52.84, Y:-0.14, Z:-1.06 [[ 9.99914950e-01 -1.19578043e-02 -5.20605765e-03 5.28355950e+01] [ 1.19580880e-02 9.99928499e-01 2.33525502e-05 -1.42914296e-01] [ 5.20540617e-03 -8.56050594e-05 9.99986448e-01 -1.06274993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38800114499999 meters 0.06760775608539848 Centerline is valid? [True, True] Translation: X:52.87, Y:-0.14, Z:-1.06 [[ 9.99891500e-01 -1.29508680e-02 -7.01882389e-03 5.28675222e+01] [ 1.29514085e-02 9.99916126e-01 3.15711368e-05 -1.42685339e-01] [ 7.01782633e-03 -1.22471367e-04 9.99975367e-01 -1.06440146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41800114499999 meters 0.06814335280852604 Centerline is valid? [True, True] Translation: X:52.90, Y:-0.14, Z:-1.07 [[ 9.99868523e-01 -1.41068255e-02 -7.99590404e-03 5.28990534e+01] [ 1.41075639e-02 9.99900483e-01 3.59426699e-05 -1.43619055e-01] [ 7.99460127e-03 -1.48740671e-04 9.99968032e-01 -1.06719409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44800114499999 meters 0.06821535209497916 Centerline is valid? [True, True] Translation: X:52.93, Y:-0.14, Z:-1.07 [[ 9.99857115e-01 -1.49437604e-02 -7.90154632e-03 5.29310111e+01] [ 1.49445135e-02 9.99888324e-01 3.62691566e-05 -1.43813287e-01] [ 7.90012191e-03 -1.54348740e-04 9.99968782e-01 -1.06852383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47800114499999 meters 0.06870978952822078 Centerline is valid? [True, True] Translation: X:52.96, Y:-0.14, Z:-1.07 [[ 9.99840369e-01 -1.58818540e-02 -8.18555066e-03 5.29618363e+01] [ 1.58826944e-02 9.99873861e-01 3.76665282e-05 -1.44559504e-01] [ 8.18391993e-03 -1.67669115e-04 9.99966497e-01 -1.07145890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.508001144999994 meters 0.06884764347219405 Centerline is valid? [True, True] Translation: X:52.99, Y:-0.14, Z:-1.07 [[ 9.99839313e-01 -1.62084792e-02 -7.65728011e-03 5.29935002e+01] [ 1.62092271e-02 9.99868621e-01 3.56275804e-05 -1.43856569e-01] [ 7.65569664e-03 -1.59740448e-04 9.99970682e-01 -1.07202688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53800114499999 meters 0.06881514855913938 Centerline is valid? [True, True] Translation: X:53.03, Y:-0.14, Z:-1.07 [[ 9.99855378e-01 -1.56304638e-02 -6.70168333e-03 5.30252990e+01] [ 1.56310311e-02 9.99877827e-01 3.22817699e-05 -1.41899837e-01] [ 6.70035998e-03 -1.37031322e-04 9.99977543e-01 -1.07209338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56800114499999 meters 0.0681164342675812 Centerline is valid? [True, True] Translation: X:53.06, Y:-0.14, Z:-1.07 [[ 9.99866114e-01 -1.53493464e-02 -5.67017337e-03 5.30573285e+01] [ 1.53497501e-02 9.99882185e-01 2.76798786e-05 -1.37345563e-01] [ 5.66908047e-03 -1.14711917e-04 9.99983924e-01 -1.06933811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59800114499999 meters 0.0688453651001992 Centerline is valid? [True, True] Translation: X:53.09, Y:-0.14, Z:-1.07 [[ 9.99877670e-01 -1.46607608e-02 -5.45044393e-03 5.30881363e+01] [ 1.46611238e-02 9.99892520e-01 2.66472763e-05 -1.35770450e-01] [ 5.44946744e-03 -1.06553649e-04 9.99985146e-01 -1.07303545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62800114499999 meters 0.0686355037103701 Centerline is valid? [True, True] Translation: X:53.12, Y:-0.13, Z:-1.07 [[ 9.99881770e-01 -1.39347186e-02 -6.50143653e-03 5.31204711e+01] [ 1.39352226e-02 9.99902900e-01 3.22348996e-05 -1.32728704e-01] [ 6.50035605e-03 -1.22830054e-04 9.99978865e-01 -1.07358450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65800114499999 meters 0.06811216082968757 Centerline is valid? [True, True] Translation: X:53.15, Y:-0.13, Z:-1.07 [[ 9.99880074e-01 -1.36523627e-02 -7.31102695e-03 5.31527114e+01] [ 1.36529956e-02 9.99906793e-01 3.66605376e-05 -1.28824841e-01] [ 7.30984500e-03 -1.36473559e-04 9.99973273e-01 -1.07258999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.688001144999994 meters 0.06816997329970306 Centerline is valid? [True, True] Translation: X:53.18, Y:-0.13, Z:-1.08 [[ 9.99873653e-01 -1.33618231e-02 -8.61044324e-03 5.31844899e+01] [ 1.33626934e-02 9.99910714e-01 4.35432432e-05 -1.27693960e-01] [ 8.60909263e-03 -1.58596454e-04 9.99962928e-01 -1.07505166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71800114499999 meters 0.06815873614761048 Centerline is valid? [True, True] Translation: X:53.22, Y:-0.13, Z:-1.08 [[ 9.99877179e-01 -1.29968203e-02 -8.75845063e-03 5.32169499e+01] [ 1.29977115e-02 9.99915525e-01 4.48389833e-05 -1.26102157e-01] [ 8.75712800e-03 -1.58673290e-04 9.99961643e-01 -1.07703937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74800114499999 meters 0.06811239068345798 Centerline is valid? [True, True] Translation: X:53.25, Y:-0.12, Z:-1.08 [[ 9.99892575e-01 -1.06398180e-02 -1.00813153e-02 5.32479213e+01] [ 1.06408796e-02 9.99943383e-01 5.16714287e-05 -1.20176620e-01] [ 1.00801947e-02 -1.58939940e-04 9.99949181e-01 -1.08090462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77800114499999 meters 0.06766072904526904 Centerline is valid? [True, True] Translation: X:53.28, Y:-0.12, Z:-1.08 [[ 9.99910901e-01 -8.59670236e-03 -1.02121280e-02 5.32794010e+01] [ 8.59768609e-03 9.99963038e-01 5.24311813e-05 -1.15016390e-01] [ 1.02112998e-02 -1.40227180e-04 9.99947853e-01 -1.08060598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80800114499999 meters 0.06738943160342847 Centerline is valid? [True, True] Translation: X:53.31, Y:-0.11, Z:-1.08 [[ 9.99920526e-01 -6.29533413e-03 -1.09229046e-02 5.33094502e+01] [ 6.29631596e-03 9.99980176e-01 5.55017655e-05 -1.11464691e-01] [ 1.09223387e-02 -1.24271413e-04 9.99940342e-01 -1.08195526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83800114499999 meters 0.06688059950396584 Centerline is valid? [True, True] Translation: X:53.34, Y:-0.10, Z:-1.08 [[ 9.99948125e-01 -8.67984417e-04 -1.01485858e-02 5.33383578e+01] [ 8.68539318e-04 9.99999622e-01 5.02705254e-05 -1.01820133e-01] [ 1.01485383e-02 -5.90823634e-05 9.99948501e-01 -1.08332636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.868001144999994 meters 0.06683846934979844 Centerline is valid? [True, True] Translation: X:53.37, Y:-0.10, Z:-1.08 [[ 9.99938240e-01 1.45435043e-03 -1.10182527e-02 5.33662901e+01] [-1.45385201e-03 9.99998942e-01 5.32452446e-05 -9.65175830e-02] [ 1.10183185e-02 -3.72230473e-05 9.99939296e-01 -1.08389856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89800114499999 meters 0.06680242156227073 Centerline is valid? [True, True] Translation: X:53.40, Y:-0.09, Z:-1.08 [[ 9.99938624e-01 3.84051435e-03 -1.03922630e-02 5.33952277e+01] [-3.84024940e-03 9.99992625e-01 4.54497040e-05 -9.16410825e-02] [ 1.03923609e-02 -5.53803268e-06 9.99945998e-01 -1.08360890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92800114499999 meters 0.06675456772959666 Centerline is valid? [True, True] Translation: X:53.42, Y:-0.09, Z:-1.08 [[ 9.99923607e-01 6.14660270e-03 -1.07238222e-02 5.34242248e+01] [-6.14647798e-03 9.99981109e-01 4.45890483e-05 -8.64974009e-02] [ 1.07238937e-02 2.13280948e-05 9.99942497e-01 -1.08359371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95800114499999 meters 0.0669357709385599 Centerline is valid? [True, True] Translation: X:53.45, Y:-0.08, Z:-1.08 [[ 9.99897008e-01 9.98506634e-03 -1.03088004e-02 5.34518121e+01] [-9.98518932e-03 9.99950146e-01 3.95410666e-05 -7.79562598e-02] [ 1.03086813e-02 6.33983293e-05 9.99946862e-01 -1.08315407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98800114499999 meters 0.06715323995102918 Centerline is valid? [True, True] Translation: X:53.48, Y:-0.07, Z:-1.09 [[ 9.99873222e-01 1.14556343e-02 -1.10593442e-02 5.34796587e+01] [-1.14558400e-02 9.99934379e-01 4.47461429e-05 -7.49931805e-02] [ 1.10591311e-02 8.19536086e-05 9.99938843e-01 -1.08535753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01800114499999 meters 0.06733723514833427 Centerline is valid? [True, True] Translation: X:53.51, Y:-0.07, Z:-1.09 [[ 9.99853042e-01 1.24879019e-02 -1.17450687e-02 5.35070942e+01] [-1.24882147e-02 9.99922018e-01 4.67059008e-05 -7.32595124e-02] [ 1.17447361e-02 9.99759034e-05 9.99931023e-01 -1.08806792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.04800114499999 meters 0.06744461317139265 Centerline is valid? [True, True] Translation: X:53.54, Y:-0.07, Z:-1.09 [[ 9.99844431e-01 1.24425380e-02 -1.25018942e-02 5.35357330e+01] [-1.24429507e-02 9.99922582e-01 4.47720730e-05 -7.26925830e-02] [ 1.25014834e-02 1.10795345e-04 9.99921847e-01 -1.08994641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07800114499999 meters 0.067834017117821 Centerline is valid? [True, True] Translation: X:53.56, Y:-0.07, Z:-1.09 [[ 9.99813806e-01 1.33665535e-02 -1.39172310e-02 5.35635683e+01] [-1.33671482e-02 9.99910654e-01 5.02931102e-05 -6.98630707e-02] [ 1.39166598e-02 1.35749943e-04 9.99903149e-01 -1.09412020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10800114499999 meters 0.06794964762201915 Centerline is valid? [True, True] Translation: X:53.59, Y:-0.07, Z:-1.10 [[ 9.99812474e-01 1.31103944e-02 -1.42525423e-02 5.35923350e+01] [-1.31110592e-02 9.99914045e-01 4.67978388e-05 -6.94721668e-02] [ 1.42519307e-02 1.40076862e-04 9.99898426e-01 -1.09503474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13800114499999 meters 0.06805455208476538 Centerline is valid? [True, True] Translation: X:53.62, Y:-0.07, Z:-1.10 [[ 9.99817024e-01 1.23170232e-02 -1.46359063e-02 5.36205783e+01] [-1.23176976e-02 9.99924133e-01 4.40668021e-05 -6.92789447e-02] [ 1.46353386e-02 1.36221928e-04 9.99892888e-01 -1.09629173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16800114499999 meters 0.06797227875035584 Centerline is valid? [True, True] Translation: X:53.65, Y:-0.07, Z:-1.10 [[ 9.99834304e-01 1.15245397e-02 -1.40907261e-02 5.36491794e+01] [-1.15251234e-02 9.99933583e-01 3.97797390e-05 -6.88035848e-02] [ 1.40902487e-02 1.22624210e-04 9.99900720e-01 -1.09661179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19800114499999 meters 0.06778617171720096 Centerline is valid? [True, True] Translation: X:53.68, Y:-0.07, Z:-1.10 [[ 9.99878790e-01 9.20619554e-03 -1.25559270e-02 5.36769462e+01] [-9.20646478e-03 9.99957619e-01 3.63583130e-05 -6.81246177e-02] [ 1.25557296e-02 7.92417939e-05 9.99921171e-01 -1.09693526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22800114499999 meters 0.06719518556421608 Centerline is valid? [True, True] Translation: X:53.71, Y:-0.07, Z:-1.09 [[ 9.99890442e-01 8.11243250e-03 -1.23811715e-02 5.37056617e+01] [-8.11261874e-03 9.99967092e-01 3.51818907e-05 -7.01776510e-02] [ 1.23810495e-02 6.52656877e-05 9.99923350e-01 -1.09205606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25800114499999 meters 0.06720094477862916 Centerline is valid? [True, True] Translation: X:53.73, Y:-0.07, Z:-1.09 [[ 9.99905598e-01 6.74378130e-03 -1.19714794e-02 5.37333744e+01] [-6.74387259e-03 9.99977259e-01 3.27433059e-05 -7.30018854e-02] [ 1.19714280e-02 4.79939168e-05 9.99928339e-01 -1.09372647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28800114499999 meters 0.06725056313414067 Centerline is valid? [True, True] Translation: X:53.76, Y:-0.07, Z:-1.09 [[ 9.99914887e-01 6.21924765e-03 -1.14690543e-02 5.37614068e+01] [-6.21930802e-03 9.99980659e-01 3.04027260e-05 -7.35414789e-02] [ 1.14690216e-02 4.09294433e-05 9.99934228e-01 -1.09456929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31800114499999 meters 0.06704544737892253 Centerline is valid? [True, True] Translation: X:53.79, Y:-0.07, Z:-1.09 [[ 9.99931260e-01 6.08742524e-03 -1.00209100e-02 5.37900576e+01] [-6.08747023e-03 9.99981471e-01 2.60118484e-05 -7.32106669e-02] [ 1.00208827e-02 3.49919310e-05 9.99949789e-01 -1.09429025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34800114499999 meters 0.06696782557799232 Centerline is valid? [True, True] Translation: X:53.82, Y:-0.07, Z:-1.09 [[ 9.99927048e-01 6.10334012e-03 -1.04234737e-02 5.38191651e+01] [-6.10339625e-03 9.99981374e-01 2.64251235e-05 -7.21162998e-02] [ 1.04234408e-02 3.71953944e-05 9.99945674e-01 -1.09457939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37800114499999 meters 0.0671026623632363 Centerline is valid? [True, True] Translation: X:53.85, Y:-0.07, Z:-1.09 [[ 9.99927042e-01 5.37484166e-03 -1.08176354e-02 5.38474188e+01] [-5.37487118e-03 9.99985555e-01 2.63435412e-05 -7.08052035e-02] [ 1.08176208e-02 3.18017777e-05 9.99941487e-01 -1.09447096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40800114499999 meters 0.06719443135917208 Centerline is valid? [True, True] Translation: X:53.87, Y:-0.07, Z:-1.10 [[ 9.99932283e-01 5.86641141e-03 -1.00506323e-02 5.38749988e+01] [-5.86647057e-03 9.99982792e-01 2.35957179e-05 -7.04151543e-02] [ 1.00505978e-02 3.53676184e-05 9.99949491e-01 -1.09609875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.438001144999994 meters 0.06707389454736504 Centerline is valid? [True, True] Translation: X:53.90, Y:-0.07, Z:-1.10 [[ 9.99935196e-01 4.94240074e-03 -1.02555946e-02 5.39036258e+01] [-4.94241777e-03 9.99987786e-01 2.36840563e-05 -7.16734328e-02] [ 1.02555864e-02 2.70049118e-05 9.99947410e-01 -1.09588630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46800114499999 meters 0.06715975951711359 Centerline is valid? [True, True] Translation: X:53.93, Y:-0.07, Z:-1.10 [[ 9.99948209e-01 3.50798731e-03 -9.55373269e-03 5.39309246e+01] [-3.50795519e-03 9.99993847e-01 2.01199563e-05 -7.34003649e-02] [ 9.55374449e-03 1.33951520e-05 9.99954362e-01 -1.09738147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49800114499999 meters 0.06717184682927405 Centerline is valid? [True, True] Translation: X:53.96, Y:-0.08, Z:-1.10 [[ 9.99954465e-01 2.15403245e-03 -9.29666390e-03 5.39593843e+01] [-2.15394187e-03 9.99997680e-01 1.97559262e-05 -7.56829566e-02] [ 9.29668489e-03 2.69447009e-07 9.99956785e-01 -1.09920225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52800114499999 meters 0.06733511106646876 Centerline is valid? [True, True] Translation: X:53.99, Y:-0.08, Z:-1.10 [[ 9.99950602e-01 -7.24130472e-04 -9.91311446e-03 5.39866534e+01] [ 7.24361312e-04 9.99999737e-01 1.96958913e-05 -7.95806448e-02] [ 9.91309759e-03 -2.68755950e-05 9.99950864e-01 -1.10005427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55800114499999 meters 0.06740392267186524 Centerline is valid? [True, True] Translation: X:54.02, Y:-0.08, Z:-1.10 [[ 9.99948343e-01 -1.97128830e-03 -9.97121739e-03 5.40151106e+01] [ 1.97158289e-03 9.99998056e-01 1.97139565e-05 -8.11452605e-02] [ 9.97115915e-03 -3.93720197e-05 9.99950286e-01 -1.10069147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58800114499999 meters 0.06754507328161415 Centerline is valid? [True, True] Translation: X:54.04, Y:-0.08, Z:-1.10 [[ 9.99941279e-01 -4.00486076e-03 -1.00697617e-02 5.40426555e+01] [ 4.00525410e-03 9.99991979e-01 1.88959566e-05 -8.32755324e-02] [ 1.00696053e-02 -5.92268014e-05 9.99949298e-01 -1.10091133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.618001144999994 meters 0.0675084909538745 Centerline is valid? [True, True] Translation: X:54.07, Y:-0.08, Z:-1.10 [[ 9.99945150e-01 -6.08276439e-03 -8.52620813e-03 5.40713799e+01] [ 6.08311797e-03 9.99981498e-01 1.55369763e-05 -8.48797031e-02] [ 8.52595587e-03 -6.74020540e-05 9.99963651e-01 -1.09886116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64800114499999 meters 0.06733925025286111 Centerline is valid? [True, True] Translation: X:54.10, Y:-0.09, Z:-1.10 [[ 9.99937806e-01 -6.85604198e-03 -8.79653240e-03 5.41013720e+01] [ 6.85645017e-03 9.99976494e-01 1.62464385e-05 -8.54186537e-02] [ 8.79621424e-03 -7.65584141e-05 9.99961310e-01 -1.09725733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67800114499999 meters 0.06769908213621054 Centerline is valid? [True, True] Translation: X:54.13, Y:-0.09, Z:-1.10 [[ 9.99938557e-01 -6.97790005e-03 -8.61344335e-03 5.41313010e+01] [ 6.97830040e-03 9.99975651e-01 1.64264261e-05 -8.76132356e-02] [ 8.61311900e-03 -7.65326120e-05 9.99962903e-01 -1.10166369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70800114499999 meters 0.06790251047888919 Centerline is valid? [True, True] Translation: X:54.16, Y:-0.09, Z:-1.10 [[ 9.99929639e-01 -7.22760517e-03 -9.40630071e-03 5.41615288e+01] [ 7.22809367e-03 9.99973877e-01 1.79384593e-05 -8.83831763e-02] [ 9.40592534e-03 -8.59268198e-05 9.99955760e-01 -1.10251427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73800114499999 meters 0.06799076129351192 Centerline is valid? [True, True] Translation: X:54.19, Y:-0.09, Z:-1.11 [[ 9.99941963e-01 -6.10334775e-03 -8.87804755e-03 5.41910324e+01] [ 6.10373521e-03 9.99981372e-01 1.65472761e-05 -8.93743881e-02] [ 8.87778118e-03 -7.07355672e-05 9.99960589e-01 -1.10572431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76800114499999 meters 0.06762603211913118 Centerline is valid? [True, True] Translation: X:54.22, Y:-0.09, Z:-1.10 [[ 9.99940132e-01 -5.31455800e-03 -9.56490354e-03 5.42208495e+01] [ 5.31496630e-03 9.99985875e-01 1.72693341e-05 -8.75066529e-02] [ 9.56467666e-03 -6.81054403e-05 9.99954255e-01 -1.10332646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.79800114499999 meters 0.06724177861601627 Centerline is valid? [True, True] Translation: X:54.25, Y:-0.08, Z:-1.10 [[ 9.99940371e-01 -3.98819600e-03 -1.01661060e-02 5.42495780e+01] [ 3.98853125e-03 9.99992046e-01 1.27034966e-05 -8.42125465e-02] [ 1.01659745e-02 -5.32505706e-05 9.99948324e-01 -1.10086958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82800114499999 meters 0.06731289803317925 Centerline is valid? [True, True] Translation: X:54.28, Y:-0.08, Z:-1.10 [[ 9.99946503e-01 -2.16191219e-03 -1.01151704e-02 5.42772220e+01] [ 2.16216700e-03 9.99997662e-01 1.42552026e-05 -8.14507531e-02] [ 1.01151160e-02 -3.61251277e-05 9.99948840e-01 -1.10256967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85800114499999 meters 0.06687729764396282 Centerline is valid? [True, True] Translation: X:54.31, Y:-0.08, Z:-1.10 [[ 9.99954405e-01 3.00447214e-04 -9.54450491e-03 5.43054776e+01] [-3.00377294e-04 9.99999955e-01 8.75926118e-06 -7.76291020e-02] [ 9.54450711e-03 -5.89190925e-06 9.99954450e-01 -1.09990931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88800114499999 meters 0.0668245546554774 Centerline is valid? [True, True] Translation: X:54.33, Y:-0.08, Z:-1.10 [[ 9.99956487e-01 1.44238985e-03 -9.21653244e-03 5.43332222e+01] [-1.44240152e-03 9.99998960e-01 5.38051306e-06 -7.68211231e-02] [ 9.21653062e-03 7.91366151e-06 9.99957527e-01 -1.10071677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91800114499999 meters 0.06691880543426497 Centerline is valid? [True, True] Translation: X:54.36, Y:-0.08, Z:-1.10 [[ 9.99950493e-01 2.33221313e-03 -9.67331880e-03 5.43618136e+01] [-2.33228135e-03 9.99997280e-01 4.22835313e-06 -7.63176124e-02] [ 9.67330235e-03 1.83327572e-05 9.99953212e-01 -1.10195855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94800114499999 meters 0.06687313699126372 Centerline is valid? [True, True] Translation: X:54.39, Y:-0.08, Z:-1.10 [[ 9.99943585e-01 3.19511721e-03 -1.01300091e-02 5.43900502e+01] [-3.19521854e-03 9.99994895e-01 6.18115583e-06 -7.57955840e-02] [ 1.01299771e-02 2.61867856e-05 9.99948690e-01 -1.10382223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97800114499999 meters 0.06671099744301148 Centerline is valid? [True, True] Translation: X:54.42, Y:-0.07, Z:-1.10 [[ 9.99941899e-01 5.46571793e-03 -9.29107752e-03 5.44187872e+01] [-5.46594399e-03 9.99985062e-01 1.06248865e-06 -7.48194536e-02] [ 9.29094453e-03 4.97220824e-05 9.99956837e-01 -1.10376987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00800114499999 meters 0.0667388238633346 Centerline is valid? [True, True] Translation: X:54.45, Y:-0.07, Z:-1.10 [[ 9.99935910e-01 6.97641985e-03 -8.91653492e-03 5.44465127e+01] [-6.97667841e-03 9.99975663e-01 2.10734094e-06 -7.37628737e-02] [ 8.91633262e-03 6.01005908e-05 9.99960247e-01 -1.10322600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03800114499999 meters 0.06662047314419466 Centerline is valid? [True, True] Translation: X:54.47, Y:-0.07, Z:-1.10 [[ 9.99933676e-01 8.52735891e-03 -7.74125311e-03 5.44747407e+01] [-8.52760456e-03 9.99963639e-01 1.27478929e-06 -7.23174272e-02] [ 7.74098250e-03 6.47396406e-05 9.99970036e-01 -1.10293671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06800114499999 meters 0.06662047314419466 Centerline is valid? [True, True] Translation: X:54.50, Y:-0.07, Z:-1.10 [[ 9.99934486e-01 8.43193209e-03 -7.74125332e-03 5.45021715e+01] [-8.43218247e-03 9.99964449e-01 2.94157800e-07 -7.21997870e-02] [ 7.74098059e-03 6.49815221e-05 9.99970036e-01 -1.10338325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09800114499999 meters 0.06663369360645385 Centerline is valid? [True, True] Translation: X:54.53, Y:-0.07, Z:-1.10 [[ 9.99928088e-01 1.03757481e-02 -6.01359224e-03 5.45304489e+01] [-1.03759356e-02 9.99946169e-01 2.68686287e-08 -6.93349224e-02] [ 6.01326880e-03 6.23697790e-05 9.99981918e-01 -1.10137497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12800114499999 meters 0.06641663269279628 Centerline is valid? [True, True] Translation: X:54.56, Y:-0.07, Z:-1.10 [[ 9.99937901e-01 9.85593883e-03 -5.20143202e-03 5.45592189e+01] [-9.85607447e-03 9.99951428e-01 -4.44943447e-07 -6.97390867e-02] [ 5.20117499e-03 5.17106171e-05 9.99986472e-01 -1.09979863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15800114499999 meters 0.06645231675806389 Centerline is valid? [True, True] Translation: X:54.59, Y:-0.07, Z:-1.10 [[ 9.99949083e-01 8.82662444e-03 -4.89106390e-03 5.45864849e+01] [-8.82673924e-03 9.99961044e-01 -1.88469966e-06 -7.10535502e-02] [ 4.89085673e-03 4.50567493e-05 9.99988039e-01 -1.10031871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.188001144999994 meters 0.06650521721425852 Centerline is valid? [True, True] Translation: X:54.62, Y:-0.07, Z:-1.10 [[ 9.99957362e-01 6.75031482e-03 -6.30135023e-03 5.46153993e+01] [-6.75045779e-03 9.99977215e-01 -1.41994164e-06 -7.47329781e-02] [ 6.30119708e-03 4.39568798e-05 9.99980146e-01 -1.10234599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21800114499999 meters 0.06658768551866127 Centerline is valid? [True, True] Translation: X:54.64, Y:-0.09, Z:-1.11 [[ 9.99969062e-01 1.46494566e-03 -7.72850205e-03 5.46429064e+01] [-1.46500766e-03 9.99998927e-01 -2.36136190e-06 -8.52192134e-02] [ 7.72849030e-03 1.36836036e-05 9.99970135e-01 -1.10626284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24800114499999 meters 0.06650040549465144 Centerline is valid? [True, True] Translation: X:54.67, Y:-0.09, Z:-1.11 [[ 9.99968272e-01 -1.24633241e-03 -7.86775545e-03 5.46714897e+01] [ 1.24634993e-03 9.99999223e-01 -2.67721874e-06 -9.03720202e-02] [ 7.86775268e-03 -7.12884263e-06 9.99969049e-01 -1.10531910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27800114499999 meters 0.06661049620648196 Centerline is valid? [True, True] Translation: X:54.70, Y:-0.09, Z:-1.11 [[ 9.99965044e-01 -3.21148621e-03 -7.71986047e-03 5.46998045e+01] [ 3.21155768e-03 9.99994843e-01 -3.13844785e-06 -9.41553544e-02] [ 7.71983074e-03 -2.16544390e-05 9.99970201e-01 -1.10659331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30800114499999 meters 0.06706940737391262 Centerline is valid? [True, True] Translation: X:54.73, Y:-0.10, Z:-1.11 [[ 9.99952989e-01 -5.62816746e-03 -7.89581451e-03 5.47277958e+01] [ 5.62831070e-03 9.99984161e-01 -4.08006872e-06 -9.91302955e-02] [ 7.89571241e-03 -4.03602204e-05 9.99968828e-01 -1.11151538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33800114499999 meters 0.06677154979970171 Centerline is valid? [True, True] Translation: X:54.76, Y:-0.10, Z:-1.11 [[ 9.99936847e-01 -9.20296408e-03 -6.45034752e-03 5.47578437e+01] [ 9.20313620e-03 9.99957650e-01 -2.99866152e-06 -1.03633089e-01] [ 6.45010194e-03 -5.63649546e-05 9.99979196e-01 -1.10516263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.368001144999994 meters 0.06661656741615266 Centerline is valid? [True, True] Translation: X:54.79, Y:-0.11, Z:-1.10 [[ 9.99931634e-01 -1.01760375e-02 -5.75984646e-03 5.47898143e+01] [ 1.01762018e-02 9.99948221e-01 -7.92369315e-07 -1.05543100e-01] [ 5.75955629e-03 -5.78210445e-05 9.99983412e-01 -1.10369406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39800114499999 meters 0.06671141807039396 Centerline is valid? [True, True] Translation: X:54.82, Y:-0.11, Z:-1.10 [[ 9.99936224e-01 -1.04573424e-02 -4.26526712e-03 5.48210951e+01] [ 1.04574359e-02 9.99945320e-01 -3.76591631e-07 -1.07400856e-01] [ 4.26503783e-03 -4.42271899e-05 9.99990904e-01 -1.10342211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42800114499999 meters 0.06654972759810164 Centerline is valid? [True, True] Translation: X:54.85, Y:-0.11, Z:-1.10 [[ 9.99930642e-01 -1.10086229e-02 -4.18593958e-03 5.48534967e+01] [ 1.10087202e-02 9.99939402e-01 2.06236920e-07 -1.08652892e-01] [ 4.18568365e-03 -4.62880602e-05 9.99991239e-01 -1.10243854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45800114499999 meters 0.0668134812973312 Centerline is valid? [True, True] Translation: X:54.88, Y:-0.12, Z:-1.10 [[ 9.99911849e-01 -1.29807467e-02 -2.79178048e-03 5.48843271e+01] [ 1.29807983e-02 9.99915746e-01 3.58067064e-07 -1.16392707e-01] [ 2.79154061e-03 -3.65975748e-05 9.99996103e-01 -1.10410374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48800114499999 meters 0.06745560635397384 Centerline is valid? [True, True] Translation: X:54.92, Y:-0.12, Z:-1.11 [[ 9.99891500e-01 -1.43671907e-02 -3.25154574e-03 5.49152195e+01] [ 1.43672681e-02 9.99896785e-01 4.28914962e-07 -1.21540892e-01] [ 3.25120397e-03 -4.71446978e-05 9.99994714e-01 -1.10671219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51800114499999 meters 0.06764392307023827 Centerline is valid? [True, True] Translation: X:54.95, Y:-0.12, Z:-1.11 [[ 9.99867697e-01 -1.58379587e-02 -3.70789001e-03 5.49471333e+01] [ 1.58380706e-02 9.99874570e-01 8.25205647e-07 -1.23579504e-01] [ 3.70741186e-03 -5.95509203e-05 9.99993126e-01 -1.10694219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.54800114499999 meters 0.06763487493501993 Centerline is valid? [True, True] Translation: X:54.98, Y:-0.12, Z:-1.11 [[ 9.99837698e-01 -1.73972928e-02 -4.68091989e-03 5.49795758e+01] [ 1.73974902e-02 9.99848652e-01 1.46028698e-06 -1.24945951e-01] [ 4.68018604e-03 -8.28963080e-05 9.99989044e-01 -1.10538109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57800114499999 meters 0.06740857375571396 Centerline is valid? [True, True] Translation: X:55.01, Y:-0.13, Z:-1.11 [[ 9.99833471e-01 -1.76106773e-02 -4.78486548e-03 5.50119258e+01] [ 1.76108864e-02 9.99844916e-01 1.56876885e-06 -1.26049501e-01] [ 4.78409580e-03 -8.58342301e-05 9.99988552e-01 -1.10520379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60800114499999 meters 0.06763484640191411 Centerline is valid? [True, True] Translation: X:55.04, Y:-0.13, Z:-1.11 [[ 9.99836971e-01 -1.75570581e-02 -4.21665374e-03 5.50435265e+01] [ 1.75572203e-02 9.99845860e-01 1.44243791e-06 -1.29708691e-01] [ 4.21597846e-03 -7.54749214e-05 9.99991110e-01 -1.10684461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63800114499999 meters 0.06817765982680649 Centerline is valid? [True, True] Translation: X:55.07, Y:-0.13, Z:-1.11 [[ 9.99841327e-01 -1.73974217e-02 -3.82770692e-03 5.50746997e+01] [ 1.73975550e-02 9.99848651e-01 1.54089601e-06 -1.33923783e-01] [ 3.82710079e-03 -6.81333933e-05 9.99992674e-01 -1.11055318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66800114499999 meters 0.06738411699504324 Centerline is valid? [True, True] Translation: X:55.11, Y:-0.13, Z:-1.11 [[ 9.99860161e-01 -1.61379797e-02 -4.38442437e-03 5.51066083e+01] [ 1.61381445e-02 9.99869772e-01 2.20286879e-06 -1.32743818e-01] [ 4.38381785e-03 -7.29590348e-05 9.99990388e-01 -1.10851405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69800114499999 meters 0.0672974340346758 Centerline is valid? [True, True] Translation: X:55.14, Y:-0.13, Z:-1.11 [[ 9.99867727e-01 -1.53647572e-02 -5.33419719e-03 5.51390790e+01] [ 1.53649907e-02 9.99881952e-01 2.79575406e-06 -1.33320936e-01] [ 5.33352454e-03 -8.47552744e-05 9.99985773e-01 -1.10951751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72800114499999 meters 0.06729757478922821 Centerline is valid? [True, True] Translation: X:55.17, Y:-0.13, Z:-1.11 [[ 9.99883499e-01 -1.40042749e-02 -6.07196513e-03 5.51717682e+01] [ 1.40045582e-02 9.99901931e-01 4.12816615e-06 -1.34402753e-01] [ 6.07131184e-03 -8.91628741e-05 9.99981565e-01 -1.11111105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75800114499999 meters 0.06697248798013802 Centerline is valid? [True, True] Translation: X:55.20, Y:-0.13, Z:-1.11 [[ 9.99899740e-01 -1.25837991e-02 -6.49297325e-03 5.52042996e+01] [ 1.25840917e-02 9.99920817e-01 4.20169700e-06 -1.34490994e-01] [ 6.49240624e-03 -8.59094463e-05 9.99978920e-01 -1.11140764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78800114499999 meters 0.06665190680685062 Centerline is valid? [True, True] Translation: X:55.24, Y:-0.13, Z:-1.11 [[ 9.99934315e-01 -9.17314703e-03 -6.87156902e-03 5.52354470e+01] [ 9.17340443e-03 9.99957923e-01 5.93947324e-06 -1.33878706e-01] [ 6.87122540e-03 -6.89747647e-05 9.99976390e-01 -1.11145999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81800114499999 meters 0.06616797234150226 Centerline is valid? [True, True] Translation: X:55.27, Y:-0.13, Z:-1.11 [[ 9.99953551e-01 -7.16573987e-03 -6.44577450e-03 5.52664350e+01] [ 7.16591823e-03 9.99974324e-01 4.57475086e-06 -1.32489136e-01] [ 6.44557622e-03 -5.07644313e-05 9.99979226e-01 -1.10970706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84800114499999 meters 0.06591391925326578 Centerline is valid? [True, True] Translation: X:55.30, Y:-0.13, Z:-1.11 [[ 9.99961043e-01 -5.15451368e-03 -7.16549841e-03 5.52980764e+01] [ 5.15468361e-03 9.99986715e-01 5.24639771e-06 -1.31397367e-01] [ 7.16537617e-03 -4.21820705e-05 9.99974327e-01 -1.10935898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87800114499999 meters 0.0655609582040928 Centerline is valid? [True, True] Translation: X:55.33, Y:-0.13, Z:-1.11 [[ 9.99986675e-01 -1.49352991e-03 -4.94151343e-03 5.53274673e+01] [ 1.49356108e-03 9.99998885e-01 2.61678682e-06 -1.31238116e-01] [ 4.94150401e-03 -9.99720409e-06 9.99987791e-01 -1.10873021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90800114499999 meters 0.06537152605761533 Centerline is valid? [True, True] Translation: X:55.36, Y:-0.13, Z:-1.11 [[ 9.99986215e-01 -4.04196925e-04 -5.23513510e-03 5.53564468e+01] [ 4.04194935e-04 9.99999918e-01 -1.43819303e-06 -1.32106701e-01] [ 5.23513525e-03 -6.77841884e-07 9.99986297e-01 -1.10846950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93800114499999 meters 0.06523065777179671 Centerline is valid? [True, True] Translation: X:55.38, Y:-0.13, Z:-1.11 [[ 9.99988655e-01 4.45939496e-04 -4.74253439e-03 5.53848957e+01] [-4.45957702e-04 9.99999901e-01 -2.78136418e-06 -1.32625905e-01] [ 4.74253268e-03 4.89630237e-06 9.99988754e-01 -1.10757569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96800114499999 meters 0.06521135902643527 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.13, Z:-1.11 [[ 9.99986733e-01 1.15632152e-03 -5.01956651e-03 5.54127761e+01] [-1.15634440e-03 9.99999331e-01 -1.65600546e-06 -1.32963789e-01] [ 5.01956124e-03 7.46033112e-06 9.99987402e-01 -1.10803942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99800114499999 meters 0.06530279070323279 Centerline is valid? [True, True] Translation: X:55.44, Y:-0.13, Z:-1.11 [[ 9.99974138e-01 3.19289326e-03 -6.44421613e-03 5.54402320e+01] [-3.19296840e-03 9.99994902e-01 -1.37202721e-06 -1.33705182e-01] [ 6.44417889e-03 2.19481702e-05 9.99979236e-01 -1.10980447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02800114499999 meters 0.06533782497903073 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.14, Z:-1.11 [[ 9.99973939e-01 4.16941685e-03 -5.89391818e-03 5.54688310e+01] [-4.16949773e-03 9.99991308e-01 -1.43569420e-06 -1.35109892e-01] [ 5.89386096e-03 2.60103353e-05 9.99982631e-01 -1.11008472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05800114499999 meters 0.06520916950824668 Centerline is valid? [True, True] Translation: X:55.50, Y:-0.14, Z:-1.11 [[ 9.99967005e-01 5.14799350e-03 -6.28394684e-03 5.54972119e+01] [-5.14810713e-03 9.99986748e-01 -1.90740791e-06 -1.37022150e-01] [ 6.28385374e-03 3.42577765e-05 9.99980256e-01 -1.10876665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08800114499999 meters 0.06514761445444864 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.14, Z:-1.11 [[ 9.99961339e-01 6.05368025e-03 -6.37759886e-03 5.55254607e+01] [-6.05382042e-03 9.99981675e-01 -2.67498336e-06 -1.38751297e-01] [ 6.37746580e-03 4.12837182e-05 9.99979663e-01 -1.10930567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.118001144999994 meters 0.06510582846693133 Centerline is valid? [True, True] Translation: X:55.55, Y:-0.14, Z:-1.11 [[ 9.99945057e-01 8.17838796e-03 -6.55717205e-03 5.55527161e+01] [-8.17858709e-03 9.99966555e-01 -3.55352118e-06 -1.41670613e-01] [ 6.55692368e-03 5.71817286e-05 9.99978502e-01 -1.10891811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14800114499999 meters 0.06495829904367482 Centerline is valid? [True, True] Translation: X:55.58, Y:-0.14, Z:-1.11 [[ 9.99944320e-01 9.08304643e-03 -5.37178857e-03 5.55816452e+01] [-9.08319358e-03 9.99958747e-01 -2.99660989e-06 -1.42535571e-01] [ 5.37153975e-03 5.17894385e-05 9.99985572e-01 -1.10828072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17800114499999 meters 0.06494621426895664 Centerline is valid? [True, True] Translation: X:55.61, Y:-0.15, Z:-1.11 [[ 9.99947923e-01 9.36230695e-03 -4.06173809e-03 5.56097543e+01] [-9.36239924e-03 9.99956172e-01 -3.71013853e-06 -1.46916590e-01] [ 4.06152534e-03 4.17375590e-05 9.99991751e-01 -1.10858076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20800114499999 meters 0.06507272142811102 Centerline is valid? [True, True] Translation: X:55.64, Y:-0.15, Z:-1.11 [[ 9.99952936e-01 8.46374088e-03 -4.74249801e-03 5.56377077e+01] [-8.46385436e-03 9.99964181e-01 -3.85907121e-06 -1.52246440e-01] [ 4.74229548e-03 4.39987021e-05 9.99988754e-01 -1.11001538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23800114499999 meters 0.06498442020816587 Centerline is valid? [True, True] Translation: X:55.67, Y:-0.16, Z:-1.11 [[ 9.99962529e-01 7.07027049e-03 -4.99513596e-03 5.56666037e+01] [-7.07037892e-03 9.99975005e-01 -4.04858758e-06 -1.59030624e-01] [ 4.99498248e-03 3.93659399e-05 9.99987524e-01 -1.11291651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26800114499999 meters 0.06487654972940328 Centerline is valid? [True, True] Translation: X:55.70, Y:-0.17, Z:-1.11 [[ 9.99969028e-01 4.92389844e-03 -6.13983128e-03 5.56955974e+01] [-4.92402267e-03 9.99987877e-01 -5.11591434e-06 -1.65454799e-01] [ 6.13973166e-03 3.53484243e-05 9.99981151e-01 -1.11445744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.29800114499999 meters 0.0648987472346931 Centerline is valid? [True, True] Translation: X:55.72, Y:-0.18, Z:-1.12 [[ 9.99964323e-01 -9.14305033e-04 -8.39737579e-03 5.57237416e+01] [ 9.14274364e-04 9.99999582e-01 -7.49098142e-06 -1.75860083e-01] [ 8.39737913e-03 -1.86791244e-07 9.99964741e-01 -1.11527119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32800114499999 meters 0.06467645671886789 Centerline is valid? [True, True] Translation: X:55.75, Y:-0.18, Z:-1.11 [[ 9.99953296e-01 -3.94379731e-03 -8.82339269e-03 5.57525242e+01] [ 3.94387890e-03 9.99992223e-01 -8.15324798e-06 -1.80843219e-01] [ 8.82335622e-03 -2.66455250e-05 9.99961073e-01 -1.11234626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35800114499999 meters 0.06498035609164006 Centerline is valid? [True, True] Translation: X:55.78, Y:-0.19, Z:-1.11 [[ 9.99918900e-01 -7.36800614e-03 -1.03878226e-02 5.57807718e+01] [ 7.36830355e-03 9.99972854e-01 -9.64085674e-06 -1.86708918e-01] [ 1.03876116e-02 -6.69005550e-05 9.99946045e-01 -1.11479756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38800114499999 meters 0.06511419955899565 Centerline is valid? [True, True] Translation: X:55.81, Y:-0.19, Z:-1.12 [[ 9.99882235e-01 -1.01511820e-02 -1.15095882e-02 5.58106657e+01] [ 1.01517312e-02 9.99948470e-01 -1.07031261e-05 -1.92927162e-01] [ 1.15091038e-02 -1.06140381e-04 9.99933762e-01 -1.11547844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41800114499999 meters 0.06542427935228372 Centerline is valid? [True, True] Translation: X:55.84, Y:-0.21, Z:-1.12 [[ 9.99827723e-01 -1.38097548e-02 -1.24022492e-02 5.58401525e+01] [ 1.38106752e-02 9.99904628e-01 -1.14339898e-05 -2.06612998e-01] [ 1.24012242e-02 -1.59851415e-04 9.99923089e-01 -1.11803352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44800114499999 meters 0.06550865051971967 Centerline is valid? [True, True] Translation: X:55.87, Y:-0.21, Z:-1.12 [[ 9.99805506e-01 -1.55160000e-02 -1.21739328e-02 5.58714558e+01] [ 1.55170267e-02 9.99879604e-01 -1.01224330e-05 -2.12438120e-01] [ 1.21726241e-02 -1.78782775e-04 9.99925895e-01 -1.11796954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47800114499999 meters 0.06546907487458194 Centerline is valid? [True, True] Translation: X:55.90, Y:-0.22, Z:-1.12 [[ 9.99820894e-01 -1.61359846e-02 -9.88990581e-03 5.59015325e+01] [ 1.61366924e-02 9.99869795e-01 -8.23138856e-06 -2.17540686e-01] [ 9.88875092e-03 -1.51360454e-04 9.99951094e-01 -1.11808982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50800114499999 meters 0.06481627273796411 Centerline is valid? [True, True] Translation: X:55.93, Y:-0.22, Z:-1.11 [[ 9.99823283e-01 -1.58305348e-02 -1.01388776e-02 5.59333853e+01] [ 1.58312772e-02 9.99874677e-01 -7.04016815e-06 -2.18368931e-01] [ 1.01377184e-02 -1.53472457e-04 9.99948600e-01 -1.11429221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53800114499999 meters 0.06505283510482605 Centerline is valid? [True, True] Translation: X:55.96, Y:-0.22, Z:-1.12 [[ 9.99828818e-01 -1.50621289e-02 -1.07455618e-02 5.59640778e+01] [ 1.50629203e-02 9.99886548e-01 -7.28424403e-06 -2.20250927e-01] [ 1.07444525e-02 -1.54576545e-04 9.99942265e-01 -1.11716270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56800114499999 meters 0.06474515183440328 Centerline is valid? [True, True] Translation: X:56.00, Y:-0.22, Z:-1.12 [[ 9.99845772e-01 -1.40207585e-02 -1.05759304e-02 5.59963855e+01] [ 1.40214764e-02 9.99901694e-01 -6.26487790e-06 -2.20717058e-01] [ 1.05749786e-02 -1.42026247e-04 9.99944073e-01 -1.11550012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59800114499999 meters 0.06480469976149304 Centerline is valid? [True, True] Translation: X:56.03, Y:-0.22, Z:-1.12 [[ 9.99853184e-01 -1.30045705e-02 -1.11575473e-02 5.60288267e+01] [ 1.30053132e-02 9.99915427e-01 -5.99222769e-06 -2.22294895e-01] [ 1.11566816e-02 -1.39116049e-04 9.99937753e-01 -1.11688131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62800114499999 meters 0.0648142449090083 Centerline is valid? [True, True] Translation: X:56.06, Y:-0.22, Z:-1.12 [[ 9.99863134e-01 -1.14710164e-02 -1.19217809e-02 5.60590364e+01] [ 1.14717478e-02 9.99934197e-01 -7.03634834e-06 -2.24935725e-01] [ 1.19210771e-02 -1.29728279e-04 9.99928933e-01 -1.11799091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65800114499999 meters 0.06480445678132163 Centerline is valid? [True, True] Translation: X:56.09, Y:-0.23, Z:-1.12 [[ 9.99860992e-01 -1.18175942e-02 -1.17618481e-02 5.60897649e+01] [ 1.18183272e-02 9.99930161e-01 -7.18265793e-06 -2.26197323e-01] [ 1.17611116e-02 -1.31823710e-04 9.99930827e-01 -1.11840505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68800114499999 meters 0.0646476456808606 Centerline is valid? [True, True] Translation: X:56.12, Y:-0.23, Z:-1.12 [[ 9.99867004e-01 -1.19442521e-02 -1.11044221e-02 5.61207693e+01] [ 1.19449178e-02 9.99928657e-01 -6.37419668e-06 -2.27650326e-01] [ 1.11037060e-02 -1.26268061e-04 9.99938344e-01 -1.11838950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71800114499999 meters 0.0643992346203639 Centerline is valid? [True, True] Translation: X:56.15, Y:-0.23, Z:-1.12 [[ 9.99861512e-01 -1.26708537e-02 -1.07891679e-02 5.61516335e+01] [ 1.26715219e-02 9.99919713e-01 -6.42806177e-06 -2.30776753e-01] [ 1.07883832e-02 -1.30288006e-04 9.99941795e-01 -1.11526616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74800114499999 meters 0.06439035084742675 Centerline is valid? [True, True] Translation: X:56.18, Y:-0.23, Z:-1.12 [[ 9.99859761e-01 -1.29803361e-02 -1.05815777e-02 5.61825781e+01] [ 1.29810050e-02 9.99915743e-01 -5.47113761e-06 -2.32768364e-01] [ 1.05807571e-02 -1.31889142e-04 9.99944014e-01 -1.11547486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77800114499999 meters 0.06443163268884207 Centerline is valid? [True, True] Translation: X:56.21, Y:-0.23, Z:-1.12 [[ 9.99855850e-01 -1.32412215e-02 -1.06277662e-02 5.62139257e+01] [ 1.32419144e-02 9.99912322e-01 -5.17004812e-06 -2.33746372e-01] [ 1.06269028e-02 -1.35562668e-04 9.99943524e-01 -1.11611498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80800114499999 meters 0.06422925655861557 Centerline is valid? [True, True] Translation: X:56.25, Y:-0.23, Z:-1.11 [[ 9.99865128e-01 -1.23573039e-02 -1.08176788e-02 5.62452304e+01] [ 1.23579780e-02 9.99923637e-01 -4.52236425e-06 -2.32055219e-01] [ 1.08169086e-02 -1.29162883e-04 9.99941487e-01 -1.11474795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83800114499999 meters 0.06419597978303564 Centerline is valid? [True, True] Translation: X:56.28, Y:-0.23, Z:-1.11 [[ 9.99876578e-01 -1.17263108e-02 -1.04557410e-02 5.62767356e+01] [ 1.17269072e-02 9.99931237e-01 -4.26656498e-06 -2.31465620e-01] [ 1.04550721e-02 -1.18347467e-04 9.99945337e-01 -1.11398698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.868001144999994 meters 0.0643422927941804 Centerline is valid? [True, True] Translation: X:56.31, Y:-0.23, Z:-1.12 [[ 9.99877827e-01 -1.10986207e-02 -1.10069069e-02 5.63071288e+01] [ 1.10992523e-02 9.99938401e-01 -3.69965402e-06 -2.33005779e-01] [ 1.10062700e-02 -1.18469235e-04 9.99939422e-01 -1.11717483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89800114499999 meters 0.06440870546203693 Centerline is valid? [True, True] Translation: X:56.34, Y:-0.23, Z:-1.12 [[ 9.99871298e-01 -1.04445044e-02 -1.21778412e-02 5.63379349e+01] [ 1.04452184e-02 9.99945447e-01 -4.96602477e-06 -2.34161534e-01] [ 1.21772287e-02 -1.22234826e-04 9.99925847e-01 -1.11892452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92800114499999 meters 0.06490869797664466 Centerline is valid? [True, True] Translation: X:56.37, Y:-0.24, Z:-1.13 [[ 9.99835342e-01 -1.11094179e-02 -1.43481758e-02 5.63659823e+01] [ 1.11104493e-02 9.99938277e-01 -7.83009741e-06 -2.37958984e-01] [ 1.43473772e-02 -1.51585872e-04 9.99897060e-01 -1.12506048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95800114499999 meters 0.06490869797664466 Centerline is valid? [True, True] Translation: X:56.39, Y:-0.24, Z:-1.13 [[ 9.99832984e-01 -1.13196105e-02 -1.43481726e-02 5.63941951e+01] [ 1.13205863e-02 9.99935920e-01 -1.32094240e-05 -2.37857225e-01] [ 1.43474027e-02 -1.49222509e-04 9.99897060e-01 -1.12551937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98800114499999 meters 0.06480100406985974 Centerline is valid? [True, True] Translation: X:56.42, Y:-0.24, Z:-1.12 [[ 9.99818577e-01 -1.17865281e-02 -1.49629748e-02 5.64225300e+01] [ 1.17875945e-02 9.99930524e-01 -1.69277102e-05 -2.37463244e-01] [ 1.49621348e-02 -1.59452840e-04 9.99888048e-01 -1.12380819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01800114499999 meters 0.06480247540771644 Centerline is valid? [True, True] Translation: X:56.45, Y:-0.24, Z:-1.12 [[ 9.99798800e-01 -1.34065224e-02 -1.49206418e-02 5.64513708e+01] [ 1.34077148e-02 9.99910112e-01 -2.01141892e-05 -2.36793900e-01] [ 1.49195703e-02 -1.79941568e-04 9.99888681e-01 -1.12317551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.04800114499999 meters 0.06493260741795047 Centerline is valid? [True, True] Translation: X:56.48, Y:-0.24, Z:-1.12 [[ 9.99792175e-01 -1.41192746e-02 -1.47055565e-02 5.64803227e+01] [ 1.41205399e-02 9.99900300e-01 -1.77911457e-05 -2.36741855e-01] [ 1.47043416e-02 -1.89862950e-04 9.99891867e-01 -1.12249234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07800114499999 meters 0.06529591534781848 Centerline is valid? [True, True] Translation: X:56.51, Y:-0.24, Z:-1.12 [[ 9.99751768e-01 -1.72849161e-02 -1.40582736e-02 5.65103202e+01] [ 1.72863889e-02 9.99850579e-01 -1.67533987e-05 -2.40638088e-01] [ 1.40564626e-02 -2.26267544e-04 9.99901177e-01 -1.12335248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10800114499999 meters 0.06510366304067171 Centerline is valid? [True, True] Translation: X:56.54, Y:-0.24, Z:-1.12 [[ 9.99738650e-01 -1.81078016e-02 -1.39549113e-02 5.65415196e+01] [ 1.81093494e-02 9.99836012e-01 -1.54474141e-05 -2.42021221e-01] [ 1.39529026e-02 -2.37270989e-04 9.99902625e-01 -1.12298070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13800114499999 meters 0.06519950571918554 Centerline is valid? [True, True] Translation: X:56.57, Y:-0.24, Z:-1.12 [[ 9.99712192e-01 -1.88616477e-02 -1.48246876e-02 5.65722107e+01] [ 1.88635194e-02 9.99822068e-01 -1.35753224e-05 -2.43794936e-01] [ 1.48223059e-02 -2.66074367e-04 9.99890108e-01 -1.12435465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16800114499999 meters 0.06521352953539011 Centerline is valid? [True, True] Translation: X:56.60, Y:-0.24, Z:-1.13 [[ 9.99703449e-01 -1.92711123e-02 -1.48875070e-02 5.66033266e+01] [ 1.92730333e-02 9.99814258e-01 -1.44390563e-05 -2.43104939e-01] [ 1.48850201e-02 -2.72492644e-04 9.99889175e-01 -1.12539837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19800114499999 meters 0.06540296417934759 Centerline is valid? [True, True] Translation: X:56.63, Y:-0.24, Z:-1.13 [[ 9.99673489e-01 -1.97032208e-02 -1.62695458e-02 5.66349906e+01] [ 1.97055797e-02 9.99805826e-01 -1.53296821e-05 -2.42753802e-01] [ 1.62666887e-02 -3.05276154e-04 9.99867642e-01 -1.12623076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22800114499999 meters 0.06562603297817907 Centerline is valid? [True, True] Translation: X:56.67, Y:-0.24, Z:-1.13 [[ 9.99626173e-01 -2.06351429e-02 -1.79361567e-02 5.66658794e+01] [ 2.06381593e-02 9.99787010e-01 -1.69265638e-05 -2.40187325e-01] [ 1.79326858e-02 -3.53249024e-04 9.99839134e-01 -1.12710300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25800114499999 meters 0.06600362041557997 Centerline is valid? [True, True] Translation: X:56.70, Y:-0.24, Z:-1.13 [[ 9.99609200e-01 -2.08144532e-02 -1.86602690e-02 5.66961735e+01] [ 2.08177545e-02 9.99783287e-01 -1.73371145e-05 -2.40420958e-01] [ 1.86565859e-02 -3.71134560e-04 9.99825882e-01 -1.12981321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28800114499999 meters 0.06602015757025476 Centerline is valid? [True, True] Translation: X:56.73, Y:-0.24, Z:-1.13 [[ 9.99606816e-01 -2.11991508e-02 -1.83523681e-02 5.67275803e+01] [ 2.12024236e-02 9.99775203e-01 -1.62442482e-05 -2.41547079e-01] [ 1.83485869e-02 -3.72876821e-04 9.99831581e-01 -1.13145411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31800114499999 meters 0.0659469976071436 Centerline is valid? [True, True] Translation: X:56.76, Y:-0.24, Z:-1.13 [[ 9.99582972e-01 -2.20128446e-02 -1.86900076e-02 5.67584047e+01] [ 2.20163820e-02 9.99757610e-01 -1.65021556e-05 -2.42310274e-01] [ 1.86858406e-02 -3.94991072e-04 9.99825326e-01 -1.13106003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34800114499999 meters 0.0659992737799712 Centerline is valid? [True, True] Translation: X:56.79, Y:-0.24, Z:-1.13 [[ 9.99530847e-01 -2.51111978e-02 -1.75360690e-02 5.67895350e+01] [ 2.51148026e-02 9.99684573e-01 -1.46667831e-05 -2.43206454e-01] [ 1.75309059e-02 -4.25755008e-04 9.99846231e-01 -1.12953155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37800114499999 meters 0.06624592223154374 Centerline is valid? [True, True] Translation: X:56.82, Y:-0.24, Z:-1.13 [[ 9.99518177e-01 -2.60696560e-02 -1.68459681e-02 5.68215926e+01] [ 2.60731451e-02 9.99660038e-01 -1.25113705e-05 -2.42556079e-01] [ 1.68405673e-02 -4.26722030e-04 9.99858097e-01 -1.12895409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40800114499999 meters 0.06638738448196953 Centerline is valid? [True, True] Translation: X:56.85, Y:-0.24, Z:-1.13 [[ 9.99508560e-01 -2.70441063e-02 -1.58510349e-02 5.68539370e+01] [ 2.70473346e-02 9.99634154e-01 -1.07127223e-05 -2.42364014e-01] [ 1.58455255e-02 -4.18020787e-04 9.99874364e-01 -1.12860343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43800114499999 meters 0.06621909445781599 Centerline is valid? [True, True] Translation: X:56.89, Y:-0.24, Z:-1.13 [[ 9.99440984e-01 -2.95576877e-02 -1.56225152e-02 5.68858761e+01] [ 2.95611473e-02 9.99562974e-01 -9.47490803e-06 -2.42034766e-01] [ 1.56159679e-02 -4.52349863e-04 9.99877961e-01 -1.12716607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46800114499999 meters 0.06654872375161916 Centerline is valid? [True, True] Translation: X:56.92, Y:-0.24, Z:-1.13 [[ 9.99411506e-01 -3.05958290e-02 -1.55092625e-02 5.69176813e+01] [ 3.05993793e-02 9.99531729e-01 -8.39012210e-06 -2.42246525e-01] [ 1.55022567e-02 -4.66188621e-04 9.99879724e-01 -1.12839605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49800114499999 meters 0.06736107251137127 Centerline is valid? [True, True] Translation: X:56.95, Y:-0.24, Z:-1.13 [[ 9.99353853e-01 -3.22996207e-02 -1.57674176e-02 5.69488029e+01] [ 3.23035095e-02 9.99478105e-01 -8.05976973e-06 -2.44438503e-01] [ 1.57594490e-02 -5.01288361e-04 9.99875687e-01 -1.13112430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52800114499999 meters 0.0681975501815734 Centerline is valid? [True, True] Translation: X:56.98, Y:-0.25, Z:-1.14 [[ 9.99222644e-01 -3.45554895e-02 -1.89743381e-02 5.69800555e+01] [ 3.45615418e-02 9.99402571e-01 -8.95305108e-06 -2.46334447e-01] [ 1.89633116e-02 -6.46836287e-04 9.99819971e-01 -1.13502562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55800114499999 meters 0.06919090728408243 Centerline is valid? [True, True] Translation: X:57.01, Y:-0.25, Z:-1.14 [[ 9.99210464e-01 -3.51559206e-02 -1.85070057e-02 5.70115788e+01] [ 3.51617981e-02 9.99381633e-01 -7.81640863e-06 -2.49239339e-01] [ 1.84958364e-02 -6.42929363e-04 9.99828731e-01 -1.13890783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58800114499999 meters 0.06877329795427166 Centerline is valid? [True, True] Translation: X:57.04, Y:-0.25, Z:-1.14 [[ 9.99186204e-01 -3.58939090e-02 -1.83999397e-02 5.70441038e+01] [ 3.58998704e-02 9.99355392e-01 -6.32203849e-06 -2.47469782e-01] [ 1.83883059e-02 -6.54238556e-04 9.99830707e-01 -1.13651616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61800114499999 meters 0.06826572436713142 Centerline is valid? [True, True] Translation: X:57.08, Y:-0.24, Z:-1.13 [[ 9.99226684e-01 -3.53909724e-02 -1.71322216e-02 5.70764475e+01] [ 3.53960867e-02 9.99373362e-01 -4.71497703e-06 -2.43880641e-01] [ 1.71216528e-02 -6.01702269e-04 9.99853233e-01 -1.13338015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64800114499999 meters 0.06762907760606862 Centerline is valid? [True, True] Translation: X:57.11, Y:-0.24, Z:-1.13 [[ 9.99282932e-01 -3.43533445e-02 -1.59207041e-02 5.71085803e+01] [ 3.43576468e-02 9.99409602e-01 -3.28357018e-06 -2.39135366e-01] [ 1.59114174e-02 -5.43716714e-04 9.99873258e-01 -1.13048799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67800114499999 meters 0.06771491060507945 Centerline is valid? [True, True] Translation: X:57.14, Y:-0.24, Z:-1.13 [[ 9.99366000e-01 -3.22131845e-02 -1.51627729e-02 5.71387872e+01] [ 3.22168411e-02 9.99480903e-01 -3.11086599e-06 -2.37392770e-01] [ 1.51550022e-02 -4.85387752e-04 9.99885039e-01 -1.13071931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70800114499999 meters 0.06780151277254733 Centerline is valid? [True, True] Translation: X:57.17, Y:-0.24, Z:-1.13 [[ 9.99382195e-01 -3.17026051e-02 -1.51714596e-02 5.71703455e+01] [ 3.17062218e-02 9.99497231e-01 -2.13644519e-06 -2.37374820e-01] [ 1.51638996e-02 -4.78894538e-04 9.99884907e-01 -1.13307492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73800114499999 meters 0.06783058444875271 Centerline is valid? [True, True] Translation: X:57.20, Y:-0.24, Z:-1.14 [[ 9.99397404e-01 -3.08434092e-02 -1.59221090e-02 5.72034245e+01] [ 3.08473192e-02 9.99524108e-01 -2.60238141e-08 -2.36979829e-01] [ 1.59145326e-02 -4.91128369e-04 9.99873235e-01 -1.13517013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76800114499999 meters 0.06785281323085053 Centerline is valid? [True, True] Translation: X:57.23, Y:-0.23, Z:-1.14 [[ 9.99405924e-01 -2.93505330e-02 -1.80650311e-02 5.72349717e+01] [ 2.93553205e-02 9.99569040e-01 -1.58360402e-07 -2.34077001e-01] [ 1.80572504e-02 -5.30146511e-04 9.99836814e-01 -1.13816303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79800114499999 meters 0.06755378025300836 Centerline is valid? [True, True] Translation: X:57.27, Y:-0.23, Z:-1.14 [[ 9.99433545e-01 -2.84627528e-02 -1.79572049e-02 5.72667844e+01] [ 2.84673646e-02 9.99594722e-01 1.20486926e-06 -2.31144702e-01] [ 1.79498930e-02 -5.12398485e-04 9.99838756e-01 -1.13745605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82800114499999 meters 0.06758543102194262 Centerline is valid? [True, True] Translation: X:57.30, Y:-0.23, Z:-1.14 [[ 9.99456046e-01 -2.74833099e-02 -1.82285625e-02 5.72983330e+01] [ 2.74879098e-02 9.99622136e-01 1.79220870e-06 -2.28315103e-01] [ 1.82216254e-02 -5.02856316e-04 9.99833846e-01 -1.13778182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85800114499999 meters 0.06670740321365297 Centerline is valid? [True, True] Translation: X:57.33, Y:-0.22, Z:-1.13 [[ 9.99492209e-01 -2.65197351e-02 -1.76642901e-02 5.73304266e+01] [ 2.65239296e-02 9.99648179e-01 3.17567393e-06 -2.22218526e-01] [ 1.76579912e-02 -4.71700448e-04 9.99843974e-01 -1.13474762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88800114499999 meters 0.06684371403466899 Centerline is valid? [True, True] Translation: X:57.36, Y:-0.22, Z:-1.14 [[ 9.99483966e-01 -2.61549064e-02 -1.86473127e-02 5.73621068e+01] [ 2.61595281e-02 9.99657781e-01 3.92671080e-06 -2.21841881e-01] [ 1.86408285e-02 -4.91729585e-04 9.99826124e-01 -1.13558113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91800114499999 meters 0.0668599984350612 Centerline is valid? [True, True] Translation: X:57.39, Y:-0.22, Z:-1.14 [[ 9.99477258e-01 -2.60120302e-02 -1.91985704e-02 5.73929694e+01] [ 2.60169200e-02 9.99661503e-01 4.93022096e-06 -2.21415569e-01] [ 1.91919435e-02 -5.04415314e-04 9.99815690e-01 -1.13759453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94800114499999 meters 0.06681645089350798 Centerline is valid? [True, True] Translation: X:57.43, Y:-0.22, Z:-1.14 [[ 9.99496045e-01 -2.55567814e-02 -1.88283577e-02 5.74255234e+01] [ 2.55614309e-02 9.99673253e-01 6.28490788e-06 -2.20316609e-01] [ 1.88220450e-02 -4.87561505e-04 9.99822731e-01 -1.13831222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97800114499999 meters 0.06693712077553825 Centerline is valid? [True, True] Translation: X:57.46, Y:-0.22, Z:-1.14 [[ 9.99502862e-01 -2.64608063e-02 -1.71421821e-02 5.74570432e+01] [ 2.64648415e-02 9.99649745e-01 8.54546743e-06 -2.18514451e-01] [ 1.71359519e-02 -4.62206352e-04 9.99853062e-01 -1.13774309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00800114499999 meters 0.06717831225911029 Centerline is valid? [True, True] Translation: X:57.49, Y:-0.22, Z:-1.14 [[ 9.99512469e-01 -2.60571926e-02 -1.72002228e-02 5.74881953e+01] [ 2.60611908e-02 9.99660349e-01 8.30560677e-06 -2.17716153e-01] [ 1.71941643e-02 -4.56559846e-04 9.99852065e-01 -1.13825123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03800114499999 meters 0.06694359464675691 Centerline is valid? [True, True] Translation: X:57.52, Y:-0.22, Z:-1.14 [[ 9.99547299e-01 -2.51327062e-02 -1.65391655e-02 5.75205870e+01] [ 2.51362979e-02 9.99684033e-01 9.28693964e-06 -2.15750514e-01] [ 1.65337063e-02 -4.25016128e-04 9.99863219e-01 -1.13892697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06800114499999 meters 0.06710846532252905 Centerline is valid? [True, True] Translation: X:57.55, Y:-0.21, Z:-1.14 [[ 9.99573058e-01 -2.41430513e-02 -1.64564472e-02 5.75522239e+01] [ 2.41464896e-02 9.99708431e-01 1.02388623e-05 -2.12738094e-01] [ 1.64514018e-02 -4.07599922e-04 9.99864583e-01 -1.14013257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09800114499999 meters 0.06703996151248803 Centerline is valid? [True, True] Translation: X:57.58, Y:-0.21, Z:-1.14 [[ 9.99591164e-01 -2.35966730e-02 -1.61462939e-02 5.75840975e+01] [ 2.35999279e-02 9.99721483e-01 1.10475598e-05 -2.11572514e-01] [ 1.61415362e-02 -3.92094415e-04 9.99869640e-01 -1.14098926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12800114499999 meters 0.06747626049125573 Centerline is valid? [True, True] Translation: X:57.62, Y:-0.21, Z:-1.14 [[ 9.99556938e-01 -2.45011361e-02 -1.69003812e-02 5.76153215e+01] [ 2.45048601e-02 9.99699711e-01 1.32699894e-05 -2.11942713e-01] [ 1.68949811e-02 -4.27405587e-04 9.99857178e-01 -1.14203240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15800114499999 meters 0.06754460163682705 Centerline is valid? [True, True] Translation: X:57.65, Y:-0.21, Z:-1.14 [[ 9.99552682e-01 -2.47184839e-02 -1.68354704e-02 5.76473149e+01] [ 2.47222214e-02 9.99694359e-01 1.38836945e-05 -2.12131893e-01] [ 1.68299816e-02 -4.30087709e-04 9.99858273e-01 -1.14270136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18800114499999 meters 0.06795086773842468 Centerline is valid? [True, True] Translation: X:57.68, Y:-0.21, Z:-1.14 [[ 9.99527167e-01 -2.54786998e-02 -1.72127616e-02 5.76785511e+01] [ 2.54827280e-02 9.99675262e-01 1.46986618e-05 -2.12287003e-01] [ 1.72067974e-02 -4.53319833e-04 9.99851849e-01 -1.14421501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21800114499999 meters 0.06808195462178723 Centerline is valid? [True, True] Translation: X:57.71, Y:-0.21, Z:-1.15 [[ 9.99539628e-01 -2.53838653e-02 -1.66190256e-02 5.77109397e+01] [ 2.53876279e-02 9.99677682e-01 1.54319239e-05 -2.11714388e-01] [ 1.66132773e-02 -4.37342457e-04 9.99861894e-01 -1.14506046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24800114499999 meters 0.06619536941024237 Centerline is valid? [True, True] Translation: X:57.74, Y:-0.20, Z:-1.14 [[ 9.99600344e-01 -2.38967410e-02 -1.51029231e-02 5.77422928e+01] [ 2.38996809e-02 9.99714362e-01 1.41701623e-05 -2.04380075e-01] [ 1.50982705e-02 -3.75119542e-04 9.99885944e-01 -1.13813258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27800114499999 meters 0.06622563999640692 Centerline is valid? [True, True] Translation: X:57.77, Y:-0.20, Z:-1.14 [[ 9.99674468e-01 -2.08325314e-02 -1.47296950e-02 5.77725410e+01] [ 2.08349950e-02 9.99782928e-01 1.38025667e-05 -2.00840505e-01] [ 1.47262100e-02 -3.20691194e-04 9.99891512e-01 -1.13923063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30800114499999 meters 0.06702721611027226 Centerline is valid? [True, True] Translation: X:57.80, Y:-0.20, Z:-1.15 [[ 9.99711329e-01 -1.94432441e-02 -1.41144985e-02 5.78034948e+01] [ 1.94453844e-02 9.99810921e-01 1.44022817e-05 -2.03291774e-01] [ 1.41115497e-02 -2.88859973e-04 9.99900385e-01 -1.14555987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33800114499999 meters 0.06669497703258105 Centerline is valid? [True, True] Translation: X:57.84, Y:-0.20, Z:-1.15 [[ 9.99758300e-01 -1.78040829e-02 -1.28979380e-02 5.78350662e+01] [ 1.78057358e-02 9.99841465e-01 1.33163329e-05 -2.01913572e-01] [ 1.28956562e-02 -2.42970391e-04 9.99916818e-01 -1.14599654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36800114499999 meters 0.06553252475482439 Centerline is valid? [True, True] Translation: X:57.87, Y:-0.19, Z:-1.14 [[ 9.99790144e-01 -1.58311699e-02 -1.30016386e-02 5.78672499e+01] [ 1.58327003e-02 9.99874655e-01 1.47823051e-05 -1.93937424e-01] [ 1.29997749e-02 -2.20630250e-04 9.99915475e-01 -1.13995424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39800114499999 meters 0.06601306074395698 Centerline is valid? [True, True] Translation: X:57.90, Y:-0.19, Z:-1.14 [[ 9.99756433e-01 -1.64648879e-02 -1.46963385e-02 5.78979268e+01] [ 1.64669445e-02 9.99864410e-01 1.89376082e-05 -1.91672436e-01] [ 1.46940341e-02 -2.60936787e-04 9.99892003e-01 -1.14048966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42800114499999 meters 0.06614764187573367 Centerline is valid? [True, True] Translation: X:57.93, Y:-0.19, Z:-1.14 [[ 9.99767531e-01 -1.63889245e-02 -1.40102557e-02 5.79294910e+01] [ 1.63907756e-02 9.99865662e-01 1.72998383e-05 -1.90891590e-01] [ 1.40080900e-02 -2.46934773e-04 9.99901851e-01 -1.14120353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45800114499999 meters 0.06624156500066691 Centerline is valid? [True, True] Translation: X:57.96, Y:-0.19, Z:-1.14 [[ 9.99757381e-01 -1.69589527e-02 -1.40560442e-02 5.79618836e+01] [ 1.69608918e-02 9.99856154e-01 1.87521139e-05 -1.91836890e-01] [ 1.40537043e-02 -2.57150610e-04 9.99901209e-01 -1.14215006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48800114499999 meters 0.06604654071775344 Centerline is valid? [True, True] Translation: X:57.99, Y:-0.19, Z:-1.14 [[ 9.99744300e-01 -1.86126462e-02 -1.28414666e-02 5.79945634e+01] [ 1.86144134e-02 9.99826737e-01 1.81002641e-05 -1.93816109e-01] [ 1.28389048e-02 -2.57132004e-04 9.99917545e-01 -1.14104933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51800114499999 meters 0.06702362430423232 Centerline is valid? [True, True] Translation: X:58.03, Y:-0.20, Z:-1.15 [[ 9.99704636e-01 -2.00286451e-02 -1.37656857e-02 5.80255257e+01] [ 2.00308340e-02 9.99799362e-01 2.11346496e-05 -1.98240491e-01] [ 1.37625005e-02 -2.96866572e-04 9.99905248e-01 -1.14531996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.54800114499999 meters 0.06749519666754154 Centerline is valid? [True, True] Translation: X:58.06, Y:-0.20, Z:-1.15 [[ 9.99676646e-01 -2.16558241e-02 -1.33277598e-02 5.80568508e+01] [ 2.16580184e-02 9.99765437e-01 2.03079069e-05 -2.00758732e-01] [ 1.33241938e-02 -3.08954206e-04 9.99911181e-01 -1.14664581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57800114499999 meters 0.06789304180132905 Centerline is valid? [True, True] Translation: X:58.09, Y:-0.20, Z:-1.15 [[ 9.99645410e-01 -2.29017533e-02 -1.35854508e-02 5.80888157e+01] [ 2.29041626e-02 9.99737665e-01 2.17592930e-05 -2.02519701e-01] [ 1.35813885e-02 -3.32914951e-04 9.99907713e-01 -1.14816445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60800114499999 meters 0.06762179560015577 Centerline is valid? [True, True] Translation: X:58.12, Y:-0.20, Z:-1.15 [[ 9.99617999e-01 -2.37738194e-02 -1.40947055e-02 5.81208236e+01] [ 2.37765118e-02 9.99717299e-01 2.34594426e-05 -2.02689159e-01] [ 1.40901631e-02 -3.58573411e-04 9.99900664e-01 -1.14779791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63800114499999 meters 0.06716755275736509 Centerline is valid? [True, True] Translation: X:58.15, Y:-0.20, Z:-1.15 [[ 9.99602079e-01 -2.39023556e-02 -1.49786987e-02 5.81530175e+01] [ 2.39054249e-02 9.99714224e-01 2.58752984e-05 -2.00481146e-01] [ 1.49737996e-02 -3.83937159e-04 9.99887813e-01 -1.14686753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66800114499999 meters 0.06702436073306382 Centerline is valid? [True, True] Translation: X:58.18, Y:-0.20, Z:-1.15 [[ 9.99639984e-01 -2.18493590e-02 -1.55726335e-02 5.81845181e+01] [ 2.18524346e-02 9.99761207e-01 2.73431918e-05 -1.98907201e-01] [ 1.55683174e-02 -3.67633303e-04 9.99878739e-01 -1.14815059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69800114499999 meters 0.06700242129904738 Centerline is valid? [True, True] Translation: X:58.22, Y:-0.20, Z:-1.15 [[ 9.99644800e-01 -2.11609475e-02 -1.62015064e-02 5.82170396e+01] [ 2.11642063e-02 9.99776013e-01 2.96894742e-05 -1.98470593e-01] [ 1.61972493e-02 -3.72570953e-04 9.99868747e-01 -1.14952872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72800114499999 meters 0.06685255216563461 Centerline is valid? [True, True] Translation: X:58.25, Y:-0.20, Z:-1.15 [[ 9.99687142e-01 -1.96027074e-02 -1.55354979e-02 5.82481102e+01] [ 1.96055591e-02 9.99807792e-01 3.12681658e-05 -1.98292697e-01] [ 1.55318989e-02 -3.35840506e-04 9.99879316e-01 -1.15038269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75800114499999 meters 0.06651249304846164 Centerline is valid? [True, True] Translation: X:58.28, Y:-0.20, Z:-1.15 [[ 9.99721715e-01 -1.76544093e-02 -1.56465319e-02 5.82796933e+01] [ 1.76570485e-02 9.99844102e-01 3.05328683e-05 -1.96649930e-01] [ 1.56435536e-02 -3.06795943e-04 9.99877585e-01 -1.15035112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78800114499999 meters 0.0664531394401656 Centerline is valid? [True, True] Translation: X:58.31, Y:-0.20, Z:-1.15 [[ 9.99724814e-01 -1.68028123e-02 -1.63695430e-02 5.83106313e+01] [ 1.68055948e-02 9.99858775e-01 3.24290506e-05 -1.95117780e-01] [ 1.63666863e-02 -3.07520034e-04 9.99866010e-01 -1.15057338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81800114499999 meters 0.0661867628353774 Centerline is valid? [True, True] Translation: X:58.34, Y:-0.19, Z:-1.15 [[ 9.99740185e-01 -1.60378095e-02 -1.61972857e-02 5.83413279e+01] [ 1.60404337e-02 9.99871343e-01 3.21072710e-05 -1.92885095e-01] [ 1.61946869e-02 -2.91910417e-04 9.99868815e-01 -1.15003715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84800114499999 meters 0.06651669729230657 Centerline is valid? [True, True] Translation: X:58.37, Y:-0.19, Z:-1.15 [[ 9.99750446e-01 -1.52013960e-02 -1.63695633e-02 5.83715192e+01] [ 1.52039686e-02 9.99884412e-01 3.27081099e-05 -1.93020727e-01] [ 1.63671739e-02 -2.81582273e-04 9.99866009e-01 -1.15297942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87800114499999 meters 0.06651669729230657 Centerline is valid? [True, True] Translation: X:58.40, Y:-0.19, Z:-1.15 [[ 9.99750446e-01 -1.52013918e-02 -1.63695638e-02 5.84015356e+01] [ 1.52039601e-02 9.99884413e-01 3.24483644e-05 -1.93080082e-01] [ 1.63671784e-02 -2.81322461e-04 9.99866009e-01 -1.15346686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90800114499999 meters 0.06580266474923342 Centerline is valid? [True, True] Translation: X:58.43, Y:-0.19, Z:-1.15 [[ 9.99807767e-01 -1.31236780e-02 -1.45670441e-02 5.84321295e+01] [ 1.31254913e-02 9.99913857e-01 2.88753422e-05 -1.89552127e-01] [ 1.45654103e-02 -2.20069402e-04 9.99893895e-01 -1.15037152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93800114499999 meters 0.0659152870679214 Centerline is valid? [True, True] Translation: X:58.46, Y:-0.19, Z:-1.15 [[ 9.99844277e-01 -1.23488096e-02 -1.26066839e-02 5.84619979e+01] [ 1.23501060e-02 9.99923734e-01 2.49894424e-05 -1.89617845e-01] [ 1.26054138e-02 -1.80679433e-04 9.99920532e-01 -1.15189719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96800114499999 meters 0.065688937892264 Centerline is valid? [True, True] Translation: X:58.49, Y:-0.19, Z:-1.15 [[ 9.99872310e-01 -1.13234352e-02 -1.12758105e-02 5.84923366e+01] [ 1.13244072e-02 9.99935877e-01 2.23513353e-05 -1.89095739e-01] [ 1.12748344e-02 -1.50040351e-04 9.99936426e-01 -1.15093191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99800114499999 meters 0.06532798896150876 Centerline is valid? [True, True] Translation: X:58.52, Y:-0.19, Z:-1.15 [[ 9.99884867e-01 -1.05526069e-02 -1.09038731e-02 5.85240193e+01] [ 1.05534791e-02 9.99944310e-01 2.24529598e-05 -1.87862129e-01] [ 1.09030290e-02 -1.37524172e-04 9.99940551e-01 -1.14948489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02800114499999 meters 0.064922146915292 Centerline is valid? [True, True] Translation: X:58.55, Y:-0.19, Z:-1.15 [[ 9.99903241e-01 -9.44562410e-03 -1.02121751e-02 5.85547090e+01] [ 9.44632663e-03 9.99955382e-01 2.05586115e-05 -1.85367543e-01] [ 1.02115253e-02 -1.17024164e-04 9.99947854e-01 -1.14626027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05800114499999 meters 0.06553415252892689 Centerline is valid? [True, True] Translation: X:58.58, Y:-0.19, Z:-1.15 [[ 9.99894645e-01 -1.01784900e-02 -1.03487527e-02 5.85837331e+01] [ 1.01792507e-02 9.99948190e-01 2.08335623e-05 -1.87935214e-01] [ 1.03480045e-02 -1.26173916e-04 9.99946450e-01 -1.15190388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08800114499999 meters 0.06515351759103119 Centerline is valid? [True, True] Translation: X:58.61, Y:-0.19, Z:-1.15 [[ 9.99874359e-01 -1.17443683e-02 -1.06459337e-02 5.86140129e+01] [ 1.17452667e-02 9.99931022e-01 2.18619871e-05 -1.86830238e-01] [ 1.06449426e-02 -1.46898570e-04 9.99943330e-01 -1.14793200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11800114499999 meters 0.06546736826691478 Centerline is valid? [True, True] Translation: X:58.64, Y:-0.19, Z:-1.15 [[ 9.99847535e-01 -1.32950424e-02 -1.13202307e-02 5.86449396e+01] [ 1.32961694e-02 9.99911602e-01 2.42995614e-05 -1.89139095e-01] [ 1.13189069e-02 -1.74811561e-04 9.99935924e-01 -1.14969348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14800114499999 meters 0.06565900671755906 Centerline is valid? [True, True] Translation: X:58.68, Y:-0.19, Z:-1.15 [[ 9.99823941e-01 -1.46140637e-02 -1.17693231e-02 5.86772581e+01] [ 1.46153848e-02 9.99893189e-01 2.62371304e-05 -1.91467434e-01] [ 1.17676826e-02 -1.98245697e-04 9.99930739e-01 -1.15104797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17800114499999 meters 0.06606365061204565 Centerline is valid? [True, True] Translation: X:58.71, Y:-0.20, Z:-1.15 [[ 9.99814041e-01 -1.69508067e-02 -9.19528156e-03 5.87082001e+01] [ 1.69517193e-02 9.99856309e-01 2.13113959e-05 -1.96959115e-01] [ 9.19359903e-03 -1.77183265e-04 9.99957722e-01 -1.15190416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20800114499999 meters 0.06606789868104908 Centerline is valid? [True, True] Translation: X:58.74, Y:-0.20, Z:-1.15 [[ 9.99815503e-01 -1.70265906e-02 -8.89133107e-03 5.87402899e+01] [ 1.70274521e-02 9.99855022e-01 2.11928864e-05 -1.98407425e-01] [ 8.88968118e-03 -1.72585690e-04 9.99960471e-01 -1.15274102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23800114499999 meters 0.0660119526166771 Centerline is valid? [True, True] Translation: X:58.77, Y:-0.20, Z:-1.15 [[ 9.99809305e-01 -1.68287127e-02 -9.90702061e-03 5.87720249e+01] [ 1.68297735e-02 9.99858369e-01 2.37120845e-05 -1.97828945e-01] [ 9.90521843e-03 -1.90440476e-04 9.99950924e-01 -1.15307228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26800114499999 meters 0.06587843756258917 Centerline is valid? [True, True] Translation: X:58.80, Y:-0.20, Z:-1.15 [[ 9.99828950e-01 -1.52320878e-02 -1.04906524e-02 5.88040228e+01] [ 1.52331984e-02 9.99883968e-01 2.59622603e-05 -1.96518294e-01] [ 1.04890397e-02 -1.85764009e-04 9.99944971e-01 -1.15492084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29800114499999 meters 0.06550246784735618 Centerline is valid? [True, True] Translation: X:58.84, Y:-0.19, Z:-1.16 [[ 9.99851120e-01 -1.20909992e-02 -1.23103922e-02 5.88367054e+01] [ 1.20922978e-02 9.99926885e-01 3.10551535e-05 -1.91091041e-01] [ 1.23091166e-02 -1.79911458e-04 9.99924224e-01 -1.15535436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32800114499999 meters 0.06549346264116195 Centerline is valid? [True, True] Translation: X:58.87, Y:-0.19, Z:-1.16 [[ 9.99875204e-01 -1.01787255e-02 -1.20818330e-02 5.88673772e+01] [ 1.01798299e-02 9.99948184e-01 2.99178714e-05 -1.88817737e-01] [ 1.20809025e-02 -1.52905143e-04 9.99927012e-01 -1.15680031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35800114499999 meters 0.06516369183599134 Centerline is valid? [True, True] Translation: X:58.90, Y:-0.19, Z:-1.15 [[ 9.99888152e-01 -8.74916946e-03 -1.21299745e-02 5.88977637e+01] [ 8.75017453e-03 9.99961716e-01 2.97880440e-05 -1.85987059e-01] [ 1.21292495e-02 -1.35924106e-04 9.99926429e-01 -1.15448205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38800114499999 meters 0.06487582754361695 Centerline is valid? [True, True] Translation: X:58.93, Y:-0.19, Z:-1.15 [[ 9.99917709e-01 -6.67007967e-03 -1.09582997e-02 5.89269281e+01] [ 6.67071457e-03 9.99977750e-01 2.13877151e-05 -1.85784455e-01] [ 1.09579132e-02 -9.44856443e-05 9.99939956e-01 -1.15458854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41800114499999 meters 0.06464312521191294 Centerline is valid? [True, True] Translation: X:58.96, Y:-0.19, Z:-1.15 [[ 9.99930506e-01 -5.78474035e-03 -1.02723222e-02 5.89555176e+01] [ 5.78522254e-03 9.99983265e-01 1.72262127e-05 -1.85265837e-01] [ 1.02720507e-02 -7.66526856e-05 9.99947238e-01 -1.15356716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44800114499999 meters 0.06464834719002052 Centerline is valid? [True, True] Translation: X:58.98, Y:-0.18, Z:-1.15 [[ 9.99936875e-01 -5.56949853e-03 -9.75845687e-03 5.89836185e+01] [ 5.56993698e-03 9.99984488e-01 1.77529311e-05 -1.84684799e-01] [ 9.75820662e-03 -7.21058002e-05 9.99952385e-01 -1.15455271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47800114499999 meters 0.06476171167859646 Centerline is valid? [True, True] Translation: X:59.01, Y:-0.18, Z:-1.15 [[ 9.99937308e-01 -6.16319817e-03 -9.34848882e-03 5.90120343e+01] [ 6.16362699e-03 9.99981005e-01 1.70592051e-05 -1.83523523e-01] [ 9.34820610e-03 -7.46787336e-05 9.99956302e-01 -1.15317247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50800114499999 meters 0.06462569114359512 Centerline is valid? [True, True] Translation: X:59.04, Y:-0.18, Z:-1.15 [[ 9.99938135e-01 -6.38820628e-03 -9.10582955e-03 5.90416132e+01] [ 6.38862188e-03 9.99979592e-01 1.65535307e-05 -1.84150169e-01] [ 9.10553798e-03 -7.47262085e-05 9.99958541e-01 -1.15306005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53800114499999 meters 0.06473363225181875 Centerline is valid? [True, True] Translation: X:59.07, Y:-0.19, Z:-1.15 [[ 9.99933899e-01 -6.56801944e-03 -9.43714349e-03 5.90711827e+01] [ 6.56847123e-03 9.99978427e-01 1.68804960e-05 -1.85137715e-01] [ 9.43682903e-03 -7.88669857e-05 9.99955469e-01 -1.15460611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56800114499999 meters 0.06491846178520397 Centerline is valid? [True, True] Translation: X:59.10, Y:-0.19, Z:-1.16 [[ 9.99929368e-01 -5.49166083e-03 -1.05404401e-02 5.91001571e+01] [ 5.49215754e-03 9.99984918e-01 1.81789829e-05 -1.85787749e-01] [ 1.05401813e-02 -7.60674563e-05 9.99944448e-01 -1.15734653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59800114499999 meters 0.06479784151671723 Centerline is valid? [True, True] Translation: X:59.13, Y:-0.19, Z:-1.16 [[ 9.99931587e-01 -5.77033964e-03 -1.01746885e-02 5.91285112e+01] [ 5.77076570e-03 9.99983349e-01 1.25163412e-05 -1.85597609e-01] [ 1.01744469e-02 -7.12312283e-05 9.99948236e-01 -1.15724034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62800114499999 meters 0.06484486947389174 Centerline is valid? [True, True] Translation: X:59.16, Y:-0.19, Z:-1.16 [[ 9.99929474e-01 -6.72112102e-03 -9.79147596e-03 5.91570204e+01] [ 6.72153876e-03 9.99977410e-01 9.75562834e-06 -1.86208565e-01] [ 9.79118920e-03 -7.55687254e-05 9.99952062e-01 -1.15644717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65800114499999 meters 0.0649160719468673 Centerline is valid? [True, True] Translation: X:59.19, Y:-0.19, Z:-1.16 [[ 9.99922076e-01 -7.73047542e-03 -9.80215882e-03 5.91860620e+01] [ 7.73096548e-03 9.99970116e-01 1.21048498e-05 -1.87228345e-01] [ 9.80177231e-03 -8.78840580e-05 9.99951958e-01 -1.15590797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68800114499999 meters 0.06518612411996015 Centerline is valid? [True, True] Translation: X:59.22, Y:-0.19, Z:-1.16 [[ 9.99906270e-01 -9.33997433e-03 -1.00107529e-02 5.92153610e+01] [ 9.34057288e-03 9.99956376e-01 1.30377678e-05 -1.89501050e-01] [ 1.00101944e-02 -1.06542713e-04 9.99949891e-01 -1.15770963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71800114499999 meters 0.06515834365924622 Centerline is valid? [True, True] Translation: X:59.25, Y:-0.19, Z:-1.16 [[ 9.99882668e-01 -1.13326330e-02 -1.03063775e-02 5.92459933e+01] [ 1.13333740e-02 9.99935775e-01 1.34867866e-05 -1.91899297e-01] [ 1.03055627e-02 -1.30291234e-04 9.99946888e-01 -1.15596077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74800114499999 meters 0.06521549041873574 Centerline is valid? [True, True] Translation: X:59.28, Y:-0.19, Z:-1.16 [[ 9.99883803e-01 -1.14919658e-02 -1.00157350e-02 5.92773891e+01] [ 1.14926819e-02 9.99933957e-01 1.39473083e-05 -1.92409932e-01] [ 1.00149133e-02 -1.29053345e-04 9.99949841e-01 -1.15642003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77800114499999 meters 0.06522562803926392 Centerline is valid? [True, True] Translation: X:59.31, Y:-0.19, Z:-1.16 [[ 9.99890047e-01 -1.13272208e-02 -9.57017588e-03 5.93084183e+01] [ 1.13278702e-02 9.99935838e-01 1.36575307e-05 -1.91956464e-01] [ 9.56940713e-03 -1.22065740e-04 9.99954205e-01 -1.15709028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80800114499999 meters 0.06544210482419682 Centerline is valid? [True, True] Translation: X:59.34, Y:-0.19, Z:-1.16 [[ 9.99907232e-01 -8.89379683e-03 -1.03164282e-02 5.93391724e+01] [ 8.89442060e-03 9.99960444e-01 1.45837996e-05 -1.88734263e-01] [ 1.03158904e-02 -1.06341099e-04 9.99946784e-01 -1.16028870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83800114499999 meters 0.06524935105004295 Centerline is valid? [True, True] Translation: X:59.37, Y:-0.19, Z:-1.16 [[ 9.99925448e-01 -6.77652489e-03 -1.01576218e-02 5.93697164e+01] [ 6.77701778e-03 9.99977036e-01 1.41048724e-05 -1.86460249e-01] [ 1.01572929e-02 -8.29422042e-05 9.99948410e-01 -1.16031023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86800114499999 meters 0.06537969764372652 Centerline is valid? [True, True] Translation: X:59.40, Y:-0.19, Z:-1.16 [[ 9.99925183e-01 -5.87386004e-03 -1.07296516e-02 5.93982783e+01] [ 5.87434447e-03 9.99982746e-01 1.36330354e-05 -1.85259261e-01] [ 1.07293864e-02 -7.66616850e-05 9.99942436e-01 -1.16154261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89800114499999 meters 0.06503047380761043 Centerline is valid? [True, True] Translation: X:59.43, Y:-0.18, Z:-1.16 [[ 9.99935679e-01 -5.54302986e-03 -9.89509683e-03 5.94273438e+01] [ 5.54337377e-03 9.99984635e-01 7.32913789e-06 -1.83428444e-01] [ 9.89490417e-03 -6.21808868e-05 9.99951042e-01 -1.15899506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92800114499999 meters 0.06539110456116701 Centerline is valid? [True, True] Translation: X:59.45, Y:-0.18, Z:-1.16 [[ 9.99931160e-01 -5.85788215e-03 -1.01666626e-02 5.94548193e+01] [ 5.85827849e-03 9.99982840e-01 9.20362607e-06 -1.82618590e-01] [ 1.01664342e-02 -6.87621333e-05 9.99948318e-01 -1.16063493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95800114499999 meters 0.06539711286724727 Centerline is valid? [True, True] Translation: X:59.48, Y:-0.18, Z:-1.16 [[ 9.99936617e-01 -6.84606220e-03 -8.93826453e-03 5.94837210e+01] [ 6.84636813e-03 9.99976563e-01 3.62882523e-06 -1.81897945e-01] [ 8.93803020e-03 -6.48232446e-05 9.99960053e-01 -1.15921613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98800114499999 meters 0.06545020364243799 Centerline is valid? [True, True] Translation: X:59.51, Y:-0.18, Z:-1.16 [[ 9.99932505e-01 -7.61004729e-03 -8.77911358e-03 5.95135037e+01] [ 7.61039960e-03 9.99971040e-01 6.72429937e-06 -1.82210140e-01] [ 8.77880817e-03 -7.35364080e-05 9.99961463e-01 -1.15996193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01800114499999 meters 0.06556224757161373 Centerline is valid? [True, True] Translation: X:59.54, Y:-0.18, Z:-1.16 [[ 9.99921985e-01 -9.54899306e-03 -8.05237502e-03 5.95435494e+01] [ 9.54935113e-03 9.99954404e-01 6.01987640e-06 -1.82439308e-01] [ 8.05195038e-03 -8.29143633e-05 9.99967579e-01 -1.16050414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.048001144999986 meters 0.06569431419629944 Centerline is valid? [True, True] Translation: X:59.58, Y:-0.18, Z:-1.16 [[ 9.99927764e-01 -9.77568675e-03 -6.99310392e-03 5.95750901e+01] [ 9.77596904e-03 9.99952214e-01 6.18422280e-06 -1.82045468e-01] [ 6.99270929e-03 -7.45481435e-05 9.99975548e-01 -1.16174450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07800114499999 meters 0.06574497066762944 Centerline is valid? [True, True] Translation: X:59.61, Y:-0.18, Z:-1.16 [[ 9.99933484e-01 -9.27454236e-03 -6.85639665e-03 5.96068532e+01] [ 9.27480852e-03 9.99956988e-01 7.02368027e-06 -1.81076267e-01] [ 6.85603660e-03 -7.06149792e-05 9.99976495e-01 -1.16359017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10800114499999 meters 0.0658887051998531 Centerline is valid? [True, True] Translation: X:59.64, Y:-0.18, Z:-1.17 [[ 9.99946928e-01 -7.73053918e-03 -6.81035518e-03 5.96382970e+01] [ 7.73076645e-03 9.99970117e-01 7.04596524e-06 -1.78822825e-01] [ 6.81009720e-03 -5.96948566e-05 9.99976809e-01 -1.16557646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13800114499999 meters 0.06587627160375849 Centerline is valid? [True, True] Translation: X:59.67, Y:-0.18, Z:-1.17 [[ 9.99949153e-01 -6.64624205e-03 -7.58405626e-03 5.96697851e+01] [ 6.64649173e-03 9.99977912e-01 7.71690359e-06 -1.76857602e-01] [ 7.58383745e-03 -5.81238784e-05 9.99971241e-01 -1.16572805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16800114499999 meters 0.06594092573513857 Centerline is valid? [True, True] Translation: X:59.70, Y:-0.17, Z:-1.17 [[ 9.99956477e-01 -5.23324402e-03 -7.72385178e-03 5.96993166e+01] [ 5.23345411e-03 9.99986305e-01 6.98942677e-06 -1.73839398e-01] [ 7.72370943e-03 -4.74115464e-05 9.99970171e-01 -1.16646797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19800114499999 meters 0.06606810526285684 Centerline is valid? [True, True] Translation: X:59.73, Y:-0.17, Z:-1.17 [[ 9.99953817e-01 -3.99635660e-03 -8.74029910e-03 5.97289387e+01] [ 3.99657424e-03 9.99992014e-01 7.43501917e-06 -1.71128866e-01] [ 8.74019958e-03 -4.23659300e-05 9.99961803e-01 -1.16783795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22800114499999 meters 0.06631091849890217 Centerline is valid? [True, True] Translation: X:59.76, Y:-0.17, Z:-1.17 [[ 9.99950127e-01 -2.09997450e-03 -9.76385180e-03 5.97575128e+01] [ 2.10010769e-03 9.99997795e-01 3.38899164e-06 -1.67765413e-01] [ 9.76382316e-03 -2.38939629e-05 9.99952332e-01 -1.17043913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25800114499999 meters 0.0663242230287402 Centerline is valid? [True, True] Translation: X:59.78, Y:-0.17, Z:-1.17 [[ 9.99951184e-01 -2.04389864e-03 -9.66703082e-03 5.97849084e+01] [ 2.04403320e-03 9.99997911e-01 4.03974633e-06 -1.67395903e-01] [ 9.66700237e-03 -2.37992811e-05 9.99953273e-01 -1.17101815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28800114499999 meters 0.06642933921850874 Centerline is valid? [True, True] Translation: X:59.81, Y:-0.17, Z:-1.17 [[ 9.99947746e-01 -2.43006275e-03 -9.92972334e-03 5.98136886e+01] [ 2.43018735e-03 9.99997047e-01 4.81975873e-07 -1.67644982e-01] [ 9.92969284e-03 -2.46130387e-05 9.99950699e-01 -1.17226364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31800114499999 meters 0.06661430516776426 Centerline is valid? [True, True] Translation: X:59.84, Y:-0.17, Z:-1.17 [[ 9.99940162e-01 -2.21390213e-03 -1.07130930e-02 5.98414871e+01] [ 2.21405238e-03 9.99997549e-01 2.16435859e-06 -1.67762048e-01] [ 1.07130619e-02 -2.58835780e-05 9.99942613e-01 -1.17412647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34800114499999 meters 0.06675071650184099 Centerline is valid? [True, True] Translation: X:59.87, Y:-0.17, Z:-1.18 [[ 9.99937552e-01 -1.73097490e-03 -1.10406200e-02 5.98703062e+01] [ 1.73105730e-03 9.99998502e-01 -2.09303383e-06 -1.67853759e-01] [ 1.10406071e-02 -1.70190427e-05 9.99939050e-01 -1.17601553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37800114499999 meters 0.06638778394156629 Centerline is valid? [True, True] Translation: X:59.90, Y:-0.17, Z:-1.17 [[ 9.99935540e-01 5.36384141e-04 -1.13414679e-02 5.98984039e+01] [-5.36482986e-04 9.99999856e-01 -5.67301388e-06 -1.65167920e-01] [ 1.13414632e-02 1.17571527e-05 9.99935683e-01 -1.17288753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40800114499999 meters 0.06625980079586839 Centerline is valid? [True, True] Translation: X:59.93, Y:-0.16, Z:-1.17 [[ 9.99939792e-01 1.44515214e-03 -1.08777073e-02 5.99270409e+01] [-1.44531985e-03 9.99998955e-01 -7.55669447e-06 -1.62395586e-01] [ 1.08776850e-02 2.32780058e-05 9.99940836e-01 -1.17203507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43800114499999 meters 0.06627017350562589 Centerline is valid? [True, True] Translation: X:59.96, Y:-0.16, Z:-1.17 [[ 9.99933576e-01 2.15195520e-03 -1.13231246e-02 5.99552766e+01] [-2.15216438e-03 9.99997684e-01 -6.28923054e-06 -1.60661090e-01] [ 1.13230849e-02 3.06580383e-05 9.99935891e-01 -1.17217008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46800114499999 meters 0.06626736958392873 Centerline is valid? [True, True] Translation: X:59.98, Y:-0.16, Z:-1.17 [[ 9.99940329e-01 2.14648601e-03 -1.07112391e-02 5.99837547e+01] [-2.14667770e-03 9.99997696e-01 -6.39848901e-06 -1.60894020e-01] [ 1.07112007e-02 2.93916852e-05 9.99942633e-01 -1.17314399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49800114499999 meters 0.06637696729732324 Centerline is valid? [True, True] Translation: X:60.01, Y:-0.17, Z:-1.18 [[ 9.99940716e-01 7.03511178e-04 -1.08660055e-02 6.00106466e+01] [-7.03654825e-04 9.99999752e-01 -9.39681247e-06 -1.66590136e-01] [ 1.08659962e-02 1.70421726e-05 9.99940963e-01 -1.17690977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52800114499999 meters 0.0664671368219049 Centerline is valid? [True, True] Translation: X:60.04, Y:-0.17, Z:-1.18 [[ 9.99938060e-01 -7.92117791e-04 -1.11017506e-02 6.00398625e+01] [ 7.92068080e-04 9.99999686e-01 -8.87454932e-06 -1.69231747e-01] [ 1.11017542e-02 8.06573153e-08 9.99938374e-01 -1.17770432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55800114499999 meters 0.06639415102499467 Centerline is valid? [True, True] Translation: X:60.07, Y:-0.17, Z:-1.18 [[ 9.99927219e-01 -2.93412628e-03 -1.17024516e-02 6.00687291e+01] [ 2.93420994e-03 9.99995695e-01 -1.00209651e-05 -1.71278314e-01] [ 1.17024307e-02 -2.43172142e-05 9.99931524e-01 -1.17725807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58800114499999 meters 0.06665513141418469 Centerline is valid? [True, True] Translation: X:60.10, Y:-0.17, Z:-1.18 [[ 9.99913357e-01 -4.94265512e-03 -1.22003778e-02 6.00961637e+01] [ 4.94288180e-03 9.99987784e-01 -1.15737339e-05 -1.72850959e-01] [ 1.22002860e-02 -4.87322944e-05 9.99925573e-01 -1.17846415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61800114499999 meters 0.06652813770873622 Centerline is valid? [True, True] Translation: X:60.13, Y:-0.18, Z:-1.18 [[ 9.99875940e-01 -8.62512902e-03 -1.31800075e-02 6.01252326e+01] [ 8.62570622e-03 9.99962798e-01 -1.30526423e-05 -1.76932692e-01] [ 1.31796298e-02 -1.00635850e-04 9.99913140e-01 -1.17613242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64800114499999 meters 0.06663809481258895 Centerline is valid? [True, True] Translation: X:60.15, Y:-0.18, Z:-1.18 [[ 9.99859644e-01 -1.02559230e-02 -1.32479780e-02 6.01531070e+01] [ 1.02566320e-02 9.99947399e-01 -1.44265155e-05 -1.79831820e-01] [ 1.32474291e-02 -1.21455144e-04 9.99912242e-01 -1.17826443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67800114499999 meters 0.0668184475608005 Centerline is valid? [True, True] Translation: X:60.18, Y:-0.18, Z:-1.18 [[ 9.99862707e-01 -1.03319397e-02 -1.29544555e-02 6.01816072e+01] [ 1.03326229e-02 9.99946617e-01 -1.41952456e-05 -1.81925251e-01] [ 1.29539106e-02 -1.19660206e-04 9.99916087e-01 -1.18044808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70800114499999 meters 0.06681523820433473 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.18, Z:-1.18 [[ 9.99866836e-01 -1.02316798e-02 -1.27131295e-02 6.02110065e+01] [ 1.02323279e-02 9.99947648e-01 -1.40659220e-05 -1.82436661e-01] [ 1.27126079e-02 -1.16020862e-04 9.99919185e-01 -1.18091543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73800114499999 meters 0.06607419841032361 Centerline is valid? [True, True] Translation: X:60.24, Y:-0.18, Z:-1.18 [[ 9.99862315e-01 -9.58952945e-03 -1.35422384e-02 6.02409688e+01] [ 9.59020003e-03 9.99954013e-01 -1.54227051e-05 -1.79926740e-01] [ 1.35417635e-02 -1.14452194e-04 9.99908300e-01 -1.17687644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76800114499999 meters 0.06607419841032361 Centerline is valid? [True, True] Translation: X:60.27, Y:-0.18, Z:-1.18 [[ 9.99860125e-01 -9.81520681e-03 -1.35422308e-02 6.02691575e+01] [ 9.81581415e-03 9.99951824e-01 -2.16201064e-05 -1.79811956e-01] [ 1.35417906e-02 -1.11310939e-04 9.99908300e-01 -1.17733468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.798001144999986 meters 0.06645751677412721 Centerline is valid? [True, True] Translation: X:60.30, Y:-0.18, Z:-1.18 [[ 9.99861774e-01 -8.99105108e-03 -1.39855210e-02 6.02979714e+01] [ 8.99165089e-03 9.99959574e-01 -1.99925675e-05 -1.79309027e-01] [ 1.39851354e-02 -1.05763118e-04 9.99902198e-01 -1.18142747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82800114499999 meters 0.06633224586766083 Centerline is valid? [True, True] Translation: X:60.33, Y:-0.18, Z:-1.18 [[ 9.99851087e-01 -7.79295710e-03 -1.53971946e-02 6.03263944e+01] [ 7.79344745e-03 9.99969630e-01 -2.81556662e-05 -1.77182998e-01] [ 1.53969464e-02 -9.18457536e-05 9.99881456e-01 -1.18215690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85800114499999 meters 0.06646887424405928 Centerline is valid? [True, True] Translation: X:60.36, Y:-0.18, Z:-1.18 [[ 9.99829446e-01 -8.00549459e-03 -1.66430273e-02 6.03554204e+01] [ 8.00604139e-03 9.99967951e-01 -3.37734676e-05 -1.77923501e-01] [ 1.66427642e-02 -9.94770575e-05 9.99861495e-01 -1.18399718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88800114499999 meters 0.06646204426074846 Centerline is valid? [True, True] Translation: X:60.38, Y:-0.18, Z:-1.19 [[ 9.99846262e-01 -7.96804280e-03 -1.56193030e-02 6.03830876e+01] [ 7.96853343e-03 9.99968250e-01 -3.08244649e-05 -1.78977923e-01] [ 1.56190527e-02 -9.36432120e-05 9.99878011e-01 -1.18519282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91800114499999 meters 0.06647769520304149 Centerline is valid? [True, True] Translation: X:60.41, Y:-0.18, Z:-1.18 [[ 9.99847290e-01 -8.88919473e-03 -1.50459224e-02 6.04113546e+01] [ 8.88966969e-03 9.99960485e-01 -3.53138894e-05 -1.79464816e-01] [ 1.50456418e-02 -9.84447835e-05 9.99886803e-01 -1.18479539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94800114499999 meters 0.06643053205030527 Centerline is valid? [True, True] Translation: X:60.44, Y:-0.18, Z:-1.18 [[ 9.99851052e-01 -9.46000085e-03 -1.44354159e-02 6.04389850e+01] [ 9.46049363e-03 9.99955248e-01 -3.41510929e-05 -1.80503981e-01] [ 1.44350929e-02 -1.02420154e-04 9.99895803e-01 -1.18479735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97800114499999 meters 0.06642359816021527 Centerline is valid? [True, True] Translation: X:60.47, Y:-0.19, Z:-1.18 [[ 9.99840234e-01 -1.19991142e-02 -1.32486823e-02 6.04668523e+01] [ 1.19997459e-02 9.99928000e-01 -3.18164380e-05 -1.86432599e-01] [ 1.32481102e-02 -1.27169467e-04 9.99912232e-01 -1.18411103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.008001145 meters 0.06638126804901602 Centerline is valid? [True, True] Translation: X:60.50, Y:-0.19, Z:-1.18 [[ 9.99827865e-01 -1.27533066e-02 -1.34756355e-02 6.04969391e+01] [ 1.27540456e-02 9.99918663e-01 -3.10968306e-05 -1.89128468e-01] [ 1.34749360e-02 -1.40777393e-04 9.99909199e-01 -1.18478671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.038001145 meters 0.06634206310957867 Centerline is valid? [True, True] Translation: X:60.53, Y:-0.19, Z:-1.19 [[ 9.99813755e-01 -1.30339386e-02 -1.42327396e-02 6.05275395e+01] [ 1.30347915e-02 9.99915043e-01 -3.28439496e-05 -1.90561258e-01] [ 1.42319586e-02 -1.52682961e-04 9.99898709e-01 -1.18563968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.068001145 meters 0.06601113190465976 Centerline is valid? [True, True] Translation: X:60.56, Y:-0.19, Z:-1.18 [[ 9.99810665e-01 -1.30983919e-02 -1.43897920e-02 6.05579562e+01] [ 1.30992704e-02 9.99914200e-01 -3.32063689e-05 -1.90903256e-01] [ 1.43889923e-02 -1.55295695e-04 9.99896461e-01 -1.18408609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09800114499998 meters 0.06622972019489101 Centerline is valid? [True, True] Translation: X:60.59, Y:-0.19, Z:-1.19 [[ 9.99815657e-01 -1.26394817e-02 -1.44532192e-02 6.05875536e+01] [ 1.26403131e-02 9.99920107e-01 -3.38286652e-05 -1.92561545e-01] [ 1.44524921e-02 -1.48870787e-04 9.99895546e-01 -1.18806009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12800114499998 meters 0.06569678853628592 Centerline is valid? [True, True] Translation: X:60.62, Y:-0.19, Z:-1.18 [[ 9.99829286e-01 -1.21649744e-02 -1.39073086e-02 6.06179248e+01] [ 1.21657017e-02 9.99925995e-01 -3.23086584e-05 -1.91788084e-01] [ 1.39066724e-02 -1.36889025e-04 9.99903288e-01 -1.18429618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15800114499999 meters 0.06550785305240513 Centerline is valid? [True, True] Translation: X:60.65, Y:-0.19, Z:-1.18 [[ 9.99871420e-01 -1.02069654e-02 -1.23677667e-02 6.06480852e+01] [ 1.02073907e-02 9.99947903e-01 -2.87320835e-05 -1.93184961e-01] [ 1.23674157e-02 -9.75142383e-05 9.99923516e-01 -1.18332971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18800114499999 meters 0.06542411268902247 Centerline is valid? [True, True] Translation: X:60.68, Y:-0.20, Z:-1.18 [[ 9.99888405e-01 -9.35584083e-03 -1.16467329e-02 6.06772329e+01] [ 9.35615020e-03 9.99956230e-01 -2.79245691e-05 -1.95062783e-01] [ 1.16464844e-02 -8.10471297e-05 9.99932174e-01 -1.18414467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21800114499999 meters 0.06505096941638881 Centerline is valid? [True, True] Translation: X:60.71, Y:-0.20, Z:-1.18 [[ 9.99904180e-01 -9.13353092e-03 -1.04023857e-02 6.07067945e+01] [ 9.13376145e-03 9.99958286e-01 -2.53465374e-05 -1.97116635e-01] [ 1.04021833e-02 -6.96688007e-05 9.99945893e-01 -1.18161211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24800114499999 meters 0.06502823923269388 Centerline is valid? [True, True] Translation: X:60.74, Y:-0.20, Z:-1.18 [[ 9.99916371e-01 -9.52837776e-03 -8.74414299e-03 6.07364199e+01] [ 9.52855612e-03 9.99954602e-01 -2.12632049e-05 -1.99489402e-01] [ 8.74394863e-03 -6.20576305e-05 9.99961769e-01 -1.18306466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27800114499999 meters 0.06485442838069576 Centerline is valid? [True, True] Translation: X:60.77, Y:-0.20, Z:-1.18 [[ 9.99899302e-01 -1.11405791e-02 -8.79048329e-03 6.07667128e+01] [ 1.11408273e-02 9.99937939e-01 -2.07300173e-05 -2.01273579e-01] [ 8.79016869e-03 -7.72053267e-05 9.99961363e-01 -1.18168915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30800114499999 meters 0.06485442838069576 Centerline is valid? [True, True] Translation: X:60.80, Y:-0.20, Z:-1.18 [[ 9.99899997e-01 -1.10781013e-02 -8.79048638e-03 6.07984280e+01] [ 1.10783586e-02 9.99938633e-01 -1.94170621e-05 -2.01270297e-01] [ 8.79016204e-03 -7.79690403e-05 9.99961363e-01 -1.18220419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33800114499999 meters 0.06521592782105345 Centerline is valid? [True, True] Translation: X:60.83, Y:-0.20, Z:-1.19 [[ 9.99891663e-01 -1.02057910e-02 -1.06068033e-02 6.08283178e+01] [ 1.02061080e-02 9.99947916e-01 -2.42380324e-05 -2.04382943e-01] [ 1.06064982e-02 -8.40187736e-05 9.99943746e-01 -1.18728097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.368001145 meters 0.06519777024322407 Centerline is valid? [True, True] Translation: X:60.86, Y:-0.21, Z:-1.19 [[ 9.99891610e-01 -9.73212083e-03 -1.10477701e-02 6.08587834e+01] [ 9.73243299e-03 9.99952638e-01 -2.55074365e-05 -2.05318864e-01] [ 1.10474951e-02 -8.20170108e-05 9.99938971e-01 -1.18879996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.398001145 meters 0.06509681865688058 Centerline is valid? [True, True] Translation: X:60.89, Y:-0.21, Z:-1.19 [[ 9.99898029e-01 -8.90343498e-03 -1.11651033e-02 6.08895910e+01] [ 8.90370215e-03 9.99960361e-01 -2.57783389e-05 -2.06194561e-01] [ 1.11648902e-02 -7.36350438e-05 9.99937668e-01 -1.18891890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.428001145 meters 0.06505445842158561 Centerline is valid? [True, True] Translation: X:60.92, Y:-0.21, Z:-1.19 [[ 9.99890774e-01 -8.91472760e-03 -1.17884264e-02 6.09187170e+01] [ 8.91500720e-03 9.99960260e-01 -2.88310801e-05 -2.07853023e-01] [ 1.17882150e-02 -7.62659756e-05 9.99930514e-01 -1.18992223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45800114499998 meters 0.06474977365819258 Centerline is valid? [True, True] Translation: X:60.95, Y:-0.21, Z:-1.19 [[ 9.99869405e-01 -9.18909592e-03 -1.32941451e-02 6.09479126e+01] [ 9.18947154e-03 9.99957775e-01 -3.28327735e-05 -2.10319403e-01] [ 1.32938854e-02 -8.93376820e-05 9.99911628e-01 -1.18721798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48800114499998 meters 0.06477158934037847 Centerline is valid? [True, True] Translation: X:60.98, Y:-0.21, Z:-1.19 [[ 9.99863028e-01 -9.48414322e-03 -1.35637761e-02 6.09753630e+01] [ 9.48452287e-03 9.99955020e-01 -3.63371241e-05 -2.11914470e-01] [ 1.35635106e-02 -9.23137974e-05 9.99908007e-01 -1.18878640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51800114499999 meters 0.0647235640166765 Centerline is valid? [True, True] Translation: X:61.00, Y:-0.21, Z:-1.19 [[ 9.99866211e-01 -9.84567048e-03 -1.30622484e-02 6.10038794e+01] [ 9.84599615e-03 9.99951526e-01 -3.93773548e-05 -2.13684424e-01] [ 1.30620029e-02 -8.92387610e-05 9.99914684e-01 -1.18862839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54800114499999 meters 0.06467641369647281 Centerline is valid? [True, True] Translation: X:61.03, Y:-0.22, Z:-1.19 [[ 9.99852018e-01 -1.05177283e-02 -1.36132129e-02 6.10325238e+01] [ 1.05181068e-02 9.99944682e-01 -4.37908914e-05 -2.15940534e-01] [ 1.36129204e-02 -9.94008159e-05 9.99907335e-01 -1.18874327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57800114499999 meters 0.06468161861190402 Centerline is valid? [True, True] Translation: X:61.06, Y:-0.22, Z:-1.19 [[ 9.99847897e-01 -1.09196766e-02 -1.35993599e-02 6.10608940e+01] [ 1.09201203e-02 9.99940373e-01 -4.16321726e-05 -2.20248536e-01] [ 1.35990036e-02 -1.06880806e-04 9.99907524e-01 -1.19028083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60800114499999 meters 0.06451339889256179 Centerline is valid? [True, True] Translation: X:61.09, Y:-0.22, Z:-1.19 [[ 9.99841853e-01 -1.06924491e-02 -1.42105968e-02 6.10901301e+01] [ 1.06929085e-02 9.99942828e-01 -4.36496932e-05 -2.20974041e-01] [ 1.42102511e-02 -1.08309822e-04 9.99899023e-01 -1.19037531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63800114499999 meters 0.06446098854509143 Centerline is valid? [True, True] Translation: X:61.12, Y:-0.22, Z:-1.19 [[ 9.99852946e-01 -9.92479613e-03 -1.39851551e-02 6.11187692e+01] [ 9.92508392e-03 9.99950744e-01 -4.88283983e-05 -2.21802970e-01] [ 1.39849508e-02 -8.99826199e-05 9.99902202e-01 -1.19045548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66800114499999 meters 0.06438696766767334 Centerline is valid? [True, True] Translation: X:61.15, Y:-0.22, Z:-1.19 [[ 9.99850106e-01 -9.21256430e-03 -1.46592750e-02 6.11471721e+01] [ 9.21276127e-03 9.99957560e-01 -5.40946633e-05 -2.23517018e-01] [ 1.46591512e-02 -8.09658462e-05 9.99892546e-01 -1.19189079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69800114499999 meters 0.06452522072973707 Centerline is valid? [True, True] Translation: X:61.17, Y:-0.22, Z:-1.19 [[ 9.99853831e-01 -8.08366520e-03 -1.50655767e-02 6.11745171e+01] [ 8.08374481e-03 9.99967324e-01 -5.56135770e-05 -2.24930035e-01] [ 1.50655340e-02 -6.61808296e-05 9.99886506e-01 -1.19449110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.728001145 meters 0.06443344796918742 Centerline is valid? [True, True] Translation: X:61.20, Y:-0.23, Z:-1.20 [[ 9.99853389e-01 -7.65965543e-03 -1.53143999e-02 6.12019694e+01] [ 7.65960342e-03 9.99970663e-01 -6.20510769e-05 -2.25840816e-01] [ 1.53144259e-02 -5.52602505e-05 9.99882726e-01 -1.19587815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.758001145 meters 0.06423706509635282 Centerline is valid? [True, True] Translation: X:61.23, Y:-0.23, Z:-1.19 [[ 9.99868871e-01 -6.46920600e-03 -1.48455513e-02 6.12310483e+01] [ 6.46898654e-03 9.99979074e-01 -6.28038408e-05 -2.25360049e-01] [ 1.48456469e-02 -3.32400660e-05 9.99889797e-01 -1.19437738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.788001145 meters 0.06402076173160957 Centerline is valid? [True, True] Translation: X:61.26, Y:-0.22, Z:-1.19 [[ 9.99889619e-01 -6.14145233e-03 -1.35289277e-02 6.12584626e+01] [ 6.14125182e-03 9.99981141e-01 -5.63650338e-05 -2.24510525e-01] [ 1.35290187e-02 -2.67257397e-05 9.99908478e-01 -1.19400047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.818001145 meters 0.06402463883800412 Centerline is valid? [True, True] Translation: X:61.29, Y:-0.23, Z:-1.19 [[ 9.99887179e-01 -6.62649430e-03 -1.34802826e-02 6.12864160e+01] [ 6.62626322e-03 9.99978044e-01 -6.18064730e-05 -2.25403697e-01] [ 1.34803962e-02 -2.75244011e-05 9.99909135e-01 -1.19451069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84800114499998 meters 0.06416774686746134 Centerline is valid? [True, True] Translation: X:61.31, Y:-0.23, Z:-1.20 [[ 9.99878513e-01 -7.59721513e-03 -1.36103633e-02 6.13146557e+01] [ 7.59702812e-03 9.99971140e-01 -6.54429375e-05 -2.27156401e-01] [ 1.36104677e-02 -3.79633261e-05 9.99907373e-01 -1.19582966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87800114499998 meters 0.06416979372892859 Centerline is valid? [True, True] Translation: X:61.34, Y:-0.23, Z:-1.20 [[ 9.99849581e-01 -9.38312304e-03 -1.45867264e-02 6.13419916e+01] [ 9.38311800e-03 9.99955975e-01 -6.87857401e-05 -2.31254420e-01] [ 1.45867297e-02 -6.80935818e-05 9.99893606e-01 -1.19675990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90800114499999 meters 0.06415076917632535 Centerline is valid? [True, True] Translation: X:61.37, Y:-0.23, Z:-1.20 [[ 9.99842582e-01 -1.10825720e-02 -1.38559977e-02 6.13712784e+01] [ 1.10827038e-02 9.99938583e-01 -6.72714643e-05 -2.34456935e-01] [ 1.38558922e-02 -8.63010440e-05 9.99903999e-01 -1.19777456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93800114499999 meters 0.0635560592622429 Centerline is valid? [True, True] Translation: X:61.40, Y:-0.24, Z:-1.19 [[ 9.99845418e-01 -1.19174310e-02 -1.29272753e-02 6.14007358e+01] [ 1.19176250e-02 9.99928981e-01 -6.20326071e-05 -2.36377137e-01] [ 1.29270964e-02 -9.20394004e-05 9.99916437e-01 -1.19112559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96800114499999 meters 0.06410520452006473 Centerline is valid? [True, True] Translation: X:61.43, Y:-0.24, Z:-1.20 [[ 9.99832669e-01 -1.39571741e-02 -1.18250412e-02 6.14302763e+01] [ 1.39574793e-02 9.99902588e-01 -5.67149616e-05 -2.41064171e-01] [ 1.18246808e-02 -1.08342296e-04 9.99930080e-01 -1.19687109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99800114499999 meters 0.06336776151063753 Centerline is valid? [True, True] Translation: X:61.46, Y:-0.24, Z:-1.19 [[ 9.99808324e-01 -1.54436313e-02 -1.20336604e-02 6.14615187e+01] [ 1.54440686e-02 9.99880732e-01 -5.65923827e-05 -2.40723478e-01] [ 1.20330991e-02 -1.29267142e-04 9.99927591e-01 -1.19009395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02800114499999 meters 0.06329541988272197 Centerline is valid? [True, True] Translation: X:61.49, Y:-0.24, Z:-1.19 [[ 9.99782543e-01 -1.66078098e-02 -1.26114293e-02 6.14940048e+01] [ 1.66083992e-02 9.99862069e-01 -5.80022103e-05 -2.41593531e-01] [ 1.26106530e-02 -1.51466054e-04 9.99920471e-01 -1.18951635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05800114499999 meters 0.06474825304772333 Centerline is valid? [True, True] Translation: X:61.52, Y:-0.25, Z:-1.20 [[ 9.99749733e-01 -1.81128993e-02 -1.31299159e-02 6.15249081e+01] [ 1.81136721e-02 9.99835932e-01 -6.00722927e-05 -2.51358134e-01] [ 1.31288498e-02 -1.77773733e-04 9.99913797e-01 -1.20159370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08800114499999 meters 0.06363935633372482 Centerline is valid? [True, True] Translation: X:61.56, Y:-0.25, Z:-1.19 [[ 9.99730453e-01 -1.88020174e-02 -1.36200725e-02 6.15576342e+01] [ 1.88029276e-02 9.99823207e-01 -6.12344438e-05 -2.48678655e-01] [ 1.36188159e-02 -1.94879299e-04 9.99907241e-01 -1.19331231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.118001145 meters 0.06362905376975317 Centerline is valid? [True, True] Translation: X:61.59, Y:-0.25, Z:-1.19 [[ 9.99721864e-01 -1.92503466e-02 -1.36242026e-02 6.15895794e+01] [ 1.92513108e-02 9.99814675e-01 -6.03851305e-05 -2.48736263e-01] [ 1.36228402e-02 -2.01915424e-04 9.99907184e-01 -1.19327499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.148001145 meters 0.06372992863829664 Centerline is valid? [True, True] Translation: X:61.62, Y:-0.25, Z:-1.19 [[ 9.99704899e-01 -1.94991110e-02 -1.44878778e-02 6.16214754e+01] [ 1.95002397e-02 9.99809850e-01 -6.33673492e-05 -2.49105608e-01] [ 1.44863586e-02 -2.19168441e-04 9.99895043e-01 -1.19375715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.178001145 meters 0.06410570138332386 Centerline is valid? [True, True] Translation: X:61.65, Y:-0.25, Z:-1.20 [[ 9.99663615e-01 -2.10959040e-02 -1.50870786e-02 6.16525595e+01] [ 2.10973086e-02 9.99777425e-01 -6.60730456e-05 -2.52686146e-01] [ 1.50851145e-02 -2.52245933e-04 9.99886181e-01 -1.19604787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20800114499998 meters 0.06412130383855212 Centerline is valid? [True, True] Translation: X:61.69, Y:-0.25, Z:-1.20 [[ 9.99636896e-01 -2.20145942e-02 -1.55381281e-02 6.16851407e+01] [ 2.20162178e-02 9.99757611e-01 -6.65796806e-05 -2.54795851e-01] [ 1.55358275e-02 -2.75535307e-04 9.99879274e-01 -1.19729450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23800114499998 meters 0.06412430956069204 Centerline is valid? [True, True] Translation: X:61.72, Y:-0.26, Z:-1.20 [[ 9.99673898e-01 -2.18125354e-02 -1.32781865e-02 6.17152804e+01] [ 2.18136976e-02 9.99762051e-01 -5.73087102e-05 -2.55913949e-01] [ 1.32762770e-02 -2.32356323e-04 9.99911839e-01 -1.19630500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26800114499999 meters 0.0640911442340518 Centerline is valid? [True, True] Translation: X:61.75, Y:-0.26, Z:-1.20 [[ 9.99674392e-01 -2.20110066e-02 -1.29083731e-02 6.17473909e+01] [ 2.20121414e-02 9.99757702e-01 -5.41705846e-05 -2.55908257e-01] [ 1.29064378e-02 -2.29987988e-04 9.99916682e-01 -1.19640346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29800114499999 meters 0.06418270169885178 Centerline is valid? [True, True] Translation: X:61.78, Y:-0.26, Z:-1.20 [[ 9.99666693e-01 -2.22596679e-02 -1.30770500e-02 6.17798021e+01] [ 2.22608642e-02 9.99752195e-01 -5.40956150e-05 -2.56424463e-01] [ 1.30750136e-02 -2.37028850e-04 9.99914490e-01 -1.19646508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32800114499999 meters 0.06428142391974227 Centerline is valid? [True, True] Translation: X:61.81, Y:-0.26, Z:-1.20 [[ 9.99664503e-01 -2.24383261e-02 -1.29384264e-02 6.18124595e+01] [ 2.24395222e-02 9.99748201e-01 -5.27332981e-05 -2.57120572e-01] [ 1.29363517e-02 -2.37616500e-04 9.99916294e-01 -1.19729281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35800114499999 meters 0.06425920857930882 Centerline is valid? [True, True] Translation: X:61.84, Y:-0.26, Z:-1.20 [[ 9.99657591e-01 -2.27680115e-02 -1.28964495e-02 6.18448193e+01] [ 2.27692381e-02 9.99740746e-01 -5.17294858e-05 -2.56958554e-01] [ 1.28942839e-02 -2.41930557e-04 9.99916836e-01 -1.19720820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38800114499999 meters 0.0648392563267457 Centerline is valid? [True, True] Translation: X:61.88, Y:-0.26, Z:-1.20 [[ 9.99638101e-01 -2.28021502e-02 -1.42733826e-02 6.18761951e+01] [ 2.28036605e-02 9.99739961e-01 -5.69504931e-05 -2.59812217e-01] [ 1.42709696e-02 -2.68555489e-04 9.99898128e-01 -1.20185309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41800114499999 meters 0.06424360159788325 Centerline is valid? [True, True] Translation: X:61.91, Y:-0.26, Z:-1.20 [[ 9.99663575e-01 -2.18563956e-02 -1.39654998e-02 6.19083215e+01] [ 2.18577650e-02 9.99761089e-01 -5.45881829e-05 -2.57960263e-01] [ 1.39633564e-02 -2.50684796e-04 9.99902476e-01 -1.19953668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44800114499999 meters 0.06464770734716103 Centerline is valid? [True, True] Translation: X:61.94, Y:-0.26, Z:-1.20 [[ 9.99668298e-01 -2.15321734e-02 -1.41300692e-02 6.19393053e+01] [ 2.15335730e-02 9.99768124e-01 -5.31003799e-05 -2.58789573e-01] [ 1.41279362e-02 -2.51188110e-04 9.99900164e-01 -1.20296064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.478001145 meters 0.06411532953682357 Centerline is valid? [True, True] Translation: X:61.97, Y:-0.26, Z:-1.20 [[ 9.99671116e-01 -2.11750588e-02 -1.44663880e-02 6.19714256e+01] [ 2.11764911e-02 9.99775752e-01 -5.41829762e-05 -2.55048460e-01] [ 1.44642912e-02 -2.52182180e-04 9.99895355e-01 -1.19996950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.508001145 meters 0.06456473616060061 Centerline is valid? [True, True] Translation: X:62.00, Y:-0.25, Z:-1.20 [[ 9.99699144e-01 -2.12314778e-02 -1.22819587e-02 6.20024984e+01] [ 2.12325471e-02 9.99774563e-01 -4.33342416e-05 -2.54713798e-01] [ 1.22801099e-02 -2.17456063e-04 9.99924573e-01 -1.20224042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.538001145 meters 0.06412087550503294 Centerline is valid? [True, True] Translation: X:62.04, Y:-0.25, Z:-1.20 [[ 9.99681741e-01 -2.21691869e-02 -1.20392234e-02 6.20350767e+01] [ 2.21702797e-02 9.99754208e-01 -4.27001684e-05 -2.53660293e-01] [ 1.20372109e-02 -2.24226373e-04 9.99927525e-01 -1.19975432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56800114499998 meters 0.06453316502170689 Centerline is valid? [True, True] Translation: X:62.07, Y:-0.26, Z:-1.20 [[ 9.99633221e-01 -2.40080448e-02 -1.25314447e-02 6.20664697e+01] [ 2.40093768e-02 9.99711732e-01 -4.41659408e-05 -2.55606872e-01] [ 1.25288927e-02 -2.56722437e-04 9.99921477e-01 -1.20164992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59800114499998 meters 0.06423879609957783 Centerline is valid? [True, True] Translation: X:62.10, Y:-0.25, Z:-1.20 [[ 9.99601579e-01 -2.50583169e-02 -1.29908949e-02 6.20989612e+01] [ 2.50598510e-02 9.99685952e-01 -4.47012255e-05 -2.53642811e-01] [ 1.29879353e-02 -2.80866476e-04 9.99915614e-01 -1.20025217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62800114499998 meters 0.06455685357397589 Centerline is valid? [True, True] Translation: X:62.13, Y:-0.25, Z:-1.20 [[ 9.99583477e-01 -2.55084624e-02 -1.34977854e-02 6.21302803e+01] [ 2.55101879e-02 9.99674561e-01 -4.43552317e-05 -2.53788766e-01] [ 1.34945241e-02 -2.99994284e-04 9.99908900e-01 -1.20168157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65800114499999 meters 0.06447981530380685 Centerline is valid? [True, True] Translation: X:62.16, Y:-0.25, Z:-1.20 [[ 9.99563908e-01 -2.61255465e-02 -1.37640665e-02 6.21624060e+01] [ 2.61274009e-02 9.99658620e-01 -4.51050101e-05 -2.53296140e-01] [ 1.37605461e-02 -3.14533944e-04 9.99905270e-01 -1.20254514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68800114499999 meters 0.06447981530380685 Centerline is valid? [True, True] Translation: X:62.19, Y:-0.25, Z:-1.20 [[ 9.99565551e-01 -2.60625999e-02 -1.37640694e-02 6.21941292e+01] [ 2.60644603e-02 9.99660263e-01 -4.42367089e-05 -2.53257943e-01] [ 1.37605461e-02 -3.14535549e-04 9.99905270e-01 -1.20305992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71800114499999 meters 0.06464690449735729 Centerline is valid? [True, True] Translation: X:62.23, Y:-0.25, Z:-1.20 [[ 9.99551658e-01 -2.65890746e-02 -1.37660490e-02 6.22263538e+01] [ 2.65909974e-02 9.99646396e-01 -4.33763877e-05 -2.53198781e-01] [ 1.37623346e-02 -3.22696032e-04 9.99905243e-01 -1.20404402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74800114499999 meters 0.06454025140823644 Centerline is valid? [True, True] Translation: X:62.26, Y:-0.25, Z:-1.20 [[ 9.99552189e-01 -2.66309442e-02 -1.36460577e-02 6.22583611e+01] [ 2.66328492e-02 9.99645282e-01 -4.21377394e-05 -2.52821178e-01] [ 1.36423393e-02 -3.21314527e-04 9.99906887e-01 -1.20411418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77800114499999 meters 0.06441560391354494 Centerline is valid? [True, True] Translation: X:62.29, Y:-0.25, Z:-1.20 [[ 9.99524633e-01 -2.68453768e-02 -1.51602630e-02 6.22901164e+01] [ 2.68477583e-02 9.99639533e-01 -4.64468801e-05 -2.50420638e-01] [ 1.51560451e-02 -3.60594276e-04 9.99885076e-01 -1.20317889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80800114499999 meters 0.0648915795534498 Centerline is valid? [True, True] Translation: X:62.32, Y:-0.25, Z:-1.21 [[ 9.99513449e-01 -2.70690822e-02 -1.54961056e-02 6.23212353e+01] [ 2.70716083e-02 9.99633496e-01 -4.67641125e-05 -2.52064968e-01] [ 1.54916921e-02 -3.72763143e-04 9.99879927e-01 -1.20668180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83800114499999 meters 0.06563752738420076 Centerline is valid? [True, True] Translation: X:62.35, Y:-0.25, Z:-1.21 [[ 9.99519648e-01 -2.71127570e-02 -1.50123952e-02 6.23529018e+01] [ 2.71151502e-02 9.99632316e-01 -4.41407388e-05 -2.54450108e-01] [ 1.50080722e-02 -3.62943816e-04 9.99887307e-01 -1.21018326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.868001145 meters 0.06452976353650383 Centerline is valid? [True, True] Translation: X:62.39, Y:-0.25, Z:-1.21 [[ 9.99519263e-01 -2.72265571e-02 -1.48309350e-02 6.23850968e+01] [ 2.72289201e-02 9.99629223e-01 -4.26141652e-05 -2.49887505e-01] [ 1.48265963e-02 -3.61236666e-04 9.99890015e-01 -1.20588004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.898001145 meters 0.06433653080547745 Centerline is valid? [True, True] Translation: X:62.42, Y:-0.25, Z:-1.20 [[ 9.99569662e-01 -2.59730518e-02 -1.36342017e-02 6.24176980e+01] [ 2.59749516e-02 9.99662593e-01 -3.77494940e-05 -2.47132659e-01] [ 1.36305819e-02 -3.16414481e-04 9.99907049e-01 -1.20493893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.928001145 meters 0.06453892051234507 Centerline is valid? [True, True] Translation: X:62.45, Y:-0.25, Z:-1.20 [[ 9.99561627e-01 -2.66227324e-02 -1.29531272e-02 6.24487931e+01] [ 2.66245037e-02 9.99645504e-01 -3.57082097e-05 -2.45039567e-01] [ 1.29494860e-02 -3.09178027e-04 9.99916104e-01 -1.20485982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95800114499998 meters 0.06455081215983453 Centerline is valid? [True, True] Translation: X:62.48, Y:-0.24, Z:-1.20 [[ 9.99584617e-01 -2.65040448e-02 -1.13193911e-02 6.24812216e+01] [ 2.65054018e-02 9.99648670e-01 -3.01490671e-05 -2.42871013e-01] [ 1.13162133e-02 -2.69888465e-04 9.99935933e-01 -1.20437793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98800114499998 meters 0.06485458581412618 Centerline is valid? [True, True] Translation: X:62.51, Y:-0.24, Z:-1.21 [[ 9.99584345e-01 -2.67870927e-02 -1.06577928e-02 6.25128720e+01] [ 2.67883149e-02 9.99641128e-01 -2.80893460e-05 -2.42269238e-01] [ 1.06547205e-02 -2.57426641e-04 9.99943204e-01 -1.20532434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01800114499999 meters 0.06510982195716017 Centerline is valid? [True, True] Translation: X:62.55, Y:-0.24, Z:-1.21 [[ 9.99575016e-01 -2.69945272e-02 -1.10038055e-02 6.25451247e+01] [ 2.69958526e-02 9.99635545e-01 -2.80877730e-05 -2.42664787e-01] [ 1.10005533e-02 -2.68981276e-04 9.99939456e-01 -1.20734452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04800114499999 meters 0.06549129249497769 Centerline is valid? [True, True] Translation: X:62.58, Y:-0.24, Z:-1.21 [[ 9.99537174e-01 -2.79581142e-02 -1.19909025e-02 6.25776763e+01] [ 2.79597653e-02 9.99609049e-01 -2.99534058e-05 -2.43729070e-01] [ 1.19870521e-02 -3.05323277e-04 9.99928106e-01 -1.21028506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07800114499999 meters 0.06572409079963952 Centerline is valid? [True, True] Translation: X:62.61, Y:-0.24, Z:-1.21 [[ 9.99509786e-01 -2.86261938e-02 -1.26779063e-02 6.26097853e+01] [ 2.86281027e-02 9.99590131e-01 -3.09238127e-05 -2.43587077e-01] [ 1.26735952e-02 -3.32035749e-04 9.99919632e-01 -1.21192861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10800114499999 meters 0.06628472629742109 Centerline is valid? [True, True] Translation: X:62.64, Y:-0.24, Z:-1.21 [[ 9.99453442e-01 -3.03349925e-02 -1.31379380e-02 6.26409409e+01] [ 3.03371943e-02 9.99539721e-01 -3.17188481e-05 -2.41995104e-01] [ 1.31328531e-02 -3.66866667e-04 9.99913693e-01 -1.21338738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13800114499999 meters 0.06686898897755789 Centerline is valid? [True, True] Translation: X:62.67, Y:-0.24, Z:-1.21 [[ 9.99454743e-01 -3.02558686e-02 -1.32211251e-02 6.26734597e+01] [ 3.02581114e-02 9.99542118e-01 -3.04093283e-05 -2.41349646e-01] [ 1.32159914e-02 -3.69653528e-04 9.99912597e-01 -1.21479384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16800114499999 meters 0.06609967579847369 Centerline is valid? [True, True] Translation: X:62.71, Y:-0.24, Z:-1.21 [[ 9.99473874e-01 -2.98391978e-02 -1.27121022e-02 6.27056498e+01] [ 2.98412456e-02 9.99554650e-01 -2.86021226e-05 -2.35587404e-01] [ 1.27072944e-02 -3.50757891e-04 9.99919198e-01 -1.21158352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19800114499999 meters 0.0670197162675298 Centerline is valid? [True, True] Translation: X:62.74, Y:-0.23, Z:-1.22 [[ 9.99528601e-01 -2.77782104e-02 -1.30746559e-02 6.27370457e+01] [ 2.77802352e-02 9.99614054e-01 -2.67647960e-05 -2.34639109e-01] [ 1.30703533e-02 -3.36464837e-04 9.99914523e-01 -1.21701071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.228001145 meters 0.06644015723598622 Centerline is valid? [True, True] Translation: X:62.77, Y:-0.23, Z:-1.22 [[ 9.99580413e-01 -2.57217246e-02 -1.33187935e-02 6.27691729e+01] [ 2.57236399e-02 9.99669092e-01 -2.75221956e-05 -2.30727851e-01] [ 1.33150942e-02 -3.15097200e-04 9.99911301e-01 -1.21709342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.258001145 meters 0.0663037944790546 Centerline is valid? [True, True] Translation: X:62.80, Y:-0.23, Z:-1.22 [[ 9.99643047e-01 -2.34781659e-02 -1.27497129e-02 6.28019759e+01] [ 2.34797608e-02 9.99724312e-01 -2.45963783e-05 -2.27705918e-01] [ 1.27467754e-02 -2.74772611e-04 9.99918719e-01 -1.21886919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.288001145 meters 0.06600472930310115 Centerline is valid? [True, True] Translation: X:62.83, Y:-0.22, Z:-1.22 [[ 9.99692762e-01 -2.06690370e-02 -1.36810688e-02 6.28338536e+01] [ 2.06706142e-02 9.99786340e-01 -2.61320691e-05 -2.22102585e-01] [ 1.36786859e-02 -2.56672055e-04 9.99906409e-01 -1.21845400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31800114499998 meters 0.06581856941889634 Centerline is valid? [True, True] Translation: X:62.87, Y:-0.22, Z:-1.22 [[ 9.99742992e-01 -1.79909726e-02 -1.37939878e-02 6.28657932e+01] [ 1.79923324e-02 9.99838125e-01 -2.55233169e-05 -2.17539095e-01] [ 1.37922141e-02 -2.22669255e-04 9.99904858e-01 -1.21900183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34800114499998 meters 0.06588719492534023 Centerline is valid? [True, True] Translation: X:62.90, Y:-0.21, Z:-1.22 [[ 9.99765450e-01 -1.63824003e-02 -1.41655112e-02 6.28977084e+01] [ 1.63836850e-02 9.99865778e-01 -2.53582951e-05 -2.12200044e-01] [ 1.41640253e-02 -2.06730927e-04 9.99899664e-01 -1.21950575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37800114499998 meters 0.06604183213147567 Centerline is valid? [True, True] Translation: X:62.93, Y:-0.20, Z:-1.22 [[ 9.99824535e-01 -1.25304200e-02 -1.39243458e-02 6.29281625e+01] [ 1.25313006e-02 9.99921480e-01 -2.40148843e-05 -2.04849560e-01] [ 1.39235534e-02 -1.50479492e-04 9.99903051e-01 -1.22064661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40800114499999 meters 0.06612423202117575 Centerline is valid? [True, True] Translation: X:62.96, Y:-0.20, Z:-1.22 [[ 9.99860007e-01 -1.11463862e-02 -1.24789403e-02 6.29574730e+01] [ 1.11469792e-02 9.99937870e-01 -2.20344946e-05 -2.03295898e-01] [ 1.24784106e-02 -1.17071078e-04 9.99922135e-01 -1.22242966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43800114499999 meters 0.06596734007732709 Centerline is valid? [True, True] Translation: X:62.99, Y:-0.20, Z:-1.22 [[ 9.99880843e-01 -1.02859688e-02 -1.15108290e-02 6.29883300e+01] [ 1.02864139e-02 9.99947093e-01 -2.05362443e-05 -2.02099397e-01] [ 1.15104313e-02 -9.78713544e-05 9.99933748e-01 -1.22272289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46800114499999 meters 0.06604625421245576 Centerline is valid? [True, True] Translation: X:63.02, Y:-0.20, Z:-1.22 [[ 9.99898766e-01 -9.46449019e-03 -1.06245591e-02 6.30181919e+01] [ 9.46481871e-03 9.99955207e-01 -1.93604522e-05 -2.00868926e-01] [ 1.06242664e-02 -8.12010331e-05 9.99943558e-01 -1.22364958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49800114499999 meters 0.06596355518529692 Centerline is valid? [True, True] Translation: X:63.05, Y:-0.19, Z:-1.22 [[ 9.99932084e-01 -7.33462889e-03 -9.05703777e-03 6.30477548e+01] [ 7.33477871e-03 9.99973100e-01 -1.66750228e-05 -1.93017587e-01] [ 9.05691644e-03 -4.97574775e-05 9.99958984e-01 -1.22424692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52800114499999 meters 0.06599915854351332 Centerline is valid? [True, True] Translation: X:63.08, Y:-0.19, Z:-1.22 [[ 9.99941745e-01 -5.78766917e-03 -9.11096687e-03 6.30775440e+01] [ 5.78775954e-03 9.99983251e-01 -1.64473507e-05 -1.88646297e-01] [ 9.11090946e-03 -3.62856929e-05 9.99958494e-01 -1.22452473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55800114499999 meters 0.0659855777763013 Centerline is valid? [True, True] Translation: X:63.11, Y:-0.18, Z:-1.22 [[ 9.99942850e-01 -4.83365846e-03 -9.53582061e-03 6.31066594e+01] [ 4.83366255e-03 9.99988318e-01 -2.26181155e-05 -1.84375802e-01] [ 9.53581853e-03 -2.34761160e-05 9.99954533e-01 -1.22413936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58800114499999 meters 0.06622309686977351 Centerline is valid? [True, True] Translation: X:63.13, Y:-0.18, Z:-1.23 [[ 9.99948750e-01 -4.42820588e-03 -9.10430859e-03 6.31340837e+01] [ 4.42819668e-03 9.99990195e-01 -2.11686384e-05 -1.81995857e-01] [ 9.10431306e-03 -1.91481156e-05 9.99958555e-01 -1.22632612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.618001145 meters 0.06629194609358256 Centerline is valid? [True, True] Translation: X:63.16, Y:-0.18, Z:-1.23 [[ 9.99935649e-01 -6.14486461e-03 -9.53614861e-03 6.31633331e+01] [ 6.14493530e-03 9.99981119e-01 -2.18874958e-05 -1.81792112e-01] [ 9.53610306e-03 -3.67129290e-05 9.99954530e-01 -1.22616283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.648001145 meters 0.06649134294540296 Centerline is valid? [True, True] Translation: X:63.19, Y:-0.18, Z:-1.23 [[ 9.99921268e-01 -8.00965031e-03 -9.65939518e-03 6.31918156e+01] [ 8.00976509e-03 9.99967921e-01 -2.68033234e-05 -1.82211489e-01] [ 9.65930000e-03 -5.05682732e-05 9.99953347e-01 -1.22667514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.678001145 meters 0.06695883034314759 Centerline is valid? [True, True] Translation: X:63.22, Y:-0.18, Z:-1.23 [[ 9.99899874e-01 -1.01371425e-02 -9.87324957e-03 6.32207988e+01] [ 1.01373938e-02 9.99948615e-01 -2.45878648e-05 -1.83938029e-01] [ 9.87299149e-03 -7.55036163e-05 9.99951258e-01 -1.23240334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70800114499998 meters 0.06730529533647152 Centerline is valid? [True, True] Translation: X:63.25, Y:-0.19, Z:-1.23 [[ 9.99856722e-01 -1.43508762e-02 -8.97707229e-03 6.32511526e+01] [ 1.43512612e-02 9.99897015e-01 -2.15377881e-05 -1.85327717e-01] [ 8.97645687e-03 -1.07297607e-04 9.99959705e-01 -1.23208218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73800114499998 meters 0.06779251418726177 Centerline is valid? [True, True] Translation: X:63.28, Y:-0.19, Z:-1.23 [[ 9.99808672e-01 -1.67931276e-02 -1.00305067e-02 6.32835244e+01] [ 1.67937436e-02 9.99858975e-01 -2.28222537e-05 -1.86667887e-01] [ 1.00294754e-02 -1.45631870e-04 9.99949693e-01 -1.23400348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76800114499999 meters 0.06841404697599192 Centerline is valid? [True, True] Translation: X:63.31, Y:-0.19, Z:-1.24 [[ 9.99779135e-01 -1.85969315e-02 -9.78959533e-03 6.33142592e+01] [ 1.85976102e-02 9.99827049e-01 -2.17054308e-05 -1.88989181e-01] [ 9.78830587e-03 -1.60362441e-04 9.99952081e-01 -1.23664768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79800114499999 meters 0.06769487292474846 Centerline is valid? [True, True] Translation: X:63.35, Y:-0.19, Z:-1.23 [[ 9.99729067e-01 -2.03976850e-02 -1.12127688e-02 6.33468962e+01] [ 2.03986964e-02 9.99791925e-01 -2.41683244e-05 -1.86904385e-01] [ 1.12109287e-02 -2.04564091e-04 9.99937135e-01 -1.23211475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82800114499999 meters 0.06819080558242793 Centerline is valid? [True, True] Translation: X:63.38, Y:-0.19, Z:-1.23 [[ 9.99684025e-01 -2.30019515e-02 -1.01371044e-02 6.33782976e+01] [ 2.30029153e-02 9.99735398e-01 -2.15295667e-05 -1.89402660e-01] [ 1.01349174e-02 -2.11660190e-04 9.99948618e-01 -1.23436341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85800114499999 meters 0.06835741668374885 Centerline is valid? [True, True] Translation: X:63.41, Y:-0.19, Z:-1.23 [[ 9.99674432e-01 -2.36414412e-02 -9.59752655e-03 6.34115022e+01] [ 2.36423508e-02 9.99720480e-01 -1.86866774e-05 -1.89248795e-01] [ 9.59528563e-03 -2.08227496e-04 9.99953943e-01 -1.23495302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88800114499999 meters 0.06854950835474556 Centerline is valid? [True, True] Translation: X:63.44, Y:-0.19, Z:-1.24 [[ 9.99659480e-01 -2.40703768e-02 -1.00767401e-02 6.34426040e+01] [ 2.40713975e-02 9.99710242e-01 -1.99880115e-05 -1.88363714e-01] [ 1.00743014e-02 -2.22580011e-04 9.99949228e-01 -1.23575686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91800114499999 meters 0.06854982291826622 Centerline is valid? [True, True] Translation: X:63.48, Y:-0.19, Z:-1.24 [[ 9.99664221e-01 -2.37715764e-02 -1.03129414e-02 6.34752006e+01] [ 2.37726474e-02 9.99717391e-01 -1.87447211e-05 -1.86657188e-01] [ 1.03104724e-02 -2.26427492e-04 9.99946820e-01 -1.23612513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94800114499999 meters 0.06828718593045659 Centerline is valid? [True, True] Translation: X:63.51, Y:-0.18, Z:-1.24 [[ 9.99702189e-01 -2.20487202e-02 -1.04588456e-02 6.35076527e+01] [ 2.20497288e-02 9.99756875e-01 -1.88887046e-05 -1.83406971e-01] [ 1.04567193e-02 -2.11731630e-04 9.99945305e-01 -1.23685725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.978001145 meters 0.06823825120906608 Centerline is valid? [True, True] Translation: X:63.54, Y:-0.18, Z:-1.24 [[ 9.99740707e-01 -2.05679165e-02 -9.77136494e-03 6.35387392e+01] [ 2.05687285e-02 9.99788441e-01 -1.73981702e-05 -1.83114387e-01] [ 9.76965556e-03 -1.83590894e-04 9.99952259e-01 -1.23848351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.008001145 meters 0.06795252859793462 Centerline is valid? [True, True] Translation: X:63.57, Y:-0.18, Z:-1.24 [[ 9.99775099e-01 -1.91002190e-02 -9.21592005e-03 6.35706274e+01] [ 1.91008867e-02 9.99817561e-01 -1.55705821e-05 -1.81047599e-01] [ 9.21453611e-03 -1.60465165e-04 9.99957532e-01 -1.23826472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.038001145 meters 0.06680330135729423 Centerline is valid? [True, True] Translation: X:63.60, Y:-0.17, Z:-1.23 [[ 9.99830350e-01 -1.65705375e-02 -8.04289644e-03 6.36029792e+01] [ 1.65709698e-02 9.99862692e-01 -1.28955475e-05 -1.71948887e-01] [ 8.04200577e-03 -1.20385234e-04 9.99967655e-01 -1.23297924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06800114499998 meters 0.06674876921270184 Centerline is valid? [True, True] Translation: X:63.63, Y:-0.17, Z:-1.23 [[ 9.99854908e-01 -1.48025466e-02 -8.42901837e-03 6.36337899e+01] [ 1.48029717e-02 9.99890430e-01 -1.19612777e-05 -1.68575197e-01] [ 8.42827186e-03 -1.12814978e-04 9.99964475e-01 -1.23364482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09800114499998 meters 0.06635952821627074 Centerline is valid? [True, True] Translation: X:63.67, Y:-0.17, Z:-1.23 [[ 9.99883560e-01 -1.31361227e-02 -7.76582482e-03 6.36660086e+01] [ 1.31364324e-02 9.99913713e-01 -1.11248978e-05 -1.65620930e-01] [ 7.76530087e-03 -9.08916306e-05 9.99969845e-01 -1.23337600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12800114499998 meters 0.06651947598843844 Centerline is valid? [True, True] Translation: X:63.70, Y:-0.17, Z:-1.24 [[ 9.99916755e-01 -9.36993259e-03 -8.87055150e-03 6.36966996e+01] [ 9.37018859e-03 9.99956099e-01 -1.27008112e-05 -1.65638877e-01] [ 8.87028108e-03 -7.04189866e-05 9.99960656e-01 -1.23840604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15800114499999 meters 0.06633623661376525 Centerline is valid? [True, True] Translation: X:63.73, Y:-0.16, Z:-1.24 [[ 9.99930418e-01 -7.93834375e-03 -8.72594314e-03 6.37277771e+01] [ 7.93853729e-03 9.99968489e-01 -1.24567835e-05 -1.64711302e-01] [ 8.72576707e-03 -5.68153083e-05 9.99961928e-01 -1.23815457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18800114499999 meters 0.06628166166976045 Centerline is valid? [True, True] Translation: X:63.76, Y:-0.16, Z:-1.24 [[ 9.99925966e-01 -7.56885607e-03 -9.52762183e-03 6.37584973e+01] [ 7.56906857e-03 9.99971354e-01 -1.37556476e-05 -1.63476875e-01] [ 9.52745302e-03 -5.83605937e-05 9.99954611e-01 -1.23986479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21800114499999 meters 0.06621447482746308 Centerline is valid? [True, True] Translation: X:63.79, Y:-0.16, Z:-1.24 [[ 9.99921843e-01 -7.20281462e-03 -1.02189522e-02 6.37883298e+01] [ 7.20303314e-03 9.99974058e-01 -1.54212440e-05 -1.60444612e-01] [ 1.02187982e-02 -5.81874127e-05 9.99947785e-01 -1.23947638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24800114499999 meters 0.06606798447926977 Centerline is valid? [True, True] Translation: X:63.82, Y:-0.16, Z:-1.24 [[ 9.99938372e-01 -6.22501032e-03 -9.19246508e-03 6.38180288e+01] [ 6.22514083e-03 9.99980624e-01 -1.44153913e-05 -1.56847069e-01] [ 9.19237670e-03 -4.28098869e-05 9.99957748e-01 -1.23803647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27800114499999 meters 0.06582234636746691 Centerline is valid? [True, True] Translation: X:63.85, Y:-0.15, Z:-1.24 [[ 9.99957073e-01 -4.37336162e-03 -8.16853835e-03 6.38480275e+01] [ 4.37340032e-03 9.99990437e-01 -1.31243833e-05 -1.54883637e-01] [ 8.16851763e-03 -2.26004683e-05 9.99966637e-01 -1.23555013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30800114499999 meters 0.06582011907303563 Centerline is valid? [True, True] Translation: X:63.88, Y:-0.16, Z:-1.24 [[ 9.99963172e-01 -3.74166977e-03 -7.72362504e-03 6.38769315e+01] [ 3.74168072e-03 9.99993000e-01 -1.30320163e-05 -1.56133939e-01] [ 7.72361974e-03 -1.58678025e-05 9.99970172e-01 -1.23719321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33800114499999 meters 0.06573738437413786 Centerline is valid? [True, True] Translation: X:63.91, Y:-0.16, Z:-1.24 [[ 9.99954878e-01 -4.08602647e-03 -8.57595516e-03 6.39060758e+01] [ 4.08601222e-03 9.99991652e-01 -1.91820960e-05 -1.57945354e-01] [ 8.57596195e-03 -1.58602271e-05 9.99963226e-01 -1.23697606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.368001145 meters 0.06584692150005662 Centerline is valid? [True, True] Translation: X:63.93, Y:-0.16, Z:-1.24 [[ 9.99950052e-01 -4.53441279e-03 -8.90683010e-03 6.39339931e+01] [ 4.53442203e-03 9.99989719e-01 -1.91567890e-05 -1.59778943e-01] [ 8.90682539e-03 -2.12314944e-05 9.99960333e-01 -1.24084840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.398001145 meters 0.06561553192318854 Centerline is valid? [True, True] Translation: X:63.96, Y:-0.16, Z:-1.24 [[ 9.99951956e-01 -4.56949066e-03 -8.67212291e-03 6.39616023e+01] [ 4.56950100e-03 9.99989560e-01 -1.86217269e-05 -1.58724066e-01] [ 8.67211746e-03 -2.10064421e-05 9.99962396e-01 -1.24042204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.428001145 meters 0.0653913864120121 Centerline is valid? [True, True] Translation: X:63.99, Y:-0.16, Z:-1.24 [[ 9.99948454e-01 -5.15949967e-03 -8.74469576e-03 6.39902943e+01] [ 5.15949610e-03 9.99986689e-01 -2.29677726e-05 -1.56867616e-01] [ 8.74469787e-03 -2.21516350e-05 9.99961764e-01 -1.23811642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45800114499998 meters 0.06551237656923815 Centerline is valid? [True, True] Translation: X:64.02, Y:-0.16, Z:-1.24 [[ 9.99929101e-01 -6.16263131e-03 -1.01889256e-02 6.40185734e+01] [ 6.16266208e-03 9.99981010e-01 -2.83771912e-05 -1.57080915e-01] [ 1.01889070e-02 -3.44157264e-05 9.99948091e-01 -1.23964009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48800114499998 meters 0.06568071010984203 Centerline is valid? [True, True] Translation: X:64.05, Y:-0.16, Z:-1.24 [[ 9.99924492e-01 -6.14633175e-03 -1.06411412e-02 6.40469425e+01] [ 6.14639021e-03 9.99981110e-01 -2.72100227e-05 -1.58878938e-01] [ 1.06411074e-02 -3.81966379e-05 9.99943381e-01 -1.24355400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51800114499999 meters 0.06542437223599512 Centerline is valid? [True, True] Translation: X:64.08, Y:-0.16, Z:-1.24 [[ 9.99926439e-01 -7.46691049e-03 -9.55835118e-03 6.40758517e+01] [ 7.46697168e-03 9.99972121e-01 -2.92852413e-05 -1.63969440e-01] [ 9.55830338e-03 -4.20888505e-05 9.99954317e-01 -1.24324645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54800114499999 meters 0.0654715881798696 Centerline is valid? [True, True] Translation: X:64.11, Y:-0.17, Z:-1.24 [[ 9.99917841e-01 -8.97545542e-03 -9.15166288e-03 6.41054511e+01] [ 8.97560161e-03 9.99959718e-01 -2.50988411e-05 -1.65864694e-01] [ 9.15151951e-03 -5.70449012e-05 9.99958122e-01 -1.24354768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57800114499999 meters 0.0654715881798696 Centerline is valid? [True, True] Translation: X:64.14, Y:-0.17, Z:-1.24 [[ 9.99917841e-01 -8.97545941e-03 -9.15166355e-03 6.41354573e+01] [ 8.97560785e-03 9.99959718e-01 -2.48532271e-05 -1.65783341e-01] [ 9.15151797e-03 -5.72905580e-05 9.99958122e-01 -1.24403527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60800114499999 meters 0.0653515237313198 Centerline is valid? [True, True] Translation: X:64.17, Y:-0.17, Z:-1.24 [[ 9.99913317e-01 -1.00194167e-02 -8.54219893e-03 6.41659148e+01] [ 1.00195841e-02 9.99949802e-01 -2.31981004e-05 -1.66372186e-01] [ 8.54200256e-03 -6.23931915e-05 9.99963514e-01 -1.24306264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63800114499999 meters 0.06538779987347104 Centerline is valid? [True, True] Translation: X:64.20, Y:-0.17, Z:-1.24 [[ 9.99904477e-01 -1.03475655e-02 -9.16324330e-03 6.41975780e+01] [ 1.03477946e-02 9.99946460e-01 -2.24038518e-05 -1.65691997e-01] [ 9.16298452e-03 -7.24176479e-05 9.99958016e-01 -1.24333405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66800114499999 meters 0.0654193342003474 Centerline is valid? [True, True] Translation: X:64.23, Y:-0.17, Z:-1.25 [[ 9.99902997e-01 -9.64604402e-03 -1.00473679e-02 6.42292820e+01] [ 9.64627451e-03 9.99953473e-01 -2.55215230e-05 -1.65127789e-01] [ 1.00471466e-02 -7.14006211e-05 9.99949524e-01 -1.24539821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69800114499999 meters 0.06527252023052661 Centerline is valid? [True, True] Translation: X:64.26, Y:-0.17, Z:-1.24 [[ 9.99901027e-01 -9.19536696e-03 -1.06480885e-02 6.42601147e+01] [ 9.19559483e-03 9.99957719e-01 -2.75599399e-05 -1.65184429e-01] [ 1.06478917e-02 -7.03582952e-05 9.99943307e-01 -1.24373504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.728001145 meters 0.06542977753330667 Centerline is valid? [True, True] Translation: X:64.29, Y:-0.17, Z:-1.25 [[ 9.99900456e-01 -9.02755564e-03 -1.08434505e-02 6.42899159e+01] [ 9.02778288e-03 9.99959248e-01 -2.79925121e-05 -1.66264551e-01] [ 1.08432613e-02 -6.99025907e-05 9.99941208e-01 -1.24627585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.758001145 meters 0.06517273570550304 Centerline is valid? [True, True] Translation: X:64.32, Y:-0.17, Z:-1.24 [[ 9.99900249e-01 -8.19419878e-03 -1.15042548e-02 6.43208496e+01] [ 8.19439887e-03 9.99966425e-01 -2.97448705e-05 -1.65956789e-01] [ 1.15041123e-02 -6.45285492e-05 9.99933823e-01 -1.24441329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.788001145 meters 0.06487795714621468 Centerline is valid? [True, True] Translation: X:64.35, Y:-0.17, Z:-1.24 [[ 9.99923765e-01 -7.15158351e-03 -1.00657117e-02 6.43505017e+01] [ 7.15167525e-03 9.99974426e-01 -2.68800691e-05 -1.65420247e-01] [ 1.00656465e-02 -4.51086815e-05 9.99949339e-01 -1.24292366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81800114499998 meters 0.06479540675784111 Centerline is valid? [True, True] Translation: X:64.38, Y:-0.16, Z:-1.24 [[ 9.99936764e-01 -6.40819357e-03 -9.24137500e-03 6.43788518e+01] [ 6.40823603e-03 9.99979467e-01 -2.50174120e-05 -1.64189204e-01] [ 9.24134556e-03 -3.42050823e-05 9.99957297e-01 -1.24303586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84800114499998 meters 0.06476297101421814 Centerline is valid? [True, True] Translation: X:64.41, Y:-0.16, Z:-1.24 [[ 9.99948829e-01 -5.23332929e-03 -8.65751971e-03 6.44080454e+01] [ 5.23331979e-03 9.99986306e-01 -2.37513563e-05 -1.62700424e-01] [ 8.65752545e-03 -2.15574283e-05 9.99962523e-01 -1.24270127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87800114499998 meters 0.0650314521288574 Centerline is valid? [True, True] Translation: X:64.44, Y:-0.16, Z:-1.25 [[ 9.99941449e-01 -4.54446553e-03 -9.82072917e-03 6.44363846e+01] [ 4.54441360e-03 9.99989674e-01 -2.76034380e-05 -1.63114210e-01] [ 9.82075320e-03 -1.70276335e-05 9.99951775e-01 -1.24799166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90800114499999 meters 0.06489837491676419 Centerline is valid? [True, True] Translation: X:64.46, Y:-0.17, Z:-1.25 [[ 9.99936000e-01 -3.37138089e-03 -1.07994873e-02 6.44646586e+01] [ 3.37119404e-03 9.99994317e-01 -3.55060365e-05 -1.65259320e-01] [ 1.07995456e-02 -9.03403029e-07 9.99941683e-01 -1.24648520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93800114499999 meters 0.06485833291255935 Centerline is valid? [True, True] Translation: X:64.49, Y:-0.17, Z:-1.25 [[ 9.99918572e-01 -3.61814964e-03 -1.22375794e-02 6.44922844e+01] [ 3.61795084e-03 9.99993454e-01 -3.83830310e-05 -1.65316265e-01] [ 1.22376382e-02 -5.89505527e-06 9.99925117e-01 -1.24736756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96800114499999 meters 0.06486151441491063 Centerline is valid? [True, True] Translation: X:64.52, Y:-0.16, Z:-1.25 [[ 9.99921466e-01 -3.51745451e-03 -1.20286985e-02 6.45204005e+01] [ 3.51724382e-03 9.99993814e-01 -3.86699328e-05 -1.64801269e-01] [ 1.20287601e-02 -3.64096961e-06 9.99927652e-01 -1.24844687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99800114499999 meters 0.06458858463260737 Centerline is valid? [True, True] Translation: X:64.55, Y:-0.16, Z:-1.25 [[ 9.99918239e-01 -4.14222605e-03 -1.20977993e-02 6.45482708e+01] [ 4.14198829e-03 9.99991421e-01 -4.47084045e-05 -1.64786860e-01] [ 1.20978807e-02 -5.40419408e-06 9.99926818e-01 -1.24781289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02800114499999 meters 0.06477036235597076 Centerline is valid? [True, True] Translation: X:64.58, Y:-0.17, Z:-1.25 [[ 9.99927451e-01 -4.75172973e-03 -1.10686293e-02 6.45762231e+01] [ 4.75158574e-03 9.99988710e-01 -3.93065390e-05 -1.65266518e-01] [ 1.10686911e-02 -1.32898536e-05 9.99938740e-01 -1.24888361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05800114499999 meters 0.06481807959769782 Centerline is valid? [True, True] Translation: X:64.61, Y:-0.17, Z:-1.25 [[ 9.99926018e-01 -6.50977282e-03 -1.02753187e-02 6.46054664e+01] [ 6.50973683e-03 9.99978811e-01 -3.69482287e-05 -1.69073750e-01] [ 1.02753415e-02 -2.99441252e-05 9.99947207e-01 -1.24784735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08800114499999 meters 0.06475656792037493 Centerline is valid? [True, True] Translation: X:64.63, Y:-0.17, Z:-1.25 [[ 9.99927218e-01 -7.81776002e-03 -9.18919569e-03 6.46330935e+01] [ 7.81774504e-03 9.99969440e-01 -3.75509587e-05 -1.72113733e-01] [ 9.18920844e-03 -3.42905633e-05 9.99957778e-01 -1.24936402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.118001145 meters 0.06478938604196623 Centerline is valid? [True, True] Translation: X:64.66, Y:-0.18, Z:-1.25 [[ 9.99930374e-01 -9.35077255e-03 -7.19788224e-03 6.46633256e+01] [ 9.35082251e-03 9.99956280e-01 -2.67127438e-05 -1.76022309e-01] [ 7.19781734e-03 -4.05952354e-05 9.99974095e-01 -1.24941112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.148001145 meters 0.06467550145018147 Centerline is valid? [True, True] Translation: X:64.70, Y:-0.18, Z:-1.25 [[ 9.99904523e-01 -1.26732823e-02 -5.50744230e-03 6.46955289e+01] [ 1.26733692e-02 9.99919689e-01 -1.91082913e-05 -1.82396282e-01] [ 5.50724216e-03 -5.06913829e-05 9.99984834e-01 -1.24901356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.178001145 meters 0.06489476938869534 Centerline is valid? [True, True] Translation: X:64.73, Y:-0.18, Z:-1.25 [[ 9.99891870e-01 -1.37239752e-02 -5.28203314e-03 6.47265775e+01] [ 1.37240764e-02 9.99905820e-01 -1.70785023e-05 -1.84160459e-01] [ 5.28177006e-03 -5.54143709e-05 9.99986050e-01 -1.24961472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20800114499998 meters 0.06480813788728478 Centerline is valid? [True, True] Translation: X:64.76, Y:-0.18, Z:-1.25 [[ 9.99869442e-01 -1.50444452e-02 -5.89613022e-03 6.47589132e+01] [ 1.50445914e-02 9.99886824e-01 -1.95481340e-05 -1.83818874e-01] [ 5.89575701e-03 -6.91592883e-05 9.99982617e-01 -1.24757124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23800114499998 meters 0.06488157178308433 Centerline is valid? [True, True] Translation: X:64.79, Y:-0.18, Z:-1.25 [[ 9.99854513e-01 -1.59316863e-02 -6.09375319e-03 6.47914239e+01] [ 1.59318610e-02 9.99873080e-01 -1.98744748e-05 -1.84460670e-01] [ 6.09329641e-03 -7.72132454e-05 9.99981433e-01 -1.24773779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26800114499999 meters 0.06483795349724314 Centerline is valid? [True, True] Translation: X:64.82, Y:-0.19, Z:-1.25 [[ 9.99819330e-01 -1.82351757e-02 -5.36529072e-03 6.48236644e+01] [ 1.82353471e-02 9.99833722e-01 -1.69881677e-05 -1.88475720e-01] [ 5.36470837e-03 -8.08528399e-05 9.99985607e-01 -1.24618245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29800114499999 meters 0.06527802260161815 Centerline is valid? [True, True] Translation: X:64.85, Y:-0.19, Z:-1.25 [[ 9.99810757e-01 -1.88668433e-02 -4.74266887e-03 6.48549460e+01] [ 1.88669846e-02 9.99822002e-01 -1.49382065e-05 -1.94102067e-01] [ 4.74210653e-03 -7.45444811e-05 9.99988753e-01 -1.25021927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32800114499999 meters 0.06546214433018997 Centerline is valid? [True, True] Translation: X:64.89, Y:-0.20, Z:-1.25 [[ 9.99802604e-01 -1.94456883e-02 -4.07665779e-03 6.48861174e+01] [ 1.94457985e-02 9.99810913e-01 -1.25984650e-05 -1.96892873e-01] [ 4.07613193e-03 -6.66778880e-05 9.99991690e-01 -1.25148937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35800114499999 meters 0.0656327883643458 Centerline is valid? [True, True] Translation: X:64.92, Y:-0.20, Z:-1.25 [[ 9.99784796e-01 -2.02527999e-02 -4.49277974e-03 6.49180626e+01] [ 2.02529439e-02 9.99794888e-01 -1.34541327e-05 -1.97440911e-01] [ 4.49213070e-03 -7.75407785e-05 9.99989907e-01 -1.25175366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38800114499999 meters 0.06480590335767857 Centerline is valid? [True, True] Translation: X:64.95, Y:-0.19, Z:-1.25 [[ 9.99797602e-01 -1.96005802e-02 -4.53558469e-03 6.49501446e+01] [ 1.96007218e-02 9.99807887e-01 -1.32178264e-05 -1.91260438e-01] [ 4.53497243e-03 -7.56855827e-05 9.99989714e-01 -1.24780014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41800114499999 meters 0.06483874263387158 Centerline is valid? [True, True] Translation: X:64.98, Y:-0.19, Z:-1.25 [[ 9.99808365e-01 -1.90090491e-02 -4.67863180e-03 6.49826929e+01] [ 1.90091946e-02 9.99819309e-01 -1.33616918e-05 -1.90732113e-01] [ 4.67804040e-03 -7.55778912e-05 9.99989055e-01 -1.24848537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44800114499999 meters 0.06493005009848603 Centerline is valid? [True, True] Translation: X:65.01, Y:-0.19, Z:-1.25 [[ 9.99830715e-01 -1.76315033e-02 -5.26044500e-03 6.50134588e+01] [ 1.76316763e-02 9.99844550e-01 -1.34822067e-05 -1.92004688e-01] [ 5.25986498e-03 -7.92705392e-05 9.99986164e-01 -1.25097347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.478001145 meters 0.0647652061563678 Centerline is valid? [True, True] Translation: X:65.05, Y:-0.19, Z:-1.25 [[ 9.99848017e-01 -1.65587344e-02 -5.45450586e-03 6.50457099e+01] [ 1.65589004e-02 9.99862892e-01 -1.47265686e-05 -1.94427145e-01] [ 5.45400186e-03 -7.55962890e-05 9.99985124e-01 -1.25303066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.508001145 meters 0.06479903725550767 Centerline is valid? [True, True] Translation: X:65.08, Y:-0.19, Z:-1.25 [[ 9.99859023e-01 -1.63284107e-02 -3.91364816e-03 6.50770879e+01] [ 1.63284952e-02 9.99866681e-01 -1.03545612e-05 -1.94475808e-01] [ 3.91329547e-03 -5.35508839e-05 9.99992342e-01 -1.25236105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.538001145 meters 0.06468304339421406 Centerline is valid? [True, True] Translation: X:65.11, Y:-0.19, Z:-1.25 [[ 9.99860481e-01 -1.63899795e-02 -3.22293814e-03 6.51092442e+01] [ 1.63900390e-02 9.99865674e-01 -7.93576736e-06 -1.92454648e-01] [ 3.22263528e-03 -4.48894217e-05 9.99994806e-01 -1.25047125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56800114499998 meters 0.06452243751692821 Centerline is valid? [True, True] Translation: X:65.14, Y:-0.19, Z:-1.25 [[ 9.99871918e-01 -1.58379342e-02 -2.30394828e-03 6.51410631e+01] [ 1.58379642e-02 9.99874572e-01 -5.22659235e-06 -1.90657889e-01] [ 2.30374208e-03 -3.12639275e-05 9.99997346e-01 -1.24908210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59800114499998 meters 0.06460514713052724 Centerline is valid? [True, True] Translation: X:65.17, Y:-0.19, Z:-1.25 [[ 9.99893702e-01 -1.42639719e-02 -3.02054841e-03 6.51731097e+01] [ 1.42640214e-02 9.99898264e-01 -5.15379880e-06 -1.90824448e-01] [ 3.02031463e-03 -3.79319162e-05 9.99995438e-01 -1.25191957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62800114499998 meters 0.06472605373510285 Centerline is valid? [True, True] Translation: X:65.21, Y:-0.19, Z:-1.25 [[ 9.99904502e-01 -1.30683926e-02 -4.49478401e-03 6.52057229e+01] [ 1.30684787e-02 9.99914604e-01 -1.02213353e-05 -1.92445932e-01] [ 4.49453375e-03 -4.85196299e-05 9.99989898e-01 -1.25495626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65800114499999 meters 0.06453598185363608 Centerline is valid? [True, True] Translation: X:65.24, Y:-0.19, Z:-1.26 [[ 9.99912047e-01 -1.26910477e-02 -3.85169546e-03 6.52377884e+01] [ 1.26911096e-02 9.99919465e-01 -8.36364889e-06 -1.93439633e-01] [ 3.85149140e-03 -4.05193759e-05 9.99992582e-01 -1.25635672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68800114499999 meters 0.06437076504883248 Centerline is valid? [True, True] Translation: X:65.27, Y:-0.19, Z:-1.25 [[ 9.99909333e-01 -1.33201894e-02 -1.97454350e-03 6.52703211e+01] [ 1.33202082e-02 9.99911282e-01 -3.64771638e-06 -1.93846864e-01] [ 1.97441691e-03 -2.26539449e-05 9.99998051e-01 -1.25388311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71800114499999 meters 0.0643965992615349 Centerline is valid? [True, True] Translation: X:65.30, Y:-0.19, Z:-1.25 [[ 9.99908848e-01 -1.34517170e-02 -1.16048786e-03 6.53030649e+01] [ 1.34517244e-02 9.99909521e-01 -1.37998936e-06 -1.93547674e-01] [ 1.16040142e-03 -1.42306993e-05 9.99999327e-01 -1.25342407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74800114499999 meters 0.06432317105725827 Centerline is valid? [True, True] Translation: X:65.34, Y:-0.19, Z:-1.25 [[ 9.99912809e-01 -1.31448625e-02 -1.26005855e-03 6.53358905e+01] [ 1.31448714e-02 9.99913602e-01 -1.22844328e-06 -1.93042755e-01] [ 1.25996584e-03 -1.53349714e-05 9.99999206e-01 -1.25460876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77800114499999 meters 0.06458556116556491 Centerline is valid? [True, True] Translation: X:65.37, Y:-0.20, Z:-1.26 [[ 9.99907482e-01 -1.34311398e-02 -2.15198200e-03 6.53666474e+01] [ 1.34311626e-02 9.99909798e-01 -3.86042617e-06 -1.95301452e-01] [ 2.15183973e-03 -2.50435511e-05 9.99997684e-01 -1.25582589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80800114499999 meters 0.06456227356968246 Centerline is valid? [True, True] Translation: X:65.40, Y:-0.20, Z:-1.26 [[ 9.99905346e-01 -1.36421878e-02 -1.78573971e-03 6.53991057e+01] [ 1.36422048e-02 9.99906941e-01 -2.66647604e-06 -1.96169205e-01] [ 1.78560990e-03 -2.16952031e-05 9.99998406e-01 -1.25567846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83800114499999 meters 0.06457500411578075 Centerline is valid? [True, True] Translation: X:65.43, Y:-0.20, Z:-1.26 [[ 9.99902580e-01 -1.38969162e-02 -1.30616755e-03 6.54304916e+01] [ 1.38969257e-02 9.99903433e-01 -1.87092427e-06 -1.98343586e-01] [ 1.30606742e-03 -1.62809714e-05 9.99999147e-01 -1.25771941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.868001145 meters 0.0644097002550345 Centerline is valid? [True, True] Translation: X:65.46, Y:-0.20, Z:-1.26 [[ 9.99898783e-01 -1.42089797e-02 -7.27683157e-04 6.54632349e+01] [ 1.42089834e-02 9.99899047e-01 -1.17164471e-07 -1.97296694e-01] [ 7.27611360e-04 -1.02224853e-05 9.99999735e-01 -1.25593784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.898001145 meters 0.06450488136053363 Centerline is valid? [True, True] Translation: X:65.49, Y:-0.20, Z:-1.26 [[ 9.99904189e-01 -1.38100417e-02 -9.46009636e-04 6.54949857e+01] [ 1.38100474e-02 9.99904637e-01 -4.65067929e-07 -1.95578566e-01] [ 9.45925844e-04 -1.25994146e-05 9.99999553e-01 -1.25598362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92800114499998 meters 0.06454881795155785 Centerline is valid? [True, True] Translation: X:65.53, Y:-0.20, Z:-1.26 [[ 9.99897318e-01 -1.42598645e-02 -1.41791253e-03 6.55272280e+01] [ 1.42598766e-02 9.99898323e-01 -1.52211874e-06 -1.96090678e-01] [ 1.41779006e-03 -1.86972953e-05 9.99998995e-01 -1.25671755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95800114499998 meters 0.06468710553676582 Centerline is valid? [True, True] Translation: X:65.56, Y:-0.20, Z:-1.26 [[ 9.99892766e-01 -1.45763499e-02 -1.40967704e-03 6.55598622e+01] [ 1.45763624e-02 9.99893759e-01 -1.41184216e-06 -1.98312784e-01] [ 1.40954785e-03 -1.91362726e-05 9.99999006e-01 -1.25848810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98800114499998 meters 0.0647076596607212 Centerline is valid? [True, True] Translation: X:65.59, Y:-0.20, Z:-1.26 [[ 9.99883873e-01 -1.51410549e-02 -1.72874338e-03 6.55916923e+01] [ 1.51410743e-02 9.99885367e-01 -1.85711299e-06 -2.01154658e-01] [ 1.72857333e-03 -2.43181347e-05 9.99998506e-01 -1.26019714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01800114499999 meters 0.0648576424679759 Centerline is valid? [True, True] Translation: X:65.62, Y:-0.20, Z:-1.26 [[ 9.99850441e-01 -1.72488816e-02 -1.25404495e-03 6.56224912e+01] [ 1.72488936e-02 9.99851227e-01 -1.26919241e-06 -2.03378469e-01] [ 1.25388028e-03 -2.03618854e-05 9.99999214e-01 -1.26141954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04800114499999 meters 0.06512388455044349 Centerline is valid? [True, True] Translation: X:65.65, Y:-0.20, Z:-1.26 [[ 9.99819990e-01 -1.88337238e-02 -2.29733448e-03 6.56541126e+01] [ 1.88337669e-02 9.99822629e-01 -2.86634863e-06 -2.02233155e-01] [ 2.29698098e-03 -4.04016295e-05 9.99997361e-01 -1.26078257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07800114499999 meters 0.06524796210069762 Centerline is valid? [True, True] Translation: X:65.69, Y:-0.20, Z:-1.26 [[ 9.99798910e-01 -1.99376084e-02 -2.15184082e-03 6.56858385e+01] [ 1.99376491e-02 9.99801225e-01 -2.54126301e-06 -2.01922698e-01] [ 2.15146375e-03 -4.03618951e-05 9.99997685e-01 -1.26099012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10800114499999 meters 0.065674957505174 Centerline is valid? [True, True] Translation: X:65.72, Y:-0.21, Z:-1.26 [[ 9.99764618e-01 -2.16001927e-02 -2.03463188e-03 6.57174493e+01] [ 2.16002328e-02 9.99766688e-01 -2.26910599e-06 -2.05538247e-01] [ 2.03420619e-03 -4.16799505e-05 9.99997930e-01 -1.26254405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13800114499999 meters 0.06575548217672555 Centerline is valid? [True, True] Translation: X:65.75, Y:-0.21, Z:-1.26 [[ 9.99744614e-01 -2.25364744e-02 -1.67765296e-03 6.57499390e+01] [ 2.25365038e-02 9.99746021e-01 -1.37301361e-06 -2.07592347e-01] [ 1.67725781e-03 -3.64357694e-05 9.99998593e-01 -1.26388498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16800114499999 meters 0.0660463775792998 Centerline is valid? [True, True] Translation: X:65.78, Y:-0.21, Z:-1.26 [[ 9.99726651e-01 -2.33523086e-02 -1.13741186e-03 6.57807156e+01] [ 2.33523242e-02 9.99727297e-01 4.79296357e-07 -2.08887373e-01] [ 1.13709050e-03 -2.70403760e-05 9.99999353e-01 -1.26419619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19800114499999 meters 0.06609737683825635 Centerline is valid? [True, True] Translation: X:65.81, Y:-0.21, Z:-1.26 [[ 9.99711213e-01 -2.40288805e-02 -3.21574314e-04 6.58141037e+01] [ 2.40288821e-02 9.99711265e-01 1.13671583e-06 -2.08974682e-01] [ 3.21454150e-04 -8.86345884e-06 9.99999948e-01 -1.26347794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.228001145 meters 0.06576376307283664 Centerline is valid? [True, True] Translation: X:65.85, Y:-0.21, Z:-1.26 [[ 9.99687106e-01 -2.50125925e-02 2.44939818e-04 6.58466583e+01] [ 2.50125930e-02 9.99687136e-01 1.33426144e-06 -2.06873512e-01] [-2.44896559e-04 4.79273601e-06 9.99999970e-01 -1.26229382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.258001145 meters 0.0660264903414736 Centerline is valid? [True, True] Translation: X:65.88, Y:-0.21, Z:-1.26 [[ 9.99690950e-01 -2.48526526e-02 -5.91962426e-04 6.58784690e+01] [ 2.48526587e-02 9.99691125e-01 2.84990415e-06 -2.06461651e-01] [ 5.91708756e-04 -1.75608635e-05 9.99999825e-01 -1.26404647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.288001145 meters 0.06625372440637643 Centerline is valid? [True, True] Translation: X:65.91, Y:-0.21, Z:-1.27 [[ 9.99676864e-01 -2.53254609e-02 -2.18843782e-03 6.59108868e+01] [ 2.53255197e-02 9.99679258e-01 -8.55691322e-07 -2.05124563e-01] [ 2.18775757e-03 -5.45679104e-05 9.99997605e-01 -1.26545631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31800114499998 meters 0.06655137962423252 Centerline is valid? [True, True] Translation: X:65.94, Y:-0.20, Z:-1.27 [[ 9.99652402e-01 -2.59509190e-02 -4.65033217e-03 6.59432303e+01] [ 2.59511870e-02 9.99663211e-01 -2.71878195e-06 -2.04230758e-01] [ 4.64883654e-03 -1.17963803e-04 9.99989187e-01 -1.26888648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34800114499998 meters 0.06678898392615103 Centerline is valid? [True, True] Translation: X:65.97, Y:-0.20, Z:-1.27 [[ 9.99658312e-01 -2.57908028e-02 -4.25359770e-03 6.59742895e+01] [ 2.57910256e-02 9.99667356e-01 -2.45767797e-06 -2.04893625e-01] [ 4.25224615e-03 -1.07247809e-04 9.99990953e-01 -1.27083051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37800114499998 meters 0.06730035828901172 Centerline is valid? [True, True] Translation: X:66.01, Y:-0.21, Z:-1.27 [[ 9.99668920e-01 -2.55524909e-02 -3.02013015e-03 6.60059700e+01] [ 2.55526042e-02 9.99673479e-01 -1.08703339e-06 -2.07407175e-01] [ 3.01917179e-03 -7.60855168e-05 9.99995439e-01 -1.27275557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40800114499999 meters 0.0664764341859812 Centerline is valid? [True, True] Translation: X:66.04, Y:-0.20, Z:-1.27 [[ 9.99676441e-01 -2.52932376e-02 -2.69536510e-03 6.60385947e+01] [ 2.52933277e-02 9.99680073e-01 -6.55399600e-07 -2.03618084e-01] [ 2.69451936e-03 -6.75195653e-05 9.99996367e-01 -1.27061099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43800114499999 meters 0.0660893066713371 Centerline is valid? [True, True] Translation: X:66.07, Y:-0.20, Z:-1.27 [[ 9.99722646e-01 -2.35196237e-02 -1.20742585e-03 6.60709364e+01] [ 2.35196413e-02 9.99723375e-01 3.58584450e-07 -2.00380975e-01] [ 1.20708341e-03 -2.87567078e-05 9.99999271e-01 -1.26948818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46800114499999 meters 0.0658455929144164 Centerline is valid? [True, True] Translation: X:66.10, Y:-0.20, Z:-1.27 [[ 9.99754369e-01 -2.21474410e-02 -8.32161635e-04 6.61034780e+01] [ 2.21474492e-02 9.99754715e-01 6.30114382e-07 -1.97106469e-01] [ 8.31943563e-04 -1.90602172e-05 9.99999654e-01 -1.26813706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49800114499999 meters 0.0658455929144164 Centerline is valid? [True, True] Translation: X:66.14, Y:-0.20, Z:-1.27 [[ 9.99756511e-01 -2.20505215e-02 -8.32161860e-04 6.61360501e+01] [ 2.20505302e-02 9.99756858e-01 1.23539787e-06 -1.97197713e-01] [ 8.31932285e-04 -1.95847073e-05 9.99999654e-01 -1.26866556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52800114499999 meters 0.06614894857800765 Centerline is valid? [True, True] Translation: X:66.17, Y:-0.20, Z:-1.27 [[ 9.99782515e-01 -2.08200263e-02 -1.20410338e-03 6.61673006e+01] [ 2.08200418e-02 9.99783239e-01 3.47631790e-07 -1.96486255e-01] [ 1.20383514e-03 -2.54170389e-05 9.99999275e-01 -1.27073681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55800114499999 meters 0.06567344874158393 Centerline is valid? [True, True] Translation: X:66.20, Y:-0.19, Z:-1.27 [[ 9.99819036e-01 -1.86657848e-02 -3.67189556e-03 6.61991523e+01] [ 1.86659105e-02 9.99825777e-01 -3.45202090e-08 -1.92312593e-01] [ 3.67125647e-03 -6.85047598e-05 9.99993259e-01 -1.27218429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58800114499999 meters 0.06585172371887602 Centerline is valid? [True, True] Translation: X:66.23, Y:-0.19, Z:-1.28 [[ 9.99830704e-01 -1.78404179e-02 -4.50358352e-03 6.62312781e+01] [ 1.78406076e-02 9.99840844e-01 1.94837582e-06 -1.94491297e-01] [ 4.50283199e-03 -8.22947126e-05 9.99989859e-01 -1.27566892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.618001145 meters 0.06583251600983231 Centerline is valid? [True, True] Translation: X:66.26, Y:-0.20, Z:-1.28 [[ 9.99825993e-01 -1.80038396e-02 -4.88327563e-03 6.62638127e+01] [ 1.80040574e-02 9.99837914e-01 6.47140222e-07 -1.95123420e-01] [ 4.88247247e-03 -8.85658024e-05 9.99988077e-01 -1.27729426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.648001145 meters 0.06606723808394037 Centerline is valid? [True, True] Translation: X:66.29, Y:-0.20, Z:-1.28 [[ 9.99811390e-01 -1.87227312e-02 -5.16173408e-03 6.62946611e+01] [ 1.87229837e-02 9.99824710e-01 6.04899801e-07 -1.96269456e-01] [ 5.16081795e-03 -9.72478490e-05 9.99986678e-01 -1.27826261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67800114499998 meters 0.06634221606774421 Centerline is valid? [True, True] Translation: X:66.33, Y:-0.20, Z:-1.28 [[ 9.99782408e-01 -1.99932931e-02 -5.95027283e-03 6.63270820e+01] [ 1.99936563e-02 9.99800107e-01 1.55140885e-06 -1.97034832e-01] [ 5.94905239e-03 -1.20518781e-04 9.99982297e-01 -1.27964342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70800114499998 meters 0.06612604280716536 Centerline is valid? [True, True] Translation: X:66.36, Y:-0.20, Z:-1.28 [[ 9.99781503e-01 -2.00491403e-02 -5.91428390e-03 6.63597709e+01] [ 2.00495052e-02 9.99798988e-01 2.41331573e-06 -1.96362769e-01] [ 5.91304668e-03 -1.20991254e-04 9.99982510e-01 -1.27889211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73800114499998 meters 0.06595244782902178 Centerline is valid? [True, True] Translation: X:66.39, Y:-0.20, Z:-1.28 [[ 9.99778378e-01 -2.01041430e-02 -6.24645782e-03 6.63918485e+01] [ 2.01045499e-02 9.99797883e-01 2.34796381e-06 -1.96355349e-01] [ 6.24514810e-03 -1.27929666e-04 9.99980491e-01 -1.27798174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76800114499999 meters 0.06612427112334364 Centerline is valid? [True, True] Translation: X:66.42, Y:-0.20, Z:-1.28 [[ 9.99787888e-01 -1.95881779e-02 -6.36253851e-03 6.64229544e+01] [ 1.95885898e-02 9.99808125e-01 2.41138420e-06 -1.97099444e-01] [ 6.36127046e-03 -1.27044029e-04 9.99979759e-01 -1.27899208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79800114499999 meters 0.06601186892719124 Centerline is valid? [True, True] Translation: X:66.45, Y:-0.20, Z:-1.28 [[ 9.99813195e-01 -1.79724381e-02 -7.11100133e-03 6.64542644e+01] [ 1.79729132e-02 9.99838474e-01 2.91590812e-06 -1.96580983e-01] [ 7.10980032e-03 -1.30720773e-04 9.99974717e-01 -1.28020862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82800114499999 meters 0.06577253156065992 Centerline is valid? [True, True] Translation: X:66.49, Y:-0.20, Z:-1.28 [[ 9.99827297e-01 -1.71167581e-02 -7.23827293e-03 6.64864296e+01] [ 1.71172330e-02 9.99853489e-01 3.66611424e-06 -1.95413488e-01] [ 7.23714970e-03 -1.27564686e-04 9.99973803e-01 -1.27975186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85800114499999 meters 0.06526946353810731 Centerline is valid? [True, True] Translation: X:66.52, Y:-0.19, Z:-1.28 [[ 9.99840838e-01 -1.62529617e-02 -7.35794275e-03 6.65188341e+01] [ 1.62534329e-02 9.99867904e-01 4.25096677e-06 -1.92111190e-01] [ 7.35690171e-03 -1.23842119e-04 9.99972930e-01 -1.27680262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88800114499999 meters 0.06512261506107805 Centerline is valid? [True, True] Translation: X:66.55, Y:-0.19, Z:-1.28 [[ 9.99864641e-01 -1.43406001e-02 -8.06518610e-03 6.65497343e+01] [ 1.43411165e-02 9.99897161e-01 6.20200792e-06 -1.90438155e-01] [ 8.06426774e-03 -1.21864942e-04 9.99967476e-01 -1.27831531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91800114499999 meters 0.06524058604295825 Centerline is valid? [True, True] Translation: X:66.58, Y:-0.19, Z:-1.28 [[ 9.99877483e-01 -1.35503443e-02 -7.83628301e-03 6.65816614e+01] [ 1.35508059e-02 9.99908184e-01 5.80528368e-06 -1.90987945e-01] [ 7.83548485e-03 -1.11992522e-04 9.99969296e-01 -1.27992745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94800114499999 meters 0.06565683071210683 Centerline is valid? [True, True] Translation: X:66.61, Y:-0.19, Z:-1.28 [[ 9.99874829e-01 -1.36191708e-02 -8.05263815e-03 6.66124944e+01] [ 1.36196722e-02 9.99907248e-01 7.43608974e-06 -1.94156047e-01] [ 8.05178998e-03 -1.17109451e-04 9.99967577e-01 -1.28446308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.978001145 meters 0.0658278076649423 Centerline is valid? [True, True] Translation: X:66.64, Y:-0.19, Z:-1.28 [[ 9.99863010e-01 -1.41614094e-02 -8.56833059e-03 6.66448528e+01] [ 1.41619945e-02 9.99899714e-01 7.61198489e-06 -1.93476085e-01] [ 8.56736351e-03 -1.28955592e-04 9.99963291e-01 -1.28488965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.008001145 meters 0.06605176081516058 Centerline is valid? [True, True] Translation: X:66.68, Y:-0.19, Z:-1.29 [[ 9.99826227e-01 -1.52647936e-02 -1.07005859e-02 6.66766872e+01] [ 1.52657692e-02 9.99883471e-01 9.49230556e-06 -1.93206175e-01] [ 1.06991941e-02 -1.72843331e-04 9.99942747e-01 -1.28607758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.038001145 meters 0.06594922156522799 Centerline is valid? [True, True] Translation: X:66.71, Y:-0.19, Z:-1.28 [[ 9.99815952e-01 -1.59689809e-02 -1.06327159e-02 6.67089971e+01] [ 1.59699943e-02 9.99872471e-01 1.04058445e-05 -1.92018201e-01] [ 1.06311937e-02 -1.80208341e-04 9.99943471e-01 -1.28459298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06800114499998 meters 0.06603410211909982 Centerline is valid? [True, True] Translation: X:66.74, Y:-0.19, Z:-1.29 [[ 9.99797659e-01 -1.64518426e-02 -1.15748611e-02 6.67410787e+01] [ 1.64530835e-02 9.99864639e-01 1.19808398e-05 -1.92879886e-01] [ 1.15730972e-02 -2.02420572e-04 9.99933009e-01 -1.28576688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09800114499998 meters 0.0662293207749886 Centerline is valid? [True, True] Translation: X:66.77, Y:-0.19, Z:-1.29 [[ 9.99797819e-01 -1.70404703e-02 -1.06744297e-02 6.67735459e+01] [ 1.70415671e-02 9.99854782e-01 1.17995829e-05 -1.94146243e-01] [ 1.06726785e-02 -1.93706208e-04 9.99943027e-01 -1.28727270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12800114499998 meters 0.06658827897353373 Centerline is valid? [True, True] Translation: X:66.80, Y:-0.20, Z:-1.29 [[ 9.99766751e-01 -1.88296407e-02 -1.05776807e-02 6.68046777e+01] [ 1.88308204e-02 9.99822684e-01 1.19414209e-05 -1.96800572e-01] [ 1.05755803e-02 -2.11125042e-04 9.99944055e-01 -1.28908148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15800114499999 meters 0.06675644469161954 Centerline is valid? [True, True] Translation: X:66.84, Y:-0.20, Z:-1.29 [[ 9.99747293e-01 -2.00692467e-02 -1.01279884e-02 6.68359873e+01] [ 2.00703970e-02 9.99798569e-01 1.19361001e-05 -1.98919606e-01] [ 1.01257087e-02 -2.15205831e-04 9.99948711e-01 -1.29042457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18800114499999 meters 0.06708830501305431 Centerline is valid? [True, True] Translation: X:66.87, Y:-0.20, Z:-1.29 [[ 9.99718484e-01 -2.12825018e-02 -1.04884959e-02 6.68677248e+01] [ 2.12838069e-02 9.99773474e-01 1.28133257e-05 -2.01487975e-01] [ 1.04858473e-02 -2.36044841e-04 9.99944994e-01 -1.29113782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21800114499999 meters 0.06683413960701466 Centerline is valid? [True, True] Translation: X:66.90, Y:-0.20, Z:-1.29 [[ 9.99683747e-01 -2.36251672e-02 -8.61723410e-03 6.69001866e+01] [ 2.36261435e-02 9.99720864e-01 1.15045739e-05 -2.03682942e-01] [ 8.61455691e-03 -2.15092945e-04 9.99962871e-01 -1.28850172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24800114499999 meters 0.06717437639152067 Centerline is valid? [True, True] Translation: X:66.93, Y:-0.21, Z:-1.29 [[ 9.99683300e-01 -2.37532573e-02 -8.31158160e-03 6.69314980e+01] [ 2.37541714e-02 9.99717830e-01 1.12646731e-05 -2.05333466e-01] [ 8.30896875e-03 -2.08695839e-04 9.99965458e-01 -1.28973810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27800114499999 meters 0.06681828521442397 Centerline is valid? [True, True] Translation: X:66.96, Y:-0.20, Z:-1.29 [[ 9.99697311e-01 -2.31014516e-02 -8.46224715e-03 6.69638291e+01] [ 2.31023824e-02 9.99733104e-01 1.22456754e-05 -2.03660819e-01] [ 8.45970572e-03 -2.07740039e-04 9.99964194e-01 -1.28898828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30800114499999 meters 0.06687096174486248 Centerline is valid? [True, True] Translation: X:67.00, Y:-0.20, Z:-1.29 [[ 9.99704217e-01 -2.28188658e-02 -8.41300409e-03 6.69958104e+01] [ 2.28197804e-02 9.99739595e-01 1.27189517e-05 -2.03472604e-01] [ 8.41052306e-03 -2.04698095e-04 9.99964610e-01 -1.28944118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33800114499999 meters 0.06707743245233595 Centerline is valid? [True, True] Translation: X:67.03, Y:-0.20, Z:-1.29 [[ 9.99722776e-01 -2.17705848e-02 -8.96732772e-03 6.70273005e+01] [ 2.17715826e-02 9.99762971e-01 1.36542999e-05 -2.04645648e-01] [ 8.96490494e-03 -2.08883431e-04 9.99959793e-01 -1.29169857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.368001145 meters 0.0667518781964119 Centerline is valid? [True, True] Translation: X:67.06, Y:-0.20, Z:-1.29 [[ 9.99745959e-01 -2.04440281e-02 -9.48996490e-03 6.70598557e+01] [ 2.04450936e-02 9.99790977e-01 1.52675904e-05 -2.03719070e-01] [ 9.48766915e-03 -2.09286932e-04 9.99954969e-01 -1.29251563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.398001145 meters 0.0665448925313166 Centerline is valid? [True, True] Translation: X:67.09, Y:-0.20, Z:-1.29 [[ 9.99759853e-01 -1.96409225e-02 -9.71958644e-03 6.70922102e+01] [ 1.96420082e-02 9.99807077e-01 1.62466766e-05 -2.03141634e-01] [ 9.71739220e-03 -2.07154972e-04 9.99952764e-01 -1.29290151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42800114499998 meters 0.06703417850604655 Centerline is valid? [True, True] Translation: X:67.12, Y:-0.20, Z:-1.30 [[ 9.99779398e-01 -1.84178317e-02 -1.00965024e-02 6.71235862e+01] [ 1.84189426e-02 9.99830357e-01 1.70459677e-05 -2.04309797e-01] [ 1.00944757e-02 -2.03009106e-04 9.99949029e-01 -1.29663344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45800114499998 meters 0.06637218030111176 Centerline is valid? [True, True] Translation: X:67.16, Y:-0.20, Z:-1.29 [[ 9.99780437e-01 -1.78945732e-02 -1.09024029e-02 6.71556669e+01] [ 1.78958472e-02 9.99839856e-01 1.93017556e-05 -2.00918005e-01] [ 1.09003115e-02 -2.14405253e-04 9.99940567e-01 -1.29395782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48800114499998 meters 0.06668131568473037 Centerline is valid? [True, True] Translation: X:67.19, Y:-0.20, Z:-1.30 [[ 9.99782641e-01 -1.73706712e-02 -1.15295761e-02 6.71870064e+01] [ 1.73720637e-02 9.99849094e-01 2.06359676e-05 -2.01866048e-01] [ 1.15274778e-02 -2.20924013e-04 9.99933532e-01 -1.29663330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51800114499999 meters 0.06654625397410097 Centerline is valid? [True, True] Translation: X:67.22, Y:-0.20, Z:-1.30 [[ 9.99816282e-01 -1.57274857e-02 -1.09566208e-02 6.72191172e+01] [ 1.57286552e-02 9.99876297e-01 2.05776453e-05 -2.00946453e-01] [ 1.09549418e-02 -1.92906776e-04 9.99939974e-01 -1.29763833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54800114499999 meters 0.06672764608520453 Centerline is valid? [True, True] Translation: X:67.25, Y:-0.20, Z:-1.30 [[ 9.99831823e-01 -1.47777543e-02 -1.08601774e-02 6.72502995e+01] [ 1.47788502e-02 9.99890787e-01 2.06592515e-05 -2.01168043e-01] [ 1.08586861e-02 -1.81156712e-04 9.99941026e-01 -1.30022274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57800114499999 meters 0.06590951504487431 Centerline is valid? [True, True] Translation: X:67.28, Y:-0.20, Z:-1.30 [[ 9.99862446e-01 -1.31428122e-02 -1.01171228e-02 6.72825608e+01] [ 1.31436897e-02 9.99913618e-01 2.02422159e-05 -1.96953773e-01] [ 1.01159828e-02 -1.53215754e-04 9.99948820e-01 -1.29638995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60800114499999 meters 0.06635256398999329 Centerline is valid? [True, True] Translation: X:67.31, Y:-0.20, Z:-1.30 [[ 9.99877395e-01 -1.21178071e-02 -9.91732903e-03 6.73132933e+01] [ 1.21186020e-02 9.99926567e-01 2.00704904e-05 -1.97943985e-01] [ 9.91635756e-03 -1.40252194e-04 9.99950822e-01 -1.30030337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63800114499999 meters 0.06575032920050185 Centerline is valid? [True, True] Translation: X:67.34, Y:-0.20, Z:-1.30 [[ 9.99896772e-01 -1.14015573e-02 -8.74350672e-03 6.73443759e+01] [ 1.14021487e-02 9.99934993e-01 1.77946450e-05 -1.95162611e-01] [ 8.74273545e-03 -1.17487572e-04 9.99961775e-01 -1.29725297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66800114499999 meters 0.06593155141575247 Centerline is valid? [True, True] Translation: X:67.38, Y:-0.19, Z:-1.30 [[ 9.99909631e-01 -1.09497711e-02 -7.79946347e-03 6.73751058e+01] [ 1.09502274e-02 9.99940044e-01 1.57895084e-05 -1.94970062e-01] [ 7.79882295e-03 -1.01193980e-04 9.99969584e-01 -1.29844353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69800114499999 meters 0.06574867516482376 Centerline is valid? [True, True] Translation: X:67.41, Y:-0.19, Z:-1.30 [[ 9.99904656e-01 -1.12392856e-02 -8.02232929e-03 6.74070647e+01] [ 1.12397878e-02 9.99936831e-01 1.75153400e-05 -1.94306850e-01] [ 8.02162567e-03 -1.07682949e-04 9.99967820e-01 -1.29657797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.728001145 meters 0.06581771555372574 Centerline is valid? [True, True] Translation: X:67.44, Y:-0.20, Z:-1.30 [[ 9.99895025e-01 -1.21175873e-02 -7.94374545e-03 6.74391983e+01] [ 1.21181115e-02 9.99926573e-01 1.78596295e-05 -1.95266647e-01] [ 7.94294575e-03 -1.14120948e-04 9.99968448e-01 -1.29728490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.758001145 meters 0.06617010463600469 Centerline is valid? [True, True] Translation: X:67.47, Y:-0.20, Z:-1.30 [[ 9.99876835e-01 -1.34369295e-02 -8.10951426e-03 6.74699440e+01] [ 1.34375200e-02 9.99909712e-01 1.83354586e-05 -1.97389513e-01] [ 8.10853570e-03 -1.27304961e-04 9.99967117e-01 -1.29932412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.788001145 meters 0.06624706132259572 Centerline is valid? [True, True] Translation: X:67.50, Y:-0.20, Z:-1.30 [[ 9.99838442e-01 -1.61579029e-02 -7.87480886e-03 6.75016923e+01] [ 1.61585551e-02 9.99869442e-01 1.92000457e-05 -2.01223949e-01] [ 7.87347051e-03 -1.46442477e-04 9.99968993e-01 -1.29910618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81800114499998 meters 0.06633471874326563 Centerline is valid? [True, True] Translation: X:67.53, Y:-0.20, Z:-1.30 [[ 9.99817303e-01 -1.74526709e-02 -7.79513843e-03 6.75341382e+01] [ 1.74533501e-02 9.99847679e-01 1.91163378e-05 -2.02868136e-01] [ 7.79361743e-03 -1.55164126e-04 9.99969617e-01 -1.29972485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84800114499998 meters 0.06667255430014873 Centerline is valid? [True, True] Translation: X:67.57, Y:-0.21, Z:-1.30 [[ 9.99805686e-01 -1.81231687e-02 -7.75509647e-03 6.75655010e+01] [ 1.81238621e-02 9.99835749e-01 1.91326893e-05 -2.05670773e-01] [ 7.75347595e-03 -1.59681270e-04 9.99969929e-01 -1.30248674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87800114499998 meters 0.06668468530892287 Centerline is valid? [True, True] Translation: X:67.60, Y:-0.21, Z:-1.30 [[ 9.99803703e-01 -1.83623211e-02 -7.44184328e-03 6.75979015e+01] [ 1.83629717e-02 9.99831386e-01 1.91005994e-05 -2.06365516e-01] [ 7.44023775e-03 -1.55751208e-04 9.99972309e-01 -1.30279776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90800114499999 meters 0.06625302064442694 Centerline is valid? [True, True] Translation: X:67.63, Y:-0.21, Z:-1.30 [[ 9.99816076e-01 -1.80107887e-02 -6.58981652e-03 6.76302949e+01] [ 1.80112948e-02 9.99837783e-01 1.74647788e-05 -2.06098266e-01] [ 6.58843299e-03 -1.36152695e-04 9.99978287e-01 -1.30058425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93800114499999 meters 0.06585915283807717 Centerline is valid? [True, True] Translation: X:67.66, Y:-0.20, Z:-1.30 [[ 9.99851802e-01 -1.59438048e-02 -6.49377788e-03 6.76626609e+01] [ 1.59442557e-02 9.99872882e-01 1.76621538e-05 -2.04098069e-01] [ 6.49267080e-03 -1.21197991e-04 9.99978915e-01 -1.29976357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96800114499999 meters 0.06604075447732864 Centerline is valid? [True, True] Translation: X:67.69, Y:-0.20, Z:-1.30 [[ 9.99881512e-01 -1.36886149e-02 -7.04159651e-03 6.76936704e+01] [ 1.36890890e-02 9.99906300e-01 1.91346161e-05 -2.04386310e-01] [ 7.04067478e-03 -1.15525390e-04 9.99975207e-01 -1.30317291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99800114499999 meters 0.065540038802758 Centerline is valid? [True, True] Translation: X:67.73, Y:-0.20, Z:-1.30 [[ 9.99912046e-01 -1.07182814e-02 -7.81144926e-03 6.77262727e+01] [ 1.07187792e-02 9.99942552e-01 2.18619794e-05 -2.01224237e-01] [ 7.81076619e-03 -1.05589257e-04 9.99969490e-01 -1.30257084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02800114499999 meters 0.0650854170481467 Centerline is valid? [True, True] Translation: X:67.76, Y:-0.20, Z:-1.30 [[ 9.99951029e-01 -5.60245978e-03 -8.15796420e-03 6.77579482e+01] [ 5.60283004e-03 9.99984304e-01 2.25325087e-05 -1.97267289e-01] [ 8.15770991e-03 -6.82390921e-05 9.99966723e-01 -1.30313657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05800114499999 meters 0.0653395266721019 Centerline is valid? [True, True] Translation: X:67.79, Y:-0.20, Z:-1.31 [[ 9.99951230e-01 -3.68882932e-03 -9.16130339e-03 6.77865951e+01] [ 3.68919997e-03 9.99993195e-01 2.35593367e-05 -1.96158095e-01] [ 9.16115414e-03 -5.73560680e-05 9.99958034e-01 -1.30519058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08800114499999 meters 0.0651370409665193 Centerline is valid? [True, True] Translation: X:67.82, Y:-0.19, Z:-1.30 [[ 9.99959540e-01 -2.37414944e-03 -8.67647604e-03 6.78153465e+01] [ 2.37439305e-03 9.99997181e-01 1.77753421e-05 -1.94864495e-01] [ 8.67640938e-03 -3.83759873e-05 9.99962359e-01 -1.30408533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.118001145 meters 0.06484803633701326 Centerline is valid? [True, True] Translation: X:67.84, Y:-0.19, Z:-1.30 [[ 9.99965106e-01 -1.47146667e-03 -8.22326597e-03 6.78439026e+01] [ 1.47163748e-03 9.99998917e-01 1.47205929e-05 -1.94180023e-01] [ 8.22323540e-03 -2.68217456e-05 9.99966188e-01 -1.30159183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.148001145 meters 0.06472415814304493 Centerline is valid? [True, True] Translation: X:67.87, Y:-0.20, Z:-1.30 [[ 9.99978765e-01 -8.91433509e-04 -6.45565994e-03 6.78730469e+01] [ 8.91514860e-04 9.99999603e-01 9.72392763e-06 -1.97432098e-01] [ 6.45564871e-03 -1.54790379e-05 9.99979162e-01 -1.30179029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17800114499998 meters 0.06470400512992587 Centerline is valid? [True, True] Translation: X:67.90, Y:-0.20, Z:-1.30 [[ 9.99977690e-01 -1.91526297e-03 -6.39927181e-03 6.79018844e+01] [ 1.91537582e-03 9.99998166e-01 1.15064412e-05 -2.00017240e-01] [ 6.39923803e-03 -2.37631950e-05 9.99979524e-01 -1.30326055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20800114499998 meters 0.0648361083737206 Centerline is valid? [True, True] Translation: X:67.93, Y:-0.21, Z:-1.31 [[ 9.99958442e-01 -5.48854924e-03 -7.27944347e-03 6.79295812e+01] [ 5.48878298e-03 9.99984936e-01 1.21321961e-05 -2.05600356e-01] [ 7.27926723e-03 -5.20869774e-05 9.99973504e-01 -1.30520070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23800114499998 meters 0.06476064511614164 Centerline is valid? [True, True] Translation: X:67.96, Y:-0.21, Z:-1.30 [[ 9.99943608e-01 -7.43891701e-03 -7.57911171e-03 6.79588088e+01] [ 7.43923222e-03 9.99972328e-01 1.33969308e-05 -2.07412057e-01] [ 7.57880232e-03 -6.97789473e-05 9.99971278e-01 -1.30367846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26800114499999 meters 0.06479086693941444 Centerline is valid? [True, True] Translation: X:67.99, Y:-0.21, Z:-1.30 [[ 9.99926142e-01 -9.05800428e-03 -8.10333795e-03 6.79894777e+01] [ 9.05842530e-03 9.99958972e-01 1.52545439e-05 -2.09967337e-01] [ 8.10286731e-03 -8.86568987e-05 9.99967167e-01 -1.30420816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29800114499999 meters 0.06489473709197288 Centerline is valid? [True, True] Translation: X:68.02, Y:-0.21, Z:-1.30 [[ 9.99915146e-01 -1.07782113e-02 -7.31653785e-03 6.80202878e+01] [ 1.07786077e-02 9.99941909e-01 1.47592096e-05 -2.12679935e-01] [ 7.31595375e-03 -9.36200488e-05 9.99973234e-01 -1.30473704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32800114499999 meters 0.06479463513909917 Centerline is valid? [True, True] Translation: X:68.05, Y:-0.21, Z:-1.30 [[ 9.99912627e-01 -1.14465691e-02 -6.61176440e-03 6.80520703e+01] [ 1.14469119e-02 9.99934482e-01 1.40120877e-05 -2.14620699e-01] [ 6.61117082e-03 -8.96951481e-05 9.99978142e-01 -1.30432929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35800114499999 meters 0.06456447739957584 Centerline is valid? [True, True] Translation: X:68.08, Y:-0.22, Z:-1.30 [[ 9.99924782e-01 -1.05105753e-02 -6.32120193e-03 6.80847785e+01] [ 1.05108766e-02 9.99944759e-01 1.44447991e-05 -2.16167394e-01] [ 6.32070092e-03 -8.08850861e-05 9.99980021e-01 -1.30397943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38800114499999 meters 0.06456447739957584 Centerline is valid? [True, True] Translation: X:68.12, Y:-0.22, Z:-1.30 [[ 9.99925433e-01 -1.04484707e-02 -6.32120200e-03 6.81164916e+01] [ 1.04487704e-02 9.99945410e-01 1.43907898e-05 -2.16303465e-01] [ 6.32070656e-03 -8.04385053e-05 9.99980021e-01 -1.30449376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41800114499999 meters 0.06444269058213718 Centerline is valid? [True, True] Translation: X:68.15, Y:-0.22, Z:-1.31 [[ 9.99932970e-01 -9.77398149e-03 -6.20679805e-03 6.81482285e+01] [ 9.77425997e-03 9.99952231e-01 1.45327670e-05 -2.16066720e-01] [ 6.20635951e-03 -7.51986505e-05 9.99980738e-01 -1.30505198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44800114499999 meters 0.06433143836034867 Centerline is valid? [True, True] Translation: X:68.18, Y:-0.22, Z:-1.31 [[ 9.99953539e-01 -7.87552377e-03 -5.55844273e-03 6.81800331e+01] [ 7.87572027e-03 9.99968986e-01 1.34640336e-05 -2.15503378e-01] [ 5.55816430e-03 -5.72401481e-05 9.99984552e-01 -1.30537228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.478001145 meters 0.06397127574560414 Centerline is valid? [True, True] Translation: X:68.21, Y:-0.21, Z:-1.30 [[ 9.99967373e-01 -6.34480371e-03 -4.99972614e-03 6.82108115e+01] [ 6.34494068e-03 9.99979871e-01 1.15335447e-05 -2.13136488e-01] [ 4.99955232e-03 -4.32561342e-05 9.99987501e-01 -1.30413040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.508001145 meters 0.06393199448254029 Centerline is valid? [True, True] Translation: X:68.24, Y:-0.21, Z:-1.30 [[ 9.99967821e-01 -5.97347114e-03 -5.35491626e-03 6.82419134e+01] [ 5.97362502e-03 9.99982158e-01 1.27437853e-05 -2.12990284e-01] [ 5.35474459e-03 -4.47316370e-05 9.99985662e-01 -1.30386864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.538001145 meters 0.0640024954880352 Centerline is valid? [True, True] Translation: X:68.27, Y:-0.21, Z:-1.31 [[ 9.99976101e-01 -4.70002011e-03 -5.07017764e-03 6.82725544e+01] [ 4.70014096e-03 9.99988954e-01 1.19209348e-05 -2.14401501e-01] [ 5.07006561e-03 -3.57511995e-05 9.99987146e-01 -1.30610213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56800114499998 meters 0.06405913208503732 Centerline is valid? [True, True] Translation: X:68.30, Y:-0.22, Z:-1.31 [[ 9.99971540e-01 -3.06438195e-03 -6.89404052e-03 6.83018168e+01] [ 3.06456335e-03 9.99995304e-01 1.57488817e-05 -2.17983058e-01] [ 6.89395988e-03 -3.68756574e-05 9.99976236e-01 -1.30954026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59800114499998 meters 0.06387369679260375 Centerline is valid? [True, True] Translation: X:68.33, Y:-0.22, Z:-1.31 [[ 9.99967526e-01 -2.38209989e-03 -7.69882551e-03 6.83309540e+01] [ 2.38226880e-03 9.99997162e-01 1.27684841e-05 -2.18987960e-01] [ 7.69877325e-03 -3.11087413e-05 9.99970364e-01 -1.31064271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62800114499998 meters 0.06343518609050458 Centerline is valid? [True, True] Translation: X:68.36, Y:-0.22, Z:-1.31 [[ 9.99969422e-01 -2.03607244e-03 -7.55044620e-03 6.83588405e+01] [ 2.03620422e-03 9.99997927e-01 9.76637230e-06 -2.18304273e-01] [ 7.55041067e-03 -2.51403241e-05 9.99971495e-01 -1.30585458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65800114499999 meters 0.06331750241247917 Centerline is valid? [True, True] Translation: X:68.39, Y:-0.22, Z:-1.31 [[ 9.99973927e-01 -9.77373623e-04 -7.15477649e-03 6.83864344e+01] [ 9.77479602e-04 9.99999522e-01 1.13154533e-05 -2.17098373e-01] [ 7.15476201e-03 -1.83088063e-05 9.99974404e-01 -1.30527813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68800114499999 meters 0.06324541090393819 Centerline is valid? [True, True] Translation: X:68.42, Y:-0.22, Z:-1.30 [[ 9.99963530e-01 -9.69147396e-04 -8.48525408e-03 6.84150517e+01] [ 9.69262933e-04 9.99999530e-01 9.50392128e-06 -2.16396861e-01] [ 8.48524088e-03 -1.77280169e-05 9.99964000e-01 -1.30353087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71800114499999 meters 0.06328480994910521 Centerline is valid? [True, True] Translation: X:68.44, Y:-0.22, Z:-1.31 [[ 9.99962313e-01 -1.34020673e-03 -8.57763611e-03 6.84441621e+01] [ 1.34035608e-03 9.99999102e-01 1.16621423e-05 -2.19623224e-01] [ 8.57761278e-03 -2.31587895e-05 9.99963211e-01 -1.30545995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74800114499999 meters 0.06343751958474367 Centerline is valid? [True, True] Translation: X:68.47, Y:-0.22, Z:-1.31 [[ 9.99961307e-01 -1.74891362e-03 -8.62124106e-03 6.84706221e+01] [ 1.74905212e-03 9.99998470e-01 8.52527759e-06 -2.24167201e-01] [ 8.62121297e-03 -2.36039477e-05 9.99962836e-01 -1.30864249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77800114499999 meters 0.0634671480188822 Centerline is valid? [True, True] Translation: X:68.50, Y:-0.23, Z:-1.31 [[ 9.99958030e-01 -2.65694677e-03 -8.76808428e-03 6.84996097e+01] [ 2.65713605e-03 9.99996470e-01 9.93801670e-06 -2.28823652e-01] [ 8.76802692e-03 -3.32355924e-05 9.99961560e-01 -1.30997324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80800114499999 meters 0.06347862993016812 Centerline is valid? [True, True] Translation: X:68.53, Y:-0.23, Z:-1.31 [[ 9.99945114e-01 -4.34958149e-03 -9.53153461e-03 6.85269694e+01] [ 4.34987370e-03 9.99990539e-01 9.92707826e-06 -2.34132186e-01] [ 9.53140125e-03 -5.13875052e-05 9.99954574e-01 -1.31134447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83800114499999 meters 0.06332642024464369 Centerline is valid? [True, True] Translation: X:68.56, Y:-0.24, Z:-1.31 [[ 9.99936710e-01 -5.30899503e-03 -9.91920066e-03 6.85552704e+01] [ 5.30931684e-03 9.99985905e-01 6.11039919e-06 -2.35148645e-01] [ 9.91902841e-03 -5.87741916e-05 9.99950804e-01 -1.31094982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.868001145 meters 0.06340903754755065 Centerline is valid? [True, True] Translation: X:68.58, Y:-0.24, Z:-1.31 [[ 9.99931605e-01 -5.44223249e-03 -1.03521874e-02 6.85843671e+01] [ 5.44256894e-03 9.99985189e-01 4.32840526e-06 -2.35825956e-01] [ 1.03520105e-02 -6.06706028e-05 9.99946415e-01 -1.31105952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.898001145 meters 0.06344233453571711 Centerline is valid? [True, True] Translation: X:68.61, Y:-0.24, Z:-1.31 [[ 9.99919986e-01 -4.42315468e-03 -1.18514460e-02 6.86122408e+01] [ 4.42354567e-03 9.99990216e-01 6.77727548e-06 -2.39203039e-01] [ 1.18513001e-02 -5.92021461e-05 9.99929769e-01 -1.31374453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92800114499998 meters 0.06347286060745988 Centerline is valid? [True, True] Translation: X:68.64, Y:-0.24, Z:-1.31 [[ 9.99930721e-01 -3.80851150e-03 -1.11377235e-02 6.86411095e+01] [ 3.80876768e-03 9.99992747e-01 1.79040784e-06 -2.40907864e-01] [ 1.11376359e-02 -4.42112853e-05 9.99937974e-01 -1.31401334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95800114499998 meters 0.06324661506520456 Centerline is valid? [True, True] Translation: X:68.67, Y:-0.24, Z:-1.32 [[ 9.99942393e-01 -2.45454916e-03 -1.04492094e-02 6.86685312e+01] [ 2.45471334e-03 9.99996987e-01 2.88683363e-06 -2.42437049e-01] [ 1.04491709e-02 -2.85364811e-05 9.99945406e-01 -1.31504362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98800114499998 meters 0.0633304781322808 Centerline is valid? [True, True] Translation: X:68.70, Y:-0.24, Z:-1.32 [[ 9.99946107e-01 -1.76419199e-03 -1.02308226e-02 6.86959308e+01] [ 1.76426199e-03 9.99998444e-01 -2.18356663e-06 -2.43156954e-01] [ 1.02308105e-02 -1.58664025e-05 9.99947664e-01 -1.31519917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01800114499999 meters 0.06293031378001265 Centerline is valid? [True, True] Translation: X:68.72, Y:-0.24, Z:-1.31 [[ 9.99932669e-01 -2.18384063e-03 -1.13968683e-02 6.87244718e+01] [ 2.18393362e-03 9.99997615e-01 -4.28700364e-06 -2.44204732e-01] [ 1.13968505e-02 -2.06032887e-05 9.99935054e-01 -1.31129076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04800114499999 meters 0.06291499308407295 Centerline is valid? [True, True] Translation: X:68.75, Y:-0.24, Z:-1.31 [[ 9.99922180e-01 -3.43412726e-03 -1.19933822e-02 6.87526815e+01] [ 3.43433883e-03 9.99994103e-01 -2.95489580e-06 -2.44779859e-01] [ 1.19933217e-02 -3.82346725e-05 9.99928077e-01 -1.31218752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07800114499999 meters 0.06297330179303214 Centerline is valid? [True, True] Translation: X:68.78, Y:-0.25, Z:-1.31 [[ 9.99906191e-01 -4.56283576e-03 -1.29147023e-02 6.87813230e+01] [ 4.56316939e-03 9.99989589e-01 -3.63346454e-06 -2.45821050e-01] [ 1.29145844e-02 -5.52988505e-05 9.99916602e-01 -1.31298277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10800114499999 meters 0.06328366754808647 Centerline is valid? [True, True] Translation: X:68.81, Y:-0.25, Z:-1.31 [[ 9.99848909e-01 -9.06536117e-03 -1.48316655e-02 6.88108044e+01] [ 9.06629915e-03 9.99958900e-01 -3.99599327e-06 -2.52700246e-01] [ 1.48310922e-02 -1.30472927e-04 9.99890005e-01 -1.31487164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13800114499999 meters 0.06345131859587773 Centerline is valid? [True, True] Translation: X:68.84, Y:-0.26, Z:-1.32 [[ 9.99810003e-01 -1.13719877e-02 -1.58314669e-02 6.88382991e+01] [ 1.13733144e-02 9.99935322e-01 -6.23016478e-06 -2.57750337e-01] [ 1.58305138e-02 -1.73827270e-04 9.99874674e-01 -1.31723190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16800114499999 meters 0.06344238622970375 Centerline is valid? [True, True] Translation: X:68.87, Y:-0.26, Z:-1.32 [[ 9.99809455e-01 -1.30297663e-02 -1.45354665e-02 6.88672024e+01] [ 1.30309775e-02 9.99915093e-01 -1.13809774e-05 -2.61007006e-01] [ 1.45343806e-02 -1.78032529e-04 9.99894354e-01 -1.31754138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19800114499999 meters 0.06365733906531165 Centerline is valid? [True, True] Translation: X:68.90, Y:-0.26, Z:-1.32 [[ 9.99800808e-01 -1.40008066e-02 -1.42239545e-02 6.88955360e+01] [ 1.40020944e-02 9.99901966e-01 -9.04912346e-06 -2.63107939e-01] [ 1.42226867e-02 -1.90117833e-04 9.99898834e-01 -1.31884963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.228001145 meters 0.06349051130608879 Centerline is valid? [True, True] Translation: X:68.93, Y:-0.26, Z:-1.32 [[ 9.99791103e-01 -1.46556473e-02 -1.42465049e-02 6.89255133e+01] [ 1.46570032e-02 9.99892580e-01 -9.24070063e-06 -2.62948806e-01] [ 1.42451099e-02 -1.99572297e-04 9.99898513e-01 -1.31795694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.258001145 meters 0.06341752693122074 Centerline is valid? [True, True] Translation: X:68.96, Y:-0.26, Z:-1.32 [[ 9.99785628e-01 -1.52085049e-02 -1.40498921e-02 6.89559326e+01] [ 1.52098852e-02 9.99884323e-01 -8.61678268e-06 -2.61841864e-01] [ 1.40483979e-02 -2.05082310e-04 9.99901295e-01 -1.31727239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.288001145 meters 0.06353182335783196 Centerline is valid? [True, True] Translation: X:68.99, Y:-0.26, Z:-1.32 [[ 9.99759668e-01 -1.62595806e-02 -1.47048689e-02 6.89862907e+01] [ 1.62612062e-02 9.99867778e-01 -9.01847920e-06 -2.62123943e-01] [ 1.47030713e-02 -2.30102594e-04 9.99891878e-01 -1.31829328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31800114499998 meters 0.0636694874164136 Centerline is valid? [True, True] Translation: X:69.02, Y:-0.26, Z:-1.32 [[ 9.99730096e-01 -1.76005277e-02 -1.51643103e-02 6.90168901e+01] [ 1.76024180e-02 9.99845065e-01 -8.81738318e-06 -2.64893772e-01] [ 1.51621160e-02 -2.58113525e-04 9.99885015e-01 -1.31936160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34800114499998 meters 0.06375734798714898 Centerline is valid? [True, True] Translation: X:69.05, Y:-0.27, Z:-1.32 [[ 9.99724789e-01 -1.83327009e-02 -1.46375385e-02 6.90485751e+01] [ 1.83345510e-02 9.99831908e-01 -7.80085993e-06 -2.66374973e-01] [ 1.46352210e-02 -2.60573982e-04 9.99892865e-01 -1.32035563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37800114499998 meters 0.06397601337201553 Centerline is valid? [True, True] Translation: X:69.08, Y:-0.27, Z:-1.32 [[ 9.99696288e-01 -1.98515883e-02 -1.46029374e-02 6.90802103e+01] [ 1.98536275e-02 9.99802897e-01 -5.32275203e-06 -2.69004745e-01] [ 1.46001648e-02 -2.84600144e-04 9.99893371e-01 -1.32104866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40800114499999 meters 0.06365705587861216 Centerline is valid? [True, True] Translation: X:69.11, Y:-0.27, Z:-1.32 [[ 9.99687937e-01 -2.07839320e-02 -1.38584851e-02 6.91126673e+01] [ 2.07858641e-02 9.99783951e-01 -4.62482412e-06 -2.68803128e-01] [ 1.38555871e-02 -2.83437207e-04 9.99903967e-01 -1.31880855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43800114499999 meters 0.06394131098355565 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.27, Z:-1.32 [[ 9.99650054e-01 -2.27903528e-02 -1.34301414e-02 6.91433660e+01] [ 2.27923474e-02 9.99740221e-01 -4.54084137e-06 -2.70599420e-01] [ 1.34267560e-02 -3.01565197e-04 9.99909812e-01 -1.32017800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46800114499999 meters 0.06408982795953994 Centerline is valid? [True, True] Translation: X:69.18, Y:-0.27, Z:-1.32 [[ 9.99624718e-01 -2.35498301e-02 -1.39939021e-02 6.91757241e+01] [ 2.35520888e-02 9.99722611e-01 -3.39971888e-06 -2.70777696e-01] [ 1.39901005e-02 -3.26187183e-04 9.99902081e-01 -1.32099552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49800114499999 meters 0.06403549244352759 Centerline is valid? [True, True] Translation: X:69.21, Y:-0.27, Z:-1.32 [[ 9.99636260e-01 -2.31802308e-02 -1.37849611e-02 6.92075550e+01] [ 2.31823991e-02 9.99731252e-01 -2.49524143e-06 -2.70985842e-01] [ 1.37813143e-02 -3.17074137e-04 9.99904983e-01 -1.32183115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52800114499999 meters 0.06364539965727643 Centerline is valid? [True, True] Translation: X:69.24, Y:-0.27, Z:-1.32 [[ 9.99648377e-01 -2.28522909e-02 -1.34497415e-02 6.92395779e+01] [ 2.28543377e-02 9.99738806e-01 -1.51787084e-06 -2.69179401e-01] [ 1.34462632e-02 -3.05867598e-04 9.99909548e-01 -1.32036378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55800114499999 meters 0.06336945066590918 Centerline is valid? [True, True] Translation: X:69.27, Y:-0.27, Z:-1.32 [[ 9.99709823e-01 -2.01365834e-02 -1.32206986e-02 6.92705987e+01] [ 2.01383226e-02 9.99797203e-01 -1.57273589e-06 -2.67003365e-01] [ 1.32180492e-02 -2.64670414e-04 9.99912603e-01 -1.32198147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58800114499999 meters 0.06331695164673883 Centerline is valid? [True, True] Translation: X:69.30, Y:-0.26, Z:-1.32 [[ 9.99746006e-01 -1.80071985e-02 -1.35522921e-02 6.93018997e+01] [ 1.80088689e-02 9.99837827e-01 1.22212960e-06 -2.64866622e-01] [ 1.35500723e-02 -2.45283272e-04 9.99908163e-01 -1.32290560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.618001145 meters 0.06292532973606978 Centerline is valid? [True, True] Translation: X:69.33, Y:-0.26, Z:-1.32 [[ 9.99829974e-01 -1.40994170e-02 -1.18840452e-02 6.93326584e+01] [ 1.41004107e-02 9.99900584e-01 -1.67924323e-07 -2.58669885e-01] [ 1.18828661e-02 -1.67402022e-04 9.99929382e-01 -1.32224750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.648001145 meters 0.0629319084971616 Centerline is valid? [True, True] Translation: X:69.36, Y:-0.26, Z:-1.32 [[ 9.99835045e-01 -1.40285213e-02 -1.15361551e-02 6.93642407e+01] [ 1.40294607e-02 9.99901582e-01 5.01235764e-07 -2.57359120e-01] [ 1.15350127e-02 -1.62347188e-04 9.99933456e-01 -1.32223748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67800114499998 meters 0.06287999969122224 Centerline is valid? [True, True] Translation: X:69.40, Y:-0.26, Z:-1.32 [[ 9.99836502e-01 -1.39795492e-02 -1.14691143e-02 6.93954716e+01] [ 1.39804788e-02 9.99902268e-01 8.76399266e-07 -2.56664206e-01] [ 1.14679812e-02 -1.61219966e-04 9.99934228e-01 -1.32217246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70800114499998 meters 0.06285814309305669 Centerline is valid? [True, True] Translation: X:69.43, Y:-0.26, Z:-1.32 [[ 9.99823984e-01 -1.45574525e-02 -1.18356495e-02 6.94264050e+01] [ 1.45584871e-02 9.99894020e-01 1.25783752e-06 -2.56800129e-01] [ 1.18343769e-02 -1.73566767e-04 9.99929956e-01 -1.32333824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73800114499998 meters 0.06342989583338196 Centerline is valid? [True, True] Translation: X:69.46, Y:-0.26, Z:-1.33 [[ 9.99806351e-01 -1.56194102e-02 -1.19705825e-02 6.94578304e+01] [ 1.56205725e-02 9.99877991e-01 3.60052603e-06 -2.58586297e-01] [ 1.19690657e-02 -1.90587180e-04 9.99928350e-01 -1.32610212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76800114499999 meters 0.0638572135990513 Centerline is valid? [True, True] Translation: X:69.49, Y:-0.26, Z:-1.33 [[ 9.99770955e-01 -1.77152924e-02 -1.20085595e-02 6.94893325e+01] [ 1.77166089e-02 9.99843049e-01 3.24571010e-06 -2.60448838e-01] [ 1.20066172e-02 -2.15995918e-04 9.99927895e-01 -1.32920919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79800114499999 meters 0.06422235132807362 Centerline is valid? [True, True] Translation: X:69.52, Y:-0.26, Z:-1.33 [[ 9.99731486e-01 -1.92116719e-02 -1.29563898e-02 6.95199091e+01] [ 1.92133309e-02 9.99815407e-01 3.57806000e-06 -2.61977523e-01] [ 1.29539294e-02 -2.52512504e-04 9.99916062e-01 -1.33099137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82800114499999 meters 0.06359660397344531 Centerline is valid? [True, True] Translation: X:69.55, Y:-0.26, Z:-1.33 [[ 9.99729558e-01 -1.95839472e-02 -1.25411468e-02 6.95524487e+01] [ 1.95855477e-02 9.99808185e-01 4.80463343e-06 -2.59290028e-01] [ 1.25386472e-02 -2.50428564e-04 9.99921357e-01 -1.32742052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85800114499999 meters 0.06342860374717507 Centerline is valid? [True, True] Translation: X:69.58, Y:-0.25, Z:-1.33 [[ 9.99703209e-01 -2.04321212e-02 -1.32673425e-02 6.95848304e+01] [ 2.04339980e-02 9.99791204e-01 5.89889964e-06 -2.54968610e-01] [ 1.32644518e-02 -2.77001998e-04 9.99911985e-01 -1.32628019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88800114499999 meters 0.06378490771830886 Centerline is valid? [True, True] Translation: X:69.62, Y:-0.25, Z:-1.33 [[ 9.99705876e-01 -2.03505808e-02 -1.31915164e-02 6.96156413e+01] [ 2.03524548e-02 9.99792867e-01 7.82034996e-06 -2.54678185e-01] [ 1.31886249e-02 -2.76297792e-04 9.99912988e-01 -1.32763023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91800114499999 meters 0.06341419974506267 Centerline is valid? [True, True] Translation: X:69.65, Y:-0.25, Z:-1.33 [[ 9.99721854e-01 -1.91403833e-02 -1.37789968e-02 6.96477293e+01] [ 1.91423162e-02 9.99816769e-01 8.39839798e-06 -2.52201482e-01] [ 1.37763113e-02 -2.72157976e-04 9.99905065e-01 -1.32697491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94800114499999 meters 0.06348898109217992 Centerline is valid? [True, True] Translation: X:69.68, Y:-0.25, Z:-1.33 [[ 9.99759325e-01 -1.73703277e-02 -1.34001527e-02 6.96779563e+01] [ 1.73720088e-02 9.99849095e-01 9.06219138e-06 -2.49348740e-01] [ 1.33979731e-02 -2.41847582e-04 9.99910214e-01 -1.32934784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.978001145 meters 0.06336574856062051 Centerline is valid? [True, True] Translation: X:69.71, Y:-0.25, Z:-1.33 [[ 9.99762641e-01 -1.68312115e-02 -1.38337284e-02 6.97100571e+01] [ 1.68329630e-02 9.99858316e-01 1.01797501e-05 -2.47345665e-01] [ 1.38315970e-02 -2.43039972e-04 9.99904309e-01 -1.33000782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.008001145 meters 0.06346563025079142 Centerline is valid? [True, True] Translation: X:69.74, Y:-0.25, Z:-1.33 [[ 9.99765405e-01 -1.63334261e-02 -1.42251194e-02 6.97414748e+01] [ 1.63352264e-02 9.99866571e-01 1.03702499e-05 -2.45589584e-01] [ 1.42230520e-02 -2.42738364e-04 9.99898818e-01 -1.33067795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03800114499998 meters 0.06351635549224198 Centerline is valid? [True, True] Translation: X:69.77, Y:-0.24, Z:-1.33 [[ 9.99781443e-01 -1.57391992e-02 -1.37602171e-02 6.97720738e+01] [ 1.57408271e-02 9.99876105e-01 1.00054491e-05 -2.44199278e-01] [ 1.37583549e-02 -2.26600462e-04 9.99905324e-01 -1.33170800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06800114499998 meters 0.06357033295139286 Centerline is valid? [True, True] Translation: X:69.80, Y:-0.24, Z:-1.33 [[ 9.99789921e-01 -1.60315571e-02 -1.27711844e-02 6.98021021e+01] [ 1.60329860e-02 9.99871463e-01 9.50033595e-06 -2.43353399e-01] [ 1.27693905e-02 -2.14258560e-04 9.99918445e-01 -1.33339799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09800114499998 meters 0.06378890214724685 Centerline is valid? [True, True] Translation: X:69.83, Y:-0.24, Z:-1.33 [[ 9.99752737e-01 -1.72187867e-02 -1.40704584e-02 6.98334282e+01] [ 1.72206480e-02 9.99851714e-01 1.11260759e-05 -2.43975794e-01] [ 1.40681804e-02 -2.53425737e-04 9.99901006e-01 -1.33418445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12800114499998 meters 0.06402818966023514 Centerline is valid? [True, True] Translation: X:69.86, Y:-0.25, Z:-1.34 [[ 9.99725736e-01 -1.85240002e-02 -1.43287923e-02 6.98645363e+01] [ 1.85260706e-02 9.99828378e-01 1.17586766e-05 -2.45411660e-01] [ 1.43261154e-02 -2.77211670e-04 9.99897338e-01 -1.33581915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15800114499999 meters 0.06437655862072719 Centerline is valid? [True, True] Translation: X:69.90, Y:-0.25, Z:-1.34 [[ 9.99700171e-01 -2.00644211e-02 -1.40351925e-02 6.98959277e+01] [ 2.00665720e-02 9.99798646e-01 1.24244283e-05 -2.47418617e-01] [ 1.40321172e-02 -2.94058904e-04 9.99901502e-01 -1.33807970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18800114499999 meters 0.06383220517991012 Centerline is valid? [True, True] Translation: X:69.93, Y:-0.25, Z:-1.33 [[ 9.99667699e-01 -2.20468000e-02 -1.33577606e-02 6.99282605e+01] [ 2.20489410e-02 9.99756892e-01 1.30109271e-05 -2.45220203e-01] [ 1.33542264e-02 -3.07531078e-04 9.99910781e-01 -1.33396278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21800114499999 meters 0.0646831287188344 Centerline is valid? [True, True] Translation: X:69.96, Y:-0.25, Z:-1.34 [[ 9.99655725e-01 -2.29275325e-02 -1.27577223e-02 6.99598267e+01] [ 2.29295622e-02 9.99737083e-01 1.28272136e-05 -2.47237352e-01] [ 1.27540740e-02 -3.05351784e-04 9.99918617e-01 -1.33686936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24800114499999 meters 0.06485091431116208 Centerline is valid? [True, True] Translation: X:69.99, Y:-0.25, Z:-1.34 [[ 9.99662542e-01 -2.32052794e-02 -1.16754894e-02 6.99914698e+01] [ 2.32070095e-02 9.99730681e-01 1.27110637e-05 -2.47732665e-01] [ 1.16720500e-02 -2.83659969e-04 9.99931839e-01 -1.33740420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27800114499999 meters 0.06410110940564574 Centerline is valid? [True, True] Translation: X:70.02, Y:-0.25, Z:-1.34 [[ 9.99653223e-01 -2.37241146e-02 -1.14280371e-02 7.00239825e+01] [ 2.37258156e-02 9.99718503e-01 1.32734198e-05 -2.45976798e-01] [ 1.14245053e-02 -2.84408319e-04 9.99934698e-01 -1.33559905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30800114499999 meters 0.06410110940564574 Centerline is valid? [True, True] Translation: X:70.06, Y:-0.25, Z:-1.34 [[ 9.99654752e-01 -2.36595822e-02 -1.14280363e-02 7.00557065e+01] [ 2.36612874e-02 9.99720032e-01 1.40072146e-05 -2.46076311e-01] [ 1.14245054e-02 -2.84404429e-04 9.99934698e-01 -1.33611381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33800114499999 meters 0.06426338418109653 Centerline is valid? [True, True] Translation: X:70.09, Y:-0.25, Z:-1.34 [[ 9.99669020e-01 -2.27099739e-02 -1.20874648e-02 7.00864733e+01] [ 2.27118152e-02 9.99742053e-01 1.50703604e-05 -2.46547334e-01] [ 1.20840046e-02 -2.89593638e-04 9.99926944e-01 -1.33808556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.368001145 meters 0.0641914964819161 Centerline is valid? [True, True] Translation: X:70.12, Y:-0.24, Z:-1.34 [[ 9.99694861e-01 -2.14496758e-02 -1.22513741e-02 7.01187135e+01] [ 2.14514854e-02 9.99769890e-01 1.62995385e-05 -2.44616387e-01] [ 1.22482054e-02 -2.79104739e-04 9.99924949e-01 -1.33864750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.398001145 meters 0.06434276393799326 Centerline is valid? [True, True] Translation: X:70.15, Y:-0.24, Z:-1.34 [[ 9.99707825e-01 -2.05685916e-02 -1.26963281e-02 7.01497527e+01] [ 2.05704679e-02 9.99788405e-01 1.71925397e-05 -2.42179009e-01] [ 1.26932880e-02 -2.78356926e-04 9.99919398e-01 -1.33952575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42800114499998 meters 0.06446149558723296 Centerline is valid? [True, True] Translation: X:70.18, Y:-0.24, Z:-1.34 [[ 9.99711552e-01 -1.95700222e-02 -1.39221907e-02 7.01822471e+01] [ 1.95721960e-02 9.99808446e-01 1.98981630e-05 -2.37754686e-01] [ 1.39191344e-02 -2.92380269e-04 9.99903081e-01 -1.34038555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45800114499998 meters 0.06452749769307954 Centerline is valid? [True, True] Translation: X:70.21, Y:-0.24, Z:-1.34 [[ 9.99733955e-01 -1.88677900e-02 -1.32674734e-02 7.02137179e+01] [ 1.88697078e-02 9.99821951e-01 1.93739142e-05 -2.37167254e-01] [ 1.32647456e-02 -2.69722107e-04 9.99911983e-01 -1.34117640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48800114499998 meters 0.064689574431204 Centerline is valid? [True, True] Translation: X:70.25, Y:-0.24, Z:-1.34 [[ 9.99728005e-01 -1.93564362e-02 -1.30093890e-02 7.02458218e+01] [ 1.93583354e-02 9.99812610e-01 2.00639448e-05 -2.37091036e-01] [ 1.30065628e-02 -2.71898604e-04 9.99915374e-01 -1.34272437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51800114499999 meters 0.06474969325818054 Centerline is valid? [True, True] Translation: X:70.28, Y:-0.24, Z:-1.34 [[ 9.99736566e-01 -1.95484232e-02 -1.20273916e-02 7.02769111e+01] [ 1.95500650e-02 9.99808879e-01 1.89313337e-05 -2.36765063e-01] [ 1.20247229e-02 -2.54062634e-04 9.99927668e-01 -1.34289301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54800114499999 meters 0.06517200722719167 Centerline is valid? [True, True] Translation: X:70.31, Y:-0.24, Z:-1.34 [[ 9.99713042e-01 -2.14217145e-02 -1.07212026e-02 7.03084007e+01] [ 2.14231488e-02 9.99770498e-01 1.89415232e-05 -2.35832775e-01] [ 1.07183363e-02 -2.48618006e-04 9.99942526e-01 -1.34283136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57800114499999 meters 0.06526719429508711 Centerline is valid? [True, True] Translation: X:70.34, Y:-0.23, Z:-1.34 [[ 9.99687167e-01 -2.26294594e-02 -1.06525376e-02 7.03402040e+01] [ 2.26309443e-02 9.99743887e-01 1.88559104e-05 -2.34124588e-01] [ 1.06493826e-02 -2.59926997e-04 9.99943260e-01 -1.34240467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60800114499999 meters 0.06585157419947166 Centerline is valid? [True, True] Translation: X:70.37, Y:-0.24, Z:-1.34 [[ 9.99658011e-01 -2.38817400e-02 -1.06547326e-02 7.03709036e+01] [ 2.38832947e-02 9.99714753e-01 1.86857729e-05 -2.35042700e-01] [ 1.06512471e-02 -2.73149501e-04 9.99943237e-01 -1.34478735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63800114499999 meters 0.0659917076042017 Centerline is valid? [True, True] Translation: X:70.40, Y:-0.23, Z:-1.34 [[ 9.99623446e-01 -2.52941686e-02 -1.06382371e-02 7.04034117e+01] [ 2.52958109e-02 9.99680010e-01 1.98250764e-05 -2.34349705e-01] [ 1.06343315e-02 -2.88920444e-04 9.99943412e-01 -1.34475181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66800114499999 meters 0.06602453456024038 Centerline is valid? [True, True] Translation: X:70.43, Y:-0.23, Z:-1.35 [[ 9.99643165e-01 -2.47392032e-02 -1.00754660e-02 7.04343488e+01] [ 2.47406508e-02 9.99693903e-01 1.90407706e-05 -2.34502939e-01] [ 1.00719109e-02 -2.68307562e-04 9.99949241e-01 -1.34615415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69800114499999 meters 0.06525400043760983 Centerline is valid? [True, True] Translation: X:70.47, Y:-0.23, Z:-1.34 [[ 9.99660806e-01 -2.40165811e-02 -1.00735704e-02 7.04667432e+01] [ 2.40180012e-02 9.99711526e-01 1.99992021e-05 -2.30900041e-01] [ 1.00701842e-02 -2.61939445e-04 9.99949260e-01 -1.34437006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.728001145 meters 0.06587126275162741 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.23, Z:-1.35 [[ 9.99717688e-01 -2.17000954e-02 -9.67727867e-03 7.04984328e+01] [ 2.17013037e-02 9.99764499e-01 1.98643934e-05 -2.30678932e-01] [ 9.67456860e-03 -2.29868349e-04 9.99953174e-01 -1.34883634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.758001145 meters 0.0649655840235999 Centerline is valid? [True, True] Translation: X:70.53, Y:-0.22, Z:-1.34 [[ 9.99754145e-01 -2.02074664e-02 -9.12731101e-03 7.05311671e+01] [ 2.02084916e-02 9.99795787e-01 2.01087658e-05 -2.24320739e-01] [ 9.12504075e-03 -2.04553010e-04 9.99958345e-01 -1.34451312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78800114499998 meters 0.06471870998148058 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.22, Z:-1.34 [[ 9.99795188e-01 -1.86084254e-02 -7.95670076e-03 7.05624586e+01] [ 1.86091526e-02 9.99826835e-01 1.73629500e-05 -2.20051310e-01] [ 7.95499984e-03 -1.65426853e-04 9.99968345e-01 -1.34282612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81800114499998 meters 0.06450934400981431 Centerline is valid? [True, True] Translation: X:70.60, Y:-0.22, Z:-1.34 [[ 9.99829370e-01 -1.72415666e-02 -6.63010635e-03 7.05952904e+01] [ 1.72420492e-02 9.99851345e-01 1.56277065e-05 -2.17131250e-01] [ 6.62885130e-03 -1.29941660e-04 9.99978020e-01 -1.34181163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84800114499998 meters 0.06452469628590288 Centerline is valid? [True, True] Translation: X:70.63, Y:-0.22, Z:-1.34 [[ 9.99874852e-01 -1.50608063e-02 -4.84284586e-03 7.06254507e+01] [ 1.50610430e-02 9.99886576e-01 1.24131593e-05 -2.15935864e-01] [ 4.84210962e-03 -8.53499155e-05 9.99988273e-01 -1.34347215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87800114499998 meters 0.06457718375528225 Centerline is valid? [True, True] Translation: X:70.66, Y:-0.22, Z:-1.34 [[ 9.99873589e-01 -1.51062744e-02 -4.96041940e-03 7.06574462e+01] [ 1.51065224e-02 9.99885890e-01 1.25150679e-05 -2.16900650e-01] [ 4.95966431e-03 -8.74481726e-05 9.99987697e-01 -1.34494683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90800114499999 meters 0.06465333079030333 Centerline is valid? [True, True] Translation: X:70.69, Y:-0.22, Z:-1.35 [[ 9.99872997e-01 -1.50104883e-02 -5.35494028e-03 7.06896130e+01] [ 1.50107772e-02 9.99887332e-01 1.37608466e-05 -2.17163763e-01] [ 5.35413039e-03 -9.41409145e-05 9.99985662e-01 -1.34678744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93800114499999 meters 0.06443860966956322 Centerline is valid? [True, True] Translation: X:70.72, Y:-0.22, Z:-1.35 [[ 9.99866496e-01 -1.48940102e-02 -6.72003641e-03 7.07217500e+01] [ 1.48944638e-02 9.99889071e-01 1.74599861e-05 -2.15520928e-01] [ 6.71903091e-03 -1.17548994e-04 9.99977420e-01 -1.34700343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96800114499999 meters 0.06560282613400335 Centerline is valid? [True, True] Translation: X:70.75, Y:-0.21, Z:-1.35 [[ 9.99851127e-01 -1.49235705e-02 -8.66091837e-03 7.07528265e+01] [ 1.49243326e-02 9.99888626e-01 2.33645583e-05 -2.14774305e-01] [ 8.65960509e-03 -1.52619506e-04 9.99962493e-01 -1.35356302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99800114499999 meters 0.0650028920349621 Centerline is valid? [True, True] Translation: X:70.79, Y:-0.21, Z:-1.35 [[ 9.99853317e-01 -1.48643201e-02 -8.50862623e-03 7.07854327e+01] [ 1.48650546e-02 9.99889509e-01 2.30880811e-05 -2.10585561e-01] [ 8.50734291e-03 -1.49565888e-04 9.99963801e-01 -1.34972311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02800114499999 meters 0.06528036046152867 Centerline is valid? [True, True] Translation: X:70.82, Y:-0.21, Z:-1.35 [[ 9.99858359e-01 -1.45663543e-02 -8.43103043e-03 7.08169267e+01] [ 1.45670661e-02 9.99893894e-01 2.30200056e-05 -2.11184598e-01] [ 8.42980053e-03 -1.45832123e-04 9.99964458e-01 -1.35254596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05800114499999 meters 0.06475773341397868 Centerline is valid? [True, True] Translation: X:70.85, Y:-0.21, Z:-1.35 [[ 9.99872888e-01 -1.37344015e-02 -8.09773433e-03 7.08495389e+01] [ 1.37350377e-02 9.99905670e-01 2.29516469e-05 -2.08759478e-01] [ 8.09665524e-03 -1.34171416e-04 9.99967213e-01 -1.35133654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08800114499999 meters 0.06530583529904317 Centerline is valid? [True, True] Translation: X:70.88, Y:-0.21, Z:-1.35 [[ 9.99859685e-01 -1.41466928e-02 -8.97112254e-03 7.08811228e+01] [ 1.41475023e-02 9.99899919e-01 2.67837414e-05 -2.10571266e-01] [ 8.96984580e-03 -1.53698960e-04 9.99959758e-01 -1.35485880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.118001145 meters 0.06480200842219123 Centerline is valid? [True, True] Translation: X:70.91, Y:-0.21, Z:-1.35 [[ 9.99874105e-01 -1.41314328e-02 -7.21641996e-03 7.09135543e+01] [ 1.41319576e-02 9.99900139e-01 2.17310058e-05 -2.08225350e-01] [ 7.21539223e-03 -1.23710411e-04 9.99973961e-01 -1.35181199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.148001145 meters 0.0648331309689545 Centerline is valid? [True, True] Translation: X:70.94, Y:-0.21, Z:-1.35 [[ 9.99862477e-01 -1.51557289e-02 -6.73278889e-03 7.09448419e+01] [ 1.51562098e-02 9.99885138e-01 2.04051717e-05 -2.07022981e-01] [ 6.73170630e-03 -1.22445926e-04 9.99977334e-01 -1.35108953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17800114499998 meters 0.06538179426551707 Centerline is valid? [True, True] Translation: X:70.98, Y:-0.21, Z:-1.35 [[ 9.99815875e-01 -1.79165894e-02 -6.87108897e-03 7.09773970e+01] [ 1.79171600e-02 9.99839475e-01 2.14928460e-05 -2.05548820e-01] [ 6.86960090e-03 -1.44599289e-04 9.99976394e-01 -1.35095801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20800114499998 meters 0.0659531224776057 Centerline is valid? [True, True] Translation: X:71.01, Y:-0.21, Z:-1.35 [[ 9.99786908e-01 -1.95541338e-02 -6.61622920e-03 7.10087948e+01] [ 1.95547086e-02 9.99808788e-01 2.21978492e-05 -2.07854617e-01] [ 6.61453004e-03 -1.51571553e-04 9.99978112e-01 -1.35287229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23800114499998 meters 0.06559985652435739 Centerline is valid? [True, True] Translation: X:71.04, Y:-0.21, Z:-1.35 [[ 9.99779982e-01 -2.01676286e-02 -5.76672199e-03 7.10411160e+01] [ 2.01680748e-02 9.99796604e-01 1.92312178e-05 -2.07495488e-01] [ 5.76516121e-03 -1.35530667e-04 9.99983372e-01 -1.35153810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26800114499999 meters 0.06638034392815448 Centerline is valid? [True, True] Translation: X:71.07, Y:-0.21, Z:-1.35 [[ 9.99756479e-01 -2.12777492e-02 -5.85151731e-03 7.10722103e+01] [ 2.12782277e-02 9.99773593e-01 1.95176736e-05 -2.10199340e-01] [ 5.84977719e-03 -1.44022838e-04 9.99982880e-01 -1.35404464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29800114499999 meters 0.0657353786018045 Centerline is valid? [True, True] Translation: X:71.10, Y:-0.20, Z:-1.35 [[ 9.99770102e-01 -2.08693920e-02 -4.92056205e-03 7.11046996e+01] [ 2.08697289e-02 9.99782203e-01 1.71213759e-05 -2.04482285e-01] [ 4.91913305e-03 -1.19808236e-04 9.99987894e-01 -1.35099452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32800114499999 meters 0.06582409162265623 Centerline is valid? [True, True] Translation: X:71.14, Y:-0.20, Z:-1.35 [[ 9.99786442e-01 -2.00843189e-02 -4.86725642e-03 7.11354525e+01] [ 2.00846391e-02 9.99798283e-01 1.69124403e-05 -2.02820886e-01] [ 4.86593494e-03 -1.14665917e-04 9.99988155e-01 -1.35153695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35800114499999 meters 0.06567685358964462 Centerline is valid? [True, True] Translation: X:71.17, Y:-0.20, Z:-1.35 [[ 9.99814251e-01 -1.88804800e-02 -3.87180439e-03 7.11681732e+01] [ 1.88806774e-02 9.99821744e-01 1.44179304e-05 -2.00428286e-01] [ 3.87084200e-03 -8.75175417e-05 9.99992504e-01 -1.35138235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38800114499999 meters 0.06542606317934764 Centerline is valid? [True, True] Translation: X:71.20, Y:-0.20, Z:-1.35 [[ 9.99857251e-01 -1.65642768e-02 -3.33197154e-03 7.12006068e+01] [ 1.65644105e-02 9.99862801e-01 1.25419192e-05 -1.96563108e-01] [ 3.33130665e-03 -6.77322732e-05 9.99994449e-01 -1.35271690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41800114499999 meters 0.06541723833799179 Centerline is valid? [True, True] Translation: X:71.23, Y:-0.20, Z:-1.35 [[ 9.99876659e-01 -1.51306292e-02 -4.21086873e-03 7.12322322e+01] [ 1.51308352e-02 9.99885522e-01 1.70684080e-05 -1.95672423e-01] [ 4.21012842e-03 -8.07802634e-05 9.99991134e-01 -1.35490262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44800114499999 meters 0.06531426622537001 Centerline is valid? [True, True] Translation: X:71.26, Y:-0.19, Z:-1.36 [[ 9.99893949e-01 -1.40032889e-02 -3.99980936e-03 7.12631833e+01] [ 1.40034619e-02 9.99901947e-01 1.52532157e-05 -1.94832490e-01] [ 3.99920357e-03 -7.12627760e-05 9.99992001e-01 -1.35674861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.478001145 meters 0.064827136370129 Centerline is valid? [True, True] Translation: X:71.30, Y:-0.19, Z:-1.36 [[ 9.99922237e-01 -1.17972712e-02 -4.04284888e-03 7.12957946e+01] [ 1.17974322e-02 9.99930408e-01 1.59677455e-05 -1.88556286e-01] [ 4.04237915e-03 -6.36617393e-05 9.99991828e-01 -1.35529619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.508001145 meters 0.06501783260115222 Centerline is valid? [True, True] Translation: X:71.33, Y:-0.19, Z:-1.36 [[ 9.99934755e-01 -1.05336455e-02 -4.41897188e-03 7.13274705e+01] [ 1.05338305e-02 9.99944517e-01 1.85732439e-05 -1.86992795e-01] [ 4.41853106e-03 -6.51207326e-05 9.99990236e-01 -1.35750949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53800114499998 meters 0.06486857696412571 Centerline is valid? [True, True] Translation: X:71.36, Y:-0.18, Z:-1.36 [[ 9.99944616e-01 -9.44503139e-03 -4.64290727e-03 7.13601907e+01] [ 9.44522338e-03 9.99955393e-01 1.94242688e-05 -1.84420713e-01] [ 4.64251670e-03 -6.32764893e-05 9.99989221e-01 -1.35742530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56800114499998 meters 0.06463426668792441 Centerline is valid? [True, True] Translation: X:71.39, Y:-0.18, Z:-1.36 [[ 9.99950008e-01 -8.64627479e-03 -5.02236023e-03 7.13927774e+01] [ 8.64648851e-03 9.99962618e-01 2.08427306e-05 -1.82242725e-01] [ 5.02199227e-03 -6.42674687e-05 9.99987388e-01 -1.35691269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59800114499998 meters 0.06476480981063075 Centerline is valid? [True, True] Translation: X:71.42, Y:-0.18, Z:-1.36 [[ 9.99949742e-01 -8.32809626e-03 -5.58180144e-03 7.14245914e+01] [ 8.32835661e-03 9.99965318e-01 2.34000726e-05 -1.80735440e-01] [ 5.58141298e-03 -6.98861295e-05 9.99984421e-01 -1.35884043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62800114499998 meters 0.06466248251559376 Centerline is valid? [True, True] Translation: X:71.46, Y:-0.18, Z:-1.36 [[ 9.99949648e-01 -8.08648599e-03 -5.94217862e-03 7.14571831e+01] [ 8.08677862e-03 9.99967301e-01 2.52201233e-05 -1.80177694e-01] [ 5.94178038e-03 -7.32719364e-05 9.99982345e-01 -1.35945858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65800114499999 meters 0.06465289401606059 Centerline is valid? [True, True] Translation: X:71.49, Y:-0.18, Z:-1.36 [[ 9.99950474e-01 -8.38660876e-03 -5.35854350e-03 7.14897878e+01] [ 8.38685340e-03 9.99964829e-01 2.31833355e-05 -1.79860357e-01] [ 5.35816060e-03 -6.81235061e-05 9.99985643e-01 -1.35977599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68800114499999 meters 0.06470450244069907 Centerline is valid? [True, True] Translation: X:71.52, Y:-0.18, Z:-1.36 [[ 9.99944969e-01 -9.31723214e-03 -4.82156513e-03 7.15218827e+01] [ 9.31744307e-03 9.99956591e-01 2.12867488e-05 -1.79277221e-01] [ 4.82115750e-03 -6.62102360e-05 9.99988376e-01 -1.35882154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71800114499999 meters 0.06468039573253728 Centerline is valid? [True, True] Translation: X:71.55, Y:-0.18, Z:-1.36 [[ 9.99943283e-01 -9.47537567e-03 -4.86292780e-03 7.15541001e+01] [ 9.47559367e-03 9.99955105e-01 2.17900182e-05 -1.78355999e-01] [ 4.86250301e-03 -6.78679102e-05 9.99988176e-01 -1.35870630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74800114499999 meters 0.06504238464693449 Centerline is valid? [True, True] Translation: X:71.58, Y:-0.18, Z:-1.36 [[ 9.99928647e-01 -1.00761622e-02 -6.41654910e-03 7.15848443e+01] [ 1.00765499e-02 9.99949230e-01 2.80942492e-05 -1.78017533e-01] [ 6.41594025e-03 -9.27489218e-05 9.99979413e-01 -1.36006601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77800114499999 meters 0.06485990426045772 Centerline is valid? [True, True] Translation: X:71.62, Y:-0.18, Z:-1.36 [[ 9.99918040e-01 -1.07966842e-02 -6.88078927e-03 7.16173271e+01] [ 1.07971536e-02 9.99941709e-01 3.10686272e-05 -1.76686422e-01] [ 6.88005274e-03 -1.05359019e-04 9.99976327e-01 -1.35994218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80800114499999 meters 0.06508639115416968 Centerline is valid? [True, True] Translation: X:71.65, Y:-0.18, Z:-1.36 [[ 9.99899762e-01 -1.22934648e-02 -7.02396338e-03 7.16481348e+01] [ 1.22939912e-02 9.99924426e-01 3.17678970e-05 -1.76840596e-01] [ 7.02304201e-03 -1.18117256e-04 9.99975331e-01 -1.36116751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83800114499999 meters 0.06581286943129133 Centerline is valid? [True, True] Translation: X:71.68, Y:-0.18, Z:-1.36 [[ 9.99886863e-01 -1.32936112e-02 -7.03854166e-03 7.16793119e+01] [ 1.32941669e-02 9.99911628e-01 3.21592511e-05 -1.78541078e-01] [ 7.03749213e-03 -1.25727160e-04 9.99975229e-01 -1.36462210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.868001145 meters 0.06549543244299699 Centerline is valid? [True, True] Translation: X:71.71, Y:-0.18, Z:-1.36 [[ 9.99868315e-01 -1.43833048e-02 -7.51481968e-03 7.17113031e+01] [ 1.43839741e-02 9.99896545e-01 3.50227337e-05 -1.77201817e-01] [ 7.51353849e-03 -1.43111093e-04 9.99971763e-01 -1.36374431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.898001145 meters 0.0660111254890985 Centerline is valid? [True, True] Translation: X:71.74, Y:-0.18, Z:-1.36 [[ 9.99840611e-01 -1.58066465e-02 -8.30079525e-03 7.17423390e+01] [ 1.58075207e-02 9.99875053e-01 3.97123953e-05 -1.77901842e-01] [ 8.29913037e-03 -1.70921059e-04 9.99965547e-01 -1.36493143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92800114499998 meters 0.06616244712560626 Centerline is valid? [True, True] Translation: X:71.77, Y:-0.18, Z:-1.37 [[ 9.99823344e-01 -1.68655242e-02 -8.29669776e-03 7.17748092e+01] [ 1.68664350e-02 9.99857751e-01 3.98202411e-05 -1.76546040e-01] [ 8.29484597e-03 -1.79748920e-04 9.99965581e-01 -1.36526029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95800114499998 meters 0.06646412585777421 Centerline is valid? [True, True] Translation: X:71.81, Y:-0.18, Z:-1.37 [[ 9.99802626e-01 -1.76995891e-02 -9.02403592e-03 7.18071670e+01] [ 1.77007050e-02 9.99843329e-01 4.37920256e-05 -1.76411648e-01] [ 9.02184702e-03 -2.03515180e-04 9.99959282e-01 -1.36669959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98800114499998 meters 0.06640768537024963 Centerline is valid? [True, True] Translation: X:71.84, Y:-0.18, Z:-1.37 [[ 9.99804993e-01 -1.76029337e-02 -8.95057100e-03 7.18392542e+01] [ 1.76040328e-02 9.99845036e-01 4.40146917e-05 -1.75205300e-01] [ 8.94840920e-03 -2.01572254e-04 9.99959942e-01 -1.36718214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01800114499999 meters 0.06610867426428291 Centerline is valid? [True, True] Translation: X:71.87, Y:-0.17, Z:-1.37 [[ 9.99805611e-01 -1.74821092e-02 -9.11680068e-03 7.18710916e+01] [ 1.74832536e-02 9.99847155e-01 4.58397063e-05 -1.70592443e-01] [ 9.11460585e-03 -2.05222134e-04 9.99958440e-01 -1.36590480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04800114499999 meters 0.06616224996090932 Centerline is valid? [True, True] Translation: X:71.90, Y:-0.17, Z:-1.37 [[ 9.99811434e-01 -1.72614701e-02 -8.89596154e-03 7.19025611e+01] [ 1.72625504e-02 9.99850990e-01 4.46703940e-05 -1.69332609e-01] [ 8.89386488e-03 -1.98228956e-04 9.99960429e-01 -1.36635326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07800114499999 meters 0.0666513506327435 Centerline is valid? [True, True] Translation: X:71.93, Y:-0.17, Z:-1.37 [[ 9.99797898e-01 -1.80891750e-02 -8.77183999e-03 7.19338587e+01] [ 1.80902718e-02 9.99836357e-01 4.57073220e-05 -1.69741758e-01] [ 8.76957773e-03 -2.04383054e-04 9.99961526e-01 -1.36828348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10800114499999 meters 0.06678711815789193 Centerline is valid? [True, True] Translation: X:71.97, Y:-0.17, Z:-1.37 [[ 9.99750093e-01 -2.05139802e-02 -8.88418557e-03 7.19655318e+01] [ 2.05152016e-02 9.99789540e-01 4.63535840e-05 -1.68012703e-01] [ 8.88136491e-03 -2.28602858e-04 9.99960534e-01 -1.36804448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13800114499999 meters 0.06725314272072425 Centerline is valid? [True, True] Translation: X:72.00, Y:-0.17, Z:-1.37 [[ 9.99722387e-01 -2.17058717e-02 -9.16541960e-03 7.19975168e+01] [ 2.17072271e-02 9.99764369e-01 4.84110611e-05 -1.68673012e-01] [ 9.16220914e-03 -2.47353466e-04 9.99957995e-01 -1.36998749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16800114499999 meters 0.06773809606368646 Centerline is valid? [True, True] Translation: X:72.03, Y:-0.17, Z:-1.37 [[ 9.99687323e-01 -2.30369435e-02 -9.72395694e-03 7.20289440e+01] [ 2.30385335e-02 9.99734576e-01 5.15128129e-05 -1.69558753e-01] [ 9.72018928e-03 -2.75522414e-04 9.99952720e-01 -1.37206495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19800114499999 meters 0.06773809606368646 Centerline is valid? [True, True] Translation: X:72.06, Y:-0.17, Z:-1.37 [[ 9.99689616e-01 -2.29372478e-02 -9.72394757e-03 7.20615325e+01] [ 2.29388503e-02 9.99736869e-01 5.32853685e-05 -1.69853142e-01] [ 9.72016668e-03 -2.76325007e-04 9.99952720e-01 -1.37259383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.228001145 meters 0.0683871674521398 Centerline is valid? [True, True] Translation: X:72.09, Y:-0.17, Z:-1.37 [[ 9.99651017e-01 -2.45456608e-02 -9.76493911e-03 7.20925470e+01] [ 2.45473668e-02 9.99698666e-01 5.48720580e-05 -1.71066742e-01] [ 9.76064973e-03 -2.94556450e-04 9.99952320e-01 -1.37478304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.258001145 meters 0.0688483355642624 Centerline is valid? [True, True] Translation: X:72.13, Y:-0.17, Z:-1.38 [[ 9.99613442e-01 -2.58426060e-02 -1.02531219e-02 7.21251445e+01] [ 2.58445529e-02 9.99665972e-01 5.74105237e-05 -1.71749788e-01] [ 1.02482134e-02 -3.22375683e-04 9.99947434e-01 -1.37608066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28800114499998 meters 0.06990813662074777 Centerline is valid? [True, True] Translation: X:72.16, Y:-0.17, Z:-1.38 [[ 9.99556357e-01 -2.73521958e-02 -1.17875619e-02 7.21560132e+01] [ 2.73548758e-02 9.99625783e-01 6.61551980e-05 -1.72948809e-01] [ 1.17813413e-02 -3.88573139e-04 9.99930522e-01 -1.37990094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31800114499998 meters 0.06940747322070136 Centerline is valid? [True, True] Translation: X:72.19, Y:-0.17, Z:-1.38 [[ 9.99552087e-01 -2.71963148e-02 -1.24894180e-02 7.21880394e+01] [ 2.71993250e-02 9.99630027e-01 7.11873873e-05 -1.70148361e-01] [ 1.24828612e-02 -4.10859241e-04 9.99922002e-01 -1.37958111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34800114499998 meters 0.0695374231762754 Centerline is valid? [True, True] Translation: X:72.22, Y:-0.17, Z:-1.38 [[ 9.99575627e-01 -2.64366035e-02 -1.22340566e-02 7.22193819e+01] [ 2.64394687e-02 9.99650414e-01 7.24926980e-05 -1.68815955e-01] [ 1.22278632e-02 -3.95923890e-04 9.99925159e-01 -1.38076743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37800114499998 meters 0.06925662253072237 Centerline is valid? [True, True] Translation: X:72.25, Y:-0.16, Z:-1.38 [[ 9.99629737e-01 -2.35688554e-02 -1.35977159e-02 7.22509764e+01] [ 2.35721169e-02 9.99722136e-01 7.96130028e-05 -1.62252454e-01] [ 1.35920612e-02 -4.00110473e-04 9.99907544e-01 -1.38319625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40800114499999 meters 0.06896263164864716 Centerline is valid? [True, True] Translation: X:72.28, Y:-0.16, Z:-1.38 [[ 9.99672716e-01 -2.11915834e-02 -1.43309766e-02 7.22823052e+01] [ 2.11949714e-02 9.99775358e-01 8.45485528e-05 -1.58400664e-01] [ 1.43259655e-02 -3.88265520e-04 9.99897303e-01 -1.38475987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43800114499999 meters 0.06799866012197024 Centerline is valid? [True, True] Translation: X:72.32, Y:-0.15, Z:-1.38 [[ 9.99711721e-01 -1.90576230e-02 -1.46041635e-02 7.23150468e+01] [ 1.90609423e-02 9.99818320e-01 8.81138375e-05 -1.53236172e-01] [ 1.45998310e-02 -3.66457555e-04 9.99893350e-01 -1.38458135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46800114499999 meters 0.06710109236232305 Centerline is valid? [True, True] Translation: X:72.35, Y:-0.15, Z:-1.38 [[ 9.99792127e-01 -1.54655727e-02 -1.32860243e-02 7.23468286e+01] [ 1.54680045e-02 9.99880360e-01 8.02937762e-05 -1.45424002e-01] [ 1.32831930e-02 -2.85785370e-04 9.99911734e-01 -1.38421689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49800114499999 meters 0.06665448618023277 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.14, Z:-1.38 [[ 9.99827677e-01 -1.38943674e-02 -1.23111224e-02 7.23783351e+01] [ 1.38963388e-02 9.99903438e-01 7.45992408e-05 -1.41341548e-01] [ 1.23088972e-02 -2.45665914e-04 9.99924212e-01 -1.38367007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52800114499999 meters 0.06642925538989872 Centerline is valid? [True, True] Translation: X:72.41, Y:-0.14, Z:-1.38 [[ 9.99852760e-01 -1.30034134e-02 -1.11968153e-02 7.24089079e+01] [ 1.30049878e-02 9.99915429e-01 6.78072943e-05 -1.38400427e-01] [ 1.11949867e-02 -2.13411757e-04 9.99937311e-01 -1.38445876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55800114499999 meters 0.06631369713544567 Centerline is valid? [True, True] Translation: X:72.44, Y:-0.14, Z:-1.38 [[ 9.99852750e-01 -1.30899540e-02 -1.10964596e-02 7.24411310e+01] [ 1.30915228e-02 9.99914300e-01 6.87509342e-05 -1.35947084e-01] [ 1.10946087e-02 -2.14010365e-04 9.99938430e-01 -1.38407956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58800114499999 meters 0.06682420040166463 Centerline is valid? [True, True] Translation: X:72.47, Y:-0.13, Z:-1.39 [[ 9.99836694e-01 -1.43680548e-02 -1.09610802e-02 7.24718366e+01] [ 1.43696605e-02 9.99896749e-01 6.77510330e-05 -1.34976329e-01] [ 1.09589750e-02 -2.25246970e-04 9.99939923e-01 -1.38627107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.618001145 meters 0.06729633337647802 Centerline is valid? [True, True] Translation: X:72.50, Y:-0.14, Z:-1.39 [[ 9.99804397e-01 -1.54647874e-02 -1.23291751e-02 7.25037394e+01] [ 1.54669178e-02 9.99880377e-01 7.74587653e-05 -1.35469348e-01] [ 1.23265024e-02 -2.68137953e-04 9.99923990e-01 -1.38918912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.648001145 meters 0.06741439623556526 Centerline is valid? [True, True] Translation: X:72.54, Y:-0.13, Z:-1.39 [[ 9.99776416e-01 -1.65762192e-02 -1.31280856e-02 7.25360655e+01] [ 1.65787414e-02 9.99862560e-01 8.33135803e-05 -1.34790904e-01] [ 1.31249003e-02 -3.00942090e-04 9.99913819e-01 -1.39064404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67800114499998 meters 0.06821745682788577 Centerline is valid? [True, True] Translation: X:72.57, Y:-0.14, Z:-1.39 [[ 9.99741887e-01 -1.77999552e-02 -1.41181024e-02 7.25667264e+01] [ 1.78029920e-02 9.99841510e-01 8.94401505e-05 -1.35562465e-01] [ 1.41142728e-02 -3.40761529e-04 9.99900331e-01 -1.39394082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70800114499998 meters 0.06886542951033241 Centerline is valid? [True, True] Translation: X:72.60, Y:-0.13, Z:-1.40 [[ 9.99674105e-01 -1.99722634e-02 -1.58994257e-02 7.25975423e+01] [ 1.99763883e-02 9.99800447e-01 1.00646094e-04 -1.33083712e-01] [ 1.58942428e-02 -4.18226395e-04 9.99873591e-01 -1.39619544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73800114499998 meters 0.06944844154387797 Centerline is valid? [True, True] Translation: X:72.63, Y:-0.13, Z:-1.40 [[ 9.99647800e-01 -2.12204834e-02 -1.59363415e-02 7.26296263e+01] [ 2.12248153e-02 9.99774723e-01 1.02724131e-04 -1.33938225e-01] [ 1.59305715e-02 -4.40933857e-04 9.99873003e-01 -1.39858039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76800114499999 meters 0.06985663962048103 Centerline is valid? [True, True] Translation: X:72.66, Y:-0.13, Z:-1.40 [[ 9.99631781e-01 -2.23775223e-02 -1.53475787e-02 7.26613809e+01] [ 2.23816924e-02 9.99749494e-01 9.99849042e-05 -1.34806585e-01] [ 1.53414966e-02 -4.43452874e-04 9.99882214e-01 -1.39974029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79800114499999 meters 0.06880827262440802 Centerline is valid? [True, True] Translation: X:72.69, Y:-0.13, Z:-1.40 [[ 9.99738028e-01 -1.73651824e-02 -1.49105925e-02 7.26923500e+01] [ 1.73685610e-02 9.99849150e-01 9.71174266e-05 -1.26103327e-01] [ 1.49066567e-02 -3.56067520e-04 9.99888826e-01 -1.40021408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82800114499999 meters 0.06839044118653298 Centerline is valid? [True, True] Translation: X:72.72, Y:-0.12, Z:-1.40 [[ 9.99757733e-01 -1.55305502e-02 -1.55973212e-02 7.27244052e+01] [ 1.55340476e-02 9.99879334e-01 1.03096977e-04 -1.20819449e-01] [ 1.55938379e-02 -3.45361530e-04 9.99878349e-01 -1.40067848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85800114499999 meters 0.06792772039162895 Centerline is valid? [True, True] Translation: X:72.76, Y:-0.12, Z:-1.40 [[ 9.99796228e-01 -1.29953017e-02 -1.54474723e-02 7.27558963e+01] [ 1.29984294e-02 9.99915512e-01 1.02080400e-04 -1.15773542e-01] [ 1.54448406e-02 -3.02852476e-04 9.99880675e-01 -1.40117748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88800114499999 meters 0.06692437365546436 Centerline is valid? [True, True] Translation: X:72.79, Y:-0.11, Z:-1.40 [[ 9.99818882e-01 -9.11369100e-03 -1.67076207e-02 7.27869831e+01] [ 9.11680784e-03 9.99958435e-01 1.10394362e-04 -1.06424465e-01] [ 1.67059202e-02 -2.62694535e-04 9.99860412e-01 -1.40085265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91800114499999 meters 0.06655649397297514 Centerline is valid? [True, True] Translation: X:72.82, Y:-0.10, Z:-1.40 [[ 9.99833962e-01 -7.00152601e-03 -1.68233934e-02 7.28153846e+01] [ 7.00425282e-03 9.99975465e-01 1.03167495e-04 -1.02692123e-01] [ 1.68222583e-02 -2.20985666e-04 9.99858471e-01 -1.40174480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94800114499999 meters 0.06627138755037068 Centerline is valid? [True, True] Translation: X:72.84, Y:-0.10, Z:-1.40 [[ 9.99860116e-01 -4.94388944e-03 -1.59783139e-02 7.28442840e+01] [ 4.94602258e-03 9.99987764e-01 9.39876385e-05 -9.89203736e-02] [ 1.59776537e-02 -1.73003592e-04 9.99872334e-01 -1.40145107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.978001145 meters 0.06617495207165477 Centerline is valid? [True, True] Translation: X:72.87, Y:-0.10, Z:-1.40 [[ 9.99871560e-01 -3.48434172e-03 -1.56436458e-02 7.28724229e+01] [ 3.48614964e-03 9.99993919e-01 8.83002878e-05 -9.70091147e-02] [ 1.56432430e-02 -1.42825037e-04 9.99877627e-01 -1.40288075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.008001145 meters 0.06660767933718031 Centerline is valid? [True, True] Translation: X:72.90, Y:-0.10, Z:-1.41 [[ 9.99868158e-01 -3.66044059e-03 -1.58198515e-02 7.28999847e+01] [ 3.66233080e-03 9.99993290e-01 9.05149364e-05 -9.77028309e-02] [ 1.58194141e-02 -1.48440532e-04 9.99874854e-01 -1.40683292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03800114499998 meters 0.06594671264781501 Centerline is valid? [True, True] Translation: X:72.93, Y:-0.10, Z:-1.40 [[ 9.99900695e-01 -3.86793377e-03 -1.35513745e-02 7.29289305e+01] [ 3.86926532e-03 9.99992512e-01 7.20426862e-05 -9.69968789e-02] [ 1.35509944e-02 -1.24469395e-04 9.99908173e-01 -1.40214414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06800114499998 meters 0.06596390977128293 Centerline is valid? [True, True] Translation: X:72.96, Y:-0.10, Z:-1.40 [[ 9.99906695e-01 -4.43549726e-03 -1.29200194e-02 7.29572833e+01] [ 4.43671268e-03 9.99990156e-01 6.54115587e-05 -9.79807591e-02] [ 1.29196020e-02 -1.22727869e-04 9.99916531e-01 -1.40225726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09800114499998 meters 0.06597146334517406 Centerline is valid? [True, True] Translation: X:72.99, Y:-0.10, Z:-1.40 [[ 9.99916935e-01 -4.45111699e-03 -1.20959163e-02 7.29861382e+01] [ 4.45214678e-03 9.99990087e-01 5.82093406e-05 -9.90869873e-02] [ 1.20955373e-02 -1.12057300e-04 9.99926840e-01 -1.40258348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12800114499998 meters 0.0660635842559646 Centerline is valid? [True, True] Translation: X:73.01, Y:-0.10, Z:-1.40 [[ 9.99933659e-01 -4.74491672e-03 -1.04958511e-02 7.30139221e+01] [ 4.74570832e-03 9.99988738e-01 5.05152972e-05 -1.01181669e-01] [ 1.04954932e-02 -1.00322194e-04 9.99944916e-01 -1.40263472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15800114499999 meters 0.06604256613379988 Centerline is valid? [True, True] Translation: X:73.04, Y:-0.10, Z:-1.40 [[ 9.99929069e-01 -5.14826485e-03 -1.07402580e-02 7.30415357e+01] [ 5.14911521e-03 9.99986742e-01 5.15236860e-05 -1.01626576e-01] [ 1.07398503e-02 -1.06822857e-04 9.99942320e-01 -1.40276565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18800114499999 meters 0.06583873341642651 Centerline is valid? [True, True] Translation: X:73.07, Y:-0.10, Z:-1.40 [[ 9.99929420e-01 -5.37250403e-03 -1.05967271e-02 7.30705432e+01] [ 5.37329164e-03 9.99985563e-01 4.58566399e-05 -1.00934602e-01] [ 1.05963277e-02 -1.02792708e-04 9.99943852e-01 -1.40157835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21800114499999 meters 0.0660187838198953 Centerline is valid? [True, True] Translation: X:73.10, Y:-0.10, Z:-1.40 [[ 9.99926720e-01 -5.10120139e-03 -1.09787534e-02 7.30985639e+01] [ 5.10204887e-03 9.99986983e-01 4.91859449e-05 -1.01976034e-01] [ 1.09783595e-02 -1.05196477e-04 9.99939730e-01 -1.40437049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24800114499999 meters 0.06603655270491164 Centerline is valid? [True, True] Translation: X:73.13, Y:-0.10, Z:-1.41 [[ 9.99924491e-01 -5.11933840e-03 -1.11715923e-02 7.31267530e+01] [ 5.12015119e-03 9.99986891e-01 4.41549027e-05 -1.01976595e-01] [ 1.11712198e-02 -1.01351810e-04 9.99937595e-01 -1.40503427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27800114499999 meters 0.06653926537889926 Centerline is valid? [True, True] Translation: X:73.15, Y:-0.10, Z:-1.41 [[ 9.99914349e-01 -5.04916758e-03 -1.20747503e-02 7.31541576e+01] [ 5.05014010e-03 9.99987247e-01 5.00517661e-05 -1.03084517e-01] [ 1.20743436e-02 -1.11026660e-04 9.99927096e-01 -1.40974204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30800114499999 meters 0.06610735090774643 Centerline is valid? [True, True] Translation: X:73.18, Y:-0.10, Z:-1.41 [[ 9.99917660e-01 -4.57436759e-03 -1.19895416e-02 7.31818144e+01] [ 4.57521956e-03 9.99989533e-01 4.36319292e-05 -1.01063006e-01] [ 1.19892165e-02 -9.84831219e-05 9.99928122e-01 -1.40658677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33800114499999 meters 0.06591568445395252 Centerline is valid? [True, True] Translation: X:73.21, Y:-0.10, Z:-1.41 [[ 9.99933996e-01 -2.91288775e-03 -1.11138648e-02 7.32105256e+01] [ 2.91349224e-03 9.99995755e-01 3.82004003e-05 -9.93212312e-02] [ 1.11137063e-02 -7.05780377e-05 9.99938238e-01 -1.40639563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.368001145 meters 0.06569163025021917 Centerline is valid? [True, True] Translation: X:73.24, Y:-0.10, Z:-1.41 [[ 9.99942785e-01 -1.90356515e-03 -1.05262730e-02 7.32388912e+01] [ 1.90402459e-03 9.99998187e-01 3.36257582e-05 -9.79741709e-02] [ 1.05261899e-02 -5.36661170e-05 9.99944597e-01 -1.40648964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39800114499998 meters 0.0653360155317938 Centerline is valid? [True, True] Translation: X:73.27, Y:-0.10, Z:-1.40 [[ 9.99952803e-01 -4.50963316e-04 -9.70507479e-03 7.32675106e+01] [ 4.51260548e-04 9.99999898e-01 2.84366510e-05 -9.64021943e-02] [ 9.70506098e-03 -3.28148262e-05 9.99952904e-01 -1.40415549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42800114499998 meters 0.06548121940126313 Centerline is valid? [True, True] Translation: X:73.30, Y:-0.10, Z:-1.41 [[ 9.99956869e-01 1.68746574e-03 -9.13305343e-03 7.32954549e+01] [-1.68727845e-03 9.99998576e-01 2.82120103e-05 -9.69839644e-02] [ 9.13308803e-03 -1.28007893e-05 9.99958292e-01 -1.40644584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45800114499998 meters 0.06566927950399112 Centerline is valid? [True, True] Translation: X:73.32, Y:-0.10, Z:-1.41 [[ 9.99957031e-01 1.48683324e-03 -9.15013345e-03 7.33227279e+01] [-1.48665971e-03 9.99998895e-01 2.57669756e-05 -9.88074952e-02] [ 9.15016165e-03 -1.21627337e-05 9.99958136e-01 -1.40844787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48800114499998 meters 0.06536667433996783 Centerline is valid? [True, True] Translation: X:73.35, Y:-0.10, Z:-1.41 [[ 9.99961273e-01 9.89611825e-04 -8.74487111e-03 7.33519917e+01] [-9.89428438e-04 9.99999510e-01 2.52970995e-05 -1.00345417e-01] [ 8.74489186e-03 -1.66436957e-05 9.99961763e-01 -1.40543691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51800114499999 meters 0.06564958772117946 Centerline is valid? [True, True] Translation: X:73.38, Y:-0.10, Z:-1.41 [[ 9.99965212e-01 5.63471965e-04 -8.32206432e-03 7.33795785e+01] [-5.63304569e-04 9.99999841e-01 2.24585954e-05 -1.02312229e-01] [ 8.32207565e-03 -1.77699573e-05 9.99965371e-01 -1.40796168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54800114499999 meters 0.06543422391440863 Centerline is valid? [True, True] Translation: X:73.41, Y:-0.11, Z:-1.40 [[ 9.99971604e-01 -1.40841862e-03 -7.40316680e-03 7.34079367e+01] [ 1.40860512e-03 9.99999008e-01 1.99782664e-05 -1.07122499e-01] [ 7.40313132e-03 -3.04058378e-05 9.99972596e-01 -1.40438298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57800114499999 meters 0.06539688966960348 Centerline is valid? [True, True] Translation: X:73.44, Y:-0.11, Z:-1.40 [[ 9.99976171e-01 -2.81901589e-03 -6.30168010e-03 7.34370048e+01] [ 2.81917534e-03 9.99996026e-01 1.64196888e-05 -1.10796989e-01] [ 6.30160877e-03 -3.41848387e-05 9.99980144e-01 -1.40364479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60800114499999 meters 0.06539687251740074 Centerline is valid? [True, True] Translation: X:73.47, Y:-0.11, Z:-1.40 [[ 9.99979207e-01 -3.75385273e-03 -5.24344802e-03 7.34660773e+01] [ 3.75395463e-03 9.99992954e-01 9.59161564e-06 -1.14592131e-01] [ 5.24337506e-03 -2.92750822e-05 9.99986253e-01 -1.40442119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63800114499999 meters 0.06569170778378967 Centerline is valid? [True, True] Translation: X:73.50, Y:-0.12, Z:-1.41 [[ 9.99976719e-01 -4.78415306e-03 -4.86551537e-03 7.34950697e+01] [ 4.78426826e-03 9.99988555e-01 1.20382642e-05 -1.17924390e-01] [ 4.86540209e-03 -3.53159147e-05 9.99988163e-01 -1.40605998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66800114499999 meters 0.06616625133554402 Centerline is valid? [True, True] Translation: X:73.53, Y:-0.12, Z:-1.41 [[ 9.99959197e-01 -7.20714937e-03 -5.44620072e-03 7.35251897e+01] [ 7.20733126e-03 9.99974027e-01 1.37727686e-05 -1.24183829e-01] [ 5.44596001e-03 -5.30247794e-05 9.99985169e-01 -1.40659079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69800114499999 meters 0.06646800103967834 Centerline is valid? [True, True] Translation: X:73.56, Y:-0.13, Z:-1.41 [[ 9.99944463e-01 -8.94219312e-03 -5.57751281e-03 7.35576199e+01] [ 8.94241871e-03 9.99960016e-01 1.55082817e-05 -1.27365640e-01] [ 5.57715112e-03 -6.53838753e-05 9.99984445e-01 -1.40663757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.728001145 meters 0.06663033368981529 Centerline is valid? [True, True] Translation: X:73.59, Y:-0.13, Z:-1.41 [[ 9.99927325e-01 -1.05976168e-02 -5.74767362e-03 7.35898095e+01] [ 1.05978856e-02 9.99943841e-01 1.63257407e-05 -1.31394508e-01] [ 5.74717782e-03 -7.72377419e-05 9.99983482e-01 -1.40652370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.758001145 meters 0.06725448834248153 Centerline is valid? [True, True] Translation: X:73.62, Y:-0.14, Z:-1.41 [[ 9.99886783e-01 -1.31717464e-02 -7.27509956e-03 7.36216842e+01] [ 1.31722469e-02 9.99913242e-01 2.08808652e-05 -1.38224936e-01] [ 7.27419335e-03 -1.16707909e-04 9.99973536e-01 -1.40761264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78800114499998 meters 0.06741352806069877 Centerline is valid? [True, True] Translation: X:73.65, Y:-0.14, Z:-1.41 [[ 9.99870006e-01 -1.39669377e-02 -8.05579052e-03 7.36538442e+01] [ 1.39675806e-02 9.99902448e-01 2.35505209e-05 -1.41394403e-01] [ 8.05467574e-03 -1.36067363e-04 9.99967551e-01 -1.40980900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81800114499998 meters 0.06777037444712894 Centerline is valid? [True, True] Translation: X:73.68, Y:-0.15, Z:-1.41 [[ 9.99866028e-01 -1.37288484e-02 -8.91314778e-03 7.36848120e+01] [ 1.37296265e-02 9.99905744e-01 2.61118886e-05 -1.45025377e-01] [ 8.91194918e-03 -1.48482581e-04 9.99960277e-01 -1.41310150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84800114499998 meters 0.06757155475328813 Centerline is valid? [True, True] Translation: X:73.72, Y:-0.15, Z:-1.41 [[ 9.99887656e-01 -1.21654220e-02 -8.75657043e-03 7.37167242e+01] [ 1.21661204e-02 9.99925990e-01 2.64849970e-05 -1.48405298e-01] [ 8.75560015e-03 -1.33015511e-04 9.99961660e-01 -1.41469131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87800114499998 meters 0.0674726146336989 Centerline is valid? [True, True] Translation: X:73.75, Y:-0.15, Z:-1.42 [[ 9.99898088e-01 -1.10613841e-02 -9.02543440e-03 7.37476432e+01] [ 1.10620823e-02 9.99938813e-01 2.74321189e-05 -1.50071322e-01] [ 9.02457872e-03 -1.27269421e-04 9.99959270e-01 -1.41529434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90800114499999 meters 0.06700420580655027 Centerline is valid? [True, True] Translation: X:73.78, Y:-0.15, Z:-1.41 [[ 9.99915924e-01 -1.01246743e-02 -8.10160867e-03 7.37786583e+01] [ 1.01252067e-02 9.99948738e-01 2.47012448e-05 -1.50171729e-01] [ 8.10094328e-03 -1.06729631e-04 9.99967181e-01 -1.41302527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93800114499999 meters 0.06650750435373247 Centerline is valid? [True, True] Translation: X:73.81, Y:-0.15, Z:-1.41 [[ 9.99929897e-01 -9.25224315e-03 -7.38900370e-03 7.38103203e+01] [ 9.25266441e-03 9.99957193e-01 2.28292318e-05 -1.49527910e-01] [ 7.38847618e-03 -9.11956030e-05 9.99972701e-01 -1.40999748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96800114499999 meters 0.06619217520083764 Centerline is valid? [True, True] Translation: X:73.84, Y:-0.15, Z:-1.41 [[ 9.99948074e-01 -7.70105889e-03 -6.67400492e-03 7.38416618e+01] [ 7.70136985e-03 9.99970344e-01 2.08934541e-05 -1.51267006e-01] [ 6.67364609e-03 -7.22913495e-05 9.99977728e-01 -1.40881569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99800114499999 meters 0.06600394868294653 Centerline is valid? [True, True] Translation: X:73.87, Y:-0.15, Z:-1.41 [[ 9.99958205e-01 -6.15203136e-03 -6.76321074e-03 7.38731140e+01] [ 6.15231677e-03 9.99981074e-01 2.13954318e-05 -1.51807247e-01] [ 6.76295111e-03 -6.30039523e-05 9.99977129e-01 -1.40862433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02800114499999 meters 0.06614154209832819 Centerline is valid? [True, True] Translation: X:73.90, Y:-0.15, Z:-1.41 [[ 9.99958940e-01 -4.91658147e-03 -7.61223336e-03 7.39034069e+01] [ 4.91690558e-03 9.99987912e-01 2.38630926e-05 -1.54389361e-01] [ 7.61202401e-03 -6.12907454e-05 9.99971026e-01 -1.41099112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05800114499999 meters 0.06620334555470847 Centerline is valid? [True, True] Translation: X:73.93, Y:-0.16, Z:-1.41 [[ 9.99946209e-01 -4.61157783e-03 -9.29044636e-03 7.39325616e+01] [ 4.61202932e-03 9.99989364e-01 2.71739011e-05 -1.56010921e-01] [ 9.29022224e-03 -7.00202505e-05 9.99956843e-01 -1.41331198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08800114499999 meters 0.06623129119313158 Centerline is valid? [True, True] Translation: X:73.96, Y:-0.16, Z:-1.41 [[ 9.99924743e-01 -3.97782081e-03 -1.16054182e-02 7.39611056e+01] [ 3.97842470e-03 9.99992086e-01 2.89485441e-05 -1.58828805e-01] [ 1.16052112e-02 -7.51176479e-05 9.99932654e-01 -1.41486197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.118001145 meters 0.06623129119313158 Centerline is valid? [True, True] Translation: X:73.99, Y:-0.16, Z:-1.42 [[ 9.99923693e-01 -4.23339962e-03 -1.16054270e-02 7.39884296e+01] [ 4.23398069e-03 9.99991036e-01 2.54999353e-05 -1.58759120e-01] [ 1.16052150e-02 -7.46351432e-05 9.99932654e-01 -1.41530823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14800114499998 meters 0.0662909342857328 Centerline is valid? [True, True] Translation: X:74.02, Y:-0.16, Z:-1.42 [[ 9.99926306e-01 -3.64552732e-03 -1.15798330e-02 7.40159962e+01] [ 3.64608887e-03 9.99993353e-01 2.73827732e-05 -1.60408586e-01] [ 1.15796562e-02 -6.96018555e-05 9.99932951e-01 -1.41707019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17800114499998 meters 0.06629334789969454 Centerline is valid? [True, True] Translation: X:74.04, Y:-0.16, Z:-1.42 [[ 9.99929606e-01 -3.52103820e-03 -1.13307650e-02 7.40434028e+01] [ 3.52150345e-03 9.99993799e-01 2.11092817e-05 -1.62189204e-01] [ 1.13306204e-02 -6.10091236e-05 9.99935805e-01 -1.41805438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20800114499998 meters 0.06624972164396199 Centerline is valid? [True, True] Translation: X:74.07, Y:-0.17, Z:-1.42 [[ 9.99944000e-01 -3.11134000e-03 -1.01151348e-02 7.40718417e+01] [ 3.11166803e-03 9.99995159e-01 1.66923719e-05 -1.66011087e-01] [ 1.01150339e-02 -4.81663787e-05 9.99948841e-01 -1.41674135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23800114499998 meters 0.06617586194344356 Centerline is valid? [True, True] Translation: X:74.10, Y:-0.17, Z:-1.42 [[ 9.99942543e-01 -3.33478210e-03 -1.01877290e-02 7.40985667e+01] [ 3.33513393e-03 9.99994438e-01 1.75450272e-05 -1.68333287e-01] [ 1.01876138e-02 -5.15214598e-05 9.99948104e-01 -1.41718370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26800114499999 meters 0.06630742353727934 Centerline is valid? [True, True] Translation: X:74.13, Y:-0.17, Z:-1.42 [[ 9.99931806e-01 -3.66190068e-03 -1.10893635e-02 7.41268334e+01] [ 3.66229331e-03 9.99993294e-01 1.50988638e-05 -1.70682066e-01] [ 1.10892338e-02 -5.57103359e-05 9.99938511e-01 -1.41743199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29800114499999 meters 0.06644014904558279 Centerline is valid? [True, True] Translation: X:74.15, Y:-0.18, Z:-1.42 [[ 9.99922828e-01 -4.67483280e-03 -1.15101834e-02 7.41548840e+01] [ 4.67534051e-03 9.99989070e-01 1.72020400e-05 -1.77752362e-01] [ 1.15099772e-02 -7.10147394e-05 9.99933755e-01 -1.41971008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32800114499999 meters 0.06637977165463846 Centerline is valid? [True, True] Translation: X:74.18, Y:-0.18, Z:-1.42 [[ 9.99915693e-01 -5.04521573e-03 -1.19646487e-02 7.41826942e+01] [ 5.04578075e-03 9.99987270e-01 1.70379211e-05 -1.80962918e-01] [ 1.19644104e-02 -7.74074786e-05 9.99928421e-01 -1.42014276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35800114499999 meters 0.06640016964748371 Centerline is valid? [True, True] Translation: X:74.21, Y:-0.18, Z:-1.42 [[ 9.99922481e-01 -4.99281853e-03 -1.14063335e-02 7.42116400e+01] [ 4.99327546e-03 9.99987533e-01 1.15814225e-05 -1.83665596e-01] [ 1.14061335e-02 -6.85354901e-05 9.99934946e-01 -1.41938885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38800114499999 meters 0.065935053994072 Centerline is valid? [True, True] Translation: X:74.24, Y:-0.19, Z:-1.42 [[ 9.99923767e-01 -6.03902728e-03 -1.07699155e-02 7.42399029e+01] [ 6.03946505e-03 9.99981762e-01 8.12518839e-06 -1.87037353e-01] [ 1.07696700e-02 -7.31690971e-05 9.99942003e-01 -1.41559289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41800114499999 meters 0.06637701004984199 Centerline is valid? [True, True] Translation: X:74.27, Y:-0.20, Z:-1.42 [[ 9.99914746e-01 -7.61256710e-03 -1.06089419e-02 7.42676387e+01] [ 7.61309586e-03 9.99971020e-01 9.45698489e-06 -1.97980184e-01] [ 1.06085624e-02 -9.02230701e-05 9.99943724e-01 -1.42000143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44800114499999 meters 0.06611103090338245 Centerline is valid? [True, True] Translation: X:74.30, Y:-0.20, Z:-1.42 [[ 9.99915244e-01 -7.75830938e-03 -1.04553298e-02 7.42973304e+01] [ 7.75883578e-03 9.99969900e-01 9.78611040e-06 -2.01527015e-01] [ 1.04549392e-02 -9.09064681e-05 9.99945341e-01 -1.41879109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.478001145 meters 0.06585925369462936 Centerline is valid? [True, True] Translation: X:74.33, Y:-0.20, Z:-1.42 [[ 9.99918977e-01 -7.65303935e-03 -1.01720560e-02 7.43265811e+01] [ 7.65352861e-03 9.99970711e-01 9.17187206e-06 -2.04680345e-01] [ 1.01716879e-02 -8.70232506e-05 9.99948263e-01 -1.41703548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.508001145 meters 0.06573992043004535 Centerline is valid? [True, True] Translation: X:74.36, Y:-0.21, Z:-1.42 [[ 9.99904798e-01 -6.48877927e-03 -1.21774826e-02 7.43557623e+01] [ 6.48938545e-03 9.99978944e-01 1.02651335e-05 -2.10920202e-01] [ 1.21771596e-02 -8.92885348e-05 9.99925852e-01 -1.41773174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53800114499998 meters 0.06568130571495213 Centerline is valid? [True, True] Translation: X:74.38, Y:-0.21, Z:-1.42 [[ 9.99889896e-01 -5.95982288e-03 -1.35895897e-02 7.43836135e+01] [ 5.96049453e-03 9.99982236e-01 8.92188051e-06 -2.13576353e-01] [ 1.35892951e-02 -8.99215733e-05 9.99907657e-01 -1.41894669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56800114499998 meters 0.0654490360389843 Centerline is valid? [True, True] Translation: X:74.41, Y:-0.22, Z:-1.42 [[ 9.99866955e-01 -5.22944093e-03 -1.54507141e-02 7.44118660e+01] [ 5.23021628e-03 9.99986322e-01 9.77501109e-06 -2.15415225e-01] [ 1.54504517e-02 -9.05842870e-05 9.99880631e-01 -1.41678111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59800114499998 meters 0.06565563400115224 Centerline is valid? [True, True] Translation: X:74.44, Y:-0.22, Z:-1.42 [[ 9.99844402e-01 -4.04924460e-03 -1.71690314e-02 7.44396829e+01] [ 4.04998491e-03 9.99991799e-01 8.34936894e-06 -2.18273696e-01] [ 1.71688568e-02 -7.78823879e-05 9.99852601e-01 -1.41946893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62800114499998 meters 0.06526027878201845 Centerline is valid? [True, True] Translation: X:74.47, Y:-0.23, Z:-1.42 [[ 9.99814279e-01 -2.24409375e-03 -1.91408147e-02 7.44685186e+01] [ 2.24457373e-03 9.99997481e-01 3.59250906e-06 -2.26983072e-01] [ 1.91407584e-02 -4.65548117e-05 9.99816798e-01 -1.41831743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65800114499999 meters 0.06494165513887634 Centerline is valid? [True, True] Translation: X:74.50, Y:-0.23, Z:-1.42 [[ 9.99808690e-01 -1.18761619e-03 -1.95236771e-02 7.44975865e+01] [ 1.18782754e-03 9.99999295e-01 -7.71171796e-07 -2.30977341e-01] [ 1.95236643e-02 -2.24197372e-05 9.99809395e-01 -1.41744395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68800114499999 meters 0.0651215274823758 Centerline is valid? [True, True] Translation: X:74.53, Y:-0.23, Z:-1.42 [[ 9.99813542e-01 -5.16731491e-04 -1.93032296e-02 7.45256046e+01] [ 5.16800334e-04 9.99999866e-01 -1.42201426e-06 -2.33996395e-01] [ 1.93032277e-02 -8.55416636e-06 9.99813675e-01 -1.41956766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71800114499999 meters 0.0647658208087943 Centerline is valid? [True, True] Translation: X:74.55, Y:-0.24, Z:-1.42 [[ 9.99800154e-01 -3.87287067e-04 -1.99875483e-02 7.45539191e+01] [ 3.87213290e-04 9.99999925e-01 -7.56128915e-06 -2.35868123e-01] [ 1.99875497e-02 -1.79666274e-07 9.99800229e-01 -1.41623376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74800114499999 meters 0.06473027723098149 Centerline is valid? [True, True] Translation: X:74.58, Y:-0.24, Z:-1.41 [[ 9.99803866e-01 2.31680644e-03 -1.96688184e-02 7.45820519e+01] [-2.31738671e-03 9.99997315e-01 -6.70972598e-06 -2.39501047e-01] [ 1.96687501e-02 5.22886684e-05 9.99806550e-01 -1.41479909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77800114499999 meters 0.0645196356981401 Centerline is valid? [True, True] Translation: X:74.61, Y:-0.24, Z:-1.41 [[ 9.99815246e-01 3.71005248e-03 -1.88602459e-02 7.46104360e+01] [-3.71095904e-03 9.99993114e-01 -1.30697782e-05 -2.43076599e-01] [ 1.88600675e-02 8.30569635e-05 9.99822130e-01 -1.41288873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80800114499999 meters 0.06426371265875923 Centerline is valid? [True, True] Translation: X:74.64, Y:-0.25, Z:-1.41 [[ 9.99848541e-01 4.76086364e-03 -1.67400783e-02 7.46384242e+01] [-4.76171483e-03 9.99988663e-01 -1.09889766e-05 -2.46803054e-01] [ 1.67398362e-02 9.06987913e-05 9.99859875e-01 -1.41348688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83800114499999 meters 0.06407044752754501 Centerline is valid? [True, True] Translation: X:74.67, Y:-0.26, Z:-1.41 [[ 9.99848219e-01 5.30330011e-03 -1.65955864e-02 7.46665263e+01] [-5.30432993e-03 9.99985932e-01 -1.80368720e-05 -2.55125035e-01] [ 1.65952573e-02 1.06062600e-04 9.99862284e-01 -1.41214896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.868001145 meters 0.06393181375213597 Centerline is valid? [True, True] Translation: X:74.70, Y:-0.26, Z:-1.41 [[ 9.99850057e-01 5.38117191e-03 -1.64592132e-02 7.46952891e+01] [-5.38216170e-03 9.99985516e-01 -1.58401967e-05 -2.58065753e-01] [ 1.64588896e-02 1.04423968e-04 9.99864538e-01 -1.41181022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89800114499998 meters 0.06393290070995838 Centerline is valid? [True, True] Translation: X:74.72, Y:-0.26, Z:-1.41 [[ 9.99856102e-01 4.18991527e-03 -1.64383794e-02 7.47240077e+01] [-4.19075860e-03 9.99991219e-01 -1.68555791e-05 -2.60297436e-01] [ 1.64381644e-02 8.57424333e-05 9.99864881e-01 -1.41154398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92800114499998 meters 0.06392883664928178 Centerline is valid? [True, True] Translation: X:74.75, Y:-0.26, Z:-1.41 [[ 9.99852692e-01 3.02821752e-03 -1.68945253e-02 7.47517194e+01] [-3.02896866e-03 9.99995412e-01 -1.88723774e-05 -2.63218384e-01] [ 1.68943907e-02 7.00425851e-05 9.99857277e-01 -1.41149046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95800114499998 meters 0.0639655250446189 Centerline is valid? [True, True] Translation: X:74.78, Y:-0.27, Z:-1.41 [[ 9.99843990e-01 -1.51831000e-04 -1.76627540e-02 7.47801715e+01] [ 1.51492359e-04 9.99999988e-01 -2.05105545e-05 -2.73445233e-01] [ 1.76627569e-02 1.78315824e-05 9.99844001e-01 -1.41228398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98800114499998 meters 0.06407479545852934 Centerline is valid? [True, True] Translation: X:74.81, Y:-0.28, Z:-1.41 [[ 9.99830548e-01 -2.69829924e-03 -1.82097089e-02 7.48076954e+01] [ 2.69833187e-03 9.99996359e-01 -2.27778627e-05 -2.80309059e-01] [ 1.82097040e-02 -2.63618348e-05 9.99834189e-01 -1.41444943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01800114499999 meters 0.06431885959806719 Centerline is valid? [True, True] Translation: X:74.84, Y:-0.29, Z:-1.42 [[ 9.99807390e-01 -5.13695939e-03 -1.89418557e-02 7.48361847e+01] [ 5.13741618e-03 9.99986803e-01 -2.45450552e-05 -2.87435836e-01] [ 1.89417318e-02 -7.27718683e-05 9.99820587e-01 -1.41681606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04800114499999 meters 0.0643599300315726 Centerline is valid? [True, True] Translation: X:74.86, Y:-0.29, Z:-1.42 [[ 9.99779125e-01 -7.53324289e-03 -1.96201690e-02 7.48644693e+01] [ 7.53416049e-03 9.99971617e-01 -2.71504400e-05 -2.93062303e-01] [ 1.96198166e-02 -1.20677059e-04 9.99807506e-01 -1.41741921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07800114499999 meters 0.0646724560820931 Centerline is valid? [True, True] Translation: X:74.89, Y:-0.30, Z:-1.42 [[ 9.99710365e-01 -1.07705546e-02 -2.15216572e-02 7.48930726e+01] [ 1.07724010e-02 9.99941976e-01 -3.01407481e-05 -3.00848730e-01] [ 2.15207330e-02 -2.01707903e-04 9.99768382e-01 -1.41854937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10800114499999 meters 0.06436279787865064 Centerline is valid? [True, True] Translation: X:74.92, Y:-0.30, Z:-1.41 [[ 9.99677910e-01 -1.18959636e-02 -2.24179007e-02 7.49214690e+01] [ 1.18981980e-02 9.99929213e-01 -3.37148680e-05 -3.02336134e-01] [ 2.24167149e-02 -2.33028612e-04 9.99748687e-01 -1.41499795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13800114499999 meters 0.06456924173609233 Centerline is valid? [True, True] Translation: X:74.95, Y:-0.31, Z:-1.42 [[ 9.99654342e-01 -1.21685697e-02 -2.33049933e-02 7.49493645e+01] [ 1.21710169e-02 9.99925930e-01 -3.68385287e-05 -3.05362000e-01] [ 2.33037154e-02 -2.46819671e-04 9.99728401e-01 -1.41630464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16800114499999 meters 0.06487613262952857 Centerline is valid? [True, True] Translation: X:74.98, Y:-0.31, Z:-1.42 [[ 9.99607678e-01 -1.29365531e-02 -2.48422283e-02 7.49773339e+01] [ 1.29395248e-02 9.99916280e-01 -4.11254265e-05 -3.12382490e-01] [ 2.48406806e-02 -2.80337338e-04 9.99691383e-01 -1.41903104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19800114499999 meters 0.06488487086630247 Centerline is valid? [True, True] Translation: X:75.01, Y:-0.32, Z:-1.42 [[ 9.99603889e-01 -1.42517777e-02 -2.42683234e-02 7.50063998e+01] [ 1.42548152e-02 9.99898394e-01 -4.78376941e-05 -3.15793805e-01] [ 2.42665394e-02 -2.98121721e-04 9.99705480e-01 -1.41981110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.228001145 meters 0.0649265951193338 Centerline is valid? [True, True] Translation: X:75.03, Y:-0.32, Z:-1.42 [[ 9.99587005e-01 -1.57630985e-02 -2.40279711e-02 7.50345408e+01] [ 1.57663541e-02 9.99875702e-01 -5.39596896e-05 -3.18404995e-01] [ 2.40258351e-02 -3.24896096e-04 9.99711285e-01 -1.41932706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.258001145 meters 0.06487672851487673 Centerline is valid? [True, True] Translation: X:75.06, Y:-0.32, Z:-1.42 [[ 9.99572670e-01 -1.76105550e-02 -2.33312216e-02 7.50628600e+01] [ 1.76139880e-02 9.99844860e-01 -5.83708079e-05 -3.20324726e-01] [ 2.33286300e-02 -3.52609994e-04 9.99727788e-01 -1.41927607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28800114499998 meters 0.06459278809923392 Centerline is valid? [True, True] Translation: X:75.09, Y:-0.32, Z:-1.42 [[ 9.99497279e-01 -2.17251268e-02 -2.30913157e-02 7.50913557e+01] [ 2.17296060e-02 9.99763883e-01 -5.69484893e-05 -3.23386072e-01] [ 2.30871006e-02 -4.44845333e-04 9.99733358e-01 -1.41506484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31800114499998 meters 0.06468079194023515 Centerline is valid? [True, True] Translation: X:75.12, Y:-0.33, Z:-1.42 [[ 9.99455259e-01 -2.39834444e-02 -2.26711254e-02 7.51194444e+01] [ 2.39883320e-02 9.99712237e-01 -5.63814850e-05 -3.26259019e-01] [ 2.26659537e-02 -4.87491711e-04 9.99742975e-01 -1.41607837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34800114499998 meters 0.06473439148414575 Centerline is valid? [True, True] Translation: X:75.15, Y:-0.33, Z:-1.42 [[ 9.99434102e-01 -2.58406926e-02 -2.15344868e-02 7.51490488e+01] [ 2.58455218e-02 9.99665947e-01 -5.40790641e-05 -3.29208571e-01] [ 2.15286906e-02 -5.02521589e-04 9.99768105e-01 -1.41632793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37800114499998 meters 0.06521676549981473 Centerline is valid? [True, True] Translation: X:75.18, Y:-0.34, Z:-1.42 [[ 9.99361687e-01 -2.94219597e-02 -2.02624584e-02 7.51794693e+01] [ 2.94269926e-02 9.99566931e-01 -4.97999789e-05 -3.35663163e-01] [ 2.02551486e-02 -5.46495021e-04 9.99794694e-01 -1.41801773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40800114499999 meters 0.06560416222341589 Centerline is valid? [True, True] Translation: X:75.21, Y:-0.34, Z:-1.42 [[ 9.99290059e-01 -3.09158175e-02 -2.15311251e-02 7.52109721e+01] [ 3.09218670e-02 9.99521803e-01 -5.19872235e-05 -3.37500375e-01] [ 2.15224362e-02 -6.13832271e-04 9.99768177e-01 -1.41952887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43800114499999 meters 0.06576862846022796 Centerline is valid? [True, True] Translation: X:75.24, Y:-0.34, Z:-1.42 [[ 9.99261917e-01 -3.18409428e-02 -2.14889486e-02 7.52423621e+01] [ 3.18471970e-02 9.99492748e-01 -5.11987303e-05 -3.37809583e-01] [ 2.14796785e-02 -6.33201840e-04 9.99769085e-01 -1.42055215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46800114499999 meters 0.06564810736314154 Centerline is valid? [True, True] Translation: X:75.27, Y:-0.34, Z:-1.42 [[ 9.99209610e-01 -3.32957112e-02 -2.17152215e-02 7.52744877e+01] [ 3.33024837e-02 9.99445317e-01 -4.97781295e-05 -3.35538504e-01] [ 2.17048339e-02 -6.73432026e-04 9.99764196e-01 -1.41917558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49800114499999 meters 0.06627313567034387 Centerline is valid? [True, True] Translation: X:75.31, Y:-0.34, Z:-1.42 [[ 9.99208258e-01 -3.35685616e-02 -2.13543699e-02 7.53052013e+01] [ 3.35751899e-02 9.99436193e-01 -4.81595964e-05 -3.37502440e-01] [ 2.13439468e-02 -6.68855558e-04 9.99771968e-01 -1.42220058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52800114499999 meters 0.06623369282388919 Centerline is valid? [True, True] Translation: X:75.34, Y:-0.34, Z:-1.42 [[ 9.99219701e-01 -3.36233663e-02 -2.07233594e-02 7.53377334e+01] [ 3.36296527e-02 9.99434362e-01 -4.51705830e-05 -3.37696617e-01] [ 2.07131563e-02 -6.51784044e-04 9.99785247e-01 -1.42298893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55800114499999 meters 0.06588027970651805 Centerline is valid? [True, True] Translation: X:75.37, Y:-0.34, Z:-1.42 [[ 9.99250694e-01 -3.31017620e-02 -2.00580317e-02 7.53698253e+01] [ 3.31075730e-02 9.99451793e-01 -4.23815100e-05 -3.37150501e-01] [ 2.00484387e-02 -6.21722998e-04 9.99798817e-01 -1.42246356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58800114499999 meters 0.06564572192051522 Centerline is valid? [True, True] Translation: X:75.40, Y:-0.34, Z:-1.42 [[ 9.99307396e-01 -3.10751733e-02 -2.04710171e-02 7.54017982e+01] [ 3.10808275e-02 9.99516873e-01 -4.19744642e-05 -3.35726917e-01] [ 2.04624313e-02 -5.94310758e-04 9.99790446e-01 -1.42423002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.618001145 meters 0.06551319108461538 Centerline is valid? [True, True] Translation: X:75.43, Y:-0.33, Z:-1.42 [[ 9.99341751e-01 -2.99620451e-02 -2.04533609e-02 7.54327294e+01] [ 2.99674594e-02 9.99550874e-01 -4.18047303e-05 -3.32330233e-01] [ 2.04454274e-02 -5.71158051e-04 9.99790807e-01 -1.42399143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64800114499998 meters 0.06527369380181614 Centerline is valid? [True, True] Translation: X:75.46, Y:-0.33, Z:-1.42 [[ 9.99381519e-01 -2.84579382e-02 -2.06573125e-02 7.54627448e+01] [ 2.84631412e-02 9.99594842e-01 -4.21602852e-05 -3.27913322e-01] [ 2.06501428e-02 -5.45837793e-04 9.99786614e-01 -1.42284908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67800114499998 meters 0.06491932050788553 Centerline is valid? [True, True] Translation: X:75.49, Y:-0.32, Z:-1.42 [[ 9.99461538e-01 -2.66217770e-02 -1.91811362e-02 7.54943040e+01] [ 2.66259419e-02 9.99645466e-01 -3.82579065e-05 -3.22970297e-01] [ 1.91753543e-02 -4.72478511e-04 9.99816024e-01 -1.42173541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70800114499998 meters 0.06478809177864872 Centerline is valid? [True, True] Translation: X:75.52, Y:-0.32, Z:-1.42 [[ 9.99562666e-01 -2.43596707e-02 -1.67655436e-02 7.55243036e+01] [ 2.43625268e-02 9.99703189e-01 -3.38918322e-05 -3.19409677e-01] [ 1.67613930e-02 -3.74573995e-04 9.99859448e-01 -1.42251383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73800114499998 meters 0.06472594357157846 Centerline is valid? [True, True] Translation: X:75.55, Y:-0.32, Z:-1.42 [[ 9.99609126e-01 -2.32012139e-02 -1.55980656e-02 7.55544531e+01] [ 2.32035527e-02 9.99730761e-01 -3.10399052e-05 -3.20701199e-01] [ 1.55945862e-02 -3.30902766e-04 9.99878342e-01 -1.42436798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76800114499999 meters 0.06402057233176711 Centerline is valid? [True, True] Translation: X:75.59, Y:-0.32, Z:-1.42 [[ 9.99644987e-01 -2.25967458e-02 -1.41169101e-02 7.55854695e+01] [ 2.25986120e-02 9.99744618e-01 -2.73286523e-05 -3.18997776e-01] [ 1.41139224e-02 -2.91703624e-04 9.99900351e-01 -1.42169642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79800114499999 meters 0.06421538971139151 Centerline is valid? [True, True] Translation: X:75.62, Y:-0.32, Z:-1.43 [[ 9.99652943e-01 -2.22218505e-02 -1.41486138e-02 7.56168880e+01] [ 2.22237010e-02 9.99753023e-01 -2.64386049e-05 -3.18811860e-01] [ 1.41457070e-02 -2.88005135e-04 9.99899903e-01 -1.42518574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82800114499999 meters 0.06415991943197301 Centerline is valid? [True, True] Translation: X:75.65, Y:-0.32, Z:-1.42 [[ 9.99649434e-01 -2.23098822e-02 -1.42575854e-02 7.56492844e+01] [ 2.23117863e-02 9.99751061e-01 -2.55174499e-05 -3.16446178e-01] [ 1.42546054e-02 -2.92603694e-04 9.99898355e-01 -1.42455309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85800114499999 meters 0.06399661743912756 Centerline is valid? [True, True] Translation: X:75.68, Y:-0.31, Z:-1.42 [[ 9.99624189e-01 -2.29713442e-02 -1.49599033e-02 7.56813049e+01] [ 2.29735283e-02 9.99736073e-01 -2.58590927e-05 -3.12836659e-01] [ 1.49565490e-02 -3.17832386e-04 9.99888094e-01 -1.42285448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88800114499999 meters 0.06413087093325212 Centerline is valid? [True, True] Translation: X:75.71, Y:-0.31, Z:-1.42 [[ 9.99616223e-01 -2.33482748e-02 -1.49085268e-02 7.57136043e+01] [ 2.33504999e-02 9.99727340e-01 -2.48252694e-05 -3.10848130e-01] [ 1.49050415e-02 -3.23305812e-04 9.99888861e-01 -1.42274642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91800114499999 meters 0.06402112055278644 Centerline is valid? [True, True] Translation: X:75.75, Y:-0.31, Z:-1.42 [[ 9.99607337e-01 -2.34122375e-02 -1.53960922e-02 7.57454028e+01] [ 2.34146329e-02 9.99725840e-01 -2.46814867e-05 -3.09949657e-01] [ 1.53924490e-02 -3.35822051e-04 9.99881473e-01 -1.42295889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94800114499999 meters 0.06419085759367438 Centerline is valid? [True, True] Translation: X:75.78, Y:-0.31, Z:-1.43 [[ 9.99581031e-01 -2.37172884e-02 -1.65907680e-02 7.57775885e+01] [ 2.37201287e-02 9.99718638e-01 -2.55897663e-05 -3.12321106e-01] [ 1.65867069e-02 -3.67956107e-04 9.99862363e-01 -1.42648566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.978001145 meters 0.06430220404659741 Centerline is valid? [True, True] Translation: X:75.81, Y:-0.32, Z:-1.43 [[ 9.99553940e-01 -2.42879139e-02 -1.73786454e-02 7.58090161e+01] [ 2.42911163e-02 9.99704927e-01 -2.68252329e-05 -3.15207414e-01] [ 1.73741690e-02 -3.95333430e-04 9.99848980e-01 -1.42879390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.008001145 meters 0.06430220404659741 Centerline is valid? [True, True] Translation: X:75.84, Y:-0.32, Z:-1.43 [[ 9.99554722e-01 -2.42557365e-02 -1.73786463e-02 7.58398887e+01] [ 2.42589438e-02 9.99705708e-01 -2.62650287e-05 -3.15191928e-01] [ 1.73741690e-02 -3.95334270e-04 9.99848980e-01 -1.42929515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03800114499998 meters 0.06390839894252011 Centerline is valid? [True, True] Translation: X:75.87, Y:-0.31, Z:-1.43 [[ 9.99575916e-01 -2.37246889e-02 -1.68857289e-02 7.58710646e+01] [ 2.37276510e-02 9.99718459e-01 -2.49283625e-05 -3.14641891e-01] [ 1.68815663e-02 -3.75740890e-04 9.99857426e-01 -1.42884749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06800114499998 meters 0.06417123568714911 Centerline is valid? [True, True] Translation: X:75.90, Y:-0.31, Z:-1.43 [[ 9.99570995e-01 -2.41024415e-02 -1.66402557e-02 7.59025784e+01] [ 2.41053887e-02 9.99709423e-01 -2.34679944e-05 -3.12228600e-01] [ 1.66359860e-02 -3.77661904e-04 9.99861541e-01 -1.42889693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09800114499998 meters 0.06358563344785677 Centerline is valid? [True, True] Translation: X:75.93, Y:-0.31, Z:-1.42 [[ 9.99572859e-01 -2.35676874e-02 -1.72819135e-02 7.59346847e+01] [ 2.35708104e-02 9.99722170e-01 -2.29868229e-05 -3.07028205e-01] [ 1.72776538e-02 -3.84371701e-04 9.99850656e-01 -1.42474137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12800114499998 meters 0.06378568594721262 Centerline is valid? [True, True] Translation: X:75.97, Y:-0.31, Z:-1.43 [[ 9.99593558e-01 -2.30784847e-02 -1.67362606e-02 7.59662197e+01] [ 2.30813547e-02 9.99733590e-01 -2.16795742e-05 -3.05998124e-01] [ 1.67323022e-02 -3.64624805e-04 9.99859939e-01 -1.42611935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15800114499999 meters 0.06382968294448244 Centerline is valid? [True, True] Translation: X:76.00, Y:-0.31, Z:-1.43 [[ 9.99629353e-01 -2.21746410e-02 -1.57937616e-02 7.59963114e+01] [ 2.21770804e-02 9.99754058e-01 -2.06974928e-05 -3.07247247e-01] [ 1.57903362e-02 -3.29569698e-04 9.99875271e-01 -1.42772650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18800114499999 meters 0.06369679079015307 Centerline is valid? [True, True] Translation: X:76.03, Y:-0.31, Z:-1.43 [[ 9.99652682e-01 -2.15326594e-02 -1.51940892e-02 7.60275606e+01] [ 2.15348543e-02 9.99768098e-01 -1.91538388e-05 -3.12088498e-01] [ 1.51909781e-02 -3.08055312e-04 9.99884563e-01 -1.42989775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21800114499999 meters 0.06364617785861235 Centerline is valid? [True, True] Translation: X:76.06, Y:-0.31, Z:-1.43 [[ 9.99671663e-01 -2.13976874e-02 -1.40962659e-02 7.60584793e+01] [ 2.13995700e-02 9.99771003e-01 -1.72858834e-05 -3.12829756e-01] [ 1.40934078e-02 -2.84373820e-04 9.99900643e-01 -1.43022693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24800114499999 meters 0.06352430527971363 Centerline is valid? [True, True] Translation: X:76.09, Y:-0.31, Z:-1.43 [[ 9.99696230e-01 -2.10915184e-02 -1.27513160e-02 7.60903040e+01] [ 2.10930516e-02 9.99777517e-01 -1.42493297e-05 -3.11526215e-01] [ 1.27487796e-02 -2.54719165e-04 9.99918699e-01 -1.42925561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27800114499999 meters 0.06329581529728111 Centerline is valid? [True, True] Translation: X:76.12, Y:-0.31, Z:-1.43 [[ 9.99697162e-01 -2.10930254e-02 -1.26755334e-02 7.61227041e+01] [ 2.10945515e-02 9.99777485e-01 -1.33045684e-05 -3.08784043e-01] [ 1.26729935e-02 -2.54084153e-04 9.99919662e-01 -1.42736499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30800114499999 meters 0.06317936399251159 Centerline is valid? [True, True] Translation: X:76.15, Y:-0.31, Z:-1.43 [[ 9.99703720e-01 -2.09614014e-02 -1.23730532e-02 7.61547966e+01] [ 2.09628558e-02 9.99780255e-01 -1.21459860e-05 -3.06467509e-01] [ 1.23705889e-02 -2.47232143e-04 9.99923451e-01 -1.42649937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33800114499999 meters 0.06333963743624599 Centerline is valid? [True, True] Translation: X:76.19, Y:-0.31, Z:-1.43 [[ 9.99697801e-01 -2.12455800e-02 -1.23665444e-02 7.61860061e+01] [ 2.12470588e-02 9.99774256e-01 -1.18046136e-05 -3.07751695e-01] [ 1.23640036e-02 -2.50951651e-04 9.99923531e-01 -1.42835344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.368001145 meters 0.06352233709344368 Centerline is valid? [True, True] Translation: X:76.22, Y:-0.31, Z:-1.43 [[ 9.99679567e-01 -2.16392560e-02 -1.31341753e-02 7.62179622e+01] [ 2.16409720e-02 9.99765807e-01 -1.14775315e-05 -3.09698542e-01] [ 1.31313477e-02 -2.72762466e-04 9.99913743e-01 -1.42997881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39800114499998 meters 0.06371547397889422 Centerline is valid? [True, True] Translation: X:76.25, Y:-0.31, Z:-1.43 [[ 9.99667428e-01 -2.26512941e-02 -1.23269312e-02 7.62490081e+01] [ 2.26528874e-02 9.99743390e-01 -1.03744465e-05 -3.12635828e-01] [ 1.23240030e-02 -2.68869588e-04 9.99924020e-01 -1.43202831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42800114499998 meters 0.06387293936149743 Centerline is valid? [True, True] Translation: X:76.28, Y:-0.31, Z:-1.43 [[ 9.99640642e-01 -2.36717253e-02 -1.25791940e-02 7.62815808e+01] [ 2.36734782e-02 9.99719744e-01 -9.55469863e-06 -3.13203109e-01] [ 1.25758947e-02 -2.88242009e-04 9.99920879e-01 -1.43249824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45800114499998 meters 0.06395237475216503 Centerline is valid? [True, True] Translation: X:76.31, Y:-0.31, Z:-1.43 [[ 9.99608422e-01 -2.50155640e-02 -1.25388996e-02 7.63139256e+01] [ 2.50174216e-02 9.99687015e-01 -8.71000111e-06 -3.13103716e-01] [ 1.25351930e-02 -3.04984346e-04 9.99921385e-01 -1.43313278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48800114499998 meters 0.06391985329065195 Centerline is valid? [True, True] Translation: X:76.35, Y:-0.31, Z:-1.43 [[ 9.99558191e-01 -2.64535912e-02 -1.35510584e-02 7.63460514e+01] [ 2.64559038e-02 9.99649981e-01 -8.60525289e-06 -3.12556823e-01] [ 1.35465429e-02 -3.49904046e-04 9.99908180e-01 -1.43284376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51800114499999 meters 0.06451642639939847 Centerline is valid? [True, True] Translation: X:76.38, Y:-0.31, Z:-1.43 [[ 9.99446548e-01 -3.01159182e-02 -1.41290207e-02 7.63766801e+01] [ 3.01188021e-02 9.99546326e-01 -8.67559342e-06 -3.14442222e-01] [ 1.41228720e-02 -4.16878387e-04 9.99900180e-01 -1.43449869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54800114499999 meters 0.06558051198531188 Centerline is valid? [True, True] Translation: X:76.41, Y:-0.32, Z:-1.44 [[ 9.99385094e-01 -3.18739395e-02 -1.46111873e-02 7.64081428e+01] [ 3.18772217e-02 9.99491792e-01 -8.26729267e-06 -3.18370053e-01] [ 1.46040253e-02 -4.57501848e-04 9.99893251e-01 -1.43800268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57800114499999 meters 0.06607520891144766 Centerline is valid? [True, True] Translation: X:76.44, Y:-0.32, Z:-1.44 [[ 9.99348651e-01 -3.33179535e-02 -1.38631733e-02 7.64394641e+01] [ 3.33210768e-02 9.99444699e-01 -5.68703063e-06 -3.21012323e-01] [ 1.38556645e-02 -4.56252535e-04 9.99903902e-01 -1.43886986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60800114499999 meters 0.06548978877257633 Centerline is valid? [True, True] Translation: X:76.47, Y:-0.32, Z:-1.44 [[ 9.99315371e-01 -3.43115940e-02 -1.38384818e-02 7.64711925e+01] [ 3.43147997e-02 9.99411074e-01 -5.79993272e-06 -3.20758440e-01] [ 1.38305310e-02 -4.69068770e-04 9.99904244e-01 -1.43791139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63800114499999 meters 0.06585943224445547 Centerline is valid? [True, True] Translation: X:76.50, Y:-0.32, Z:-1.44 [[ 9.99264353e-01 -3.59402848e-02 -1.33808897e-02 7.65024395e+01] [ 3.59434365e-02 9.99353826e-01 -4.95403049e-06 -3.22096484e-01] [ 1.33724213e-02 -4.76004772e-04 9.99910472e-01 -1.43826582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66800114499999 meters 0.06538877628502963 Centerline is valid? [True, True] Translation: X:76.54, Y:-0.32, Z:-1.44 [[ 9.99271744e-01 -3.59642826e-02 -1.27495749e-02 7.65350820e+01] [ 3.59671601e-02 9.99352972e-01 -3.59548715e-06 -3.18564458e-01] [ 1.27414549e-02 -4.54973132e-04 9.99918721e-01 -1.43591567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69800114499999 meters 0.06629334632917051 Centerline is valid? [True, True] Translation: X:76.57, Y:-0.32, Z:-1.44 [[ 9.99282509e-01 -3.56446615e-02 -1.28033273e-02 7.65660733e+01] [ 3.56475416e-02 9.99364424e-01 -3.26812030e-06 -3.19007483e-01] [ 1.27953064e-02 -4.53141368e-04 9.99918034e-01 -1.43799043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.728001145 meters 0.06595228640217374 Centerline is valid? [True, True] Translation: X:76.60, Y:-0.32, Z:-1.44 [[ 9.99302611e-01 -3.51302256e-02 -1.26554058e-02 7.65979173e+01] [ 3.51330113e-02 9.99382645e-01 -2.20022046e-06 -3.15915827e-01] [ 1.26476702e-02 -4.42423830e-04 9.99919917e-01 -1.43701344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.758001145 meters 0.06579557512940638 Centerline is valid? [True, True] Translation: X:76.63, Y:-0.31, Z:-1.44 [[ 9.99316155e-01 -3.45780569e-02 -1.30988681e-02 7.66307221e+01] [ 3.45810167e-02 9.99401898e-01 -5.43677892e-07 -3.13591954e-01] [ 1.30910525e-02 -4.52428871e-04 9.99914206e-01 -1.43818468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78800114499998 meters 0.06585656180836458 Centerline is valid? [True, True] Translation: X:76.66, Y:-0.31, Z:-1.44 [[ 9.99313796e-01 -3.43637049e-02 -1.38229065e-02 7.66628611e+01] [ 3.43669843e-02 9.99409281e-01 -2.93466614e-07 -3.13563603e-01] [ 1.38147511e-02 -4.74758346e-04 9.99904459e-01 -1.43966796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81800114499998 meters 0.06565521534169483 Centerline is valid? [True, True] Translation: X:76.70, Y:-0.31, Z:-1.44 [[ 9.99300769e-01 -3.46498487e-02 -1.40485609e-02 7.66952417e+01] [ 3.46532770e-02 9.99399395e-01 6.01269748e-07 -3.12871059e-01] [ 1.40401024e-02 -4.87429522e-04 9.99901314e-01 -1.44080311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84800114499998 meters 0.06563001819552132 Centerline is valid? [True, True] Translation: X:76.73, Y:-0.31, Z:-1.44 [[ 9.99292992e-01 -3.45725233e-02 -1.47735259e-02 7.67277381e+01] [ 3.45763193e-02 9.99402060e-01 1.52455804e-06 -3.11694498e-01] [ 1.47646395e-02 -5.12337629e-04 9.99890866e-01 -1.44182383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87800114499998 meters 0.06549018008754394 Centerline is valid? [True, True] Translation: X:76.76, Y:-0.31, Z:-1.44 [[ 9.99306983e-01 -3.41992068e-02 -1.46958507e-02 7.67601359e+01] [ 3.42029367e-02 9.99414908e-01 2.47000550e-06 -3.06656261e-01] [ 1.46871678e-02 -5.05109544e-04 9.99892010e-01 -1.44082044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90800114499999 meters 0.06608832947233108 Centerline is valid? [True, True] Translation: X:76.79, Y:-0.31, Z:-1.44 [[ 9.99282499e-01 -3.46172810e-02 -1.53665687e-02 7.67910361e+01] [ 3.46214150e-02 9.99400499e-01 3.00471951e-06 -3.06492557e-01] [ 1.53572524e-02 -5.35014915e-04 9.99881927e-01 -1.44243036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93800114499999 meters 0.06555460451209323 Centerline is valid? [True, True] Translation: X:76.82, Y:-0.30, Z:-1.44 [[ 9.99330395e-01 -3.34670618e-02 -1.47891115e-02 7.68230115e+01] [ 3.34707832e-02 9.99439696e-01 4.11444143e-06 -3.02722401e-01] [ 1.47806874e-02 -4.99114830e-04 9.99890635e-01 -1.44212202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96800114499999 meters 0.06558445462625115 Centerline is valid? [True, True] Translation: X:76.85, Y:-0.30, Z:-1.44 [[ 9.99324851e-01 -3.37131106e-02 -1.46036917e-02 7.68547994e+01] [ 3.37167792e-02 9.99431428e-01 5.00268402e-06 -3.02159885e-01] [ 1.45952198e-02 -4.97388754e-04 9.99893360e-01 -1.44310680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99800114499999 meters 0.06581042341867933 Centerline is valid? [True, True] Translation: X:76.89, Y:-0.30, Z:-1.44 [[ 9.99305072e-01 -3.41484835e-02 -1.49416731e-02 7.68870396e+01] [ 3.41523863e-02 9.99416637e-01 6.04010745e-06 -3.01455353e-01] [ 1.49327504e-02 -5.16329700e-04 9.99888367e-01 -1.44351458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02800114499999 meters 0.06574024057019684 Centerline is valid? [True, True] Translation: X:76.92, Y:-0.30, Z:-1.44 [[ 9.99306815e-01 -3.40710579e-02 -1.50017261e-02 7.69197250e+01] [ 3.40750128e-02 9.99419278e-01 8.02251825e-06 -2.98701280e-01] [ 1.49927409e-02 -5.19200965e-04 9.99887468e-01 -1.44313201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05800114499999 meters 0.06613812213359786 Centerline is valid? [True, True] Translation: X:76.95, Y:-0.29, Z:-1.44 [[ 9.99299394e-01 -3.47765540e-02 -1.38315384e-02 7.69508885e+01] [ 3.47800144e-02 9.99394992e-01 9.64702248e-06 -2.93958937e-01] [ 1.38228347e-02 -4.90701369e-04 9.99904340e-01 -1.44284947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08800114499999 meters 0.06584460176191478 Centerline is valid? [True, True] Translation: X:76.98, Y:-0.29, Z:-1.44 [[ 9.99270563e-01 -3.53050080e-02 -1.45567446e-02 7.69830266e+01] [ 3.53088953e-02 9.99376447e-01 1.00402453e-05 -2.90273372e-01] [ 1.45473132e-02 -5.24015492e-04 9.99894045e-01 -1.44154112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.118001145 meters 0.06632985710095173 Centerline is valid? [True, True] Translation: X:77.01, Y:-0.29, Z:-1.44 [[ 9.99224183e-01 -3.63359027e-02 -1.51899722e-02 7.70141595e+01] [ 3.63402609e-02 9.99339475e-01 1.08954643e-05 -2.91022346e-01] [ 1.51795429e-02 -5.62894562e-04 9.99884626e-01 -1.44380235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14800114499998 meters 0.06583617406020417 Centerline is valid? [True, True] Translation: X:77.05, Y:-0.29, Z:-1.44 [[ 9.99196190e-01 -3.69862491e-02 -1.54593516e-02 7.70464502e+01] [ 3.69908610e-02 9.99315604e-01 1.23877152e-05 -2.89122960e-01] [ 1.54483131e-02 -5.84232485e-04 9.99880497e-01 -1.44301101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17800114499998 meters 0.06715254488450621 Centerline is valid? [True, True] Translation: X:77.08, Y:-0.29, Z:-1.45 [[ 9.99146552e-01 -3.82715927e-02 -1.55387284e-02 7.70777211e+01] [ 3.82764483e-02 9.99267188e-01 1.50939345e-05 -2.92458591e-01] [ 1.55267638e-02 -6.09848388e-04 9.99879267e-01 -1.44644000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20800114499998 meters 0.06745306980452324 Centerline is valid? [True, True] Translation: X:77.11, Y:-0.29, Z:-1.45 [[ 9.99068726e-01 -4.03365874e-02 -1.53180001e-02 7.71102679e+01] [ 4.03415506e-02 9.99185948e-01 1.50332483e-05 -2.89256092e-01] [ 1.53049241e-02 -6.32971124e-04 9.99882672e-01 -1.44553417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23800114499998 meters 0.06732158544344342 Centerline is valid? [True, True] Translation: X:77.14, Y:-0.29, Z:-1.44 [[ 9.99041199e-01 -4.12351843e-02 -1.47085535e-02 7.71428897e+01] [ 4.12398726e-02 9.99149274e-01 1.54506424e-05 -2.86859598e-01] [ 1.46954034e-02 -6.22014700e-04 9.99891823e-01 -1.44464707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26800114499999 meters 0.06774731984283701 Centerline is valid? [True, True] Translation: X:77.17, Y:-0.29, Z:-1.45 [[ 9.99040021e-01 -4.11255197e-02 -1.50906321e-02 7.71740040e+01] [ 4.11304488e-02 9.99153785e-01 1.62908048e-05 -2.85929359e-01] [ 1.50771922e-02 -6.36959639e-04 9.99886130e-01 -1.44609791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29800114499999 meters 0.0679916219077619 Centerline is valid? [True, True] Translation: X:77.21, Y:-0.28, Z:-1.45 [[ 9.99043659e-01 -4.09781856e-02 -1.52497981e-02 7.72070722e+01] [ 4.09832442e-02 9.99159834e-01 1.92243228e-05 -2.84794157e-01] [ 1.52361980e-02 -6.44192139e-04 9.99883715e-01 -1.44726226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32800114499999 meters 0.06741178581807682 Centerline is valid? [True, True] Translation: X:77.24, Y:-0.28, Z:-1.45 [[ 9.99161466e-01 -3.79743465e-02 -1.53073439e-02 7.72380865e+01] [ 3.79790789e-02 9.99278534e-01 1.84747503e-05 -2.79245388e-01] [ 1.52955986e-02 -5.99818079e-04 9.99882836e-01 -1.44780856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35800114499999 meters 0.06707563665762697 Centerline is valid? [True, True] Translation: X:77.27, Y:-0.28, Z:-1.45 [[ 9.99235734e-01 -3.61115059e-02 -1.49635039e-02 7.72692201e+01] [ 3.61158268e-02 9.99347611e-01 1.85470624e-05 -2.75644283e-01] [ 1.49530721e-02 -5.58952201e-04 9.99888040e-01 -1.44839736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38800114499999 meters 0.0669574570612841 Centerline is valid? [True, True] Translation: X:77.30, Y:-0.27, Z:-1.45 [[ 9.99304953e-01 -3.43672473e-02 -1.44396470e-02 7.73005982e+01] [ 3.43710960e-02 9.99409139e-01 1.83788161e-05 -2.71933469e-01] [ 1.44304835e-02 -5.14672534e-04 9.99895743e-01 -1.44856840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41800114499999 meters 0.06654922571669816 Centerline is valid? [True, True] Translation: X:77.33, Y:-0.27, Z:-1.45 [[ 9.99363870e-01 -3.30259812e-02 -1.34588314e-02 7.73313554e+01] [ 3.30292095e-02 9.99454387e-01 1.75950527e-05 -2.68099369e-01] [ 1.34509070e-02 -4.62118420e-04 9.99909426e-01 -1.44811076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44800114499999 meters 0.06611517388530326 Centerline is valid? [True, True] Translation: X:77.36, Y:-0.26, Z:-1.45 [[ 9.99423689e-01 -3.16730854e-02 -1.22108581e-02 7.73633073e+01] [ 3.16756527e-02 9.99498200e-01 1.68534684e-05 -2.61230012e-01] [ 1.22041969e-02 -4.03630656e-04 9.99925445e-01 -1.44657729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.478001145 meters 0.06641312529707746 Centerline is valid? [True, True] Translation: X:77.40, Y:-0.26, Z:-1.45 [[ 9.99426832e-01 -3.17042912e-02 -1.18678401e-02 7.73950387e+01] [ 3.17067307e-02 9.99497215e-01 1.74125172e-05 -2.60053283e-01] [ 1.18613211e-02 -3.93692947e-04 9.99929575e-01 -1.44777417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50800114499998 meters 0.06656574036745265 Centerline is valid? [True, True] Translation: X:77.43, Y:-0.26, Z:-1.45 [[ 9.99421667e-01 -3.15077278e-02 -1.27904378e-02 7.74273403e+01] [ 3.15105549e-02 9.99503419e-01 1.95160782e-05 -2.58802514e-01] [ 1.27834714e-02 -4.22538583e-04 9.99918199e-01 -1.44971044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53800114499998 meters 0.06715476708009217 Centerline is valid? [True, True] Translation: X:77.46, Y:-0.26, Z:-1.45 [[ 9.99336152e-01 -3.35301153e-02 -1.42473467e-02 7.74580166e+01] [ 3.35338189e-02 9.99437583e-01 2.10661385e-05 -2.56837422e-01] [ 1.42386274e-02 -4.98820096e-04 9.99898501e-01 -1.45224344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56800114499998 meters 0.06770953665248088 Centerline is valid? [True, True] Translation: X:77.49, Y:-0.26, Z:-1.45 [[ 9.99302785e-01 -3.44945957e-02 -1.42852040e-02 7.74887613e+01] [ 3.44984623e-02 9.99404751e-01 2.42638253e-05 -2.55944562e-01] [ 1.42758638e-02 -5.17064480e-04 9.99897961e-01 -1.45300739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59800114499998 meters 0.06912434087172918 Centerline is valid? [True, True] Translation: X:77.52, Y:-0.26, Z:-1.46 [[ 9.99289203e-01 -3.52681792e-02 -1.33132827e-02 7.75208157e+01] [ 3.52716147e-02 9.99377763e-01 2.32624225e-05 -2.57188043e-01] [ 1.33041783e-02 -4.92826867e-04 9.99911374e-01 -1.45523539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62800114499998 meters 0.068086302231998 Centerline is valid? [True, True] Translation: X:77.55, Y:-0.25, Z:-1.45 [[ 9.99293839e-01 -3.56949129e-02 -1.17343880e-02 7.75536296e+01] [ 3.56976243e-02 9.99362636e-01 2.16233602e-05 -2.50288105e-01] [ 1.17261370e-02 -4.40497863e-04 9.99931149e-01 -1.45206211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65800114499999 meters 0.06760883677664221 Centerline is valid? [True, True] Translation: X:77.59, Y:-0.25, Z:-1.45 [[ 9.99289313e-01 -3.57622486e-02 -1.19134227e-02 7.75854768e+01] [ 3.57650544e-02 9.99360226e-01 2.24786666e-05 -2.47277249e-01] [ 1.19049969e-02 -4.48546902e-04 9.99929032e-01 -1.45110081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68800114499999 meters 0.06896116511737156 Centerline is valid? [True, True] Translation: X:77.62, Y:-0.25, Z:-1.45 [[ 9.99290082e-01 -3.55412431e-02 -1.24960776e-02 7.76165693e+01] [ 3.55443163e-02 9.99368101e-01 2.38630798e-05 -2.49550315e-01] [ 1.24873333e-02 -4.68010675e-04 9.99921921e-01 -1.45496527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71800114499999 meters 0.06746963037482626 Centerline is valid? [True, True] Translation: X:77.65, Y:-0.24, Z:-1.45 [[ 9.99321566e-01 -3.48901600e-02 -1.17933944e-02 7.76486589e+01] [ 3.48928654e-02 9.99391058e-01 2.36495287e-05 -2.42727432e-01] [ 1.17853878e-02 -4.35138807e-04 9.99930455e-01 -1.45241537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74800114499999 meters 0.06926999485521823 Centerline is valid? [True, True] Translation: X:77.68, Y:-0.24, Z:-1.46 [[ 9.99327044e-01 -3.42775410e-02 -1.30579358e-02 7.76794376e+01] [ 3.42808089e-02 9.99412240e-01 2.64467657e-05 -2.40425479e-01] [ 1.30493544e-02 -4.74065570e-04 9.99914741e-01 -1.45614793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77800114499999 meters 0.06767433278426832 Centerline is valid? [True, True] Translation: X:77.71, Y:-0.23, Z:-1.45 [[ 9.99344555e-01 -3.37491940e-02 -1.30939924e-02 7.77117984e+01] [ 3.37524493e-02 9.99430223e-01 2.76362769e-05 -2.32585729e-01] [ 1.30855991e-02 -4.69572479e-04 9.99914270e-01 -1.45323267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80800114499999 meters 0.06780012986805234 Centerline is valid? [True, True] Translation: X:77.74, Y:-0.23, Z:-1.45 [[ 9.99388122e-01 -3.27492083e-02 -1.22829699e-02 7.77443530e+01] [ 3.27520079e-02 9.99463509e-01 2.67901139e-05 -2.30841028e-01] [ 1.22755028e-02 -4.29065649e-04 9.99924561e-01 -1.45437003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83800114499999 meters 0.06819542512534107 Centerline is valid? [True, True] Translation: X:77.78, Y:-0.23, Z:-1.46 [[ 9.99377881e-01 -3.31857174e-02 -1.19398169e-02 7.77757295e+01] [ 3.31883981e-02 9.99449113e-01 2.63934394e-05 -2.28702270e-01] [ 1.19323635e-02 -4.22640416e-04 9.99928717e-01 -1.45576118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.868001145 meters 0.06859144289008358 Centerline is valid? [True, True] Translation: X:77.81, Y:-0.23, Z:-1.46 [[ 9.99371618e-01 -3.35959588e-02 -1.12995501e-02 7.78083559e+01] [ 3.35984078e-02 9.99435414e-01 2.69166391e-05 -2.28111661e-01] [ 1.12922663e-02 -4.06546618e-04 9.99936158e-01 -1.45699870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89800114499998 meters 0.06860565842417841 Centerline is valid? [True, True] Translation: X:77.84, Y:-0.23, Z:-1.46 [[ 9.99364821e-01 -3.38506270e-02 -1.11395480e-02 7.78410169e+01] [ 3.38530255e-02 9.99426822e-01 2.67675382e-05 -2.26274095e-01] [ 1.11322569e-02 -4.03857937e-04 9.99937953e-01 -1.45713922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92800114499998 meters 0.06860565842417841 Centerline is valid? [True, True] Translation: X:77.87, Y:-0.23, Z:-1.46 [[ 9.99368170e-01 -3.37516142e-02 -1.11395440e-02 7.78736110e+01] [ 3.37540249e-02 9.99430170e-01 2.84134164e-05 -2.26463580e-01] [ 1.11322374e-02 -4.04399911e-04 9.99937953e-01 -1.45766807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95800114499998 meters 0.06874892212974965 Centerline is valid? [True, True] Translation: X:77.91, Y:-0.22, Z:-1.46 [[ 9.99362758e-01 -3.41182667e-02 -1.04891413e-02 7.79071324e+01] [ 3.41204361e-02 9.99417728e-01 2.78876513e-05 -2.22706741e-01] [ 1.04820823e-02 -3.85763955e-04 9.99944987e-01 -1.45818063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98800114499998 meters 0.06984301999040013 Centerline is valid? [True, True] Translation: X:77.94, Y:-0.22, Z:-1.46 [[ 9.99350048e-01 -3.44528176e-02 -1.06058738e-02 7.79383959e+01] [ 3.44550557e-02 9.99406248e-01 2.83227092e-05 -2.23517502e-01] [ 1.05986007e-02 -3.93730273e-04 9.99943756e-01 -1.46031924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01800114499999 meters 0.06955176222439563 Centerline is valid? [True, True] Translation: X:77.97, Y:-0.22, Z:-1.46 [[ 9.99363198e-01 -3.41215808e-02 -1.04363053e-02 7.79710858e+01] [ 3.41237370e-02 9.99417615e-01 2.85518577e-05 -2.20425495e-01] [ 1.04292531e-02 -3.84659412e-04 9.99945540e-01 -1.45983617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04800114499999 meters 0.06903888948088259 Centerline is valid? [True, True] Translation: X:78.00, Y:-0.22, Z:-1.46 [[ 9.99380907e-01 -3.35002879e-02 -1.07486745e-02 7.80038354e+01] [ 3.35025514e-02 9.99438631e-01 3.05445652e-05 -2.16736489e-01] [ 1.07416173e-02 -3.90633676e-04 9.99942231e-01 -1.45936154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07800114499999 meters 0.07017276998304849 Centerline is valid? [True, True] Translation: X:78.04, Y:-0.22, Z:-1.46 [[ 9.99422484e-01 -3.24240049e-02 -1.01677074e-02 7.80355350e+01] [ 3.24259795e-02 9.99474139e-01 2.93647293e-05 -2.17917220e-01] [ 1.01614085e-02 -3.59045643e-04 9.99948307e-01 -1.46322700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10800114499999 meters 0.06880509421997874 Centerline is valid? [True, True] Translation: X:78.07, Y:-0.21, Z:-1.46 [[ 9.99502558e-01 -2.98798116e-02 -1.00912886e-02 7.80669097e+01] [ 2.98816251e-02 9.99553444e-01 2.89480837e-05 -2.08838273e-01] [ 1.00859173e-02 -3.30477787e-04 9.99949081e-01 -1.46170047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13800114499999 meters 0.06861915620638773 Centerline is valid? [True, True] Translation: X:78.10, Y:-0.21, Z:-1.46 [[ 9.99547088e-01 -2.83042882e-02 -1.02217986e-02 7.80990263e+01] [ 2.83060787e-02 9.99599302e-01 3.05007531e-05 -2.05645436e-01] [ 1.02168395e-02 -3.19825976e-04 9.99947756e-01 -1.46274468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16800114499999 meters 0.06809786628813724 Centerline is valid? [True, True] Translation: X:78.13, Y:-0.20, Z:-1.46 [[ 9.99572040e-01 -2.68971682e-02 -1.15012986e-02 7.81308188e+01] [ 2.68993491e-02 9.99638146e-01 3.49391256e-05 -2.01728386e-01] [ 1.14961970e-02 -3.44301619e-04 9.99933857e-01 -1.46395042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19800114499999 meters 0.0679343984428083 Centerline is valid? [True, True] Translation: X:78.16, Y:-0.20, Z:-1.47 [[ 9.99608643e-01 -2.51912355e-02 -1.21639679e-02 7.81630434e+01] [ 2.51935575e-02 9.99682591e-01 3.76718851e-05 -1.99086937e-01] [ 1.21591580e-02 -3.44110767e-04 9.99926015e-01 -1.46548339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.228001145 meters 0.06778747302991686 Centerline is valid? [True, True] Translation: X:78.19, Y:-0.19, Z:-1.47 [[ 9.99704764e-01 -2.19973477e-02 -1.03199362e-02 7.81931571e+01] [ 2.19988442e-02 9.99757996e-01 3.15014774e-05 -1.94496561e-01] [ 1.03167458e-02 -2.58518846e-04 9.99946748e-01 -1.46725751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25800114499998 meters 0.0668561839599047 Centerline is valid? [True, True] Translation: X:78.23, Y:-0.19, Z:-1.47 [[ 9.99753896e-01 -1.99803303e-02 -9.64020977e-03 7.82250925e+01] [ 1.99815565e-02 9.99800348e-01 3.08882345e-05 -1.89656772e-01] [ 9.63766793e-03 -2.23507029e-04 9.99953532e-01 -1.46504500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28800114499998 meters 0.06699845989911103 Centerline is valid? [True, True] Translation: X:78.26, Y:-0.19, Z:-1.47 [[ 9.99780270e-01 -1.85737915e-02 -9.71730898e-03 7.82559383e+01] [ 1.85749902e-02 9.99827469e-01 3.31116171e-05 -1.88566642e-01] [ 9.71501744e-03 -2.13603261e-04 9.99952785e-01 -1.46740908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31800114499998 meters 0.06689809510486444 Centerline is valid? [True, True] Translation: X:78.29, Y:-0.19, Z:-1.47 [[ 9.99815650e-01 -1.69571555e-02 -9.00668995e-03 7.82884256e+01] [ 1.69581180e-02 9.99856200e-01 3.04934319e-05 -1.86020992e-01] [ 9.00487771e-03 -1.83224321e-04 9.99959438e-01 -1.46763149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34800114499998 meters 0.06604972957892394 Centerline is valid? [True, True] Translation: X:78.32, Y:-0.18, Z:-1.47 [[ 9.99859242e-01 -1.38583296e-02 -9.45739828e-03 7.83204464e+01] [ 1.38592581e-02 9.99903955e-01 3.26391099e-05 -1.78813541e-01] [ 9.45603762e-03 -1.63707039e-04 9.99955277e-01 -1.46569972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37800114499998 meters 0.06615666027241963 Centerline is valid? [True, True] Translation: X:78.35, Y:-0.18, Z:-1.47 [[ 9.99871393e-01 -1.28649012e-02 -9.57563492e-03 7.83520389e+01] [ 1.28658091e-02 9.99917232e-01 3.32214804e-05 -1.77719077e-01] [ 9.57441497e-03 -1.56415499e-04 9.99954152e-01 -1.46769005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40800114499999 meters 0.065895609414233 Centerline is valid? [True, True] Translation: X:78.38, Y:-0.17, Z:-1.47 [[ 9.99896127e-01 -1.11858584e-02 -9.08910802e-03 7.83843337e+01] [ 1.11866149e-02 9.99937427e-01 3.23977434e-05 -1.74796174e-01] [ 9.08817690e-03 -1.34070730e-04 9.99958693e-01 -1.46745093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43800114499999 meters 0.06540610918757211 Centerline is valid? [True, True] Translation: X:78.42, Y:-0.17, Z:-1.47 [[ 9.99919450e-01 -9.49774387e-03 -8.41938248e-03 7.84157308e+01] [ 9.49833200e-03 9.99954889e-01 2.98698483e-05 -1.70878989e-01] [ 8.41871898e-03 -1.09837532e-04 9.99964556e-01 -1.46558934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46800114499999 meters 0.06538462137221364 Centerline is valid? [True, True] Translation: X:78.45, Y:-0.17, Z:-1.47 [[ 9.99953764e-01 -5.05754756e-03 -8.17869953e-03 7.84460754e+01] [ 5.05795305e-03 9.99987208e-01 2.88956756e-05 -1.66571870e-01] [ 8.17844877e-03 -7.02618179e-05 9.99966553e-01 -1.46970053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49800114499999 meters 0.06527105909228126 Centerline is valid? [True, True] Translation: X:78.48, Y:-0.16, Z:-1.47 [[ 9.99966319e-01 -2.88279920e-03 -7.68446031e-03 7.84752741e+01] [ 2.88308529e-03 9.99995844e-01 2.61513566e-05 -1.64269715e-01] [ 7.68435298e-03 -4.83054303e-05 9.99970474e-01 -1.47035122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52800114499999 meters 0.06509842709214232 Centerline is valid? [True, True] Translation: X:78.50, Y:-0.16, Z:-1.47 [[ 9.99968055e-01 2.19543125e-04 -7.99002055e-03 7.85031955e+01] [-2.19343620e-04 9.99999976e-01 2.58454767e-05 -1.59940197e-01] [ 7.99002603e-03 -2.40920911e-05 9.99968079e-01 -1.47312430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55800114499999 meters 0.06513940547657904 Centerline is valid? [True, True] Translation: X:78.53, Y:-0.16, Z:-1.47 [[ 9.99966213e-01 1.30040957e-03 -8.11672171e-03 7.85303412e+01] [-1.30025019e-03 9.99999154e-01 2.49131229e-05 -1.58150129e-01] [ 8.11674724e-03 -1.43585123e-05 9.99967059e-01 -1.47416221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58800114499999 meters 0.06504229103800133 Centerline is valid? [True, True] Translation: X:78.56, Y:-0.16, Z:-1.47 [[ 9.99965502e-01 1.84501779e-03 -8.09881104e-03 7.85582803e+01] [-1.84488161e-03 9.99998298e-01 2.42861151e-05 -1.57024865e-01] [ 8.09884207e-03 -9.34392971e-06 9.99967204e-01 -1.47267010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.618001145 meters 0.06527525692142322 Centerline is valid? [True, True] Translation: X:78.59, Y:-0.16, Z:-1.47 [[ 9.99969384e-01 2.36187483e-03 -7.46009940e-03 7.85856519e+01] [-2.36177699e-03 9.99997211e-01 2.19238263e-05 -1.57359601e-01] [ 7.46013037e-03 -4.30406399e-06 9.99972173e-01 -1.47460362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64800114499998 meters 0.0649032292201995 Centerline is valid? [True, True] Translation: X:78.61, Y:-0.16, Z:-1.47 [[ 9.99972129e-01 1.81826914e-03 -7.24120018e-03 7.86145676e+01] [-1.81816490e-03 9.99998347e-01 2.09789376e-05 -1.59561481e-01] [ 7.24122635e-03 -7.81265687e-06 9.99973782e-01 -1.47109630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67800114499998 meters 0.06483805905695342 Centerline is valid? [True, True] Translation: X:78.64, Y:-0.16, Z:-1.47 [[ 9.99978019e-01 1.36989565e-03 -6.48728708e-03 7.86419712e+01] [-1.36980842e-03 9.99999062e-01 1.78899529e-05 -1.60206904e-01] [ 6.48730550e-03 -9.00321918e-06 9.99978957e-01 -1.47182471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70800114499998 meters 0.06485144597629264 Centerline is valid? [True, True] Translation: X:78.67, Y:-0.16, Z:-1.47 [[ 9.99977453e-01 9.43964792e-04 -6.64845133e-03 7.86697943e+01] [-9.43866903e-04 9.99999554e-01 1.78611672e-05 -1.61318628e-01] [ 6.64846523e-03 -1.15855113e-05 9.99977899e-01 -1.47256859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73800114499998 meters 0.06490908514163819 Centerline is valid? [True, True] Translation: X:78.70, Y:-0.16, Z:-1.47 [[ 9.99980121e-01 -2.91028318e-04 -6.29858878e-03 7.86981695e+01] [ 2.91139343e-04 9.99999957e-01 1.67101345e-05 -1.64261544e-01] [ 6.29858365e-03 -1.85435693e-05 9.99980164e-01 -1.47312112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76800114499999 meters 0.06487881704651034 Centerline is valid? [True, True] Translation: X:78.73, Y:-0.17, Z:-1.47 [[ 9.99976795e-01 -1.43642622e-03 -6.65921878e-03 7.87265795e+01] [ 1.43657320e-03 9.99998968e-01 1.72886507e-05 -1.67471581e-01] [ 6.65918708e-03 -2.68547048e-05 9.99977827e-01 -1.47407882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79800114499999 meters 0.06510747053236372 Centerline is valid? [True, True] Translation: X:78.75, Y:-0.17, Z:-1.48 [[ 9.99965745e-01 -3.73299361e-03 -7.38744651e-03 7.87542366e+01] [ 3.73323191e-03 9.99993031e-01 1.84680738e-05 -1.74296625e-01] [ 7.38732608e-03 -4.60464922e-05 9.99972712e-01 -1.47609961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82800114499999 meters 0.06513904760217337 Centerline is valid? [True, True] Translation: X:78.78, Y:-0.18, Z:-1.48 [[ 9.99962584e-01 -4.57488076e-03 -7.34168250e-03 7.87825644e+01] [ 4.57514011e-03 9.99989534e-01 1.85312537e-05 -1.76200778e-01] [ 7.34152089e-03 -5.21197864e-05 9.99973049e-01 -1.47745713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85800114499999 meters 0.06512572089230637 Centerline is valid? [True, True] Translation: X:78.81, Y:-0.18, Z:-1.48 [[ 9.99954908e-01 -6.29202416e-03 -7.11280448e-03 7.88111361e+01] [ 6.29230854e-03 9.99980203e-01 1.76043331e-05 -1.80463291e-01] [ 7.11255290e-03 -6.23594997e-05 9.99974704e-01 -1.47675773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88800114499999 meters 0.06497484465486901 Centerline is valid? [True, True] Translation: X:78.84, Y:-0.18, Z:-1.48 [[ 9.99958209e-01 -6.27902737e-03 -6.64485884e-03 7.88412120e+01] [ 6.27927996e-03 9.99980285e-01 1.71511645e-05 -1.82468196e-01] [ 6.64462015e-03 -5.88753767e-05 9.99977923e-01 -1.47534483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91800114499999 meters 0.06486342281453868 Centerline is valid? [True, True] Translation: X:78.87, Y:-0.18, Z:-1.48 [[ 9.99954557e-01 -6.40664003e-03 -7.05964421e-03 7.88714427e+01] [ 6.40692832e-03 9.99979475e-01 1.82217745e-05 -1.84849765e-01] [ 7.05938257e-03 -6.34515809e-05 9.99975080e-01 -1.47540648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94800114499999 meters 0.06483697295142207 Centerline is valid? [True, True] Translation: X:78.90, Y:-0.19, Z:-1.48 [[ 9.99957000e-01 -6.06289182e-03 -7.01711592e-03 7.89015956e+01] [ 6.06317082e-03 9.99981619e-01 1.84868103e-05 -1.86868858e-01] [ 7.01687485e-03 -6.10319878e-05 9.99975380e-01 -1.47637936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.978001145 meters 0.0646918854221552 Centerline is valid? [True, True] Translation: X:78.93, Y:-0.19, Z:-1.48 [[ 9.99967151e-01 -3.21028731e-03 -7.44251860e-03 7.89308234e+01] [ 3.21051728e-03 9.99994846e-01 1.89521159e-05 -1.87911568e-01] [ 7.44241940e-03 -4.28458279e-05 9.99972304e-01 -1.47756747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00800114499998 meters 0.06455495163903405 Centerline is valid? [True, True] Translation: X:78.96, Y:-0.19, Z:-1.48 [[ 9.99978365e-01 -1.92149909e-03 -6.29104384e-03 7.89592460e+01] [ 1.92160781e-03 9.99998154e-01 1.12374012e-05 -1.88241906e-01] [ 6.29101063e-03 -2.33260770e-05 9.99980211e-01 -1.47770392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03800114499998 meters 0.06448356354791228 Centerline is valid? [True, True] Translation: X:78.99, Y:-0.19, Z:-1.48 [[ 9.99979709e-01 -8.98217387e-04 -6.30677481e-03 7.89876929e+01] [ 8.98297425e-04 9.99999596e-01 9.85816652e-06 -1.88763853e-01] [ 6.30676341e-03 -1.55233261e-05 9.99980112e-01 -1.47715944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06800114499998 meters 0.06449855148021252 Centerline is valid? [True, True] Translation: X:79.02, Y:-0.19, Z:-1.48 [[ 9.99979158e-01 6.79561911e-04 -6.42041269e-03 7.90156129e+01] [-6.79525188e-04 9.99999769e-01 7.90107584e-06 -1.90103659e-01] [ 6.42041658e-03 -3.53807902e-06 9.99979389e-01 -1.47796124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09800114499998 meters 0.0643125093896374 Centerline is valid? [True, True] Translation: X:79.04, Y:-0.19, Z:-1.48 [[ 9.99975640e-01 2.59709049e-03 -6.47877404e-03 7.90422917e+01] [-2.59708247e-03 9.99996628e-01 9.65084483e-06 -1.94565286e-01] [ 6.47877725e-03 7.17530073e-06 9.99979012e-01 -1.47929365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12800114499998 meters 0.0641957629664134 Centerline is valid? [True, True] Translation: X:79.07, Y:-0.20, Z:-1.48 [[ 9.99975632e-01 3.64432341e-03 -5.95429218e-03 7.90715293e+01] [-3.64433360e-03 9.99993359e-01 9.13836950e-06 -1.96454773e-01] [ 5.95428594e-03 1.25612802e-05 9.99982273e-01 -1.47902096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15800114499999 meters 0.064123655188918 Centerline is valid? [True, True] Translation: X:79.10, Y:-0.20, Z:-1.48 [[ 9.99979292e-01 2.56256225e-03 -5.90321410e-03 7.90990415e+01] [-2.56255755e-03 9.99996717e-01 8.36021135e-06 -2.01131083e-01] [ 5.90321614e-03 6.76728761e-06 9.99982576e-01 -1.47791226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18800114499999 meters 0.06408213401049956 Centerline is valid? [True, True] Translation: X:79.13, Y:-0.21, Z:-1.48 [[ 9.99979654e-01 6.34150793e-04 -6.34733802e-03 7.91282487e+01] [-6.34106877e-04 9.99999799e-01 8.93132535e-06 -2.05169338e-01] [ 6.34734241e-03 -4.90625295e-06 9.99979855e-01 -1.47754078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21800114499999 meters 0.06392809509212292 Centerline is valid? [True, True] Translation: X:79.16, Y:-0.21, Z:-1.48 [[ 9.99979827e-01 -8.06150360e-04 -6.30052446e-03 7.91566476e+01] [ 8.06219536e-04 9.99999675e-01 8.43962978e-06 -2.09478598e-01] [ 6.30051561e-03 -1.35190654e-05 9.99980151e-01 -1.47703962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24800114499999 meters 0.06411589379031009 Centerline is valid? [True, True] Translation: X:79.19, Y:-0.21, Z:-1.48 [[ 9.99971296e-01 -2.71227134e-03 -7.07463487e-03 7.91856600e+01] [ 2.71240392e-03 9.99996321e-01 9.14490307e-06 -2.14359131e-01] [ 7.07458404e-03 -2.83339079e-05 9.99974974e-01 -1.47790438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27800114499999 meters 0.0642936594567359 Centerline is valid? [True, True] Translation: X:79.21, Y:-0.22, Z:-1.48 [[ 9.99959635e-01 -4.61819743e-03 -7.70722100e-03 7.92131024e+01] [ 4.61840454e-03 9.99989335e-01 9.07456089e-06 -2.20009498e-01] [ 7.70709690e-03 -4.46692591e-05 9.99970299e-01 -1.48133289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30800114499999 meters 0.0645711834313262 Centerline is valid? [True, True] Translation: X:79.24, Y:-0.23, Z:-1.48 [[ 9.99935379e-01 -7.77077357e-03 -8.29775083e-03 7.92415515e+01] [ 7.77112515e-03 9.99969804e-01 1.01286768e-05 -2.31070696e-01] [ 8.29742156e-03 -7.46108825e-05 9.99965573e-01 -1.48367299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33800114499999 meters 0.06441284496758999 Centerline is valid? [True, True] Translation: X:79.27, Y:-0.23, Z:-1.48 [[ 9.99914024e-01 -9.41404446e-03 -9.12797266e-03 7.92716731e+01] [ 9.41454578e-03 9.99955682e-01 1.19529617e-05 -2.34695740e-01] [ 9.12745560e-03 -9.78876505e-05 9.99958339e-01 -1.48309256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.368001145 meters 0.0644497972075954 Centerline is valid? [True, True] Translation: X:79.30, Y:-0.24, Z:-1.48 [[ 9.99898501e-01 -1.01429889e-02 -1.00054004e-02 7.93018159e+01] [ 1.01436318e-02 9.99948552e-01 1.35082289e-05 -2.37985586e-01] [ 1.00047486e-02 -1.14997955e-04 9.99949945e-01 -1.48431323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39800114499998 meters 0.06462078631689266 Centerline is valid? [True, True] Translation: X:79.33, Y:-0.24, Z:-1.48 [[ 9.99886328e-01 -1.07055868e-02 -1.06170028e-02 7.93321805e+01] [ 1.07063396e-02 9.99942685e-01 1.40672026e-05 -2.39869979e-01] [ 1.06162436e-02 -1.27734840e-04 9.99943638e-01 -1.48484580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42800114499998 meters 0.0644539041287205 Centerline is valid? [True, True] Translation: X:79.36, Y:-0.24, Z:-1.48 [[ 9.99892852e-01 -1.03130361e-02 -1.03887678e-02 7.93624585e+01] [ 1.03137399e-02 9.99946812e-01 1.41673494e-05 -2.43513879e-01] [ 1.03880692e-02 -1.21312881e-04 9.99946035e-01 -1.48362680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45800114499998 meters 0.0641874939155372 Centerline is valid? [True, True] Translation: X:79.39, Y:-0.25, Z:-1.48 [[ 9.99905333e-01 -1.01146144e-02 -9.32838941e-03 7.93935319e+01] [ 1.01151749e-02 9.99948840e-01 1.29019517e-05 -2.45007089e-01] [ 9.32778167e-03 -1.07259020e-04 9.99956490e-01 -1.48102663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48800114499998 meters 0.06441047528288757 Centerline is valid? [True, True] Translation: X:79.42, Y:-0.25, Z:-1.48 [[ 9.99894305e-01 -1.05169605e-02 -1.00385534e-02 7.94234599e+01] [ 1.05176397e-02 9.99944688e-01 1.48632040e-05 -2.49780472e-01] [ 1.00378418e-02 -1.20443520e-04 9.99949612e-01 -1.48477857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51800114499999 meters 0.06413138633369808 Centerline is valid? [True, True] Translation: X:79.45, Y:-0.26, Z:-1.48 [[ 9.99868046e-01 -1.25403782e-02 -1.03261528e-02 7.94542596e+01] [ 1.25411965e-02 9.99921356e-01 1.44924538e-05 -2.55894279e-01] [ 1.03251590e-02 -1.43992853e-04 9.99946684e-01 -1.48254217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54800114499999 meters 0.06417934258365779 Centerline is valid? [True, True] Translation: X:79.49, Y:-0.26, Z:-1.48 [[ 9.99852510e-01 -1.38172179e-02 -1.02001348e-02 7.94857510e+01] [ 1.38180912e-02 9.99904526e-01 1.51441017e-05 -2.58606623e-01] [ 1.01989517e-02 -1.56088261e-04 9.99947977e-01 -1.48287503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57800114499999 meters 0.06479644238240426 Centerline is valid? [True, True] Translation: X:79.52, Y:-0.26, Z:-1.49 [[ 9.99831493e-01 -1.50926493e-02 -1.04497702e-02 7.95165678e+01] [ 1.50936431e-02 9.99886084e-01 1.62428295e-05 -2.63450230e-01] [ 1.04483346e-02 -1.73965193e-04 9.99945400e-01 -1.48669716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60800114499999 meters 0.06432452225107187 Centerline is valid? [True, True] Translation: X:79.55, Y:-0.26, Z:-1.48 [[ 9.99810113e-01 -1.58937065e-02 -1.12750643e-02 7.95484995e+01] [ 1.58949247e-02 9.99873668e-01 1.84307572e-05 -2.63961244e-01] [ 1.12733469e-02 -1.97643555e-04 9.99936434e-01 -1.48372688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63800114499999 meters 0.06441071641019297 Centerline is valid? [True, True] Translation: X:79.58, Y:-0.27, Z:-1.49 [[ 9.99788254e-01 -1.72049848e-02 -1.12887800e-02 7.95805426e+01] [ 1.72062975e-02 9.99851961e-01 1.91621234e-05 -2.69655138e-01] [ 1.12867791e-02 -2.13396173e-04 9.99936280e-01 -1.48526512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66800114499999 meters 0.06466220940549688 Centerline is valid? [True, True] Translation: X:79.61, Y:-0.27, Z:-1.49 [[ 9.99771533e-01 -1.78002732e-02 -1.18334998e-02 7.96122456e+01] [ 1.78017605e-02 9.99841536e-01 2.03561057e-05 -2.72302917e-01] [ 1.18312623e-02 -2.31008584e-04 9.99929981e-01 -1.48722215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69800114499999 meters 0.06484867250712097 Centerline is valid? [True, True] Translation: X:79.64, Y:-0.28, Z:-1.49 [[ 9.99757318e-01 -1.79341306e-02 -1.27934063e-02 7.96446694e+01] [ 1.79358928e-02 9.99839139e-01 2.30086890e-05 -2.75279237e-01] [ 1.27909357e-02 -2.52464268e-04 9.99918161e-01 -1.48892626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.728001145 meters 0.06469488998498016 Centerline is valid? [True, True] Translation: X:79.68, Y:-0.28, Z:-1.49 [[ 9.99735995e-01 -1.86444765e-02 -1.34284352e-02 7.96763528e+01] [ 1.86464864e-02 9.99826139e-01 2.44783087e-05 -2.78454194e-01] [ 1.34256441e-02 -2.74864980e-04 9.99909834e-01 -1.48901804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75800114499998 meters 0.06477685354141884 Centerline is valid? [True, True] Translation: X:79.71, Y:-0.28, Z:-1.49 [[ 9.99705563e-01 -2.00984384e-02 -1.35955729e-02 7.97082781e+01] [ 2.01006478e-02 9.99797961e-01 2.58676315e-05 -2.79821827e-01] [ 1.35923062e-02 -2.99139837e-04 9.99907576e-01 -1.48899600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78800114499998 meters 0.06478287905946346 Centerline is valid? [True, True] Translation: X:79.74, Y:-0.28, Z:-1.49 [[ 9.99698741e-01 -1.99074734e-02 -1.43568958e-02 7.97406534e+01] [ 1.99099298e-02 9.99801777e-01 2.81679450e-05 -2.80832384e-01] [ 1.43534892e-02 -3.14004246e-04 9.99896934e-01 -1.48846906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81800114499998 meters 0.06478287905946346 Centerline is valid? [True, True] Translation: X:79.77, Y:-0.28, Z:-1.49 [[ 9.99699993e-01 -1.98444946e-02 -1.43568940e-02 7.97723762e+01] [ 1.98469574e-02 9.99803029e-01 2.90743835e-05 -2.80960455e-01] [ 1.43534892e-02 -3.14006325e-04 9.99896934e-01 -1.48898383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84800114499998 meters 0.06481772928540933 Centerline is valid? [True, True] Translation: X:79.80, Y:-0.28, Z:-1.49 [[ 9.99667694e-01 -2.09572864e-02 -1.50097976e-02 7.98047749e+01] [ 2.09601174e-02 9.99780312e-01 3.13002997e-05 -2.82235982e-01] [ 1.50058441e-02 -3.45897017e-04 9.99887346e-01 -1.48888465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87800114499998 meters 0.06522172214281845 Centerline is valid? [True, True] Translation: X:79.84, Y:-0.29, Z:-1.49 [[ 9.99632953e-01 -2.24559820e-02 -1.51554640e-02 7.98367501e+01] [ 2.24590544e-02 9.99747763e-01 3.25323240e-05 -2.87221954e-01] [ 1.51509107e-02 -3.72897774e-04 9.99885149e-01 -1.49108128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90800114499999 meters 0.06534006183905143 Centerline is valid? [True, True] Translation: X:79.87, Y:-0.29, Z:-1.49 [[ 9.99607490e-01 -2.36315266e-02 -1.50471866e-02 7.98691698e+01] [ 2.36347027e-02 9.99720661e-01 3.32591426e-05 -2.89483627e-01] [ 1.50421973e-02 -3.88881869e-04 9.99886784e-01 -1.49192594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93800114499999 meters 0.06530337085974972 Centerline is valid? [True, True] Translation: X:79.90, Y:-0.29, Z:-1.49 [[ 9.99552134e-01 -2.50848442e-02 -1.63181466e-02 7.99009876e+01] [ 2.50887804e-02 9.99685226e-01 3.65166474e-05 -2.90481713e-01] [ 1.63120940e-02 -4.45902689e-04 9.99866850e-01 -1.49217013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96800114499999 meters 0.06564660103542584 Centerline is valid? [True, True] Translation: X:79.93, Y:-0.29, Z:-1.49 [[ 9.99507381e-01 -2.67704784e-02 -1.63809760e-02 7.99331079e+01] [ 2.67746922e-02 9.99641493e-01 3.79388722e-05 -2.92522728e-01] [ 1.63740877e-02 -4.76515774e-04 9.99865822e-01 -1.49383275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99800114499999 meters 0.06573051306262465 Centerline is valid? [True, True] Translation: X:79.97, Y:-0.29, Z:-1.49 [[ 9.99461540e-01 -2.91022608e-02 -1.51554496e-02 7.99657741e+01] [ 2.91061516e-02 9.99576326e-01 3.61685652e-05 -2.94210484e-01] [ 1.51479761e-02 -4.77265904e-04 9.99885149e-01 -1.49264261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02800114499999 meters 0.06646632639011467 Centerline is valid? [True, True] Translation: X:80.00, Y:-0.30, Z:-1.49 [[ 9.99430516e-01 -3.03152641e-02 -1.48198494e-02 7.99971750e+01] [ 3.03191245e-02 9.99540269e-01 3.58363734e-05 -2.96894332e-01] [ 1.48119499e-02 -4.85140826e-04 9.99890179e-01 -1.49377258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05800114499999 meters 0.06678434634709018 Centerline is valid? [True, True] Translation: X:80.03, Y:-0.30, Z:-1.49 [[ 9.99389176e-01 -3.16506816e-02 -1.48158768e-02 8.00297134e+01] [ 3.16547036e-02 9.99498864e-01 3.69745106e-05 -2.97900445e-01] [ 1.48072818e-02 -5.05944115e-04 9.99890238e-01 -1.49428439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08800114499999 meters 0.0673132051780125 Centerline is valid? [True, True] Translation: X:80.06, Y:-0.30, Z:-1.50 [[ 9.99336545e-01 -3.33127665e-02 -1.47217668e-02 8.00619203e+01] [ 3.33169310e-02 9.99444836e-01 3.76493738e-05 -2.98751601e-01] [ 1.47123396e-02 -5.28108485e-04 9.99891628e-01 -1.49511042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.118001145 meters 0.06727173667123529 Centerline is valid? [True, True] Translation: X:80.09, Y:-0.30, Z:-1.49 [[ 9.99235466e-01 -3.63484803e-02 -1.43969219e-02 8.00938458e+01] [ 3.63528074e-02 9.99339017e-01 3.88858066e-05 -2.99456607e-01] [ 1.43859924e-02 -5.62224608e-04 9.99896358e-01 -1.49341433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14800114499998 meters 0.06770699741999762 Centerline is valid? [True, True] Translation: X:80.13, Y:-0.30, Z:-1.49 [[ 9.99147683e-01 -3.89728801e-02 -1.36022854e-02 8.01255598e+01] [ 3.89769842e-02 9.99240108e-01 3.66518790e-05 -3.01932355e-01] [ 1.35905207e-02 -5.66796704e-04 9.99907484e-01 -1.49375763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17800114499998 meters 0.0687383618979732 Centerline is valid? [True, True] Translation: X:80.16, Y:-0.31, Z:-1.50 [[ 9.99049976e-01 -4.15439861e-02 -1.31621383e-02 8.01567725e+01] [ 4.15480600e-02 9.99136506e-01 3.61121698e-05 -3.05640550e-01] [ 1.31492727e-02 -5.82939176e-04 9.99913375e-01 -1.49530489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20800114499998 meters 0.06984699688781364 Centerline is valid? [True, True] Translation: X:80.19, Y:-0.31, Z:-1.50 [[ 9.98926096e-01 -4.43464322e-02 -1.34181997e-02 8.01865060e+01] [ 4.43509079e-02 9.99016014e-01 3.60245549e-05 -3.09562723e-01] [ 1.34033988e-02 -6.31095206e-04 9.99909971e-01 -1.49706660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23800114499998 meters 0.0715914751374109 Centerline is valid? [True, True] Translation: X:80.22, Y:-0.31, Z:-1.50 [[ 9.98681219e-01 -4.94035924e-02 -1.39680915e-02 8.02169309e+01] [ 4.94089369e-02 9.98778632e-01 3.75809753e-05 -3.13061280e-01] [ 1.39491746e-02 -7.27679964e-04 9.99902441e-01 -1.49872680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26800114499999 meters 0.07312908425026121 Centerline is valid? [True, True] Translation: X:80.25, Y:-0.32, Z:-1.50 [[ 9.98522123e-01 -5.24929980e-02 -1.40731859e-02 8.02479660e+01] [ 5.24987421e-02 9.98620989e-01 3.87837577e-05 -3.15879528e-01] [ 1.40517430e-02 -7.77551000e-04 9.99900967e-01 -1.50046053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29800114499999 meters 0.07387259430059731 Centerline is valid? [True, True] Translation: X:80.28, Y:-0.32, Z:-1.50 [[ 9.98430762e-01 -5.43105967e-02 -1.36518095e-02 8.02803922e+01] [ 5.43161906e-02 9.98523785e-01 3.90423743e-05 -3.16878024e-01] [ 1.36295361e-02 -7.80495394e-04 9.99906809e-01 -1.50082382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32800114499999 meters 0.07594842938301186 Centerline is valid? [True, True] Translation: X:80.31, Y:-0.32, Z:-1.50 [[ 9.98253158e-01 -5.74218402e-02 -1.39055904e-02 8.03103947e+01] [ 5.74279300e-02 9.98349654e-01 3.87055269e-05 -3.20584782e-01] [ 1.38804188e-02 -8.37207186e-04 9.99903312e-01 -1.50327373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35800114499999 meters 0.0773593310194379 Centerline is valid? [True, True] Translation: X:80.34, Y:-0.32, Z:-1.50 [[ 9.98066158e-01 -6.04431558e-02 -1.45110055e-02 8.03411564e+01] [ 6.04501094e-02 9.98171219e-01 4.06567961e-05 -3.21503954e-01] [ 1.44820106e-02 -9.17770042e-04 9.99894709e-01 -1.50454009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38800114499999 meters 0.07535270533674449 Centerline is valid? [True, True] Translation: X:80.37, Y:-0.32, Z:-1.50 [[ 9.98017895e-01 -6.14409502e-02 -1.36121404e-02 8.03735522e+01] [ 6.14472536e-02 9.98110331e-01 4.49298679e-05 -3.15661326e-01] [ 1.35836574e-02 -8.81269457e-04 9.99907350e-01 -1.50193377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41800114499999 meters 0.07953270196855408 Centerline is valid? [True, True] Translation: X:80.40, Y:-0.32, Z:-1.50 [[ 9.97983387e-01 -6.19549350e-02 -1.38110847e-02 8.04045669e+01] [ 6.19615094e-02 9.98078539e-01 4.82173054e-05 -3.22263079e-01] [ 1.37815599e-02 -9.03875723e-04 9.99904621e-01 -1.50485144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44800114499999 meters 0.07825130646779531 Centerline is valid? [True, True] Translation: X:80.44, Y:-0.31, Z:-1.50 [[ 9.97996107e-01 -6.19471777e-02 -1.28963937e-02 8.04370484e+01] [ 6.19528916e-02 9.98079074e-01 4.36529814e-05 -3.14369292e-01] [ 1.28689165e-02 -8.42534386e-04 9.99916837e-01 -1.50257685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.478001145 meters 0.07839764590540786 Centerline is valid? [True, True] Translation: X:80.47, Y:-0.31, Z:-1.50 [[ 9.97985110e-01 -6.20324455e-02 -1.33302349e-02 8.04693200e+01] [ 6.20385689e-02 9.98073752e-01 4.59412893e-05 -3.12595967e-01] [ 1.33017077e-02 -8.72837420e-04 9.99911147e-01 -1.50338697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50800114499998 meters 0.07808308332223104 Centerline is valid? [True, True] Translation: X:80.50, Y:-0.31, Z:-1.50 [[ 9.97997075e-01 -6.17673637e-02 -1.36612702e-02 8.05026230e+01] [ 6.17737955e-02 9.98090174e-01 4.89301266e-05 -3.10362695e-01] [ 1.36321573e-02 -8.92740637e-04 9.99906679e-01 -1.50498193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53800114499998 meters 0.0790591441500524 Centerline is valid? [True, True] Translation: X:80.54, Y:-0.31, Z:-1.51 [[ 9.97964303e-01 -6.21963997e-02 -1.41016706e-02 8.05350976e+01] [ 6.22033002e-02 9.98063498e-01 5.08359370e-05 -3.10621607e-01] [ 1.40712009e-02 -9.27902899e-04 9.99900565e-01 -1.50668799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56800114499998 meters 0.08027693047894874 Centerline is valid? [True, True] Translation: X:80.57, Y:-0.31, Z:-1.51 [[ 9.97896868e-01 -6.32440380e-02 -1.42138001e-02 8.05670379e+01] [ 6.32511675e-02 9.97997639e-01 5.21584680e-05 -3.09040641e-01] [ 1.41820402e-02 -9.51088224e-04 9.99898977e-01 -1.50899688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59800114499998 meters 0.08153724299674853 Centerline is valid? [True, True] Translation: X:80.60, Y:-0.31, Z:-1.51 [[ 9.97860552e-01 -6.39249831e-02 -1.37082147e-02 8.05979549e+01] [ 6.39317507e-02 9.97954272e-01 5.55894312e-05 -3.09750428e-01] [ 1.36766179e-02 -9.31860666e-04 9.99906036e-01 -1.51052912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62800114499998 meters 0.08213463953317172 Centerline is valid? [True, True] Translation: X:80.63, Y:-0.31, Z:-1.51 [[ 9.97846911e-01 -6.42615078e-02 -1.31148962e-02 8.06292792e+01] [ 6.42677688e-02 9.97932688e-01 5.60706682e-05 -3.09227899e-01] [ 1.30841804e-02 -8.98815059e-04 9.99913994e-01 -1.51108225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65800114499999 meters 0.08377115477063139 Centerline is valid? [True, True] Translation: X:80.66, Y:-0.31, Z:-1.51 [[ 9.97783408e-01 -6.53638105e-02 -1.24836860e-02 8.06599286e+01] [ 6.53695684e-02 9.97861121e-01 5.33167283e-05 -3.10897164e-01] [ 1.24535000e-02 -8.69251716e-04 9.99922074e-01 -1.51189138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68800114499999 meters 0.08528152831789806 Centerline is valid? [True, True] Translation: X:80.69, Y:-0.31, Z:-1.51 [[ 9.97726171e-01 -6.63178049e-02 -1.20181420e-02 8.06913456e+01] [ 6.63232589e-02 9.97798187e-01 5.53856435e-05 -3.10303182e-01] [ 1.19880072e-02 -8.52342047e-04 9.99927778e-01 -1.51295487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71800114499999 meters 0.08528200860475028 Centerline is valid? [True, True] Translation: X:80.72, Y:-0.31, Z:-1.51 [[ 9.97749322e-01 -6.59752587e-02 -1.19815109e-02 8.07245913e+01] [ 6.59807003e-02 9.97820898e-01 5.90112285e-05 -3.08380651e-01] [ 1.19515087e-02 -8.49426894e-04 9.99928217e-01 -1.51370403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74800114499999 meters 0.0855925139670543 Centerline is valid? [True, True] Translation: X:80.76, Y:-0.31, Z:-1.52 [[ 9.97836442e-01 -6.45804232e-02 -1.23208432e-02 8.07563830e+01] [ 6.45860966e-02 9.97912137e-01 6.27164629e-05 -3.06687834e-01] [ 1.22910687e-02 -8.58335939e-04 9.99924094e-01 -1.51505973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77800114499999 meters 0.08409252565899758 Centerline is valid? [True, True] Translation: X:80.79, Y:-0.30, Z:-1.52 [[ 9.98019578e-01 -6.14687490e-02 -1.33609342e-02 8.07875187e+01] [ 6.14750979e-02 9.98108615e-01 6.46218526e-05 -2.97719755e-01] [ 1.33316913e-02 -8.85858612e-04 9.99910737e-01 -1.51634947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80800114499999 meters 0.08396808557903711 Centerline is valid? [True, True] Translation: X:80.82, Y:-0.29, Z:-1.52 [[ 9.98155624e-01 -5.91222973e-02 -1.37806024e-02 8.08182534e+01] [ 5.91288377e-02 9.98250357e-01 6.73066922e-05 -2.93766837e-01] [ 1.37525119e-02 -8.82013555e-04 9.99905041e-01 -1.51775056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83800114499999 meters 0.08288376572377858 Centerline is valid? [True, True] Translation: X:80.85, Y:-0.29, Z:-1.52 [[ 9.98275445e-01 -5.71690030e-02 -1.33357112e-02 8.08498818e+01] [ 5.71749746e-02 9.98364171e-01 6.66588004e-05 -2.88126583e-01] [ 1.33100854e-02 -8.29012790e-04 9.99911073e-01 -1.51746072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86800114499998 meters 0.08082598031785056 Centerline is valid? [True, True] Translation: X:80.88, Y:-0.28, Z:-1.52 [[ 9.98376351e-01 -5.54324650e-02 -1.31111675e-02 8.08818560e+01] [ 5.54381026e-02 9.98462124e-01 6.66577561e-05 -2.80919639e-01] [ 1.30873091e-02 -7.93407777e-04 9.99914043e-01 -1.51674499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89800114499998 meters 0.07835207134351264 Centerline is valid? [True, True] Translation: X:80.91, Y:-0.27, Z:-1.52 [[ 9.98631267e-01 -5.10597395e-02 -1.13356119e-02 8.09120418e+01] [ 5.10636606e-02 9.98695399e-01 5.65603232e-05 -2.71842854e-01] [ 1.13179355e-02 -6.35320745e-04 9.99935748e-01 -1.51652733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92800114499998 meters 0.07659560994647922 Centerline is valid? [True, True] Translation: X:80.94, Y:-0.27, Z:-1.52 [[ 9.98715718e-01 -4.94681252e-02 -1.09462061e-02 8.09438148e+01] [ 4.94717072e-02 9.98775524e-01 5.65437757e-05 -2.65184581e-01] [ 1.09300056e-02 -5.97998660e-04 9.99940087e-01 -1.51608454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95800114499998 meters 0.07733323348823093 Centerline is valid? [True, True] Translation: X:80.98, Y:-0.26, Z:-1.52 [[ 9.98788381e-01 -4.79190721e-02 -1.12041099e-02 8.09757014e+01] [ 4.79227843e-02 9.98851041e-01 6.29311833e-05 -2.63512184e-01] [ 1.11882212e-02 -5.99787076e-04 9.99937230e-01 -1.51710291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98800114499998 meters 0.07637923479326124 Centerline is valid? [True, True] Translation: X:81.01, Y:-0.26, Z:-1.52 [[ 9.98845269e-01 -4.68454022e-02 -1.06600392e-02 8.10082206e+01] [ 4.68486875e-02 9.98901996e-01 5.85476995e-05 -2.58059172e-01] [ 1.06455917e-02 -5.57888937e-04 9.99943178e-01 -1.51673648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01800114499999 meters 0.07689479532834638 Centerline is valid? [True, True] Translation: X:81.04, Y:-0.25, Z:-1.52 [[ 9.98928198e-01 -4.47266762e-02 -1.19155169e-02 8.10391970e+01] [ 4.47306836e-02 9.98999080e-01 6.98925666e-05 -2.51957261e-01] [ 1.19004643e-02 -6.02806871e-04 9.99929005e-01 -1.51882202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04800114499999 meters 0.07488451557207827 Centerline is valid? [True, True] Translation: X:81.07, Y:-0.24, Z:-1.52 [[ 9.98981921e-01 -4.33691836e-02 -1.24191652e-02 8.10713863e+01] [ 4.33734118e-02 9.99058928e-01 7.11906119e-05 -2.44780454e-01] [ 1.24043904e-02 -6.09779702e-04 9.99922877e-01 -1.51779867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07800114499999 meters 0.07440525696994586 Centerline is valid? [True, True] Translation: X:81.10, Y:-0.24, Z:-1.52 [[ 9.99110733e-01 -4.04625882e-02 -1.18542385e-02 8.11014673e+01] [ 4.04662241e-02 9.99180905e-01 6.69237277e-05 -2.39893497e-01] [ 1.18418208e-02 -5.46560485e-04 9.99929734e-01 -1.52037419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10800114499999 meters 0.07530756437234108 Centerline is valid? [True, True] Translation: X:81.13, Y:-0.24, Z:-1.52 [[ 9.99182822e-01 -3.83394179e-02 -1.27975127e-02 8.11327010e+01] [ 3.83435603e-02 9.99264612e-01 7.83926547e-05 -2.39741923e-01] [ 1.27850960e-02 -5.69030792e-04 9.99918105e-01 -1.52337195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13800114499999 meters 0.0750399068379662 Centerline is valid? [True, True] Translation: X:81.16, Y:-0.24, Z:-1.52 [[ 9.99272690e-01 -3.59540023e-02 -1.27043457e-02 8.11645524e+01] [ 3.59578751e-02 9.99353304e-01 7.64757096e-05 -2.36281368e-01] [ 1.26933802e-02 -5.33241364e-04 9.99919294e-01 -1.52465346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16800114499999 meters 0.07282960376136335 Centerline is valid? [True, True] Translation: X:81.20, Y:-0.23, Z:-1.52 [[ 9.99372382e-01 -3.31962543e-02 -1.23632457e-02 8.11960040e+01] [ 3.31997087e-02 9.99448735e-01 7.42229805e-05 -2.26876067e-01] [ 1.23539664e-02 -4.84632554e-04 9.99923569e-01 -1.52214218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19800114499999 meters 0.07106649838920201 Centerline is valid? [True, True] Translation: X:81.23, Y:-0.21, Z:-1.52 [[ 9.99558159e-01 -2.69296752e-02 -1.25809417e-02 8.12257628e+01] [ 2.69327478e-02 9.99637245e-01 7.48329518e-05 -2.14714761e-01] [ 1.25743626e-02 -4.13639217e-04 9.99920854e-01 -1.52167060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.228001145 meters 0.07063745169687351 Centerline is valid? [True, True] Translation: X:81.26, Y:-0.21, Z:-1.52 [[ 9.99622929e-01 -2.41057359e-02 -1.31496705e-02 8.12576380e+01] [ 2.41088741e-02 9.99709336e-01 8.01641541e-05 -2.11103228e-01] [ 1.31439159e-02 -3.97157676e-04 9.99913536e-01 -1.52329866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25800114499998 meters 0.06959931019334747 Centerline is valid? [True, True] Translation: X:81.29, Y:-0.21, Z:-1.52 [[ 9.99708688e-01 -2.04239047e-02 -1.28609348e-02 8.12890869e+01] [ 2.04266012e-02 9.99791352e-01 7.83288675e-05 -2.06432187e-01] [ 1.28566516e-02 -3.41011234e-04 9.99917292e-01 -1.52380177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28800114499998 meters 0.06923104430994588 Centerline is valid? [True, True] Translation: X:81.32, Y:-0.20, Z:-1.53 [[ 9.99767467e-01 -1.73633824e-02 -1.27876534e-02 8.13194563e+01] [ 1.73657973e-02 9.99849200e-01 7.78228972e-05 -2.02904811e-01] [ 1.27843738e-02 -2.99872598e-04 9.99918232e-01 -1.52577667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31800114499998 meters 0.06823161501284605 Centerline is valid? [True, True] Translation: X:81.35, Y:-0.19, Z:-1.53 [[ 9.99847420e-01 -1.11373250e-02 -1.34571964e-02 8.13495884e+01] [ 1.11394383e-02 9.99937951e-01 8.20912305e-05 -1.92200722e-01] [ 1.34554471e-02 -2.31984314e-04 9.99909444e-01 -1.52757247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34800114499998 meters 0.06737501785618161 Centerline is valid? [True, True] Translation: X:81.38, Y:-0.19, Z:-1.52 [[ 9.99879364e-01 -8.30989860e-03 -1.31226196e-02 8.13802529e+01] [ 8.31166146e-03 9.99965454e-01 7.98043990e-05 -1.85390138e-01] [ 1.31215031e-02 -1.88865543e-04 9.99913892e-01 -1.52473943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37800114499998 meters 0.06744734214234731 Centerline is valid? [True, True] Translation: X:81.41, Y:-0.18, Z:-1.53 [[ 9.99904318e-01 -5.75831762e-03 -1.25776232e-02 8.14083334e+01] [ 5.75965484e-03 9.99983411e-01 7.00971616e-05 -1.81458868e-01] [ 1.25770109e-02 -1.42533223e-04 9.99920896e-01 -1.52768649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40800114499999 meters 0.06679294535526567 Centerline is valid? [True, True] Translation: X:81.44, Y:-0.17, Z:-1.53 [[ 9.99922534e-01 -1.66085256e-03 -1.23355961e-02 8.14370700e+01] [ 1.66179540e-03 9.99998617e-01 6.61831746e-05 -1.73532109e-01] [ 1.23354691e-02 -8.66772846e-05 9.99923911e-01 -1.52774442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43800114499999 meters 0.06656189263669517 Centerline is valid? [True, True] Translation: X:81.47, Y:-0.17, Z:-1.53 [[ 9.99937291e-01 -3.42051179e-04 -1.11936176e-02 8.14662517e+01] [ 3.42717935e-04 9.99999940e-01 5.76475726e-05 -1.70579631e-01] [ 1.11935972e-02 -6.14802111e-05 9.99937348e-01 -1.52675938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46800114499999 meters 0.06636516884243351 Centerline is valid? [True, True] Translation: X:81.49, Y:-0.17, Z:-1.53 [[ 9.99946133e-01 -4.68421045e-04 -1.03687811e-02 8.14946133e+01] [ 4.69014382e-04 9.99999889e-01 5.47918202e-05 -1.68647023e-01] [ 1.03687543e-02 -5.96519762e-05 9.99946241e-01 -1.52640488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49800114499999 meters 0.0664177099338487 Centerline is valid? [True, True] Translation: X:81.52, Y:-0.17, Z:-1.53 [[ 9.99945043e-01 -8.84723345e-04 -1.04464029e-02 8.15232164e+01] [ 8.85341664e-04 9.99999607e-01 5.45653643e-05 -1.66019615e-01] [ 1.04463505e-02 -6.38110013e-05 9.99945433e-01 -1.52648920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52800114499999 meters 0.06676395457009521 Centerline is valid? [True, True] Translation: X:81.55, Y:-0.16, Z:-1.53 [[ 9.99930392e-01 -3.31884586e-03 -1.13223448e-02 8.15508713e+01] [ 3.31971656e-03 9.99994488e-01 5.81069776e-05 -1.63854461e-01] [ 1.13220896e-02 -9.56899084e-05 9.99935899e-01 -1.52850238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55800114499999 meters 0.06745267811387742 Centerline is valid? [True, True] Translation: X:81.58, Y:-0.17, Z:-1.53 [[ 9.99911847e-01 -5.12597608e-03 -1.22483954e-02 8.15781028e+01] [ 5.12711514e-03 9.99986854e-01 6.15983000e-05 -1.66221792e-01] [ 1.22479187e-02 -1.24391804e-04 9.99924984e-01 -1.53287907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58800114499999 meters 0.06698527432164016 Centerline is valid? [True, True] Translation: X:81.61, Y:-0.17, Z:-1.53 [[ 9.99901029e-01 -7.26729929e-03 -1.20465030e-02 8.16067987e+01] [ 7.26855167e-03 9.99973582e-01 6.01829672e-05 -1.66077547e-01] [ 1.20457474e-02 -1.47737640e-04 9.99927436e-01 -1.52887885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61800114499998 meters 0.06724961745746047 Centerline is valid? [True, True] Translation: X:81.64, Y:-0.17, Z:-1.53 [[ 9.99885535e-01 -9.52920034e-03 -1.17521134e-02 8.16354987e+01] [ 9.53048519e-03 9.99954582e-01 5.33295093e-05 -1.67617101e-01] [ 1.17510715e-02 -1.65326748e-04 9.99930940e-01 -1.53075469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64800114499998 meters 0.06810826918184983 Centerline is valid? [True, True] Translation: X:81.66, Y:-0.17, Z:-1.53 [[ 9.99837970e-01 -1.29509641e-02 -1.25022408e-02 8.16648632e+01] [ 1.29527352e-02 9.99916108e-01 6.07001440e-05 -1.66791808e-01] [ 1.25004058e-02 -2.22628523e-04 9.99921842e-01 -1.53291422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67800114499998 meters 0.06832288198847271 Centerline is valid? [True, True] Translation: X:81.70, Y:-0.17, Z:-1.53 [[ 9.99822882e-01 -1.37492242e-02 -1.28515843e-02 8.16961721e+01] [ 1.37511738e-02 9.99905446e-01 6.33410683e-05 -1.65263319e-01] [ 1.28494983e-02 -2.40054218e-04 9.99917413e-01 -1.53389602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70800114499998 meters 0.06854671381544238 Centerline is valid? [True, True] Translation: X:81.73, Y:-0.16, Z:-1.54 [[ 9.99808888e-01 -1.38223157e-02 -1.38249885e-02 8.17278628e+01] [ 1.38245845e-02 9.99904434e-01 6.85458015e-05 -1.63755002e-01] [ 1.38227199e-02 -2.59657424e-04 9.99904428e-01 -1.53564908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73800114499998 meters 0.06854671381544238 Centerline is valid? [True, True] Translation: X:81.76, Y:-0.16, Z:-1.54 [[ 9.99809339e-01 -1.37897033e-02 -1.38249863e-02 8.17587346e+01] [ 1.37919752e-02 9.99904884e-01 6.89999416e-05 -1.63949106e-01] [ 1.38227198e-02 -2.59660654e-04 9.99904428e-01 -1.53615023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76800114499999 meters 0.06937140545127596 Centerline is valid? [True, True] Translation: X:81.79, Y:-0.16, Z:-1.54 [[ 9.99805141e-01 -1.34881347e-02 -1.44135654e-02 8.17888758e+01] [ 1.34905721e-02 9.99908996e-01 7.18818691e-05 -1.64959773e-01] [ 1.44112842e-02 -2.66315105e-04 9.99896117e-01 -1.54206025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79800114499999 meters 0.06850724118212591 Centerline is valid? [True, True] Translation: X:81.82, Y:-0.16, Z:-1.54 [[ 9.99816651e-01 -1.19462968e-02 -1.49649553e-02 8.18199745e+01] [ 1.19487626e-02 9.99928608e-01 7.53642471e-05 -1.58110729e-01] [ 1.49629866e-02 -2.54163127e-04 9.99888016e-01 -1.53937109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82800114499999 meters 0.06846245321036129 Centerline is valid? [True, True] Translation: X:81.85, Y:-0.15, Z:-1.54 [[ 9.99835450e-01 -1.06250421e-02 -1.47031021e-02 8.18495952e+01] [ 1.06272574e-02 9.99943526e-01 7.25430093e-05 -1.54559788e-01] [ 1.47015010e-02 -2.28784724e-04 9.99891901e-01 -1.54080516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85800114499999 meters 0.0681884969495056 Centerline is valid? [True, True] Translation: X:81.88, Y:-0.15, Z:-1.54 [[ 9.99847548e-01 -9.21086646e-03 -1.48337362e-02 8.18787365e+01] [ 9.21287757e-03 9.99957558e-01 6.72467831e-05 -1.50512576e-01] [ 1.48324873e-02 -2.03897927e-04 9.99889972e-01 -1.54161293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88800114499999 meters 0.06774068365999494 Centerline is valid? [True, True] Translation: X:81.91, Y:-0.14, Z:-1.54 [[ 9.99876592e-01 -4.66384339e-03 -1.50016572e-02 8.19062781e+01] [ 4.66540258e-03 9.99989115e-01 6.89399438e-05 -1.42355090e-01] [ 1.50011724e-02 -1.38920206e-04 9.99887466e-01 -1.54396742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91800114499999 meters 0.06722018409900911 Centerline is valid? [True, True] Translation: X:81.93, Y:-0.14, Z:-1.54 [[ 9.99883025e-01 -2.87388604e-03 -1.50225830e-02 8.19345620e+01] [ 2.87515814e-03 9.99995865e-01 6.30825304e-05 -1.37355716e-01] [ 1.50223396e-02 -1.06267453e-04 9.99887153e-01 -1.54181444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94800114499999 meters 0.06748550364519858 Centerline is valid? [True, True] Translation: X:81.96, Y:-0.13, Z:-1.54 [[ 9.99886808e-01 -8.06769590e-04 -1.50240073e-02 8.19620214e+01] [ 8.07826574e-04 9.99999672e-01 6.42843806e-05 -1.33525551e-01] [ 1.50239505e-02 -7.64138964e-05 9.99887131e-01 -1.54478676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.978001145 meters 0.06670584041151262 Centerline is valid? [True, True] Translation: X:81.99, Y:-0.13, Z:-1.54 [[ 9.99902604e-01 3.82379122e-04 -1.39512455e-02 8.19912746e+01] [-3.81658678e-04 9.99999926e-01 5.43024975e-05 -1.28971020e-01] [ 1.39512652e-02 -4.89725947e-05 9.99902675e-01 -1.53975153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00800114499998 meters 0.06712046663662873 Centerline is valid? [True, True] Translation: X:82.02, Y:-0.12, Z:-1.54 [[ 9.99895466e-01 2.79230496e-03 -1.41866032e-02 8.20180394e+01] [-2.79183031e-03 9.99996101e-01 5.32622962e-05 -1.23547801e-01] [ 1.41866967e-02 -1.36501395e-05 9.99899364e-01 -1.54351787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03800114499998 meters 0.06747589090178059 Centerline is valid? [True, True] Translation: X:82.05, Y:-0.12, Z:-1.55 [[ 9.99888395e-01 3.96730899e-03 -1.44033743e-02 8.20461408e+01] [-3.96693289e-03 9.99992130e-01 5.46819192e-05 -1.20915482e-01] [ 1.44034779e-02 2.46140263e-06 9.99896265e-01 -1.54713499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06800114499998 meters 0.0671018541487131 Centerline is valid? [True, True] Translation: X:82.08, Y:-0.12, Z:-1.55 [[ 9.99881388e-01 4.80807548e-03 -1.46318958e-02 8.20751913e+01] [-4.80778725e-03 9.99988441e-01 5.48742856e-05 -1.18763919e-01] [ 1.46319905e-02 1.54792654e-05 9.99892947e-01 -1.54556527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09800114499998 meters 0.06709504826264376 Centerline is valid? [True, True] Translation: X:82.10, Y:-0.12, Z:-1.55 [[ 9.99875771e-01 5.03316044e-03 -1.49368594e-02 8.21034552e+01] [-5.03290737e-03 9.99987333e-01 5.45324304e-05 -1.17140192e-01] [ 1.49369447e-02 2.06501739e-05 9.99888437e-01 -1.54579477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12800114499998 meters 0.06762149396606695 Centerline is valid? [True, True] Translation: X:82.13, Y:-0.12, Z:-1.55 [[ 9.99861147e-01 4.56483178e-03 -1.60265228e-02 8.21313403e+01] [-4.56449943e-03 9.99989581e-01 5.73164352e-05 -1.16056371e-01] [ 1.60266175e-02 1.58445775e-05 9.99871565e-01 -1.55078339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15800114499999 meters 0.06729755069371607 Centerline is valid? [True, True] Translation: X:82.16, Y:-0.12, Z:-1.55 [[ 9.99865061e-01 3.59973122e-03 -1.60281411e-02 8.21593642e+01] [-3.59930413e-03 9.99993521e-01 5.54929965e-05 -1.15944594e-01] [ 1.60282371e-02 2.20464624e-06 9.99871540e-01 -1.54904898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18800114499999 meters 0.0672750141467178 Centerline is valid? [True, True] Translation: X:82.19, Y:-0.12, Z:-1.55 [[ 9.99881272e-01 2.49339728e-03 -1.52061042e-02 8.21884972e+01] [-2.49296397e-03 9.99996891e-01 4.74507307e-05 -1.16027307e-01] [ 1.52061752e-02 -9.53682713e-06 9.99884379e-01 -1.54963650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21800114499999 meters 0.06720067251417244 Centerline is valid? [True, True] Translation: X:82.22, Y:-0.12, Z:-1.55 [[ 9.99890544e-01 1.44542862e-03 -1.47244748e-02 8.22172779e+01] [-1.44488907e-03 9.99998955e-01 4.72815080e-05 -1.15912461e-01] [ 1.47245277e-02 -2.60011001e-05 9.99891588e-01 -1.54985063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24800114499999 meters 0.06722883945211963 Centerline is valid? [True, True] Translation: X:82.25, Y:-0.12, Z:-1.55 [[ 9.99903532e-01 -1.33399774e-03 -1.38256148e-02 8.22454595e+01] [ 1.33471930e-03 9.99999108e-01 4.29634590e-05 -1.17341488e-01] [ 1.38255452e-02 -6.14126293e-05 9.99904421e-01 -1.55031113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27800114499999 meters 0.06745333439806611 Centerline is valid? [True, True] Translation: X:82.27, Y:-0.12, Z:-1.55 [[ 9.99900536e-01 -2.85393246e-03 -1.38120504e-02 8.22738801e+01] [ 2.85478914e-03 9.99995924e-01 4.23082474e-05 -1.18716495e-01] [ 1.38118734e-02 -8.17345307e-05 9.99904608e-01 -1.55216993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30800114499999 meters 0.0680230301487904 Centerline is valid? [True, True] Translation: X:82.30, Y:-0.12, Z:-1.55 [[ 9.99867871e-01 -7.23998491e-03 -1.45541771e-02 8.23013601e+01] [ 7.24138091e-03 9.99973780e-01 4.32205363e-05 -1.23179819e-01] [ 1.45534826e-02 -1.48607166e-04 9.99894081e-01 -1.55278219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33800114499999 meters 0.06796089948145928 Centerline is valid? [True, True] Translation: X:82.33, Y:-0.12, Z:-1.55 [[ 9.99857697e-01 -9.20798343e-03 -1.41350408e-02 8.23286958e+01] [ 9.20940091e-03 9.99957592e-01 3.51923259e-05 -1.24184260e-01] [ 1.41341173e-02 -1.65362575e-04 9.99900095e-01 -1.55132592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36800114499998 meters 0.06876398052213008 Centerline is valid? [True, True] Translation: X:82.36, Y:-0.13, Z:-1.56 [[ 9.99836926e-01 -1.09318548e-02 -1.43741663e-02 8.23567782e+01] [ 1.09335380e-02 9.99940226e-01 3.85129594e-05 -1.27931197e-01] [ 1.43728860e-02 -1.95667171e-04 9.99896686e-01 -1.55552807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39800114499998 meters 0.06904057284921226 Centerline is valid? [True, True] Translation: X:82.39, Y:-0.13, Z:-1.56 [[ 9.99831582e-01 -1.19312941e-02 -1.39445719e-02 8.23865484e+01] [ 1.19329740e-02 9.99928799e-01 3.72677964e-05 -1.31299647e-01] [ 1.39431343e-02 -2.03661733e-04 9.99902769e-01 -1.55785993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42800114499998 meters 0.06873242725854503 Centerline is valid? [True, True] Translation: X:82.42, Y:-0.13, Z:-1.56 [[ 9.99801368e-01 -1.36592140e-02 -1.45138068e-02 8.24173517e+01] [ 1.36612235e-02 9.99906680e-01 3.93159291e-05 -1.34114374e-01] [ 1.45119153e-02 -2.37584478e-04 9.99894668e-01 -1.55662266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45800114499998 meters 0.06894868742006728 Centerline is valid? [True, True] Translation: X:82.45, Y:-0.14, Z:-1.56 [[ 9.99784810e-01 -1.42480699e-02 -1.50773342e-02 8.24471500e+01] [ 1.42503054e-02 9.99898458e-01 4.08424482e-05 -1.35366051e-01] [ 1.50752213e-02 -2.55690276e-04 9.99886330e-01 -1.55831573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48800114499998 meters 0.06981869703151708 Centerline is valid? [True, True] Translation: X:82.48, Y:-0.14, Z:-1.56 [[ 9.99769874e-01 -1.48079466e-02 -1.55217215e-02 8.24774107e+01] [ 1.48103915e-02 9.99890319e-01 4.25681319e-05 -1.37886274e-01] [ 1.55193888e-02 -2.72441108e-04 9.99879530e-01 -1.56228162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51800114499999 meters 0.06893948306186919 Centerline is valid? [True, True] Translation: X:82.51, Y:-0.14, Z:-1.56 [[ 9.99795819e-01 -1.43031890e-02 -1.42737544e-02 8.25086278e+01] [ 1.43052158e-02 9.99897674e-01 3.98953956e-05 -1.35238407e-01] [ 1.42717232e-02 -2.44076387e-04 9.99898124e-01 -1.55750253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54800114499999 meters 0.06834455454430592 Centerline is valid? [True, True] Translation: X:82.54, Y:-0.13, Z:-1.56 [[ 9.99853388e-01 -9.97256462e-03 -1.39194142e-02 8.25390115e+01] [ 9.97407205e-03 9.99950257e-01 3.88800937e-05 -1.31282757e-01] [ 1.39183341e-02 -1.77707634e-04 9.99903120e-01 -1.55683942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57800114499999 meters 0.06801051865756434 Centerline is valid? [True, True] Translation: X:82.57, Y:-0.13, Z:-1.56 [[ 9.99872282e-01 -8.41830124e-03 -1.35849846e-02 8.25683337e+01] [ 8.41957711e-03 9.99964554e-01 3.67271146e-05 -1.30577696e-01] [ 1.35841939e-02 -1.51102250e-04 9.99907719e-01 -1.55651919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60800114499999 meters 0.06807863485940938 Centerline is valid? [True, True] Translation: X:82.60, Y:-0.13, Z:-1.56 [[ 9.99875698e-01 -7.79414743e-03 -1.37054810e-02 8.25964652e+01] [ 7.79537493e-03 9.99969615e-01 3.61414459e-05 -1.30861150e-01] [ 1.37047828e-02 -1.42976316e-04 9.99906075e-01 -1.55807825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63800114499999 meters 0.06810789668801552 Centerline is valid? [True, True] Translation: X:82.62, Y:-0.13, Z:-1.56 [[ 9.99877208e-01 -7.02037933e-03 -1.40101122e-02 8.26243328e+01] [ 7.02156361e-03 9.99975348e-01 3.53430383e-05 -1.32456949e-01] [ 1.40095187e-02 -1.33711593e-04 9.99901853e-01 -1.55914345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66800114499999 meters 0.06817724962460252 Centerline is valid? [True, True] Translation: X:82.65, Y:-0.13, Z:-1.56 [[ 9.99877603e-01 -7.45769455e-03 -1.37535845e-02 8.26513131e+01] [ 7.45882299e-03 9.99972182e-01 3.07531648e-05 -1.33656641e-01] [ 1.37529726e-02 -1.33334953e-04 9.99905415e-01 -1.56022487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69800114499999 meters 0.0677991056701349 Centerline is valid? [True, True] Translation: X:82.68, Y:-0.13, Z:-1.56 [[ 9.99889414e-01 -7.40885807e-03 -1.28945556e-02 8.26802014e+01] [ 7.40979558e-03 9.99972547e-01 2.49317153e-05 -1.34400068e-01] [ 1.28940169e-02 -1.20474979e-04 9.99916861e-01 -1.55903749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.728001145 meters 0.06788595337078507 Centerline is valid? [True, True] Translation: X:82.71, Y:-0.14, Z:-1.56 [[ 9.99905193e-01 -6.85946794e-03 -1.19395306e-02 8.27081130e+01] [ 6.86024614e-03 9.99976468e-01 2.42239561e-05 -1.35197315e-01] [ 1.19390834e-02 -1.06129778e-04 9.99928721e-01 -1.55967975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75800114499998 meters 0.06732310911893666 Centerline is valid? [True, True] Translation: X:82.74, Y:-0.13, Z:-1.56 [[ 9.99926999e-01 -5.55359011e-03 -1.07309999e-02 8.27372096e+01] [ 5.55409180e-03 9.99984576e-01 1.69503603e-05 -1.32521425e-01] [ 1.07307402e-02 -7.65500814e-05 9.99942421e-01 -1.55611218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78800114499998 meters 0.06675900488881087 Centerline is valid? [True, True] Translation: X:82.77, Y:-0.13, Z:-1.55 [[ 9.99943757e-01 -4.67239230e-03 -9.52111865e-03 8.27664943e+01] [ 4.67272512e-03 9.99989083e-01 1.27108604e-05 -1.30574886e-01] [ 9.52095532e-03 -5.71997159e-05 9.99954673e-01 -1.55150132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81800114499998 meters 0.06696373922147052 Centerline is valid? [True, True] Translation: X:82.79, Y:-0.13, Z:-1.55 [[ 9.99954530e-01 -4.30524748e-03 -8.50898316e-03 8.27943894e+01] [ 4.30550931e-03 9.99990731e-01 1.24533057e-05 -1.31070545e-01] [ 8.50885068e-03 -4.90882456e-05 9.99963798e-01 -1.55447747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84800114499998 meters 0.06657628728336284 Centerline is valid? [True, True] Translation: X:82.82, Y:-0.13, Z:-1.55 [[ 9.99962005e-01 -3.33910791e-03 -8.05221072e-03 8.28230601e+01] [ 3.33927661e-03 9.99994425e-01 7.50693602e-06 -1.29488131e-01] [ 8.05214076e-03 -3.43952097e-05 9.99967580e-01 -1.55044655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87800114499998 meters 0.06641641051494981 Centerline is valid? [True, True] Translation: X:82.85, Y:-0.13, Z:-1.55 [[ 9.99977158e-01 -6.43909176e-04 -6.72827192e-03 8.28523009e+01] [ 6.43953869e-04 9.99999793e-01 4.47624874e-06 -1.28891112e-01] [ 6.72826764e-03 -8.80884323e-06 9.99977365e-01 -1.55037560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90800114499999 meters 0.0662376347152059 Centerline is valid? [True, True] Translation: X:82.88, Y:-0.13, Z:-1.55 [[ 9.99975032e-01 4.06666894e-04 -7.05483955e-03 8.28797735e+01] [-4.06661399e-04 9.99999917e-01 2.21333461e-06 -1.28583998e-01] [ 7.05483986e-03 6.55651574e-07 9.99975114e-01 -1.55055082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93800114499999 meters 0.0661575761078914 Centerline is valid? [True, True] Translation: X:82.91, Y:-0.13, Z:-1.55 [[ 9.99978000e-01 1.83529342e-03 -6.37428530e-03 8.29088474e+01] [-1.83532626e-03 9.99998316e-01 6.97808456e-07 -1.27505790e-01] [ 6.37427584e-03 1.10011001e-05 9.99979684e-01 -1.55022609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96800114499999 meters 0.06606904575083908 Centerline is valid? [True, True] Translation: X:82.94, Y:-0.13, Z:-1.55 [[ 9.99980435e-01 2.89896895e-03 -5.54307250e-03 8.29379198e+01] [-2.89900009e-03 9.99995798e-01 2.41612779e-06 -1.26694242e-01] [ 5.54305622e-03 1.36532872e-05 9.99984637e-01 -1.54983310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99800114499999 meters 0.06615187812024281 Centerline is valid? [True, True] Translation: X:82.97, Y:-0.13, Z:-1.55 [[ 9.99984925e-01 3.21846786e-03 -4.44864789e-03 8.29652444e+01] [-3.21849471e-03 9.99994821e-01 1.12516856e-06 -1.28424805e-01] [ 4.44862847e-03 1.31927981e-05 9.99990105e-01 -1.55064350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02800114499999 meters 0.06601308115439 Centerline is valid? [True, True] Translation: X:82.99, Y:-0.13, Z:-1.55 [[ 9.99989039e-01 3.04106127e-03 -3.56016003e-03 8.29939045e+01] [-3.04107813e-03 9.99995376e-01 6.78856678e-07 -1.30496531e-01] [ 3.56014563e-03 1.01478756e-05 9.99993663e-01 -1.54876080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05800114499999 meters 0.06598367512889855 Centerline is valid? [True, True] Translation: X:83.02, Y:-0.13, Z:-1.55 [[ 9.99989209e-01 2.21318262e-03 -4.08447714e-03 8.30212260e+01] [-2.21319995e-03 9.99997551e-01 2.76578577e-07 -1.32353338e-01] [ 4.08446775e-03 8.76318902e-06 9.99991658e-01 -1.54907178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08800114499999 meters 0.0659314242652601 Centerline is valid? [True, True] Translation: X:83.05, Y:-0.14, Z:-1.55 [[ 9.99994194e-01 7.13737046e-04 -3.33198582e-03 8.30498351e+01] [-7.13740924e-04 9.99999745e-01 2.52464604e-08 -1.38193486e-01] [ 3.33198499e-03 2.35292832e-06 9.99994449e-01 -1.54696444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11800114499998 meters 0.06585666661204882 Centerline is valid? [True, True] Translation: X:83.08, Y:-0.14, Z:-1.55 [[ 9.99995948e-01 6.23253135e-04 -2.77772539e-03 8.30782318e+01] [-6.23256430e-04 9.99999806e-01 -3.20615450e-07 -1.41256095e-01] [ 2.77772465e-03 2.05184936e-06 9.99996142e-01 -1.54824243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14800114499998 meters 0.06594944650698001 Centerline is valid? [True, True] Translation: X:83.11, Y:-0.14, Z:-1.55 [[ 9.99993773e-01 -4.67125367e-05 -3.52876997e-03 8.31063191e+01] [ 4.67116192e-05 9.99999999e-01 -3.42405686e-07 -1.43778401e-01] [ 3.52876998e-03 1.77568995e-07 9.99993774e-01 -1.54962164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17800114499998 meters 0.06580433762506337 Centerline is valid? [True, True] Translation: X:83.14, Y:-0.15, Z:-1.55 [[ 9.99992447e-01 -4.61129331e-04 -3.85928271e-03 8.31350525e+01] [ 4.61130720e-04 9.99999894e-01 -5.29846883e-07 -1.45427856e-01] [ 3.85928254e-03 -1.24979093e-06 9.99992553e-01 -1.55005120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20800114499998 meters 0.06588843260303101 Centerline is valid? [True, True] Translation: X:83.16, Y:-0.15, Z:-1.55 [[ 9.99987313e-01 -2.11847168e-04 -5.03269410e-03 8.31634475e+01] [ 2.11848132e-04 9.99999978e-01 -3.41576152e-07 -1.47802777e-01] [ 5.03269406e-03 -7.24595026e-07 9.99987336e-01 -1.55140530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23800114499998 meters 0.06593305438294034 Centerline is valid? [True, True] Translation: X:83.19, Y:-0.15, Z:-1.55 [[ 9.99986681e-01 -3.01719248e-04 -5.15237632e-03 8.31924079e+01] [ 3.01718590e-04 9.99999954e-01 -9.04967689e-07 -1.49776549e-01] [ 5.15237636e-03 -6.49612082e-07 9.99986726e-01 -1.55288762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26800114499999 meters 0.0660097043787068 Centerline is valid? [True, True] Translation: X:83.22, Y:-0.15, Z:-1.55 [[ 9.99979854e-01 -2.77606505e-04 -6.34154894e-03 8.32216274e+01] [ 2.77603942e-04 9.99999961e-01 -1.28432048e-06 -1.52147092e-01] [ 6.34154905e-03 -4.76144385e-07 9.99979892e-01 -1.55346940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29800114499999 meters 0.06603387339291718 Centerline is valid? [True, True] Translation: X:83.25, Y:-0.16, Z:-1.56 [[ 9.99979201e-01 -8.83485130e-04 -6.38879017e-03 8.32495926e+01] [ 8.83490277e-04 9.99999610e-01 -2.01654508e-06 -1.57755524e-01] [ 6.38878946e-03 -3.62793086e-06 9.99979591e-01 -1.55576387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32800114499999 meters 0.06598013228487758 Centerline is valid? [True, True] Translation: X:83.28, Y:-0.16, Z:-1.56 [[ 9.99978441e-01 -1.44766955e-03 -6.40477375e-03 8.32774950e+01] [ 1.44768096e-03 9.99998952e-01 -2.85484341e-06 -1.60339270e-01] [ 6.40477117e-03 -6.41728715e-06 9.99979489e-01 -1.55643793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35800114499999 meters 0.06588963276942196 Centerline is valid? [True, True] Translation: X:83.31, Y:-0.16, Z:-1.56 [[ 9.99974798e-01 -2.28594238e-03 -6.72142812e-03 8.33064963e+01] [ 2.28597464e-03 9.99997387e-01 -2.88223947e-06 -1.62775197e-01] [ 6.72141715e-03 -1.24828474e-05 9.99977411e-01 -1.55595601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38800114499999 meters 0.06580065847529615 Centerline is valid? [True, True] Translation: X:83.34, Y:-0.17, Z:-1.56 [[ 9.99965951e-01 -4.44857270e-03 -6.95036048e-03 8.33354639e+01] [ 4.44865656e-03 9.99990105e-01 -3.39544947e-06 -1.68161638e-01] [ 6.95030681e-03 -2.75244328e-05 9.99975846e-01 -1.55504733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41800114499999 meters 0.06583315966165314 Centerline is valid? [True, True] Translation: X:83.37, Y:-0.17, Z:-1.55 [[ 9.99957873e-01 -6.10489414e-03 -6.85436158e-03 8.33653968e+01] [ 6.10501664e-03 9.99981364e-01 -3.05102169e-06 -1.71302837e-01] [ 6.85425247e-03 -3.87950984e-05 9.99976509e-01 -1.55489458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44800114499999 meters 0.06583915894738808 Centerline is valid? [True, True] Translation: X:83.40, Y:-0.18, Z:-1.56 [[ 9.99948693e-01 -7.26289193e-03 -7.06125421e-03 8.33957686e+01] [ 7.26305455e-03 9.99973624e-01 -2.61338660e-06 -1.75001918e-01] [ 7.06108694e-03 -4.86730220e-05 9.99975069e-01 -1.55530196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.478001145 meters 0.0662195596137227 Centerline is valid? [True, True] Translation: X:83.43, Y:-0.18, Z:-1.56 [[ 9.99929781e-01 -1.02671719e-02 -5.91768864e-03 8.34265714e+01] [ 1.02673408e-02 9.99947289e-01 -1.84164054e-06 -1.84820399e-01] [ 5.91739562e-03 -5.89174147e-05 9.99982490e-01 -1.55644055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50800114499998 meters 0.0663007577076002 Centerline is valid? [True, True] Translation: X:83.46, Y:-0.19, Z:-1.56 [[ 9.99910853e-01 -1.23730641e-02 -5.01933291e-03 8.34584304e+01] [ 1.23732177e-02 9.99923449e-01 -4.43353411e-07 -1.89618470e-01] [ 5.01895416e-03 -6.16619850e-05 9.99987403e-01 -1.55655990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53800114499998 meters 0.06631568258441031 Centerline is valid? [True, True] Translation: X:83.49, Y:-0.19, Z:-1.56 [[ 9.99901264e-01 -1.33038354e-02 -4.52447181e-03 8.34911218e+01] [ 1.33039715e-02 9.99911498e-01 -1.26780418e-08 -1.92996675e-01] [ 4.52407155e-03 -6.01807672e-05 9.99989765e-01 -1.55616126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56800114499998 meters 0.06655907129473705 Centerline is valid? [True, True] Translation: X:83.52, Y:-0.20, Z:-1.56 [[ 9.99880433e-01 -1.48904236e-02 -4.17084129e-03 8.35230788e+01] [ 1.48905545e-02 9.99889130e-01 3.27889678e-07 -1.96016651e-01] [ 4.17037399e-03 -6.24339899e-05 9.99991302e-01 -1.55607934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59800114499998 meters 0.06662335696678809 Centerline is valid? [True, True] Translation: X:83.56, Y:-0.20, Z:-1.56 [[ 9.99853929e-01 -1.65084376e-02 -4.42635845e-03 8.35557270e+01] [ 1.65086019e-02 9.99863724e-01 5.89434125e-07 -2.01370026e-01] [ 4.42574551e-03 -7.36623375e-05 9.99990204e-01 -1.55563655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62800114499998 meters 0.06662335696678809 Centerline is valid? [True, True] Translation: X:83.59, Y:-0.20, Z:-1.56 [[ 9.99855518e-01 -1.64119114e-02 -4.42635845e-03 8.35883013e+01] [ 1.64120790e-02 9.99865313e-01 1.54457520e-06 -2.01486969e-01] [ 4.42573693e-03 -7.41900966e-05 9.99990204e-01 -1.55616505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65800114499999 meters 0.06692538312090654 Centerline is valid? [True, True] Translation: X:83.62, Y:-0.21, Z:-1.56 [[ 9.99854119e-01 -1.66728025e-02 -3.70925683e-03 8.36196402e+01] [ 1.66729261e-02 9.99860997e-01 2.37952119e-06 -2.05553709e-01] [ 3.70870156e-03 -6.42233389e-05 9.99993121e-01 -1.55835398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68800114499999 meters 0.06694077275726194 Centerline is valid? [True, True] Translation: X:83.65, Y:-0.21, Z:-1.56 [[ 9.99846758e-01 -1.69098213e-02 -4.52967422e-03 8.36508715e+01] [ 1.69100015e-02 9.99857016e-01 1.48902356e-06 -2.09207252e-01] [ 4.52900137e-03 -7.80855935e-05 9.99989741e-01 -1.55882096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71800114499999 meters 0.06687122360814678 Centerline is valid? [True, True] Translation: X:83.68, Y:-0.21, Z:-1.56 [[ 9.99842809e-01 -1.71989087e-02 -4.30744368e-03 8.36835924e+01] [ 1.71990796e-02 9.99852085e-01 2.62925315e-06 -2.11748280e-01] [ 4.30676133e-03 -7.67129067e-05 9.99990723e-01 -1.55863282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74800114499999 meters 0.06636748292091438 Centerline is valid? [True, True] Translation: X:83.72, Y:-0.21, Z:-1.56 [[ 9.99862476e-01 -1.61525877e-02 -3.75807933e-03 8.37156684e+01] [ 1.61527102e-02 9.99869536e-01 2.24484378e-06 -2.13838106e-01] [ 3.75755278e-03 -6.29477016e-05 9.99992938e-01 -1.55731618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77800114499999 meters 0.06617223278008494 Centerline is valid? [True, True] Translation: X:83.75, Y:-0.21, Z:-1.56 [[ 9.99884217e-01 -1.48699942e-02 -3.23054020e-03 8.37470477e+01] [ 1.48700781e-02 9.99889434e-01 1.95823717e-06 -2.14675684e-01] [ 3.23015389e-03 -4.99963954e-05 9.99994782e-01 -1.55724745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80800114499999 meters 0.06548623591447822 Centerline is valid? [True, True] Translation: X:83.78, Y:-0.21, Z:-1.56 [[ 9.99912798e-01 -1.29214336e-02 -2.72621689e-03 8.37793645e+01] [ 1.29214878e-02 9.99916514e-01 2.25146374e-06 -2.13223521e-01] [ 2.72596020e-03 -3.74780456e-05 9.99996284e-01 -1.55503098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83800114499999 meters 0.06540976388005391 Centerline is valid? [True, True] Translation: X:83.81, Y:-0.21, Z:-1.56 [[ 9.99930741e-01 -1.14930941e-02 -2.53428130e-03 8.38113857e+01] [ 1.14931370e-02 9.99933952e-01 2.33578863e-06 -2.13805630e-01] [ 2.53408707e-03 -3.14624689e-05 9.99996789e-01 -1.55592057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86800114499998 meters 0.06520157573139888 Centerline is valid? [True, True] Translation: X:83.84, Y:-0.22, Z:-1.56 [[ 9.99961059e-01 -7.82566239e-03 -4.07921318e-03 8.38424866e+01] [ 7.82574493e-03 9.99969378e-01 4.27339772e-06 -2.15263763e-01] [ 4.07905483e-03 -3.61961132e-05 9.99991680e-01 -1.55763158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89800114499998 meters 0.06496869535909375 Centerline is valid? [True, True] Translation: X:83.87, Y:-0.22, Z:-1.56 [[ 9.99971016e-01 -6.58355004e-03 -3.82415196e-03 8.38742597e+01] [ 6.58361199e-03 9.99978328e-01 3.61043298e-06 -2.16514192e-01] [ 3.82404531e-03 -2.87870610e-05 9.99992688e-01 -1.55812882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92800114499998 meters 0.06493279571466536 Centerline is valid? [True, True] Translation: X:83.91, Y:-0.22, Z:-1.56 [[ 9.99970474e-01 -5.83240425e-03 -5.00348479e-03 8.39051232e+01] [ 5.83250425e-03 9.99982991e-01 5.39456055e-06 -2.18511146e-01] [ 5.00336822e-03 -3.45772476e-05 9.99987482e-01 -1.55842228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95800114499998 meters 0.06473725800353093 Centerline is valid? [True, True] Translation: X:83.94, Y:-0.22, Z:-1.56 [[ 9.99972735e-01 -5.41728314e-03 -5.01815075e-03 8.39368281e+01] [ 5.41737415e-03 9.99985326e-01 4.54507238e-06 -2.18586860e-01] [ 5.01805250e-03 -3.17301487e-05 9.99987409e-01 -1.55734265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98800114499998 meters 0.06495493641083191 Centerline is valid? [True, True] Translation: X:83.97, Y:-0.22, Z:-1.56 [[ 9.99968026e-01 -5.30235883e-03 -5.98600588e-03 8.39674966e+01] [ 5.30249756e-03 9.99985942e-01 7.30587770e-06 -2.20284039e-01] [ 5.98588299e-03 -3.90464257e-05 9.99982084e-01 -1.55999176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01800114499999 meters 0.06492458013219073 Centerline is valid? [True, True] Translation: X:84.00, Y:-0.22, Z:-1.56 [[ 9.99956203e-01 -6.25758099e-03 -6.95949764e-03 8.39974858e+01] [ 6.25777422e-03 9.99980420e-01 5.99020389e-06 -2.23466465e-01] [ 6.95932389e-03 -4.95409065e-05 9.99975782e-01 -1.56067590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04800114499999 meters 0.0649929489777985 Centerline is valid? [True, True] Translation: X:84.03, Y:-0.23, Z:-1.56 [[ 9.99943419e-01 -8.29508845e-03 -6.65954004e-03 8.40282292e+01] [ 8.29531222e-03 9.99965593e-01 5.98007189e-06 -2.30524332e-01] [ 6.65926130e-03 -6.12226974e-05 9.99977825e-01 -1.56103283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07800114499999 meters 0.06507745767155237 Centerline is valid? [True, True] Translation: X:84.06, Y:-0.23, Z:-1.56 [[ 9.99938351e-01 -9.37787431e-03 -5.94557854e-03 8.40593890e+01] [ 9.37807826e-03 9.99956025e-01 6.42412522e-06 -2.33350994e-01] [ 5.94525684e-03 -6.21818300e-05 9.99982325e-01 -1.56168198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10800114499999 meters 0.06507571654233987 Centerline is valid? [True, True] Translation: X:84.09, Y:-0.24, Z:-1.56 [[ 9.99927439e-01 -1.09152938e-02 -5.09637468e-03 8.40912928e+01] [ 1.09154671e-02 9.99940424e-01 6.19109501e-06 -2.35920083e-01] [ 5.09600349e-03 -6.18199561e-05 9.99987013e-01 -1.56029049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13800114499999 meters 0.06530152947372189 Centerline is valid? [True, True] Translation: X:84.12, Y:-0.24, Z:-1.56 [[ 9.99909103e-01 -1.28696964e-02 -4.01957180e-03 8.41238425e+01] [ 1.28698219e-02 9.99917180e-01 5.35244532e-06 -2.40087776e-01] [ 4.01917001e-03 -5.70831318e-05 9.99991921e-01 -1.56022220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16800114499999 meters 0.06531271480801962 Centerline is valid? [True, True] Translation: X:84.16, Y:-0.24, Z:-1.56 [[ 9.99898100e-01 -1.33444952e-02 -5.07098744e-03 8.41557804e+01] [ 1.33447012e-02 9.99910955e-01 6.80474358e-06 -2.42308135e-01] [ 5.07044509e-03 -7.44748625e-05 9.99987142e-01 -1.56032646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19800114499999 meters 0.06525954301313927 Centerline is valid? [True, True] Translation: X:84.19, Y:-0.24, Z:-1.56 [[ 9.99887612e-01 -1.38246773e-02 -5.80011472e-03 8.41881110e+01] [ 1.38249562e-02 9.99904431e-01 7.99412546e-06 -2.43983106e-01] [ 5.79944989e-03 -8.81795591e-05 9.99983179e-01 -1.56077434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.228001145 meters 0.06542566859127054 Centerline is valid? [True, True] Translation: X:84.22, Y:-0.25, Z:-1.56 [[ 9.99896344e-01 -1.35545565e-02 -4.85547852e-03 8.42197623e+01] [ 1.35547510e-02 9.99908130e-01 7.15026558e-06 -2.48415168e-01] [ 4.85493553e-03 -7.29643267e-05 9.99988212e-01 -1.56190573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25800114499998 meters 0.06507950459120092 Centerline is valid? [True, True] Translation: X:84.25, Y:-0.25, Z:-1.56 [[ 9.99909214e-01 -1.29555116e-02 -3.70396831e-03 8.42518992e+01] [ 1.29556226e-02 9.99916072e-01 5.96774156e-06 -2.48641952e-01] [ 3.70358013e-03 -5.39544154e-05 9.99993140e-01 -1.55988289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28800114499998 meters 0.06493295409935107 Centerline is valid? [True, True] Translation: X:84.28, Y:-0.25, Z:-1.56 [[ 9.99909283e-01 -1.29698802e-02 -3.63414820e-03 8.42843567e+01] [ 1.29699880e-02 9.99915886e-01 6.10066651e-06 -2.49110584e-01] [ 3.63376340e-03 -5.32349718e-05 9.99993396e-01 -1.55968030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31800114499998 meters 0.06506952077741941 Centerline is valid? [True, True] Translation: X:84.32, Y:-0.25, Z:-1.56 [[ 9.99917524e-01 -1.23429348e-02 -3.54918295e-03 8.43159206e+01] [ 1.23430334e-02 9.99923822e-01 5.88170735e-06 -2.50922750e-01] [ 3.54883998e-03 -4.96889061e-05 9.99993702e-01 -1.56171061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34800114499998 meters 0.06483949249661292 Centerline is valid? [True, True] Translation: X:84.35, Y:-0.25, Z:-1.56 [[ 9.99929318e-01 -1.14724798e-02 -3.12121362e-03 8.43478025e+01] [ 1.14725536e-02 9.99934188e-01 5.72303631e-06 -2.51859755e-01] [ 3.12094254e-03 -4.15309223e-05 9.99995129e-01 -1.55994592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37800114499998 meters 0.06461598253721482 Centerline is valid? [True, True] Translation: X:84.38, Y:-0.25, Z:-1.56 [[ 9.99928792e-01 -1.14419428e-02 -3.39007868e-03 8.43796574e+01] [ 1.14420301e-02 9.99934538e-01 6.35000591e-06 -2.52640008e-01] [ 3.38978410e-03 -4.51389358e-05 9.99994254e-01 -1.56012528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40800114499999 meters 0.06467164418295378 Centerline is valid? [True, True] Translation: X:84.41, Y:-0.25, Z:-1.56 [[ 9.99934077e-01 -1.09087716e-02 -3.58344019e-03 8.44122016e+01] [ 1.09088663e-02 9.99940497e-01 6.86976765e-06 -2.53457650e-01] [ 3.58315202e-03 -4.59605847e-05 9.99993579e-01 -1.56102694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43800114499999 meters 0.06461605509763692 Centerline is valid? [True, True] Translation: X:84.44, Y:-0.25, Z:-1.56 [[ 9.99924565e-01 -1.13381368e-02 -4.72342409e-03 8.44439893e+01] [ 1.13383059e-02 9.99935719e-01 9.03363307e-06 -2.54857932e-01] [ 4.72301804e-03 -6.25885790e-05 9.99988845e-01 -1.56236807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46800114499999 meters 0.06474299248128165 Centerline is valid? [True, True] Translation: X:84.48, Y:-0.26, Z:-1.56 [[ 9.99914256e-01 -1.21149087e-02 -4.97081328e-03 8.44764575e+01] [ 1.21151070e-02 9.99926609e-01 9.78018645e-06 -2.55813386e-01] [ 4.97032999e-03 -7.00012826e-05 9.99987645e-01 -1.56239644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49800114499999 meters 0.06474394380880333 Centerline is valid? [True, True] Translation: X:84.51, Y:-0.26, Z:-1.56 [[ 9.99898206e-01 -1.36109465e-02 -4.28022103e-03 8.45084508e+01] [ 1.36111090e-02 9.99907365e-01 8.83229769e-06 -2.57799502e-01] [ 4.27970432e-03 -6.70899536e-05 9.99990840e-01 -1.56295132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52800114499999 meters 0.0651560228712843 Centerline is valid? [True, True] Translation: X:84.54, Y:-0.26, Z:-1.56 [[ 9.99875117e-01 -1.50667267e-02 -4.76898810e-03 8.45398844e+01] [ 1.50669443e-02 9.99886487e-01 9.68680253e-06 -2.61001329e-01] [ 4.76830081e-03 -8.15396707e-05 9.99988628e-01 -1.56482419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55800114499999 meters 0.06515557900258113 Centerline is valid? [True, True] Translation: X:84.57, Y:-0.27, Z:-1.57 [[ 9.99816069e-01 -1.85598268e-02 -4.83341498e-03 8.45724159e+01] [ 1.85600938e-02 9.99827747e-01 1.03793994e-05 -2.65153491e-01] [ 4.83238977e-03 -1.00086126e-04 9.99988319e-01 -1.56552819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58800114499999 meters 0.06563115277555691 Centerline is valid? [True, True] Translation: X:84.60, Y:-0.27, Z:-1.57 [[ 9.99786708e-01 -2.01514306e-02 -4.52313097e-03 8.46030288e+01] [ 2.01516792e-02 9.99796934e-01 9.40087913e-06 -2.68800131e-01] [ 4.52202304e-03 -1.00547558e-04 9.99989771e-01 -1.56739798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61800114499998 meters 0.06567367871101237 Centerline is valid? [True, True] Translation: X:84.64, Y:-0.27, Z:-1.57 [[ 9.99751858e-01 -2.18236773e-02 -4.46656837e-03 8.46350678e+01] [ 2.18239401e-02 9.99761829e-01 1.01073371e-05 -2.69652156e-01] [ 4.46528399e-03 -1.07582950e-04 9.99990025e-01 -1.56638275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64800114499998 meters 0.06578555743966658 Centerline is valid? [True, True] Translation: X:84.67, Y:-0.27, Z:-1.57 [[ 9.99710828e-01 -2.37705135e-02 -3.63642854e-03 8.46663729e+01] [ 2.37707009e-02 9.99717437e-01 8.33073966e-06 -2.72443795e-01] [ 3.63520299e-03 -9.47687858e-05 9.99993388e-01 -1.56685929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67800114499998 meters 0.06617552763043537 Centerline is valid? [True, True] Translation: X:84.70, Y:-0.27, Z:-1.57 [[ 9.99691869e-01 -2.45242346e-02 -3.83772905e-03 8.46983533e+01] [ 2.45244507e-02 9.99699230e-01 9.24646700e-06 -2.73711674e-01] [ 3.83634801e-03 -1.03361815e-04 9.99992636e-01 -1.56761617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70800114499998 meters 0.06638069733751518 Centerline is valid? [True, True] Translation: X:84.73, Y:-0.28, Z:-1.57 [[ 9.99670526e-01 -2.53822309e-02 -3.81873730e-03 8.47297113e+01] [ 2.53824563e-02 9.99677814e-01 1.05801779e-05 -2.76160129e-01] [ 3.81723840e-03 -1.07505625e-04 9.99992709e-01 -1.56876625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73800114499998 meters 0.06630380543111977 Centerline is valid? [True, True] Translation: X:84.76, Y:-0.28, Z:-1.57 [[ 9.99662355e-01 -2.57178315e-02 -3.71076473e-03 8.47616105e+01] [ 2.57180443e-02 9.99669236e-01 9.64887882e-06 -2.76736425e-01] [ 3.70928919e-03 -1.05079233e-04 9.99993115e-01 -1.56909647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76800114499999 meters 0.06643811944998615 Centerline is valid? [True, True] Translation: X:84.79, Y:-0.28, Z:-1.57 [[ 9.99674959e-01 -2.52250834e-02 -3.69763320e-03 8.47925348e+01] [ 2.52252911e-02 9.99681792e-01 9.52998470e-06 -2.76928204e-01] [ 3.69621618e-03 -1.02800761e-04 9.99993164e-01 -1.57024610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79800114499999 meters 0.06659399042199125 Centerline is valid? [True, True] Translation: X:84.82, Y:-0.28, Z:-1.57 [[ 9.99668024e-01 -2.53349245e-02 -4.68853999e-03 8.48244789e+01] [ 2.53352612e-02 9.99679011e-01 1.24137660e-05 -2.77100184e-01] [ 4.68672052e-03 -1.31195030e-04 9.99989009e-01 -1.57173109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82800114499999 meters 0.06695440735151295 Centerline is valid? [True, True] Translation: X:84.86, Y:-0.28, Z:-1.57 [[ 9.99654627e-01 -2.58455313e-02 -4.75773091e-03 8.48556122e+01] [ 2.58458906e-02 9.99665939e-01 1.40437806e-05 -2.78586310e-01] [ 4.75577857e-03 -1.37006723e-04 9.99988682e-01 -1.57384244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85800114499999 meters 0.06755734401804198 Centerline is valid? [True, True] Translation: X:84.89, Y:-0.28, Z:-1.58 [[ 9.99596466e-01 -2.75855707e-02 -6.77794409e-03 8.48861004e+01] [ 2.75863262e-02 9.99619425e-01 1.79885017e-05 -2.80573339e-01] [ 6.77486835e-03 -2.04959819e-04 9.99977029e-01 -1.57676602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88800114499999 meters 0.06791979164648068 Centerline is valid? [True, True] Translation: X:84.92, Y:-0.28, Z:-1.58 [[ 9.99565276e-01 -2.85414199e-02 -7.39233299e-03 8.49185294e+01] [ 2.85423514e-02 9.99592584e-01 2.05182586e-05 -2.80882203e-01] [ 7.38873562e-03 -2.31503905e-04 9.99972676e-01 -1.57804072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91800114499999 meters 0.06850166226548489 Centerline is valid? [True, True] Translation: X:84.95, Y:-0.28, Z:-1.58 [[ 9.99535448e-01 -2.96137820e-02 -7.20497752e-03 8.49498398e+01] [ 2.96146955e-02 9.99561389e-01 2.00974632e-05 -2.81855611e-01] [ 7.20122217e-03 -2.33461342e-04 9.99974044e-01 -1.58061386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94800114499999 meters 0.0686540141535882 Centerline is valid? [True, True] Translation: X:84.98, Y:-0.28, Z:-1.58 [[ 9.99534468e-01 -2.96063255e-02 -7.36972086e-03 8.49824109e+01] [ 2.96072859e-02 9.99561608e-01 2.12235732e-05 -2.82814059e-01] [ 7.36586168e-03 -2.39411125e-04 9.99972843e-01 -1.58228874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97800114499998 meters 0.06889496219854187 Centerline is valid? [True, True] Translation: X:85.01, Y:-0.28, Z:-1.58 [[ 9.99525594e-01 -2.96873261e-02 -8.20058113e-03 8.50143721e+01] [ 2.96885211e-02 9.99559198e-01 2.39927090e-05 -2.83383327e-01] [ 8.19625402e-03 -2.67444452e-04 9.99966374e-01 -1.58370114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00800114499998 meters 0.06915320413094715 Centerline is valid? [True, True] Translation: X:85.05, Y:-0.28, Z:-1.59 [[ 9.99508600e-01 -3.02254118e-02 -8.30555989e-03 8.50452620e+01] [ 3.02266570e-02 9.99543070e-01 2.44143846e-05 -2.83178147e-01] [ 8.30102689e-03 -2.75451698e-04 9.99965508e-01 -1.58502066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03800114499998 meters 0.06963445212219847 Centerline is valid? [True, True] Translation: X:85.08, Y:-0.28, Z:-1.59 [[ 9.99486559e-01 -3.07821032e-02 -8.89267903e-03 8.50768844e+01] [ 3.07835558e-02 9.99526074e-01 2.64781663e-05 -2.80292733e-01] [ 8.88764950e-03 -3.00212852e-04 9.99960459e-01 -1.58501200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06800114499998 meters 0.06980087191667944 Centerline is valid? [True, True] Translation: X:85.11, Y:-0.28, Z:-1.59 [[ 9.99484781e-01 -3.07425255e-02 -9.22329900e-03 8.51086951e+01] [ 3.07440932e-02 9.99527288e-01 2.82113402e-05 -2.78852173e-01] [ 9.21807175e-03 -3.11758770e-04 9.99957464e-01 -1.58535072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09800114499998 meters 0.06969959475370222 Centerline is valid? [True, True] Translation: X:85.14, Y:-0.28, Z:-1.59 [[ 9.99517979e-01 -2.99657247e-02 -8.11573459e-03 8.51406494e+01] [ 2.99669177e-02 9.99550891e-01 2.54063837e-05 -2.76984294e-01] [ 8.11132842e-03 -2.68597688e-04 9.99967067e-01 -1.58628396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12800114499998 meters 0.06963212723830908 Centerline is valid? [True, True] Translation: X:85.17, Y:-0.28, Z:-1.59 [[ 9.99587785e-01 -2.75945904e-02 -7.92461883e-03 8.51715146e+01] [ 2.75956544e-02 9.99619167e-01 2.49356635e-05 -2.76679273e-01] [ 7.92091278e-03 -2.43610427e-04 9.99968599e-01 -1.58938947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15800114499999 meters 0.06920317325874763 Centerline is valid? [True, True] Translation: X:85.20, Y:-0.28, Z:-1.59 [[ 9.99629753e-01 -2.61882619e-02 -7.38454006e-03 8.52043085e+01] [ 2.61891552e-02 9.99657005e-01 2.42810322e-05 -2.75711475e-01] [ 7.38137132e-03 -2.17666908e-04 9.99972734e-01 -1.59007218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18800114499999 meters 0.06876132914401664 Centerline is valid? [True, True] Translation: X:85.24, Y:-0.27, Z:-1.59 [[ 9.99644462e-01 -2.56798549e-02 -7.17601234e-03 8.52365228e+01] [ 2.56806869e-02 9.99670196e-01 2.38130337e-05 -2.72438423e-01] [ 7.17303415e-03 -2.08089494e-04 9.99974252e-01 -1.58985932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21800114499999 meters 0.06838524383659772 Centerline is valid? [True, True] Translation: X:85.27, Y:-0.27, Z:-1.59 [[ 9.99706135e-01 -2.31168515e-02 -7.29761700e-03 8.52670529e+01] [ 2.31176416e-02 9.99732751e-01 2.39293772e-05 -2.65760204e-01] [ 7.29511355e-03 -1.92626040e-04 9.99973372e-01 -1.58939357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24800114499999 meters 0.068205242200034 Centerline is valid? [True, True] Translation: X:85.30, Y:-0.26, Z:-1.59 [[ 9.99724875e-01 -2.22529549e-02 -7.41483341e-03 8.52989777e+01] [ 2.22537533e-02 9.99752354e-01 2.51763761e-05 -2.63114073e-01] [ 7.41243691e-03 -1.90177323e-04 9.99972509e-01 -1.58962813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27800114499999 meters 0.06788940327298865 Centerline is valid? [True, True] Translation: X:85.33, Y:-0.26, Z:-1.59 [[ 9.99765127e-01 -2.06056892e-02 -6.71535746e-03 8.53312836e+01] [ 2.06063100e-02 9.99787667e-01 2.32557184e-05 -2.61540723e-01] [ 6.71345236e-03 -1.61628994e-04 9.99977451e-01 -1.59023309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30800114499999 meters 0.06807482239113653 Centerline is valid? [True, True] Translation: X:85.36, Y:-0.26, Z:-1.59 [[ 9.99778921e-01 -1.97572369e-02 -7.19443350e-03 8.53625227e+01] [ 1.97579275e-02 9.99804793e-01 2.49219687e-05 -2.61870584e-01] [ 7.19253670e-03 -1.67063554e-04 9.99974119e-01 -1.59258649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33800114499999 meters 0.06812099174803508 Centerline is valid? [True, True] Translation: X:85.39, Y:-0.26, Z:-1.60 [[ 9.99792661e-01 -1.87061885e-02 -8.04449835e-03 8.53947820e+01] [ 1.87070254e-02 9.99825008e-01 2.87876420e-05 -2.61420777e-01] [ 8.04255212e-03 -1.79270308e-04 9.99967642e-01 -1.59502942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36800114499998 meters 0.06798604386897951 Centerline is valid? [True, True] Translation: X:85.43, Y:-0.26, Z:-1.60 [[ 9.99806519e-01 -1.82265017e-02 -7.39721629e-03 8.54260656e+01] [ 1.82272050e-02 9.99833870e-01 2.76673644e-05 -2.60738272e-01] [ 7.39548311e-03 -1.62492589e-04 9.99972640e-01 -1.59528829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39800114499998 meters 0.06831261513438269 Centerline is valid? [True, True] Translation: X:85.46, Y:-0.26, Z:-1.60 [[ 9.99792754e-01 -1.88322330e-02 -7.73283598e-03 8.54583075e+01] [ 1.88330173e-02 9.99822643e-01 2.86208776e-05 -2.60592888e-01] [ 7.73092551e-03 -1.74247580e-04 9.99970101e-01 -1.59578822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42800114499998 meters 0.06868184502374253 Centerline is valid? [True, True] Translation: X:85.49, Y:-0.26, Z:-1.60 [[ 9.99782027e-01 -1.95021703e-02 -7.45415437e-03 8.54899807e+01] [ 1.95029271e-02 9.99809799e-01 2.88499092e-05 -2.61050529e-01] [ 7.45217395e-03 -1.74221450e-04 9.99972217e-01 -1.59669148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45800114499998 meters 0.06945900359294992 Centerline is valid? [True, True] Translation: X:85.52, Y:-0.26, Z:-1.60 [[ 9.99745682e-01 -2.13371047e-02 -7.30066632e-03 8.55220032e+01] [ 2.13378785e-02 9.99772321e-01 2.81098882e-05 -2.62777289e-01] [ 7.29840433e-03 -1.83883470e-04 9.99973349e-01 -1.59782372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48800114499998 meters 0.06988136986324553 Centerline is valid? [True, True] Translation: X:85.55, Y:-0.27, Z:-1.60 [[ 9.99723899e-01 -2.21961224e-02 -7.71092608e-03 8.55540227e+01] [ 2.21970140e-02 9.99753615e-01 3.00520964e-05 -2.65270327e-01] [ 7.70835918e-03 -2.01203333e-04 9.99970270e-01 -1.59986338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51800114499999 meters 0.07038380311288557 Centerline is valid? [True, True] Translation: X:85.58, Y:-0.27, Z:-1.60 [[ 9.99700787e-01 -2.30106675e-02 -8.29732544e-03 8.55847806e+01] [ 2.30117391e-02 9.99735194e-01 3.36875108e-05 -2.67644214e-01] [ 8.29435309e-03 -2.24613319e-04 9.99965576e-01 -1.60125805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54800114499999 meters 0.07038380311288557 Centerline is valid? [True, True] Translation: X:85.62, Y:-0.27, Z:-1.60 [[ 9.99702006e-01 -2.29576493e-02 -8.29732624e-03 8.56164980e+01] [ 2.29587173e-02 9.99736413e-01 3.34732523e-05 -2.67853320e-01] [ 8.29437071e-03 -2.23959245e-04 9.99965576e-01 -1.60177243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57800114499999 meters 0.07165289580006594 Centerline is valid? [True, True] Translation: X:85.65, Y:-0.27, Z:-1.60 [[ 9.99640875e-01 -2.53344364e-02 -8.73428351e-03 8.56477656e+01] [ 2.53357112e-02 9.99678999e-01 3.53181474e-05 -2.69953429e-01] [ 8.73058503e-03 -2.56594749e-04 9.99961855e-01 -1.60323574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60800114499999 meters 0.07264767817598673 Centerline is valid? [True, True] Translation: X:85.68, Y:-0.27, Z:-1.60 [[ 9.99594404e-01 -2.70355469e-02 -8.95024253e-03 8.56789238e+01] [ 2.70369566e-02 9.99634434e-01 3.65277642e-05 -2.71060747e-01] [ 8.94598308e-03 -2.78500268e-04 9.99959945e-01 -1.60392788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63800114499999 meters 0.06790518736228277 Centerline is valid? [True, True] Translation: X:85.71, Y:-0.26, Z:-1.59 [[ 9.99562860e-01 -2.80365318e-02 -9.38310236e-03 8.57116110e+01] [ 2.80381345e-02 9.99606853e-01 3.92839509e-05 -2.56271814e-01] [ 9.37831204e-03 -3.02351465e-04 9.99955977e-01 -1.59300609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66800114499999 meters 0.06866273812064824 Centerline is valid? [True, True] Translation: X:85.74, Y:-0.26, Z:-1.59 [[ 9.99449130e-01 -3.13056899e-02 -1.10176922e-02 8.57426289e+01] [ 3.13080944e-02 9.99509780e-01 4.57854740e-05 -2.57769183e-01] [ 1.10108578e-02 -3.90703200e-04 9.99939302e-01 -1.59450688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69800114499999 meters 0.06944678889145334 Centerline is valid? [True, True] Translation: X:85.77, Y:-0.26, Z:-1.60 [[ 9.99411719e-01 -3.23321964e-02 -1.14387595e-02 8.57739090e+01] [ 3.23348868e-02 9.99477090e-01 5.02853040e-05 -2.61064128e-01] [ 1.14311523e-02 -4.20126717e-04 9.99934574e-01 -1.59705731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72800114499998 meters 0.07060083090670143 Centerline is valid? [True, True] Translation: X:85.80, Y:-0.27, Z:-1.60 [[ 9.99327682e-01 -3.50201931e-02 -1.08522307e-02 8.58044599e+01] [ 3.50227624e-02 9.99386514e-01 4.67431334e-05 -2.65622420e-01] [ 1.08439361e-02 -4.26786804e-04 9.99941112e-01 -1.59974729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75800114499998 meters 0.07060083090670143 Centerline is valid? [True, True] Translation: X:85.84, Y:-0.27, Z:-1.60 [[ 9.99331040e-01 -3.49242193e-02 -1.08522217e-02 8.58370540e+01] [ 3.49268055e-02 9.99389872e-01 4.88205577e-05 -2.65877484e-01] [ 1.08438955e-02 -4.27821336e-04 9.99941112e-01 -1.60027648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78800114499998 meters 0.07158722358101205 Centerline is valid? [True, True] Translation: X:85.87, Y:-0.27, Z:-1.60 [[ 9.99197880e-01 -3.84461561e-02 -1.12022348e-02 8.58681391e+01] [ 3.84491196e-02 9.99260558e-01 4.92227391e-05 -2.65527315e-01] [ 1.11920589e-02 -4.79899322e-04 9.99937252e-01 -1.59938011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81800114499998 meters 0.07099854685419679 Centerline is valid? [True, True] Translation: X:85.90, Y:-0.26, Z:-1.60 [[ 9.99162171e-01 -3.94591294e-02 -1.08597217e-02 8.59000145e+01] [ 3.94620346e-02 9.99221069e-01 5.32935926e-05 -2.62974339e-01] [ 1.08491599e-02 -4.81795657e-04 9.99941030e-01 -1.59782074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84800114499998 meters 0.07139411912891683 Centerline is valid? [True, True] Translation: X:85.93, Y:-0.26, Z:-1.60 [[ 9.99090948e-01 -4.11230547e-02 -1.12326568e-02 8.59322990e+01] [ 4.11262479e-02 9.99153957e-01 5.33433573e-05 -2.63551481e-01] [ 1.12209598e-02 -5.15251893e-04 9.99936910e-01 -1.59813669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87800114499998 meters 0.07286774041522082 Centerline is valid? [True, True] Translation: X:85.96, Y:-0.27, Z:-1.60 [[ 9.98982004e-01 -4.42662429e-02 -8.68656502e-03 8.59633879e+01] [ 4.42682878e-02 9.99019678e-01 4.31886519e-05 -2.67256688e-01] [ 8.67613759e-03 -4.27684046e-04 9.99962270e-01 -1.59805248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90800114499999 meters 0.0736943987055136 Centerline is valid? [True, True] Translation: X:85.99, Y:-0.27, Z:-1.60 [[ 9.98929900e-01 -4.54407131e-02 -8.61378172e-03 8.59948173e+01] [ 4.54427978e-02 9.98966941e-01 4.63455229e-05 -2.68533830e-01] [ 8.60277721e-03 -4.37730269e-04 9.99962900e-01 -1.59840904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93800114499999 meters 0.07597539531375799 Centerline is valid? [True, True] Translation: X:86.03, Y:-0.27, Z:-1.60 [[ 9.98879511e-01 -4.67692641e-02 -7.23584496e-03 8.60264820e+01] [ 4.67707846e-02 9.98905647e-01 4.09751472e-05 -2.72288797e-01] [ 7.22601001e-03 -3.79355381e-04 9.99973820e-01 -1.59938635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96800114499999 meters 0.07515522802455958 Centerline is valid? [True, True] Translation: X:86.06, Y:-0.27, Z:-1.60 [[ 9.98869963e-01 -4.71625649e-02 -5.87269187e-03 8.60594955e+01] [ 4.71635907e-02 9.98887178e-01 3.62364933e-05 -2.69375071e-01] [ 5.86444760e-03 -3.13172781e-04 9.99982755e-01 -1.59817593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99800114499999 meters 0.07425341700428689 Centerline is valid? [True, True] Translation: X:86.09, Y:-0.27, Z:-1.60 [[ 9.98896347e-01 -4.65608956e-02 -6.17822192e-03 8.60922903e+01] [ 4.65620242e-02 9.98915400e-01 3.88922081e-05 -2.65983459e-01] [ 6.16971016e-03 -3.26519803e-04 9.99980914e-01 -1.59831718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02800114499999 meters 0.07380265603223406 Centerline is valid? [True, True] Translation: X:86.12, Y:-0.26, Z:-1.60 [[ 9.98932561e-01 -4.57123518e-02 -6.64226382e-03 8.61245469e+01] [ 4.57136461e-02 9.98954584e-01 4.30861428e-05 -2.63898138e-01] [ 6.63335032e-03 -3.46682249e-04 9.99977939e-01 -1.59867984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05800114499999 meters 0.07349529919648479 Centerline is valid? [True, True] Translation: X:86.16, Y:-0.26, Z:-1.60 [[ 9.98986640e-01 -4.45051683e-02 -6.70694854e-03 8.61569964e+01] [ 4.45064711e-02 9.99009095e-01 4.50424729e-05 -2.62582836e-01] [ 6.69829797e-03 -3.43499440e-04 9.99977507e-01 -1.59929830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08800114499999 meters 0.07235246896401629 Centerline is valid? [True, True] Translation: X:86.19, Y:-0.26, Z:-1.60 [[ 9.99087888e-01 -4.20038409e-02 -7.68566372e-03 8.61886360e+01] [ 4.20054507e-02 9.99117380e-01 4.80833875e-05 -2.57590106e-01] [ 7.67686052e-03 -3.70879299e-04 9.99970464e-01 -1.60016833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11800114499998 meters 0.07197387835312873 Centerline is valid? [True, True] Translation: X:86.22, Y:-0.25, Z:-1.60 [[ 9.99163771e-01 -4.01358915e-02 -7.80181304e-03 8.62203946e+01] [ 4.01375334e-02 9.99194163e-01 5.39279868e-05 -2.54926003e-01] [ 7.79336160e-03 -3.67028422e-04 9.99969564e-01 -1.60054792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14800114499998 meters 0.07598249432765025 Centerline is valid? [True, True] Translation: X:86.25, Y:-0.26, Z:-1.61 [[ 9.99231753e-01 -3.82684490e-02 -8.45159114e-03 8.62516399e+01] [ 3.82703191e-02 9.99267421e-01 5.95982346e-05 -2.61937277e-01] [ 8.44311895e-03 -3.82997538e-04 9.99964283e-01 -1.60705978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17800114499998 meters 0.07088049239714334 Centerline is valid? [True, True] Translation: X:86.28, Y:-0.25, Z:-1.60 [[ 9.99292905e-01 -3.64697343e-02 -9.14598868e-03 8.62839551e+01] [ 3.64718301e-02 9.99334680e-01 6.24049765e-05 -2.47519803e-01] [ 9.13762777e-03 -3.95931795e-04 9.99958173e-01 -1.60171083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20800114499998 meters 0.07065217673333926 Centerline is valid? [True, True] Translation: X:86.31, Y:-0.25, Z:-1.61 [[ 9.99385681e-01 -3.36576471e-02 -9.76844897e-03 8.63145019e+01] [ 3.36599178e-02 9.99433342e-01 6.80911306e-05 -2.45586253e-01] [ 9.76062182e-03 -3.96854491e-04 9.99952285e-01 -1.60599024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23800114499998 meters 0.06963739767635696 Centerline is valid? [True, True] Translation: X:86.35, Y:-0.24, Z:-1.61 [[ 9.99448058e-01 -3.15346211e-02 -1.04473899e-02 8.63469380e+01] [ 3.15371033e-02 9.99502579e-01 7.28875972e-05 -2.42649115e-01] [ 1.04398946e-02 -4.02327781e-04 9.99945422e-01 -1.60648672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26800114499999 meters 0.06988428382385371 Centerline is valid? [True, True] Translation: X:86.38, Y:-0.24, Z:-1.61 [[ 9.99490855e-01 -3.01755889e-02 -1.03665101e-02 8.63784515e+01] [ 3.01779623e-02 9.99544539e-01 7.25722367e-05 -2.42201756e-01] [ 1.03595986e-02 -3.85375437e-04 9.99946264e-01 -1.60772278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29800114499999 meters 0.06940096624794011 Centerline is valid? [True, True] Translation: X:86.41, Y:-0.24, Z:-1.61 [[ 9.99539081e-01 -2.85430922e-02 -1.03400885e-02 8.64107631e+01] [ 2.85453762e-02 9.99592495e-01 7.33330352e-05 -2.38378781e-01] [ 1.03337817e-02 -3.68460951e-04 9.99946537e-01 -1.60736598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32800114499999 meters 0.0680728060625976 Centerline is valid? [True, True] Translation: X:86.44, Y:-0.23, Z:-1.60 [[ 9.99637928e-01 -2.49838171e-02 -9.99103739e-03 8.64425984e+01] [ 2.49857745e-02 9.99687804e-01 7.11281062e-05 -2.30216624e-01] [ 9.98614118e-03 -3.20736161e-04 9.99950086e-01 -1.60477394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35800114499999 meters 0.06720711641302253 Centerline is valid? [True, True] Translation: X:86.47, Y:-0.23, Z:-1.60 [[ 9.99685761e-01 -2.28584258e-02 -1.02893804e-02 8.64748169e+01] [ 2.28603994e-02 9.99738664e-01 7.42189213e-05 -2.25904751e-01] [ 1.02849949e-02 -3.09414944e-04 9.99947060e-01 -1.60389208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38800114499999 meters 0.06709164295552228 Centerline is valid? [True, True] Translation: X:86.51, Y:-0.22, Z:-1.61 [[ 9.99718487e-01 -2.10857297e-02 -1.08783858e-02 8.65059108e+01] [ 2.10878332e-02 9.99777624e-01 7.86792323e-05 -2.23594678e-01] [ 1.08743077e-02 -3.08058667e-04 9.99940826e-01 -1.60516916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41800114499999 meters 0.06729028174841223 Centerline is valid? [True, True] Translation: X:86.54, Y:-0.22, Z:-1.61 [[ 9.99751625e-01 -1.94008720e-02 -1.09678957e-02 8.65375210e+01] [ 1.94029195e-02 9.99811742e-01 8.02967330e-05 -2.22179970e-01] [ 1.09642731e-02 -2.93085987e-04 9.99939848e-01 -1.60824236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44800114499999 meters 0.06713607032565046 Centerline is valid? [True, True] Translation: X:86.57, Y:-0.22, Z:-1.61 [[ 9.99746383e-01 -1.96754734e-02 -1.09564854e-02 8.65696580e+01] [ 1.96775410e-02 9.99806375e-01 8.09325401e-05 -2.20821732e-01] [ 1.09527716e-02 -2.96508706e-04 9.99939973e-01 -1.60814809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47800114499998 meters 0.06704943515173925 Centerline is valid? [True, True] Translation: X:86.60, Y:-0.22, Z:-1.61 [[ 9.99758709e-01 -1.98498765e-02 -9.40776554e-03 8.66017400e+01] [ 1.98514161e-02 9.99802939e-01 7.02859496e-05 -2.19884133e-01] [ 9.40451647e-03 -2.57026458e-04 9.99955744e-01 -1.60757278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50800114499998 meters 0.06777172903680366 Centerline is valid? [True, True] Translation: X:86.63, Y:-0.22, Z:-1.61 [[ 9.99766336e-01 -2.01165530e-02 -7.91184442e-03 8.66325768e+01] [ 2.01176525e-02 9.99797618e-01 5.94014849e-05 -2.20860345e-01] [ 7.90904825e-03 -2.18555341e-04 9.99968699e-01 -1.60851158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53800114499998 meters 0.06716265194458647 Centerline is valid? [True, True] Translation: X:86.66, Y:-0.22, Z:-1.61 [[ 9.99760910e-01 -2.08213993e-02 -6.67768979e-03 8.66644173e+01] [ 2.08222038e-02 9.99783193e-01 5.09807019e-05 -2.19260518e-01] [ 6.67518053e-03 -1.90012731e-04 9.99977703e-01 -1.60627319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56800114499998 meters 0.06838614778992658 Centerline is valid? [True, True] Translation: X:86.70, Y:-0.22, Z:-1.61 [[ 9.99743003e-01 -2.19077853e-02 -5.82894140e-03 8.66950564e+01] [ 2.19084178e-02 9.99759981e-01 4.46571337e-05 -2.23671542e-01] [ 5.82656400e-03 -1.72348540e-04 9.99983011e-01 -1.60884868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59800114499998 meters 0.06872586618548758 Centerline is valid? [True, True] Translation: X:86.73, Y:-0.22, Z:-1.61 [[ 9.99654974e-01 -2.55930916e-02 -5.90980706e-03 8.67262557e+01] [ 2.55938055e-02 9.99672424e-01 4.51898526e-05 -2.24654299e-01] [ 5.90671460e-03 -1.96428713e-04 9.99982536e-01 -1.60779533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62800114499998 meters 0.06936113995076064 Centerline is valid? [True, True] Translation: X:86.76, Y:-0.23, Z:-1.61 [[ 9.99598689e-01 -2.73881821e-02 -7.23528265e-03 8.67579911e+01] [ 2.73893029e-02 9.99624841e-01 5.58481477e-05 -2.26480805e-01] [ 7.23103869e-03 -2.53995083e-04 9.99973823e-01 -1.60874974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65800114499999 meters 0.07021291666994077 Centerline is valid? [True, True] Translation: X:86.79, Y:-0.23, Z:-1.61 [[ 9.99551303e-01 -2.88017313e-02 -8.22508197e-03 8.67892397e+01] [ 2.88032299e-02 9.99585099e-01 6.37854069e-05 -2.29355031e-01] [ 8.21983225e-03 -3.00665714e-04 9.99966171e-01 -1.61088982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68800114499999 meters 0.07087099453800816 Centerline is valid? [True, True] Translation: X:86.82, Y:-0.23, Z:-1.61 [[ 9.99490365e-01 -3.06963222e-02 -8.76049659e-03 8.68216488e+01] [ 3.06981019e-02 9.99528700e-01 6.87270410e-05 -2.31606396e-01] [ 8.75425810e-03 -3.37622632e-04 9.99961624e-01 -1.61196108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71800114499999 meters 0.07151867080154618 Centerline is valid? [True, True] Translation: X:86.85, Y:-0.23, Z:-1.61 [[ 9.99457592e-01 -3.18640971e-02 -8.31866319e-03 8.68531624e+01] [ 3.18657438e-02 9.99492156e-01 6.54506015e-05 -2.34078672e-01] [ 8.31235308e-03 -3.30495490e-04 9.99965397e-01 -1.61356079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74800114499999 meters 0.07111736358097427 Centerline is valid? [True, True] Translation: X:86.89, Y:-0.23, Z:-1.61 [[ 9.99483708e-01 -3.13645640e-02 -6.96998079e-03 8.68857871e+01] [ 3.13657138e-02 9.99507973e-01 5.56866221e-05 -2.32360014e-01] [ 6.96480479e-03 -2.74276294e-04 9.99975708e-01 -1.61288071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77800114499999 meters 0.06969863157484042 Centerline is valid? [True, True] Translation: X:86.92, Y:-0.23, Z:-1.61 [[ 9.99577026e-01 -2.83736707e-02 -6.37993727e-03 8.69178739e+01] [ 2.83745742e-02 9.99597359e-01 5.11293985e-05 -2.26799739e-01] [ 6.37591772e-03 -2.32135776e-04 9.99979647e-01 -1.61175496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80800114499999 meters 0.06954519970351274 Centerline is valid? [True, True] Translation: X:86.95, Y:-0.23, Z:-1.61 [[ 9.99643767e-01 -2.61413516e-02 -5.38220136e-03 8.69486530e+01] [ 2.61419625e-02 9.99658240e-01 4.31659993e-05 -2.25723150e-01] [ 5.37923352e-03 -1.83851928e-04 9.99985515e-01 -1.61297649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83800114499999 meters 0.0692729214229288 Centerline is valid? [True, True] Translation: X:86.98, Y:-0.22, Z:-1.61 [[ 9.99682174e-01 -2.45121528e-02 -5.89111838e-03 8.69795285e+01] [ 2.45128592e-02 9.99699514e-01 4.77263445e-05 -2.24179795e-01] [ 5.88817830e-03 -1.92119332e-04 9.99982646e-01 -1.61341189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86800114499998 meters 0.068034270109192 Centerline is valid? [True, True] Translation: X:87.01, Y:-0.22, Z:-1.61 [[ 9.99724390e-01 -2.28147525e-02 -5.53451315e-03 8.70117250e+01] [ 2.28153539e-02 9.99739695e-01 4.55371645e-05 -2.19232164e-01] [ 5.53203357e-03 -1.71796490e-04 9.99984683e-01 -1.61256046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89800114499998 meters 0.06757088651793984 Centerline is valid? [True, True] Translation: X:87.04, Y:-0.22, Z:-1.61 [[ 9.99769965e-01 -2.06858620e-02 -5.66685125e-03 8.70443630e+01] [ 2.06864622e-02 9.99786011e-01 4.73197062e-05 -2.16370361e-01] [ 5.66465976e-03 -1.64535925e-04 9.99983942e-01 -1.61325506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92800114499998 meters 0.06709594686345986 Centerline is valid? [True, True] Translation: X:87.07, Y:-0.21, Z:-1.61 [[ 9.99823674e-01 -1.78984027e-02 -5.68042705e-03 8.70746748e+01] [ 1.78989553e-02 9.99839800e-01 4.64575317e-05 -2.12230809e-01] [ 5.67868552e-03 -1.48123050e-04 9.99983865e-01 -1.61386534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95800114499998 meters 0.06661148457685924 Centerline is valid? [True, True] Translation: X:87.11, Y:-0.21, Z:-1.61 [[ 9.99852164e-01 -1.63248144e-02 -5.39905142e-03 8.71066752e+01] [ 1.63252970e-02 9.99866732e-01 4.53101843e-05 -2.10232154e-01] [ 5.39759222e-03 -1.33444604e-04 9.99985424e-01 -1.61371879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98800114499998 meters 0.06629864975889568 Centerline is valid? [True, True] Translation: X:87.14, Y:-0.21, Z:-1.61 [[ 9.99872293e-01 -1.50125897e-02 -5.47908210e-03 8.71388346e+01] [ 1.50130688e-02 9.99887296e-01 4.63163065e-05 -2.08258036e-01] [ 5.47776926e-03 -1.28568228e-04 9.99984989e-01 -1.61467688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01800114499999 meters 0.06602234669436448 Centerline is valid? [True, True] Translation: X:87.17, Y:-0.21, Z:-1.62 [[ 9.99906105e-01 -1.29629219e-02 -4.44351580e-03 8.71703893e+01] [ 1.29632188e-02 9.99915973e-01 3.80306206e-05 -2.06710791e-01] [ 4.44264943e-03 -9.56293172e-05 9.99990127e-01 -1.61585777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04800114499999 meters 0.06527937142974966 Centerline is valid? [True, True] Translation: X:87.20, Y:-0.20, Z:-1.62 [[ 9.99943337e-01 -9.50640241e-03 -4.79079716e-03 8.72030955e+01] [ 9.50671089e-03 9.99954809e-01 4.16212471e-05 -2.00809956e-01] [ 4.79018500e-03 -8.71636123e-05 9.99988523e-01 -1.61511758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07800114499999 meters 0.06513087204236753 Centerline is valid? [True, True] Translation: X:87.24, Y:-0.20, Z:-1.62 [[ 9.99952342e-01 -7.91493280e-03 -5.71554318e-03 8.72353929e+01] [ 7.91534501e-03 9.99968672e-01 4.95047858e-05 -1.98647391e-01] [ 5.71497230e-03 -9.47429228e-05 9.99983665e-01 -1.61580199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10800114499999 meters 0.06501087252402182 Centerline is valid? [True, True] Translation: X:87.27, Y:-0.19, Z:-1.62 [[ 9.99956841e-01 -5.16721359e-03 -7.72112122e-03 8.72661743e+01] [ 5.16788187e-03 9.99986644e-01 6.66025464e-05 -1.94492423e-01] [ 7.72067395e-03 -1.06501514e-04 9.99970189e-01 -1.61858302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13800114499999 meters 0.06496105341059867 Centerline is valid? [True, True] Translation: X:87.30, Y:-0.19, Z:-1.62 [[ 9.99961834e-01 -3.25211394e-03 -8.10887330e-03 8.72960231e+01] [ 3.25277499e-03 9.99994707e-01 6.83348154e-05 -1.93574244e-01] [ 8.10860815e-03 -9.47085476e-05 9.99967120e-01 -1.61995898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16800114499999 meters 0.06491490457787255 Centerline is valid? [True, True] Translation: X:87.32, Y:-0.19, Z:-1.62 [[ 9.99961838e-01 -2.56466227e-03 -8.35139262e-03 8.73239125e+01] [ 2.56532776e-03 9.99996707e-01 6.89757678e-05 -1.93040658e-01] [ 8.35118822e-03 -9.03971948e-05 9.99965124e-01 -1.62094738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19800114499999 meters 0.06442972580729743 Centerline is valid? [True, True] Translation: X:87.35, Y:-0.19, Z:-1.62 [[ 9.99969406e-01 -1.64515852e-03 -7.64727247e-03 8.73527458e+01] [ 1.64565594e-03 9.99998644e-01 5.87538660e-05 -1.90665194e-01] [ 7.64716544e-03 -7.13368479e-05 9.99970757e-01 -1.61732843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22800114499998 meters 0.06480492220515573 Centerline is valid? [True, True] Translation: X:87.38, Y:-0.19, Z:-1.62 [[ 9.99965828e-01 1.39332102e-03 -8.14874714e-03 8.73802212e+01] [-1.39284057e-03 9.99999028e-01 6.46350735e-05 -1.88276630e-01] [ 8.14882928e-03 -5.32829592e-05 9.99966796e-01 -1.62120188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25800114499998 meters 0.06478504909564309 Centerline is valid? [True, True] Translation: X:87.41, Y:-0.19, Z:-1.62 [[ 9.99954927e-01 2.46523336e-03 -9.16875779e-03 8.74091629e+01] [-2.46470793e-03 9.99996960e-01 6.86051596e-05 -1.87756649e-01] [ 9.16889904e-03 -4.60037573e-05 9.99957964e-01 -1.62214188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28800114499998 meters 0.06461312197868423 Centerline is valid? [True, True] Translation: X:87.44, Y:-0.19, Z:-1.62 [[ 9.99953059e-01 3.62704157e-03 -8.98471721e-03 8.74378385e+01] [-3.62660446e-03 9.99993422e-01 6.49419805e-05 -1.87720317e-01] [ 8.98489365e-03 -3.23549165e-05 9.99959635e-01 -1.62113486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31800114499998 meters 0.06477115048745163 Centerline is valid? [True, True] Translation: X:87.47, Y:-0.19, Z:-1.62 [[ 9.99952723e-01 4.89490543e-03 -8.40190273e-03 8.74660856e+01] [-4.89455198e-03 9.99988020e-01 6.26294814e-05 -1.88162484e-01] [ 8.40210863e-03 -2.15029707e-05 9.99964701e-01 -1.62213393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34800114499998 meters 0.06465240120626595 Centerline is valid? [True, True] Translation: X:87.49, Y:-0.19, Z:-1.62 [[ 9.99953048e-01 6.81842734e-03 -6.88550931e-03 8.74935848e+01] [-6.81824224e-03 9.99976754e-01 5.03565448e-05 -1.86732313e-01] [ 6.88569260e-03 -3.40711008e-06 9.99976293e-01 -1.62034538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37800114499998 meters 0.06471133258790257 Centerline is valid? [True, True] Translation: X:87.52, Y:-0.19, Z:-1.62 [[ 9.99947313e-01 7.27666102e-03 -7.24028152e-03 8.75223283e+01] [-7.27646944e-03 9.99973525e-01 5.28019008e-05 -1.86277449e-01] [ 7.24047405e-03 -1.15431593e-07 9.99973787e-01 -1.61856877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40800114499999 meters 0.0647577081267682 Centerline is valid? [True, True] Translation: X:87.55, Y:-0.19, Z:-1.62 [[ 9.99950572e-01 7.24932063e-03 -6.80454689e-03 8.75515270e+01] [-7.24915427e-03 9.99973723e-01 4.91123707e-05 -1.86382902e-01] [ 6.80472412e-03 2.17266983e-07 9.99976848e-01 -1.61813641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43800114499999 meters 0.0647577081267682 Centerline is valid? [True, True] Translation: X:87.58, Y:-0.19, Z:-1.62 [[ 9.99951271e-01 7.15213483e-03 -6.80455556e-03 8.75789605e+01] [-7.15197433e-03 9.99974423e-01 4.79214736e-05 -1.86471912e-01] [ 6.80472426e-03 7.46868251e-07 9.99976848e-01 -1.61858275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46800114499999 meters 0.0651890128157378 Centerline is valid? [True, True] Translation: X:87.61, Y:-0.19, Z:-1.62 [[ 9.99959955e-01 5.52894589e-03 -7.03698571e-03 8.76065310e+01] [-5.52874139e-03 9.99984715e-01 4.85139572e-05 -1.89908000e-01] [ 7.03714638e-03 -9.60634027e-06 9.99975239e-01 -1.62142483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49800114499999 meters 0.06515739420259774 Centerline is valid? [True, True] Translation: X:87.63, Y:-0.19, Z:-1.62 [[ 9.99960539e-01 4.51910669e-03 -7.64838605e-03 8.76347719e+01] [-4.51883444e-03 9.99989789e-01 5.28765007e-05 -1.93028312e-01] [ 7.64854691e-03 -1.83126239e-05 9.99970749e-01 -1.62121160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52800114499999 meters 0.06527266557995132 Centerline is valid? [True, True] Translation: X:87.66, Y:-0.20, Z:-1.62 [[ 9.99963852e-01 3.69707772e-03 -7.65681933e-03 8.76631576e+01] [-3.69678825e-03 9.99993166e-01 5.19580537e-05 -1.95748042e-01] [ 7.65695909e-03 -2.36505357e-05 9.99970685e-01 -1.62249660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55800114499999 meters 0.06516371590322649 Centerline is valid? [True, True] Translation: X:87.69, Y:-0.20, Z:-1.62 [[ 9.99963609e-01 2.32775720e-03 -8.20743519e-03 8.76919160e+01] [-2.32739088e-03 9.99997290e-01 5.41837033e-05 -1.97565056e-01] [ 8.20753908e-03 -3.50798216e-05 9.99966317e-01 -1.62206233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58800114499999 meters 0.06551789356321452 Centerline is valid? [True, True] Translation: X:87.72, Y:-0.20, Z:-1.62 [[ 9.99965633e-01 1.42898489e-03 -8.16645133e-03 8.77194407e+01] [-1.42859684e-03 9.99998978e-01 5.33505446e-05 -1.99290028e-01] [ 8.16651923e-03 -4.16821445e-05 9.99966653e-01 -1.62444918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61800114499998 meters 0.06538258863682839 Centerline is valid? [True, True] Translation: X:87.75, Y:-0.20, Z:-1.62 [[ 9.99973881e-01 1.10508864e-03 -7.14252244e-03 8.77483873e+01] [-1.10478309e-03 9.99999389e-01 4.67244263e-05 -2.01746453e-01] [ 7.14256971e-03 -3.88322679e-05 9.99974491e-01 -1.62218509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64800114499998 meters 0.06535527853697302 Centerline is valid? [True, True] Translation: X:87.78, Y:-0.20, Z:-1.62 [[ 9.99970145e-01 1.15417378e-03 -7.64046344e-03 8.77769754e+01] [-1.15382891e-03 9.99999333e-01 4.95450704e-05 -2.03335971e-01] [ 7.64051553e-03 -4.07278037e-05 9.99970810e-01 -1.62206259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67800114499998 meters 0.06542121751272266 Centerline is valid? [True, True] Translation: X:87.81, Y:-0.20, Z:-1.62 [[ 9.99963899e-01 1.07935245e-03 -8.42828664e-03 8.78060420e+01] [-1.07893372e-03 9.99999416e-01 5.42281677e-05 -2.04891833e-01] [ 8.42834025e-03 -4.51326474e-05 9.99964480e-01 -1.62295844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70800114499998 meters 0.06539902278662589 Centerline is valid? [True, True] Translation: X:87.83, Y:-0.21, Z:-1.62 [[ 9.99960022e-01 4.99064655e-04 -8.92774412e-03 8.78344730e+01] [-4.98576381e-04 9.99999874e-01 5.69172542e-05 -2.05983987e-01] [ 8.92777140e-03 -5.24638164e-05 9.99960145e-01 -1.62340212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73800114499998 meters 0.06563917733325018 Centerline is valid? [True, True] Translation: X:87.86, Y:-0.21, Z:-1.62 [[ 9.99955139e-01 -1.29041747e-03 -9.38370753e-03 8.78624587e+01] [ 1.29102320e-03 9.99999165e-01 5.84942194e-05 -2.09616998e-01] [ 9.38362422e-03 -7.06061795e-05 9.99955970e-01 -1.62411697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76800114499999 meters 0.0656169173838558 Centerline is valid? [True, True] Translation: X:87.89, Y:-0.21, Z:-1.62 [[ 9.99954863e-01 -2.22380817e-03 -9.23719688e-03 8.78909768e+01] [ 2.22443395e-03 9.99997524e-01 5.74716383e-05 -2.12113915e-01] [ 9.23704620e-03 -7.80165785e-05 9.99957335e-01 -1.62316511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79800114499999 meters 0.06576652644118741 Centerline is valid? [True, True] Translation: X:87.92, Y:-0.22, Z:-1.62 [[ 9.99959812e-01 -3.00672395e-03 -8.44593990e-03 8.79187516e+01] [ 3.00726659e-03 9.99995477e-01 5.15498565e-05 -2.15854093e-01] [ 8.44574670e-03 -7.69469777e-05 9.99964331e-01 -1.62488935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82800114499999 meters 0.065718497499789 Centerline is valid? [True, True] Translation: X:87.95, Y:-0.22, Z:-1.62 [[ 9.99966134e-01 -3.72597165e-03 -7.33812193e-03 8.79473788e+01] [ 3.72637054e-03 9.99993056e-01 4.06867164e-05 -2.20179175e-01] [ 7.33791938e-03 -6.80298999e-05 9.99973075e-01 -1.62318032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85800114499999 meters 0.0656127166721889 Centerline is valid? [True, True] Translation: X:87.98, Y:-0.22, Z:-1.62 [[ 9.99963702e-01 -4.03835679e-03 -7.50246118e-03 8.79761558e+01] [ 4.03876987e-03 9.99991843e-01 3.99091359e-05 -2.20850367e-01] [ 7.50223882e-03 -7.02084014e-05 9.99971855e-01 -1.62238036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88800114499999 meters 0.06579821521921492 Centerline is valid? [True, True] Translation: X:88.00, Y:-0.22, Z:-1.62 [[ 9.99963256e-01 -4.46049914e-03 -7.32058734e-03 8.80048730e+01] [ 4.46092167e-03 9.99990049e-01 4.13903764e-05 -2.22561077e-01] [ 7.32032987e-03 -7.40454222e-05 9.99973203e-01 -1.62372910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91800114499999 meters 0.06590199788472746 Centerline is valid? [True, True] Translation: X:88.03, Y:-0.23, Z:-1.63 [[ 9.99957678e-01 -4.30228025e-03 -8.13219841e-03 8.80346969e+01] [ 4.30279725e-03 9.99990742e-01 4.60793588e-05 -2.25814341e-01] [ 8.13192487e-03 -8.10686096e-05 9.99966932e-01 -1.62549181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94800114499999 meters 0.06590774018844468 Centerline is valid? [True, True] Translation: X:88.06, Y:-0.23, Z:-1.63 [[ 9.99960337e-01 -3.93272870e-03 -7.99107379e-03 8.80631826e+01] [ 3.93317795e-03 9.99992264e-01 4.05054117e-05 -2.27081418e-01] [ 7.99085268e-03 -7.19341204e-05 9.99968070e-01 -1.62663576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97800114499998 meters 0.06576313075397947 Centerline is valid? [True, True] Translation: X:88.09, Y:-0.23, Z:-1.63 [[ 9.99955412e-01 -3.94814195e-03 -8.57828101e-03 8.80918194e+01] [ 3.94864604e-03 9.99992203e-01 4.18277952e-05 -2.27597636e-01] [ 8.57804898e-03 -7.56985256e-05 9.99963205e-01 -1.62658285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00800114499998 meters 0.06556006106521167 Centerline is valid? [True, True] Translation: X:88.12, Y:-0.23, Z:-1.63 [[ 9.99957125e-01 -3.98597411e-03 -8.35818151e-03 8.81204120e+01] [ 3.98643665e-03 9.99992053e-01 3.86794449e-05 -2.27791879e-01] [ 8.35796091e-03 -7.19971476e-05 9.99965069e-01 -1.62504276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03800114499998 meters 0.06563612747228599 Centerline is valid? [True, True] Translation: X:88.15, Y:-0.23, Z:-1.62 [[ 9.99961661e-01 -5.36829750e-03 -6.91790198e-03 8.81492403e+01] [ 5.36863246e-03 9.99985588e-01 2.98509009e-05 -2.31420155e-01] [ 6.91764203e-03 -6.69894297e-05 9.99976071e-01 -1.62476952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06800114499998 meters 0.06554515179867192 Centerline is valid? [True, True] Translation: X:88.18, Y:-0.23, Z:-1.62 [[ 9.99962930e-01 -5.83309642e-03 -6.33346348e-03 8.81797788e+01] [ 5.83340762e-03 9.99982985e-01 3.06643923e-05 -2.33817703e-01] [ 6.33317685e-03 -6.76089297e-05 9.99979943e-01 -1.62457538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09800114499998 meters 0.06541655787103945 Centerline is valid? [True, True] Translation: X:88.21, Y:-0.24, Z:-1.62 [[ 9.99963993e-01 -6.07734153e-03 -5.92276513e-03 8.82101994e+01] [ 6.07761797e-03 9.99981531e-01 2.86759360e-05 -2.35224827e-01] [ 5.92248147e-03 -6.46712072e-05 9.99982460e-01 -1.62358833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12800114499998 meters 0.06554278842943752 Centerline is valid? [True, True] Translation: X:88.24, Y:-0.24, Z:-1.63 [[ 9.99965038e-01 -5.55615115e-03 -6.24915528e-03 8.82407841e+01] [ 5.55645097e-03 9.99984562e-01 3.06164213e-05 -2.37079342e-01] [ 6.24888870e-03 -6.53384758e-05 9.99980473e-01 -1.62577978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15800114499999 meters 0.06538702806965865 Centerline is valid? [True, True] Translation: X:88.27, Y:-0.24, Z:-1.63 [[ 9.99968385e-01 -3.82672701e-03 -6.97035316e-03 8.82714274e+01] [ 3.82706447e-03 9.99992676e-01 3.50768732e-05 -2.38275136e-01] [ 6.97016788e-03 -6.17517551e-05 9.99975706e-01 -1.62847270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18800114499999 meters 0.06519094059481023 Centerline is valid? [True, True] Translation: X:88.30, Y:-0.24, Z:-1.63 [[ 9.99972247e-01 -2.26968277e-03 -7.09609244e-03 8.83010062e+01] [ 2.26998190e-03 9.99997423e-01 3.41001049e-05 -2.37100674e-01] [ 7.09599676e-03 -5.02071599e-05 9.99974822e-01 -1.62714956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21800114499999 meters 0.06517322067258527 Centerline is valid? [True, True] Translation: X:88.33, Y:-0.24, Z:-1.63 [[ 9.99973641e-01 -1.46582481e-03 -7.11118767e-03 8.83296939e+01] [ 1.46607147e-03 9.99998925e-01 2.94742221e-05 -2.36958019e-01] [ 7.11113682e-03 -3.98989545e-05 9.99974715e-01 -1.62812052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24800114499999 meters 0.06517339710068655 Centerline is valid? [True, True] Translation: X:88.36, Y:-0.24, Z:-1.63 [[ 9.99965413e-01 -1.29156681e-03 -8.21609005e-03 8.83582295e+01] [ 1.29187992e-03 9.99999165e-01 3.28030117e-05 -2.37826757e-01] [ 8.21604082e-03 -4.34160790e-05 9.99966247e-01 -1.62889259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27800114499999 meters 0.06516961204431808 Centerline is valid? [True, True] Translation: X:88.39, Y:-0.24, Z:-1.63 [[ 9.99956279e-01 -5.50199397e-04 -9.33477410e-03 8.83863494e+01] [ 5.50582197e-04 9.99999848e-01 3.84382607e-05 -2.39837121e-01] [ 9.33475153e-03 -4.35761405e-05 9.99956429e-01 -1.63028340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30800114499999 meters 0.06525710335503411 Centerline is valid? [True, True] Translation: X:88.41, Y:-0.24, Z:-1.63 [[ 9.99958550e-01 -1.01826843e-03 -9.04775548e-03 8.84140152e+01] [ 1.01864610e-03 9.99999480e-01 3.71333966e-05 -2.41656631e-01] [ 9.04771297e-03 -4.63483182e-05 9.99959068e-01 -1.63133145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33800114499998 meters 0.06526886912303154 Centerline is valid? [True, True] Translation: X:88.44, Y:-0.25, Z:-1.63 [[ 9.99958863e-01 -2.43626651e-03 -8.73708161e-03 8.84428444e+01] [ 2.43666989e-03 9.99997031e-01 3.55242673e-05 -2.47207397e-01] [ 8.73696912e-03 -5.68121896e-05 9.99961830e-01 -1.63181626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36800114499998 meters 0.06533265103372489 Centerline is valid? [True, True] Translation: X:88.47, Y:-0.25, Z:-1.63 [[ 9.99958049e-01 -2.99920695e-03 -8.65478070e-03 8.84698165e+01] [ 2.99960936e-03 9.99995501e-01 3.35151734e-05 -2.49709702e-01] [ 8.65464124e-03 -5.94747287e-05 9.99962546e-01 -1.63331856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39800114499998 meters 0.06513741636672377 Centerline is valid? [True, True] Translation: X:88.50, Y:-0.25, Z:-1.63 [[ 9.99952287e-01 -3.22455368e-03 -9.22099628e-03 8.84981665e+01] [ 3.22498853e-03 9.99994799e-01 3.22902689e-05 -2.50615959e-01] [ 9.22084420e-03 -6.20263355e-05 9.99957485e-01 -1.63130893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42800114499998 meters 0.06522394780817295 Centerline is valid? [True, True] Translation: X:88.53, Y:-0.25, Z:-1.63 [[ 9.99946223e-01 -3.07787415e-03 -9.90341278e-03 8.85258291e+01] [ 3.07838371e-03 9.99995261e-01 3.62087536e-05 -2.51784536e-01] [ 9.90325440e-03 -6.66933109e-05 9.99950959e-01 -1.63440782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45800114499998 meters 0.06528372943893981 Centerline is valid? [True, True] Translation: X:88.55, Y:-0.25, Z:-1.63 [[ 9.99951516e-01 -2.73606713e-03 -9.45940875e-03 8.85544429e+01] [ 2.73647745e-03 9.99996255e-01 3.04336762e-05 -2.52440892e-01] [ 9.45929006e-03 -5.63176594e-05 9.99955258e-01 -1.63492474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48800114499998 meters 0.065108158231756 Centerline is valid? [True, True] Translation: X:88.58, Y:-0.25, Z:-1.64 [[ 9.99962580e-01 -1.58204131e-03 -8.50505681e-03 8.85821034e+01] [ 1.58234157e-03 9.99998748e-01 2.85740418e-05 -2.54381220e-01] [ 8.50500096e-03 -4.20308775e-05 9.99963831e-01 -1.63517916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51800114499999 meters 0.0649122454762417 Centerline is valid? [True, True] Translation: X:88.61, Y:-0.25, Z:-1.63 [[ 9.99958292e-01 -8.38697545e-04 -9.09450628e-03 8.86107259e+01] [ 8.38971313e-04 9.99999648e-01 2.62874651e-05 -2.54825913e-01] [ 9.09448103e-03 -3.39163986e-05 9.99958644e-01 -1.63240766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54800114499999 meters 0.06491917783669525 Centerline is valid? [True, True] Translation: X:88.64, Y:-0.26, Z:-1.63 [[ 9.99952321e-01 -5.20957242e-04 -9.75114804e-03 8.86382852e+01] [ 5.21274339e-04 9.99999864e-01 2.99773763e-05 -2.55936766e-01] [ 9.75113109e-03 -3.50589702e-05 9.99952456e-01 -1.63346625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57800114499999 meters 0.06494078373650791 Centerline is valid? [True, True] Translation: X:88.67, Y:-0.26, Z:-1.64 [[ 9.99951304e-01 -6.65867586e-04 -9.84613917e-03 8.86656105e+01] [ 6.66182948e-04 9.99999778e-01 2.87492650e-05 -2.57020949e-01] [ 9.84611784e-03 -3.53071951e-05 9.99951525e-01 -1.63594304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60800114499999 meters 0.06473716989244697 Centerline is valid? [True, True] Translation: X:88.69, Y:-0.26, Z:-1.64 [[ 9.99948638e-01 -1.43651737e-04 -1.01340884e-02 8.86933672e+01] [ 1.43911945e-04 9.99999989e-01 2.49473538e-05 -2.58404463e-01] [ 1.01340848e-02 -2.64044888e-05 9.99948648e-01 -1.63544519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63800114499999 meters 0.06464227033585 Centerline is valid? [True, True] Translation: X:88.72, Y:-0.26, Z:-1.64 [[ 9.99944078e-01 -1.22997223e-04 -1.05747731e-02 8.87223796e+01] [ 1.23306014e-04 9.99999992e-01 2.85487373e-05 -2.59116406e-01] [ 1.05747695e-02 -2.98510739e-05 9.99944085e-01 -1.63555291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66800114499999 meters 0.06472159842185825 Centerline is valid? [True, True] Translation: X:88.75, Y:-0.26, Z:-1.64 [[ 9.99946031e-01 -9.22257359e-05 -1.03887579e-02 8.87498500e+01] [ 9.24651235e-05 9.99999995e-01 2.25626358e-05 -2.59485844e-01] [ 1.03887558e-02 -2.35220159e-05 9.99946035e-01 -1.63542844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69800114499999 meters 0.0646045632119457 Centerline is valid? [True, True] Translation: X:88.78, Y:-0.26, Z:-1.63 [[ 9.99948213e-01 -1.80554797e-05 -1.01770018e-02 8.87789078e+01] [ 1.83036705e-05 1.00000000e+00 2.42942825e-05 -2.63890382e-01] [ 1.01770014e-02 -2.44793008e-05 9.99948213e-01 -1.63351550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72800114499998 meters 0.06450494713771188 Centerline is valid? [True, True] Translation: X:88.81, Y:-0.27, Z:-1.63 [[ 9.99947774e-01 -6.60327642e-04 -1.01987112e-02 8.88065098e+01] [ 6.60595369e-04 9.99999782e-01 2.28824086e-05 -2.65695241e-01] [ 1.01986938e-02 -2.96184349e-05 9.99947992e-01 -1.63392663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75800114499998 meters 0.06448339942049436 Centerline is valid? [True, True] Translation: X:88.83, Y:-0.27, Z:-1.64 [[ 9.99948483e-01 -1.46481037e-03 -1.00442314e-02 8.88333921e+01] [ 1.46509694e-03 9.99998927e-01 2.11729704e-05 -2.66826487e-01] [ 1.00441896e-02 -3.58876523e-05 9.99949555e-01 -1.63529185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78800114499998 meters 0.06450578032022575 Centerline is valid? [True, True] Translation: X:88.86, Y:-0.27, Z:-1.64 [[ 9.99943003e-01 -2.06061770e-03 -1.04758961e-02 8.88619287e+01] [ 2.06096413e-03 9.99997876e-01 2.22743713e-05 -2.67574147e-01] [ 1.04758279e-02 -4.38635479e-05 9.99945126e-01 -1.63599762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81800114499998 meters 0.06480201859281054 Centerline is valid? [True, True] Translation: X:88.89, Y:-0.27, Z:-1.64 [[ 9.99934997e-01 -3.45487044e-03 -1.08657700e-02 8.88892961e+01] [ 3.45531005e-03 9.99994030e-01 2.16850445e-05 -2.71780459e-01] [ 1.08656302e-02 -5.92282393e-05 9.99940966e-01 -1.63924461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84800114499998 meters 0.06473868426024675 Centerline is valid? [True, True] Translation: X:88.92, Y:-0.27, Z:-1.64 [[ 9.99934694e-01 -4.25612645e-03 -1.06062685e-02 8.89162463e+01] [ 4.25655869e-03 9.99990941e-01 1.81791342e-05 -2.74678637e-01] [ 1.06060950e-02 -6.33241513e-05 9.99943752e-01 -1.64021043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87800114499998 meters 0.06454407311410203 Centerline is valid? [True, True] Translation: X:88.95, Y:-0.28, Z:-1.64 [[ 9.99939048e-01 -4.65850645e-03 -1.00099021e-02 8.89452457e+01] [ 4.65888069e-03 9.99989147e-01 1.40687444e-05 -2.76710708e-01] [ 1.00097279e-02 -6.07028263e-05 9.99949900e-01 -1.63909958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90800114499999 meters 0.064483175069439 Centerline is valid? [True, True] Translation: X:88.97, Y:-0.28, Z:-1.64 [[ 9.99936548e-01 -5.62452324e-03 -9.76035204e-03 8.89725849e+01] [ 5.62493881e-03 9.99984180e-01 1.51261715e-05 -2.80768950e-01] [ 9.76011255e-03 -7.00265947e-05 9.99952367e-01 -1.63989655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93800114499999 meters 0.06464269266112106 Centerline is valid? [True, True] Translation: X:89.00, Y:-0.28, Z:-1.64 [[ 9.99926735e-01 -6.67067492e-03 -1.01008120e-02 8.90006977e+01] [ 6.67116647e-03 9.99977747e-01 1.49721050e-05 -2.82116235e-01] [ 1.01004873e-02 -8.23552062e-05 9.99948985e-01 -1.64027800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96800114499999 meters 0.06453599567198066 Centerline is valid? [True, True] Translation: X:89.03, Y:-0.28, Z:-1.64 [[ 9.99932607e-01 -7.11583383e-03 -9.17309280e-03 8.90299200e+01] [ 7.11622278e-03 9.99974679e-01 9.76207887e-06 -2.82627924e-01] [ 9.17279107e-03 -7.50391929e-05 9.99957926e-01 -1.63894097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99800114499999 meters 0.06454768891931344 Centerline is valid? [True, True] Translation: X:89.06, Y:-0.28, Z:-1.64 [[ 9.99930234e-01 -7.48117266e-03 -9.14105378e-03 8.90595153e+01] [ 7.48159600e-03 9.99972012e-01 1.21169484e-05 -2.83169764e-01] [ 9.14070730e-03 -8.05057744e-05 9.99958220e-01 -1.63861521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02800114499999 meters 0.06452398062133323 Centerline is valid? [True, True] Translation: X:89.09, Y:-0.29, Z:-1.64 [[ 9.99931560e-01 -6.82742865e-03 -9.50060750e-03 8.90895953e+01] [ 6.82785398e-03 9.99976690e-01 1.23337826e-05 -2.86083519e-01] [ 9.50030183e-03 -7.72016992e-05 9.99954868e-01 -1.64058368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05800114499999 meters 0.06462733430501304 Centerline is valid? [True, True] Translation: X:89.12, Y:-0.29, Z:-1.64 [[ 9.99935031e-01 -5.87288880e-03 -9.76954100e-03 8.91181570e+01] [ 5.87328327e-03 9.99982752e-01 1.16872594e-05 -2.88354490e-01] [ 9.76930386e-03 -6.90657818e-05 9.99952277e-01 -1.64330421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08800114499998 meters 0.0644875530063261 Centerline is valid? [True, True] Translation: X:89.15, Y:-0.29, Z:-1.64 [[ 9.99951476e-01 -4.83304811e-03 -8.58411100e-03 8.91467843e+01] [ 4.83327837e-03 9.99988320e-01 6.07877936e-06 -2.89064723e-01] [ 8.58398136e-03 -4.75678824e-05 9.99963156e-01 -1.64364213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11800114499998 meters 0.0640036840015394 Centerline is valid? [True, True] Translation: X:89.18, Y:-0.29, Z:-1.64 [[ 9.99962897e-01 -3.28959579e-03 -7.96138814e-03 8.91754998e+01] [ 3.28972809e-03 9.99994589e-01 3.52188869e-06 -2.86074633e-01] [ 7.96133347e-03 -2.97125602e-05 9.99968308e-01 -1.63962218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14800114499998 meters 0.06404958571661641 Centerline is valid? [True, True] Translation: X:89.20, Y:-0.29, Z:-1.64 [[ 9.99957261e-01 -2.93789101e-03 -8.76613426e-03 8.92032227e+01] [ 2.93805473e-03 9.99995684e-01 5.79878806e-06 -2.85240871e-01] [ 8.76607938e-03 -3.15539225e-05 9.99961577e-01 -1.64018196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17800114499998 meters 0.06431257090869415 Centerline is valid? [True, True] Translation: X:89.23, Y:-0.29, Z:-1.64 [[ 9.99951915e-01 -2.72434076e-03 -9.42047518e-03 8.92310227e+01] [ 2.72451473e-03 9.99996288e-01 5.63362530e-06 -2.86601912e-01] [ 9.42042486e-03 -3.12995777e-05 9.99955626e-01 -1.64492304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20800114499998 meters 0.06452613309752818 Centerline is valid? [True, True] Translation: X:89.26, Y:-0.29, Z:-1.65 [[ 9.99950396e-01 -2.79578789e-03 -9.55981131e-03 8.92589980e+01] [ 2.79596459e-03 9.99996091e-01 5.11922192e-06 -2.88796696e-01] [ 9.55975963e-03 -3.18478619e-05 9.99954304e-01 -1.64719923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23800114499998 meters 0.06450738394806993 Centerline is valid? [True, True] Translation: X:89.29, Y:-0.30, Z:-1.65 [[ 9.99941508e-01 -5.52958224e-03 -9.29537234e-03 8.92872407e+01] [ 5.52986133e-03 9.99984710e-01 4.32319240e-06 -2.95154032e-01] [ 9.29520631e-03 -5.57250596e-05 9.99956797e-01 -1.64877631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26800114499999 meters 0.06408307896514157 Centerline is valid? [True, True] Translation: X:89.32, Y:-0.30, Z:-1.64 [[ 9.99927705e-01 -7.55716102e-03 -9.35279322e-03 8.93157255e+01] [ 7.55749282e-03 9.99971442e-01 1.33823658e-07 -2.97015158e-01] [ 9.35252511e-03 -7.08174816e-05 9.99956262e-01 -1.64439906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29800114499999 meters 0.0640824437146707 Centerline is valid? [True, True] Translation: X:89.35, Y:-0.30, Z:-1.64 [[ 9.99913853e-01 -9.51589998e-03 -9.04069328e-03 8.93450412e+01] [ 9.51631291e-03 9.99954719e-01 2.65667581e-06 -2.99339776e-01] [ 9.04025863e-03 -8.86905131e-05 9.99959132e-01 -1.64412749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32800114499999 meters 0.0642388138809943 Centerline is valid? [True, True] Translation: X:89.38, Y:-0.30, Z:-1.64 [[ 9.99891174e-01 -1.11983074e-02 -9.60403161e-03 8.93756948e+01] [ 1.11988559e-02 9.99937291e-01 3.33692322e-06 -3.01541128e-01] [ 9.60339198e-03 -1.10890726e-04 9.99953880e-01 -1.64495675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35800114499999 meters 0.0642388138809943 Centerline is valid? [True, True] Translation: X:89.41, Y:-0.30, Z:-1.65 [[ 9.99891506e-01 -1.11686212e-02 -9.60403133e-03 8.94065551e+01] [ 1.11691758e-02 9.99937623e-01 4.10428947e-06 -3.01588113e-01] [ 9.60338642e-03 -1.11372958e-04 9.99953880e-01 -1.64545806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38800114499999 meters 0.06432629942538763 Centerline is valid? [True, True] Translation: X:89.44, Y:-0.30, Z:-1.64 [[ 9.99864669e-01 -1.26561797e-02 -1.05102626e-02 8.94373752e+01] [ 1.26569247e-02 9.99919898e-01 4.37049377e-06 -3.03836493e-01] [ 1.05093654e-02 -1.37397505e-04 9.99944766e-01 -1.64464605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41800114499999 meters 0.06442384880919517 Centerline is valid? [True, True] Translation: X:89.47, Y:-0.31, Z:-1.65 [[ 9.99851588e-01 -1.30086500e-02 -1.12949555e-02 8.94685218e+01] [ 1.30095394e-02 9.99915372e-01 5.26965613e-06 -3.05343597e-01] [ 1.12939311e-02 -1.52211043e-04 9.99936210e-01 -1.64562557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44800114499999 meters 0.06445380217305949 Centerline is valid? [True, True] Translation: X:89.50, Y:-0.31, Z:-1.65 [[ 9.99859775e-01 -1.28596355e-02 -1.07266400e-02 8.94990551e+01] [ 1.28604283e-02 9.99917301e-01 4.94197585e-06 -3.08247567e-01] [ 1.07256894e-02 -1.42890468e-04 9.99942468e-01 -1.64768963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47800114499998 meters 0.06428683291696145 Centerline is valid? [True, True] Translation: X:89.53, Y:-0.31, Z:-1.65 [[ 9.99888146e-01 -1.09962799e-02 -1.01378773e-02 8.95294336e+01] [ 1.09968940e-02 9.99939532e-01 4.83171949e-06 -3.10401344e-01] [ 1.01372111e-02 -1.16316341e-04 9.99948610e-01 -1.64861391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50800114499998 meters 0.06400817141360966 Centerline is valid? [True, True] Translation: X:89.56, Y:-0.31, Z:-1.65 [[ 9.99904288e-01 -9.91986104e-03 -9.64421044e-03 8.95599477e+01] [ 9.92036451e-03 9.99950792e-01 4.36654371e-06 -3.08789094e-01] [ 9.64369255e-03 -1.00040209e-04 9.99953494e-01 -1.64576185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53800114499998 meters 0.0636390178851379 Centerline is valid? [True, True] Translation: X:89.59, Y:-0.31, Z:-1.64 [[ 9.99915080e-01 -9.20525537e-03 -9.22474065e-03 8.95901394e+01] [ 9.20568559e-03 9.99957627e-01 4.17662321e-06 -3.06614980e-01] [ 9.22431132e-03 -8.90963306e-05 9.99957451e-01 -1.64321797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56800114499998 meters 0.06368059003222765 Centerline is valid? [True, True] Translation: X:89.62, Y:-0.31, Z:-1.64 [[ 9.99922390e-01 -8.52077338e-03 -9.08905001e-03 8.96207629e+01] [ 8.52116275e-03 9.99963694e-01 4.11518749e-06 -3.05833943e-01] [ 9.08868496e-03 -8.15641425e-05 9.99958694e-01 -1.64311594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59800114499998 meters 0.06382119639091242 Centerline is valid? [True, True] Translation: X:89.65, Y:-0.31, Z:-1.64 [[ 9.99925438e-01 -7.62126236e-03 -9.54122578e-03 8.96498339e+01] [ 7.62164667e-03 9.99970955e-01 3.91867157e-06 -3.06462933e-01] [ 9.54091879e-03 -7.66382311e-05 9.99954481e-01 -1.64491292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62800114499998 meters 0.06380896819119253 Centerline is valid? [True, True] Translation: X:89.68, Y:-0.31, Z:-1.65 [[ 9.99925810e-01 -7.85891302e-03 -9.30655585e-03 8.96792490e+01] [ 7.85928391e-03 9.99969115e-01 3.28024460e-06 -3.07271075e-01] [ 9.30624264e-03 -7.64228659e-05 9.99956693e-01 -1.64675733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65800114499999 meters 0.06397764717027328 Centerline is valid? [True, True] Translation: X:89.71, Y:-0.31, Z:-1.65 [[ 9.99914316e-01 -8.43475304e-03 -1.00107881e-02 8.97088390e+01] [ 8.43520831e-03 9.99964423e-01 3.25573674e-06 -3.08843183e-01] [ 1.00104045e-02 -8.76985412e-05 9.99949891e-01 -1.64772131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68800114499999 meters 0.06403557826851544 Centerline is valid? [True, True] Translation: X:89.74, Y:-0.31, Z:-1.65 [[ 9.99907277e-01 -9.65864222e-03 -9.59936317e-03 8.97379637e+01] [ 9.65911804e-03 9.99953350e-01 3.20643821e-06 -3.11188044e-01] [ 9.59888438e-03 -9.59275228e-05 9.99953925e-01 -1.64974919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71800114499999 meters 0.0637902309269819 Centerline is valid? [True, True] Translation: X:89.77, Y:-0.31, Z:-1.65 [[ 9.99892513e-01 -1.07816023e-02 -9.93576553e-03 8.97686588e+01] [ 1.07821701e-02 9.99941871e-01 3.57711026e-06 -3.12087458e-01] [ 9.93514941e-03 -1.10705839e-04 9.99950639e-01 -1.64752680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74800114499999 meters 0.06388365764964998 Centerline is valid? [True, True] Translation: X:89.80, Y:-0.31, Z:-1.65 [[ 9.99873753e-01 -1.23780478e-02 -9.96302876e-03 8.97995361e+01] [ 1.23786979e-02 9.99923381e-01 3.58692566e-06 -3.12646366e-01] [ 9.96222101e-03 -1.26915796e-04 9.99950368e-01 -1.64796998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77800114499999 meters 0.06421359988053911 Centerline is valid? [True, True] Translation: X:89.83, Y:-0.31, Z:-1.65 [[ 9.99861183e-01 -1.32650539e-02 -1.00823439e-02 8.98306158e+01] [ 1.32657903e-02 9.99912006e-01 6.16503874e-06 -3.14137585e-01] [ 1.00813749e-02 -1.39914443e-04 9.99949172e-01 -1.65115476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80800114499999 meters 0.06445092269502034 Centerline is valid? [True, True] Translation: X:89.86, Y:-0.32, Z:-1.65 [[ 9.99839398e-01 -1.43011641e-02 -1.08007025e-02 8.98620321e+01] [ 1.43020648e-02 9.99897720e-01 6.15794416e-06 -3.15280110e-01] [ 1.07995097e-02 -1.60629302e-04 9.99941671e-01 -1.65230655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83800114499998 meters 0.06424135198011356 Centerline is valid? [True, True] Translation: X:89.89, Y:-0.32, Z:-1.65 [[ 9.99833177e-01 -1.49960363e-02 -1.04277345e-02 8.98943977e+01] [ 1.49969238e-02 9.99887540e-01 6.91310031e-06 -3.15601378e-01] [ 1.04264581e-02 -1.63295886e-04 9.99945630e-01 -1.65048030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86800114499998 meters 0.06483306452780786 Centerline is valid? [True, True] Translation: X:89.93, Y:-0.32, Z:-1.65 [[ 9.99807965e-01 -1.63711545e-02 -1.07711843e-02 8.99258948e+01] [ 1.63721834e-02 9.99865967e-01 7.35224023e-06 -3.19610642e-01] [ 1.07696203e-02 -1.83698634e-04 9.99941989e-01 -1.65382589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89800114499998 meters 0.06452095511072276 Centerline is valid? [True, True] Translation: X:89.96, Y:-0.32, Z:-1.65 [[ 9.99750566e-01 -1.98504790e-02 -1.02353939e-02 8.99581122e+01] [ 1.98516005e-02 9.99802938e-01 7.96859826e-06 -3.21541739e-01] [ 1.02332187e-02 -2.11155561e-04 9.99947617e-01 -1.65068624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92800114499998 meters 0.06470763563381926 Centerline is valid? [True, True] Translation: X:89.99, Y:-0.32, Z:-1.65 [[ 9.99715701e-01 -2.15989209e-02 -1.00996666e-02 8.99893775e+01] [ 2.16001158e-02 9.99766690e-01 9.22725504e-06 -3.23595747e-01] [ 1.00971110e-02 -2.27378600e-04 9.99948997e-01 -1.65195305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95800114499998 meters 0.06488268175509831 Centerline is valid? [True, True] Translation: X:90.02, Y:-0.32, Z:-1.65 [[ 9.99674273e-01 -2.37492756e-02 -9.34456048e-03 9.00207981e+01] [ 2.37503910e-02 9.99717920e-01 8.38930819e-06 -3.22414200e-01] [ 9.34172532e-03 -2.30323540e-04 9.99956339e-01 -1.65091809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98800114499998 meters 0.06467232379851293 Centerline is valid? [True, True] Translation: X:90.05, Y:-0.32, Z:-1.65 [[ 9.99678581e-01 -2.40702239e-02 -7.95977533e-03 9.00532662e+01] [ 2.40710505e-02 9.99710250e-01 8.05114797e-06 -3.19233935e-01] [ 7.95727519e-03 -1.99648714e-04 9.99968320e-01 -1.64871700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01800114499999 meters 0.06486355206381611 Centerline is valid? [True, True] Translation: X:90.09, Y:-0.32, Z:-1.65 [[ 9.99666632e-01 -2.44267356e-02 -8.36413081e-03 9.00856204e+01] [ 2.44276648e-02 9.99701600e-01 8.93733601e-06 -3.18835544e-01] [ 8.36141665e-03 -2.13250540e-04 9.99965020e-01 -1.64942370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04800114499999 meters 0.06562263357136491 Centerline is valid? [True, True] Translation: X:90.12, Y:-0.32, Z:-1.65 [[ 9.99669094e-01 -2.43661230e-02 -8.24582399e-03 9.01175582e+01] [ 2.43670317e-02 9.99703080e-01 9.74267458e-06 -3.22382018e-01] [ 8.24313824e-03 -2.10665705e-04 9.99966003e-01 -1.65384954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07800114499999 meters 0.06534930436102006 Centerline is valid? [True, True] Translation: X:90.15, Y:-0.32, Z:-1.66 [[ 9.99651356e-01 -2.50120425e-02 -8.45957897e-03 9.01492456e+01] [ 2.50130207e-02 9.99687125e-01 9.83742712e-06 -3.22328695e-01] [ 8.45668612e-03 -2.21433622e-04 9.99964217e-01 -1.65573693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10800114499999 meters 0.06551556893061611 Centerline is valid? [True, True] Translation: X:90.18, Y:-0.32, Z:-1.66 [[ 9.99634343e-01 -2.57197811e-02 -8.34707971e-03 9.01807269e+01] [ 2.57207615e-02 9.99669166e-01 1.01081946e-05 -3.20889726e-01] [ 8.34405824e-03 -2.24797745e-04 9.99965162e-01 -1.65542467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13800114499999 meters 0.06566542834102645 Centerline is valid? [True, True] Translation: X:90.21, Y:-0.32, Z:-1.66 [[ 9.99619231e-01 -2.62822838e-02 -8.40439003e-03 9.02128486e+01] [ 2.62833041e-02 9.99654534e-01 1.09523687e-05 -3.17960310e-01] [ 8.40119875e-03 -2.31843337e-04 9.99964682e-01 -1.65521695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16800114499999 meters 0.06578411614496299 Centerline is valid? [True, True] Translation: X:90.24, Y:-0.32, Z:-1.65 [[ 9.99616915e-01 -2.63629672e-02 -8.42717941e-03 9.02447032e+01] [ 2.63640003e-02 9.99652409e-01 1.15104972e-05 -3.15584223e-01] [ 8.42394675e-03 -2.33680248e-04 9.99964491e-01 -1.65419555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19800114499999 meters 0.06641892223232283 Centerline is valid? [True, True] Translation: X:90.28, Y:-0.32, Z:-1.66 [[ 9.99603487e-01 -2.71041302e-02 -7.63116865e-03 9.02764232e+01] [ 2.71050062e-02 9.99632592e-01 1.13737624e-05 -3.15852340e-01] [ 7.62805662e-03 -2.18212126e-04 9.99970882e-01 -1.65616229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22800114499998 meters 0.0665268936982497 Centerline is valid? [True, True] Translation: X:90.31, Y:-0.32, Z:-1.66 [[ 9.99577430e-01 -2.79521710e-02 -7.97730332e-03 9.03082682e+01] [ 2.79531567e-02 9.99609234e-01 1.20684972e-05 -3.16904036e-01] [ 7.97384873e-03 -2.35054207e-04 9.99968181e-01 -1.65758664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25800114499998 meters 0.06637726509751454 Centerline is valid? [True, True] Translation: X:90.34, Y:-0.32, Z:-1.66 [[ 9.99515756e-01 -2.96791493e-02 -9.34891148e-03 9.03400913e+01] [ 2.96805790e-02 9.99559434e-01 1.41949292e-05 -3.16745181e-01] [ 9.34437138e-03 -2.91669161e-04 9.99956298e-01 -1.65780038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28800114499998 meters 0.06747739067813613 Centerline is valid? [True, True] Translation: X:90.37, Y:-0.32, Z:-1.66 [[ 9.99395265e-01 -3.35380615e-02 -9.18164745e-03 9.03698942e+01] [ 3.35395961e-02 9.99437389e-01 1.31680215e-05 -3.17865569e-01] [ 9.17604013e-03 -3.21108805e-04 9.99957848e-01 -1.65924425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31800114499998 meters 0.06768491594322752 Centerline is valid? [True, True] Translation: X:90.40, Y:-0.32, Z:-1.66 [[ 9.99338979e-01 -3.53090832e-02 -8.65299008e-03 9.04021917e+01] [ 3.53105262e-02 9.99376389e-01 1.40032151e-05 -3.16353024e-01] [ 8.64709954e-03 -3.19535591e-04 9.99962562e-01 -1.65848263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34800114499998 meters 0.06824303491183127 Centerline is valid? [True, True] Translation: X:90.43, Y:-0.32, Z:-1.66 [[ 9.99329828e-01 -3.56578864e-02 -8.27107990e-03 9.04329219e+01] [ 3.56592184e-02 9.99364008e-01 1.35698187e-05 -3.15268702e-01] [ 8.26533569e-03 -3.08500969e-04 9.99965794e-01 -1.65943394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37800114499998 meters 0.06792196574112208 Centerline is valid? [True, True] Translation: X:90.47, Y:-0.31, Z:-1.66 [[ 9.99314067e-01 -3.57763569e-02 -9.56284526e-03 9.04654065e+01] [ 3.57781502e-02 9.99359757e-01 1.64594641e-05 -3.12162011e-01] [ 9.55613386e-03 -3.58589088e-04 9.99954275e-01 -1.65961806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40800114499999 meters 0.0685711889205974 Centerline is valid? [True, True] Translation: X:90.50, Y:-0.31, Z:-1.66 [[ 9.99361632e-01 -3.41162159e-02 -1.06024671e-02 9.04965831e+01] [ 3.41183514e-02 9.99417799e-01 2.05524185e-05 -3.12370544e-01] [ 1.05955932e-02 -3.82277997e-04 9.99943792e-01 -1.66448998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43800114499999 meters 0.0678801265113323 Centerline is valid? [True, True] Translation: X:90.53, Y:-0.31, Z:-1.66 [[ 9.99407196e-01 -3.28211510e-02 -1.03936683e-02 9.05293807e+01] [ 3.28231338e-02 9.99461176e-01 2.01970421e-05 -3.08517937e-01] [ 1.03874050e-02 -3.61337834e-04 9.99945984e-01 -1.66377286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46800114499999 meters 0.06763627692488398 Centerline is valid? [True, True] Translation: X:90.56, Y:-0.30, Z:-1.66 [[ 9.99438924e-01 -3.17501126e-02 -1.06661849e-02 9.05614009e+01] [ 3.17521439e-02 9.99495773e-01 2.11112820e-05 -3.04966497e-01] [ 1.06601364e-02 -3.59773674e-04 9.99943114e-01 -1.66443384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49800114499999 meters 0.06697795651713837 Centerline is valid? [True, True] Translation: X:90.59, Y:-0.30, Z:-1.66 [[ 9.99539890e-01 -2.84268556e-02 -1.05792905e-02 9.05934593e+01] [ 2.84286706e-02 9.99595823e-01 2.11876741e-05 -2.95365977e-01] [ 1.05744123e-02 -3.21933090e-04 9.99944038e-01 -1.66296331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52800114499999 meters 0.06667946980137412 Centerline is valid? [True, True] Translation: X:90.63, Y:-0.29, Z:-1.66 [[ 9.99575932e-01 -2.68358766e-02 -1.13045164e-02 9.06259726e+01] [ 2.68378579e-02 9.99639800e-01 2.35734981e-05 -2.90435636e-01] [ 1.12998119e-02 -3.26952505e-04 9.99936102e-01 -1.66271357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55800114499999 meters 0.06695133363485543 Centerline is valid? [True, True] Translation: X:90.66, Y:-0.29, Z:-1.67 [[ 9.99620817e-01 -2.50409539e-02 -1.14530294e-02 9.06573552e+01] [ 2.50428730e-02 9.99686378e-01 2.41572320e-05 -2.88556671e-01] [ 1.14488325e-02 -3.10964831e-04 9.99934412e-01 -1.66624518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58800114499998 meters 0.06677495479926458 Centerline is valid? [True, True] Translation: X:90.69, Y:-0.29, Z:-1.67 [[ 9.99655401e-01 -2.34801231e-02 -1.17372839e-02 9.06893313e+01] [ 2.34820422e-02 9.99724259e-01 2.57010727e-05 -2.85225196e-01] [ 1.17334440e-02 -3.01307613e-04 9.99931115e-01 -1.66755623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61800114499998 meters 0.06601609802637835 Centerline is valid? [True, True] Translation: X:90.72, Y:-0.28, Z:-1.67 [[ 9.99670700e-01 -2.24959086e-02 -1.23460559e-02 9.07215764e+01] [ 2.24979668e-02 9.99746888e-01 2.78321895e-05 -2.80086831e-01] [ 1.23423049e-02 -3.05584181e-04 9.99923784e-01 -1.66624609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64800114499998 meters 0.06586280260918788 Centerline is valid? [True, True] Translation: X:90.75, Y:-0.28, Z:-1.67 [[ 9.99694503e-01 -2.14099896e-02 -1.23495975e-02 9.07537914e+01] [ 2.14119759e-02 9.99770737e-01 2.86288345e-05 -2.76036684e-01] [ 1.23461533e-02 -2.93049374e-04 9.99923740e-01 -1.66768024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67800114499998 meters 0.06636569044614986 Centerline is valid? [True, True] Translation: X:90.78, Y:-0.28, Z:-1.67 [[ 9.99710844e-01 -2.05173083e-02 -1.25406470e-02 9.07845326e+01] [ 2.05192904e-02 9.99789457e-01 2.93908825e-05 -2.75980606e-01] [ 1.25374036e-02 -2.86707562e-04 9.99921363e-01 -1.67138307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70800114499998 meters 0.06602996444216755 Centerline is valid? [True, True] Translation: X:90.82, Y:-0.27, Z:-1.67 [[ 9.99697822e-01 -2.07542356e-02 -1.31729736e-02 9.08165765e+01] [ 2.07564574e-02 9.99784561e-01 3.19494886e-05 -2.72420354e-01] [ 1.31694725e-02 -3.05364099e-04 9.99913232e-01 -1.66912265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73800114499998 meters 0.06649352385952002 Centerline is valid? [True, True] Translation: X:90.85, Y:-0.27, Z:-1.67 [[ 9.99697631e-01 -2.09378000e-02 -1.28940251e-02 9.08477541e+01] [ 2.09399488e-02 9.99780735e-01 3.16536363e-05 -2.72152310e-01] [ 1.28905352e-02 -3.01644291e-04 9.99916868e-01 -1.67192109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76800114499999 meters 0.066348096428786 Centerline is valid? [True, True] Translation: X:90.88, Y:-0.27, Z:-1.67 [[ 9.99699889e-01 -2.07456851e-02 -1.30287505e-02 9.08795987e+01] [ 2.07478762e-02 9.99784739e-01 3.30188014e-05 -2.69321148e-01] [ 1.30252609e-02 -3.03327794e-04 9.99915122e-01 -1.67225961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79800114499999 meters 0.06622129828678021 Centerline is valid? [True, True] Translation: X:90.91, Y:-0.27, Z:-1.67 [[ 9.99698166e-01 -2.05515488e-02 -1.34614343e-02 9.09113635e+01] [ 2.05538817e-02 9.99788746e-01 3.49643954e-05 -2.66288315e-01] [ 1.34578719e-02 -3.11638570e-04 9.99909390e-01 -1.67325890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82800114499999 meters 0.06661434969340872 Centerline is valid? [True, True] Translation: X:90.94, Y:-0.27, Z:-1.68 [[ 9.99709149e-01 -2.01493923e-02 -1.32521560e-02 9.09421268e+01] [ 2.01516230e-02 9.99796935e-01 3.48050373e-05 -2.65490832e-01] [ 1.32487637e-02 -3.01847367e-04 9.99912186e-01 -1.67519736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85800114499999 meters 0.06644642642337599 Centerline is valid? [True, True] Translation: X:90.97, Y:-0.26, Z:-1.67 [[ 9.99715331e-01 -1.97390162e-02 -1.34025499e-02 9.09747922e+01] [ 1.97412753e-02 9.99805121e-01 3.62672684e-05 -2.62859821e-01] [ 1.33992222e-02 -3.00840372e-04 9.99910181e-01 -1.67441254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88800114499999 meters 0.06599155358005337 Centerline is valid? [True, True] Translation: X:91.01, Y:-0.26, Z:-1.67 [[ 9.99759230e-01 -1.74640176e-02 -1.32849550e-02 9.10072003e+01] [ 1.74660478e-02 9.99847456e-01 3.68066852e-05 -2.57458594e-01] [ 1.32822857e-02 -2.68833484e-04 9.99911750e-01 -1.67413519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91800114499999 meters 0.06612011970024353 Centerline is valid? [True, True] Translation: X:91.04, Y:-0.26, Z:-1.68 [[ 9.99771664e-01 -1.65146010e-02 -1.35605562e-02 9.10383222e+01] [ 1.65166339e-02 9.99863590e-01 3.79266202e-05 -2.56677939e-01] [ 1.35580801e-02 -2.61892703e-04 9.99908051e-01 -1.67637060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94800114499999 meters 0.0660880558243489 Centerline is valid? [True, True] Translation: X:91.07, Y:-0.26, Z:-1.68 [[ 9.99779965e-01 -1.58242992e-02 -1.37700417e-02 9.10695629e+01] [ 1.58263321e-02 9.99874755e-01 3.86629918e-05 -2.55334688e-01] [ 1.37677053e-02 -2.56583738e-04 9.99905188e-01 -1.67803042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97800114499998 meters 0.06566444021774293 Centerline is valid? [True, True] Translation: X:91.10, Y:-0.25, Z:-1.68 [[ 9.99804317e-01 -1.41286875e-02 -1.38458883e-02 9.11008509e+01] [ 1.41305861e-02 9.99900158e-01 3.92940266e-05 -2.51443085e-01] [ 1.38439507e-02 -2.34936854e-04 9.99904140e-01 -1.67896386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00800114499998 meters 0.06538894335446484 Centerline is valid? [True, True] Translation: X:91.13, Y:-0.25, Z:-1.68 [[ 9.99815854e-01 -1.35589957e-02 -1.35798646e-02 9.11322351e+01] [ 1.35607755e-02 9.99908048e-01 3.89874624e-05 -2.48162945e-01] [ 1.35780872e-02 -2.23133778e-04 9.99907789e-01 -1.67753854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03800114499998 meters 0.06520340573122724 Centerline is valid? [True, True] Translation: X:91.16, Y:-0.25, Z:-1.68 [[ 9.99822914e-01 -1.30998696e-02 -1.35105284e-02 9.11640179e+01] [ 1.31015952e-02 9.99914170e-01 3.92200846e-05 -2.46531906e-01] [ 1.35088550e-02 -2.16222614e-04 9.99908728e-01 -1.67755181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06800114499998 meters 0.06540102178610072 Centerline is valid? [True, True] Translation: X:91.19, Y:-0.25, Z:-1.68 [[ 9.99832018e-01 -1.26244827e-02 -1.32875479e-02 9.11946734e+01] [ 1.26261093e-02 9.99920287e-01 3.85329858e-05 -2.46394285e-01] [ 1.32860022e-02 -2.06296545e-04 9.99911716e-01 -1.68006377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09800114499998 meters 0.06471508729384941 Centerline is valid? [True, True] Translation: X:91.22, Y:-0.24, Z:-1.68 [[ 9.99864161e-01 -1.16682775e-02 -1.16408797e-02 9.12247789e+01] [ 1.16694586e-02 9.99931909e-01 3.35341133e-05 -2.42983904e-01] [ 1.16396958e-02 -1.69372322e-04 9.99932242e-01 -1.67648112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12800114499998 meters 0.0643321323850564 Centerline is valid? [True, True] Translation: X:91.26, Y:-0.24, Z:-1.68 [[ 9.99885050e-01 -9.40701971e-03 -1.18909460e-02 9.12563511e+01] [ 9.40810310e-03 9.99955742e-01 3.51745075e-05 -2.40836378e-01] [ 1.18900888e-02 -1.47041710e-04 9.99929300e-01 -1.67621966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15800114499999 meters 0.06436897475866844 Centerline is valid? [True, True] Translation: X:91.29, Y:-0.24, Z:-1.68 [[ 9.99900729e-01 -8.43612349e-03 -1.12855496e-02 9.12855014e+01] [ 8.43702686e-03 9.99964407e-01 3.24379791e-05 -2.39910637e-01] [ 1.12848743e-02 -1.27651244e-04 9.99936316e-01 -1.67728120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18800114499999 meters 0.06436332381093218 Centerline is valid? [True, True] Translation: X:91.31, Y:-0.24, Z:-1.68 [[ 9.99901028e-01 -8.46357096e-03 -1.12384447e-02 9.13148670e+01] [ 8.46446666e-03 9.99964175e-01 3.21364317e-05 -2.39139610e-01] [ 1.12377701e-02 -1.27260691e-04 9.99936846e-01 -1.67786089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21800114499999 meters 0.06399907417872683 Centerline is valid? [True, True] Translation: X:91.34, Y:-0.24, Z:-1.67 [[ 9.99914723e-01 -8.11312173e-03 -1.02334826e-02 9.13443218e+01] [ 8.11383964e-03 9.99967082e-01 2.86366690e-05 -2.36949552e-01] [ 1.02329134e-02 -1.11667064e-04 9.99947636e-01 -1.67486786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24800114499999 meters 0.06399907417872683 Centerline is valid? [True, True] Translation: X:91.37, Y:-0.24, Z:-1.68 [[ 9.99914461e-01 -8.14528135e-03 -1.02334835e-02 9.13734743e+01] [ 8.14599760e-03 9.99966820e-01 2.83098842e-05 -2.36996366e-01] [ 1.02329134e-02 -1.11669395e-04 9.99947636e-01 -1.67534175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27800114499999 meters 0.06408656856332008 Centerline is valid? [True, True] Translation: X:91.40, Y:-0.24, Z:-1.68 [[ 9.99900949e-01 -8.07696499e-03 -1.15262271e-02 9.14030207e+01] [ 8.07787078e-03 9.99967373e-01 3.20309079e-05 -2.37606889e-01] [ 1.15255923e-02 -1.25135108e-04 9.99933570e-01 -1.67746428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30800114499999 meters 0.06445332176917278 Centerline is valid? [True, True] Translation: X:91.43, Y:-0.24, Z:-1.68 [[ 9.99894641e-01 -8.54763918e-03 -1.17322206e-02 9.14318809e+01] [ 8.54859773e-03 9.99963460e-01 3.15550347e-05 -2.39589680e-01] [ 1.17315222e-02 -1.31845745e-04 9.99931175e-01 -1.68119551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33800114499998 meters 0.06418305558044615 Centerline is valid? [True, True] Translation: X:91.46, Y:-0.24, Z:-1.68 [[ 9.99897051e-01 -8.62734470e-03 -1.14654065e-02 9.14619417e+01] [ 8.62826390e-03 9.99962775e-01 3.07081331e-05 -2.39406209e-01] [ 1.14647148e-02 -1.29631525e-04 9.99934270e-01 -1.68022021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36800114499998 meters 0.06428730852284804 Centerline is valid? [True, True] Translation: X:91.49, Y:-0.24, Z:-1.68 [[ 9.99891024e-01 -8.74066239e-03 -1.18970950e-02 9.14912694e+01] [ 8.74166123e-03 9.99961790e-01 3.19557621e-05 -2.40093043e-01] [ 1.18963611e-02 -1.35952654e-04 9.99929227e-01 -1.68176817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39800114499998 meters 0.06415439269981586 Centerline is valid? [True, True] Translation: X:91.52, Y:-0.24, Z:-1.68 [[ 9.99894859e-01 -8.67601213e-03 -1.16188905e-02 9.15212226e+01] [ 8.67695335e-03 9.99962354e-01 3.05992661e-05 -2.39685269e-01] [ 1.16181876e-02 -1.31412620e-04 9.99932498e-01 -1.68157909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42800114499998 meters 0.063906022120227 Centerline is valid? [True, True] Translation: X:91.55, Y:-0.24, Z:-1.68 [[ 9.99913136e-01 -6.55871096e-03 -1.14325716e-02 9.15504612e+01] [ 6.55947972e-03 9.99978486e-01 2.97473553e-05 -2.37304238e-01] [ 1.14321305e-02 -1.04736493e-04 9.99934646e-01 -1.68145247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45800114499998 meters 0.06374036665051147 Centerline is valid? [True, True] Translation: X:91.58, Y:-0.24, Z:-1.68 [[ 9.99912719e-01 -5.56577162e-03 -1.19823844e-02 9.15783874e+01] [ 5.56652532e-03 9.99984506e-01 2.95499901e-05 -2.35951517e-01] [ 1.19820343e-02 -9.62476573e-05 9.99928208e-01 -1.68220060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48800114499998 meters 0.0634395316256328 Centerline is valid? [True, True] Translation: X:91.61, Y:-0.23, Z:-1.68 [[ 9.99913073e-01 -4.10836141e-03 -1.25287061e-02 9.16067034e+01] [ 4.10905858e-03 9.99991557e-01 2.99047709e-05 -2.33687610e-01] [ 1.25284774e-02 -8.13833584e-05 9.99921512e-01 -1.68006373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51800114499999 meters 0.06362807471605235 Centerline is valid? [True, True] Translation: X:91.63, Y:-0.23, Z:-1.69 [[ 9.99926979e-01 -1.69481356e-03 -1.19651595e-02 9.16342559e+01] [ 1.69526476e-03 9.99998563e-01 2.75670846e-05 -2.32222520e-01] [ 1.19650956e-02 -4.78491850e-05 9.99928415e-01 -1.68501631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54800114499999 meters 0.06293435364380336 Centerline is valid? [True, True] Translation: X:91.66, Y:-0.23, Z:-1.68 [[ 9.99925823e-01 -1.47958150e-03 -1.20896460e-02 9.16621447e+01] [ 1.47995408e-03 9.99998905e-01 2.18717165e-05 -2.30919741e-01] [ 1.20896004e-02 -3.97622150e-05 9.99926917e-01 -1.67966873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57800114499999 meters 0.0628314729288059 Centerline is valid? [True, True] Translation: X:91.69, Y:-0.23, Z:-1.68 [[ 9.99940273e-01 -5.99598409e-04 -1.09128714e-02 9.16898127e+01] [ 5.99867048e-04 9.99999820e-01 2.13434962e-05 -2.30921591e-01] [ 1.09128566e-02 -2.78884933e-05 9.99940453e-01 -1.68037343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60800114499999 meters 0.06289086386834479 Centerline is valid? [True, True] Translation: X:91.72, Y:-0.23, Z:-1.68 [[ 9.99939944e-01 -5.85983778e-04 -1.09437643e-02 9.17161935e+01] [ 5.86216123e-04 9.99999828e-01 1.80230582e-05 -2.31249778e-01] [ 1.09437519e-02 -2.44373869e-05 9.99940115e-01 -1.68182131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63800114499999 meters 0.06259269002283445 Centerline is valid? [True, True] Translation: X:91.75, Y:-0.23, Z:-1.68 [[ 9.99944366e-01 4.99063292e-04 -1.05364006e-02 9.17450253e+01] [-4.98944480e-04 9.99999875e-01 1.39049209e-05 -2.30826661e-01] [ 1.05364062e-02 -8.64706839e-06 9.99944490e-01 -1.67834859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66800114499999 meters 0.06264745952940447 Centerline is valid? [True, True] Translation: X:91.77, Y:-0.23, Z:-1.68 [[ 9.99945322e-01 1.12586968e-03 -1.03964382e-02 9.17717313e+01] [-1.12578116e-03 9.99999366e-01 1.43666461e-05 -2.30272504e-01] [ 1.03964478e-02 -2.66174630e-06 9.99945955e-01 -1.68122866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69800114499999 meters 0.06267424284662013 Centerline is valid? [True, True] Translation: X:91.80, Y:-0.23, Z:-1.68 [[ 9.99942705e-01 1.86467836e-03 -1.05408271e-02 9.17990719e+01] [-1.86463027e-03 9.99998261e-01 1.43894240e-05 -2.30014413e-01] [ 1.05408356e-02 5.26614576e-06 9.99944444e-01 -1.68226553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72800114499998 meters 0.06279630008678341 Centerline is valid? [True, True] Translation: X:91.83, Y:-0.23, Z:-1.68 [[ 9.99930757e-01 2.23972269e-03 -1.15526907e-02 9.18272100e+01] [-2.23969870e-03 9.99997492e-01 1.50139902e-05 -2.30395992e-01] [ 1.15526953e-02 1.08615957e-05 9.99933265e-01 -1.68284861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75800114499998 meters 0.06274818442989218 Centerline is valid? [True, True] Translation: X:91.86, Y:-0.23, Z:-1.68 [[ 9.99923864e-01 2.73594462e-03 -1.20324880e-02 9.18555641e+01] [-2.73596040e-03 9.99996257e-01 1.51492169e-05 -2.31294687e-01] [ 1.20324845e-02 1.77723473e-05 9.99927607e-01 -1.68253976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78800114499998 meters 0.06276527403819118 Centerline is valid? [True, True] Translation: X:91.88, Y:-0.23, Z:-1.68 [[ 9.99922179e-01 2.35072292e-03 -1.22519472e-02 9.18843136e+01] [-2.35071949e-03 9.99997237e-01 1.46812649e-05 -2.32266146e-01] [ 1.22519478e-02 1.41207686e-05 9.99924942e-01 -1.68292039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81800114499998 meters 0.06295635774858552 Centerline is valid? [True, True] Translation: X:91.91, Y:-0.23, Z:-1.68 [[ 9.99926190e-01 1.68783722e-03 -1.20318382e-02 9.19118609e+01] [-1.68780029e-03 9.99998576e-01 1.32234337e-05 -2.33871568e-01] [ 1.20318434e-02 7.08488236e-06 9.99927615e-01 -1.68450021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84800114499998 meters 0.06283103173152031 Centerline is valid? [True, True] Translation: X:91.94, Y:-0.24, Z:-1.68 [[ 9.99925904e-01 7.33640959e-04 -1.21510855e-02 9.19402072e+01] [-7.33539434e-04 9.99999731e-01 1.28119715e-05 -2.35527606e-01] [ 1.21510916e-02 -3.89772180e-06 9.99926173e-01 -1.68371348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87800114499998 meters 0.06295029960381969 Centerline is valid? [True, True] Translation: X:91.97, Y:-0.24, Z:-1.69 [[ 9.99932603e-01 -1.01505863e-03 -1.15654601e-02 9.19680278e+01] [ 1.01525345e-03 9.99999485e-01 1.09736721e-05 -2.37623277e-01] [ 1.15654430e-02 -2.27148058e-05 9.99933118e-01 -1.68515567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90800114499999 meters 0.06312562896366926 Centerline is valid? [True, True] Translation: X:91.99, Y:-0.24, Z:-1.69 [[ 9.99933307e-01 -2.21258737e-03 -1.13351581e-02 9.19944234e+01] [ 2.21283152e-03 9.99997552e-01 8.99719644e-06 -2.39039345e-01] [ 1.13351105e-02 -3.40793916e-05 9.99935755e-01 -1.68761401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93800114499999 meters 0.0629614829643963 Centerline is valid? [True, True] Translation: X:92.02, Y:-0.24, Z:-1.69 [[ 9.99936075e-01 -3.15374990e-03 -1.08581978e-02 9.20231871e+01] [ 3.15402939e-03 9.99995026e-01 8.61628571e-06 -2.40621205e-01] [ 1.08581167e-02 -4.28628100e-05 9.99941048e-01 -1.68609907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96800114499999 meters 0.06303677766567624 Centerline is valid? [True, True] Translation: X:92.05, Y:-0.24, Z:-1.69 [[ 9.99946372e-01 -3.84534626e-03 -9.61596523e-03 9.20507730e+01] [ 3.84558663e-03 9.99992606e-01 6.50670673e-06 -2.42877270e-01] [ 9.61586911e-03 -4.34853851e-05 9.99953766e-01 -1.68768652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99800114499999 meters 0.06326131539414749 Centerline is valid? [True, True] Translation: X:92.08, Y:-0.25, Z:-1.69 [[ 9.99939485e-01 -5.63475104e-03 -9.44860739e-03 9.20780885e+01] [ 5.63505627e-03 9.99984123e-01 5.68288454e-06 -2.45529789e-01] [ 9.44842535e-03 -5.89259750e-05 9.99955361e-01 -1.68855173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02800114499999 meters 0.06311295355090892 Centerline is valid? [True, True] Translation: X:92.11, Y:-0.25, Z:-1.68 [[ 9.99930534e-01 -8.09995328e-03 -8.56262223e-03 9.21073971e+01] [ 8.10029055e-03 9.99967192e-01 4.70900070e-06 -2.47723757e-01] [ 8.56230316e-03 -7.40684015e-05 9.99963340e-01 -1.68411496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05800114499999 meters 0.06330899467589846 Centerline is valid? [True, True] Translation: X:92.14, Y:-0.25, Z:-1.68 [[ 9.99921399e-01 -9.44921230e-03 -8.24068092e-03 9.21374200e+01] [ 9.44958182e-03 9.99955352e-01 5.90430010e-06 -2.48940470e-01] [ 8.24025719e-03 -8.37748246e-05 9.99966045e-01 -1.68435368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08800114499998 meters 0.06336731031840788 Centerline is valid? [True, True] Translation: X:92.17, Y:-0.25, Z:-1.68 [[ 9.99899691e-01 -1.18912062e-02 -7.69457852e-03 9.21686154e+01] [ 1.18916046e-02 9.99929292e-01 6.02559608e-06 -2.52548879e-01] [ 7.69396280e-03 -9.75258772e-05 9.99970396e-01 -1.68473836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11800114499998 meters 0.06357583883198528 Centerline is valid? [True, True] Translation: X:92.20, Y:-0.26, Z:-1.69 [[ 9.99888437e-01 -1.30871012e-02 -7.20005481e-03 9.22012142e+01] [ 1.30874881e-02 9.99914355e-01 6.62713957e-06 -2.55132238e-01] [ 7.19935143e-03 -1.00857032e-04 9.99974079e-01 -1.68566614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14800114499998 meters 0.06347308508447748 Centerline is valid? [True, True] Translation: X:92.23, Y:-0.26, Z:-1.69 [[ 9.99890562e-01 -1.29410123e-02 -7.16902549e-03 9.22337550e+01] [ 1.29413955e-02 9.99916257e-01 7.05310043e-06 -2.56432579e-01] [ 7.16833385e-03 -9.98295224e-05 9.99974302e-01 -1.68687912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17800114499998 meters 0.06352380244858898 Centerline is valid? [True, True] Translation: X:92.27, Y:-0.26, Z:-1.69 [[ 9.99876959e-01 -1.34465965e-02 -8.07816230e-03 9.22656079e+01] [ 1.34471026e-02 9.99909584e-01 8.33713507e-06 -2.57188262e-01] [ 8.07731980e-03 -1.16963987e-04 9.99967371e-01 -1.68795073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20800114499998 meters 0.06398292001126432 Centerline is valid? [True, True] Translation: X:92.30, Y:-0.26, Z:-1.69 [[ 9.99847387e-01 -1.42589298e-02 -1.00938070e-02 9.22970741e+01] [ 1.42597610e-02 9.99898324e-01 1.03724162e-05 -2.60179354e-01] [ 1.00926328e-02 -1.54306108e-04 9.99949056e-01 -1.69187625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23800114499998 meters 0.06377652608568878 Centerline is valid? [True, True] Translation: X:92.33, Y:-0.26, Z:-1.69 [[ 9.99836661e-01 -1.48525933e-02 -1.02981593e-02 9.23288182e+01] [ 1.48534948e-02 9.99889681e-01 1.10588544e-05 -2.60401940e-01] [ 1.02968589e-02 -1.64020704e-04 9.99946972e-01 -1.69159733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26800114499999 meters 0.06390086645674428 Centerline is valid? [True, True] Translation: X:92.36, Y:-0.26, Z:-1.69 [[ 9.99833392e-01 -1.50990066e-02 -1.02571122e-02 9.23603918e+01] [ 1.50999189e-02 9.99885990e-01 1.14942253e-05 -2.61758824e-01] [ 1.02557693e-02 -1.66373873e-04 9.99947394e-01 -1.69298781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29800114499999 meters 0.06378436937456218 Centerline is valid? [True, True] Translation: X:92.39, Y:-0.26, Z:-1.69 [[ 9.99850138e-01 -1.42168075e-02 -9.87850528e-03 9.23930686e+01] [ 1.42176256e-02 9.99898924e-01 1.25908005e-05 -2.62094681e-01] [ 9.87732780e-03 -1.53037803e-04 9.99951206e-01 -1.69352152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32800114499999 meters 0.06325939951279735 Centerline is valid? [True, True] Translation: X:92.43, Y:-0.26, Z:-1.69 [[ 9.99869504e-01 -1.30335344e-02 -9.54469001e-03 9.24254238e+01] [ 1.30342472e-02 9.99915051e-01 1.24727222e-05 -2.60883416e-01] [ 9.54371663e-03 -1.36878943e-04 9.99954448e-01 -1.69127066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35800114499999 meters 0.06298610956950389 Centerline is valid? [True, True] Translation: X:92.46, Y:-0.26, Z:-1.69 [[ 9.99901256e-01 -1.07149368e-02 -9.09226471e-03 9.24569934e+01] [ 1.07154897e-02 9.99942587e-01 1.21016393e-05 -2.60822410e-01] [ 9.09161303e-03 -1.09528513e-04 9.99958664e-01 -1.69160704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38800114499999 meters 0.0627197622626901 Centerline is valid? [True, True] Translation: X:92.49, Y:-0.26, Z:-1.69 [[ 9.99918930e-01 -9.64709986e-03 -8.31068704e-03 9.24879987e+01] [ 9.64752551e-03 9.99953461e-01 1.11278153e-05 -2.60426921e-01] [ 8.31019292e-03 -9.13044784e-05 9.99965466e-01 -1.69154919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41800114499999 meters 0.06253099891801599 Centerline is valid? [True, True] Translation: X:92.52, Y:-0.26, Z:-1.69 [[ 9.99942256e-01 -7.83163480e-03 -7.35862000e-03 9.25188221e+01] [ 7.83192148e-03 9.99969330e-01 1.01422039e-05 -2.60204175e-01] [ 7.35831488e-03 -6.77737523e-05 9.99972925e-01 -1.69150345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44800114499998 meters 0.06254443354841444 Centerline is valid? [True, True] Translation: X:92.55, Y:-0.26, Z:-1.69 [[ 9.99949685e-01 -7.53049990e-03 -6.62713678e-03 9.25497626e+01] [ 7.53072747e-03 9.99971644e-01 9.38471220e-06 -2.61622944e-01] [ 6.62687818e-03 -5.92914009e-05 9.99978040e-01 -1.69214983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47800114499998 meters 0.0625434592198896 Centerline is valid? [True, True] Translation: X:92.58, Y:-0.26, Z:-1.69 [[ 9.99951912e-01 -7.31858322e-03 -6.52786405e-03 9.25812240e+01] [ 7.31880086e-03 9.99973217e-01 9.45220161e-06 -2.63844175e-01] [ 6.52762004e-03 -5.72278841e-05 9.99978693e-01 -1.69268643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50800114499998 meters 0.06251025961585446 Centerline is valid? [True, True] Translation: X:92.61, Y:-0.27, Z:-1.69 [[ 9.99952190e-01 -7.42492123e-03 -6.36300079e-03 9.26124542e+01] [ 7.42513149e-03 9.99972433e-01 9.42018825e-06 -2.65722709e-01] [ 6.36275544e-03 -5.66658554e-05 9.99979756e-01 -1.69338094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53800114499998 meters 0.0625481919708247 Centerline is valid? [True, True] Translation: X:92.64, Y:-0.27, Z:-1.70 [[ 9.99946175e-01 -8.00588619e-03 -6.59939331e-03 9.26431614e+01] [ 8.00612389e-03 9.99967950e-01 9.60036690e-06 -2.67777518e-01] [ 6.59910495e-03 -6.24354106e-05 9.99978224e-01 -1.69528179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56800114499998 meters 0.06266453319308796 Centerline is valid? [True, True] Translation: X:92.67, Y:-0.27, Z:-1.70 [[ 9.99932991e-01 -9.38397734e-03 -6.77893026e-03 9.26743882e+01] [ 9.38426284e-03 9.99955967e-01 1.03082663e-05 -2.69693077e-01] [ 6.77853503e-03 -7.39228389e-05 9.99977023e-01 -1.69623461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59800114499998 meters 0.06299674437891313 Centerline is valid? [True, True] Translation: X:92.71, Y:-0.27, Z:-1.70 [[ 9.99910995e-01 -1.15238157e-02 -6.72336425e-03 9.27066807e+01] [ 1.15241510e-02 9.99933595e-01 1.11248941e-05 -2.73617361e-01] [ 6.72278958e-03 -8.86049687e-05 9.99977398e-01 -1.69761292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62800114499998 meters 0.06299174846134792 Centerline is valid? [True, True] Translation: X:92.74, Y:-0.28, Z:-1.70 [[ 9.99895364e-01 -1.27059179e-02 -6.91530787e-03 9.27385795e+01] [ 1.27063037e-02 9.99919272e-01 1.18593150e-05 -2.75308321e-01] [ 6.91459892e-03 -9.97260761e-05 9.99976089e-01 -1.69760186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65800114499999 meters 0.06294423102256574 Centerline is valid? [True, True] Translation: X:92.77, Y:-0.28, Z:-1.70 [[ 9.99872274e-01 -1.44664932e-02 -6.79380176e-03 9.27707712e+01] [ 1.44669097e-02 9.99895349e-01 1.21506359e-05 -2.76440542e-01] [ 6.79291501e-03 -1.10434400e-04 9.99976922e-01 -1.69554819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68800114499999 meters 0.06306955615856702 Centerline is valid? [True, True] Translation: X:92.80, Y:-0.28, Z:-1.70 [[ 9.99862350e-01 -1.56582332e-02 -5.48633432e-03 9.28018008e+01] [ 1.56585301e-02 9.99877398e-01 1.11696714e-05 -2.78884241e-01] [ 5.48548678e-03 -9.70760650e-05 9.99984950e-01 -1.69664653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71800114499999 meters 0.06328314243140123 Centerline is valid? [True, True] Translation: X:92.83, Y:-0.28, Z:-1.70 [[ 9.99842068e-01 -1.71030306e-02 -4.82965750e-03 9.28340407e+01] [ 1.71032770e-02 9.99853728e-01 9.72820486e-06 -2.80260645e-01] [ 4.82878468e-03 -9.23296388e-05 9.99988337e-01 -1.69671541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74800114499999 meters 0.06352453145847722 Centerline is valid? [True, True] Translation: X:92.87, Y:-0.28, Z:-1.70 [[ 9.99814889e-01 -1.84762435e-02 -5.36807036e-03 9.28658002e+01] [ 1.84765673e-02 9.99829294e-01 1.07156431e-05 -2.81895501e-01] [ 5.36695601e-03 -1.09897173e-04 9.99985592e-01 -1.69704431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77800114499999 meters 0.06375903310935113 Centerline is valid? [True, True] Translation: X:92.90, Y:-0.28, Z:-1.70 [[ 9.99787754e-01 -1.96299546e-02 -6.25387444e-03 9.28967035e+01] [ 1.96304176e-02 9.99807305e-01 1.26579790e-05 -2.83729868e-01] [ 6.25242087e-03 -1.35421459e-04 9.99980444e-01 -1.69905245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80800114499999 meters 0.06431956734161923 Centerline is valid? [True, True] Translation: X:92.93, Y:-0.29, Z:-1.70 [[ 9.99774507e-01 -2.00543999e-02 -6.98261297e-03 9.29275540e+01] [ 2.00549892e-02 9.99798878e-01 1.43656167e-05 -2.86395446e-01] [ 6.98092052e-03 -1.54398605e-04 9.99975621e-01 -1.70184394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83800114499998 meters 0.06399526270953625 Centerline is valid? [True, True] Translation: X:92.96, Y:-0.28, Z:-1.70 [[ 9.99762843e-01 -2.09163996e-02 -6.06319103e-03 9.29603872e+01] [ 2.09168689e-02 9.99781218e-01 1.39928114e-05 -2.84986214e-01] [ 6.06157184e-03 -1.40812465e-04 9.99981619e-01 -1.70027936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86800114499998 meters 0.06440056177183207 Centerline is valid? [True, True] Translation: X:92.99, Y:-0.29, Z:-1.70 [[ 9.99746286e-01 -2.15866476e-02 -6.43280529e-03 9.29911160e+01] [ 2.15871954e-02 9.99766969e-01 1.57256547e-05 -2.86319174e-01] [ 6.43096678e-03 -1.54587889e-04 9.99979309e-01 -1.70156053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89800114499998 meters 0.06428935292149916 Centerline is valid? [True, True] Translation: X:93.02, Y:-0.29, Z:-1.70 [[ 9.99732278e-01 -2.22680367e-02 -6.28552315e-03 9.30237282e+01] [ 2.22685711e-02 9.99752025e-01 1.50429884e-05 -2.86428070e-01] [ 6.28362952e-03 -1.55008580e-04 9.99980246e-01 -1.70144401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92800114499998 meters 0.06451940555656306 Centerline is valid? [True, True] Translation: X:93.06, Y:-0.29, Z:-1.70 [[ 9.99707940e-01 -2.34241650e-02 -5.94497529e-03 9.30557640e+01] [ 2.34246661e-02 9.99725605e-01 1.46750842e-05 -2.87705911e-01] [ 5.94300027e-03 -1.53929859e-04 9.99982328e-01 -1.70160151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95800114499998 meters 0.06472053178259157 Centerline is valid? [True, True] Translation: X:93.09, Y:-0.29, Z:-1.70 [[ 9.99693343e-01 -2.42776324e-02 -4.88022361e-03 9.30874568e+01] [ 2.42779844e-02 9.99705246e-01 1.28927912e-05 -2.87664407e-01] [ 4.87847214e-03 -1.31370830e-04 9.99988092e-01 -1.70137738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98800114499998 meters 0.06483130896486736 Centerline is valid? [True, True] Translation: X:93.12, Y:-0.29, Z:-1.70 [[ 9.99678636e-01 -2.49682742e-02 -4.38296261e-03 9.31200943e+01] [ 2.49685654e-02 9.99688237e-01 1.17268208e-05 -2.86990079e-01] [ 4.38130337e-03 -1.21159341e-04 9.99990395e-01 -1.70113654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01800114499999 meters 0.06519682461979255 Centerline is valid? [True, True] Translation: X:93.15, Y:-0.29, Z:-1.70 [[ 9.99662165e-01 -2.56678861e-02 -4.08854955e-03 9.31520817e+01] [ 2.56681467e-02 9.99670519e-01 1.12780807e-05 -2.87475093e-01] [ 4.08691297e-03 -1.16219760e-04 9.99991642e-01 -1.70212226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04800114499999 meters 0.0653681934743185 Centerline is valid? [True, True] Translation: X:93.18, Y:-0.29, Z:-1.70 [[ 9.99669828e-01 -2.55300958e-02 -2.90687776e-03 9.31845007e+01] [ 2.55302284e-02 9.99674051e-01 8.51187489e-06 -2.87947758e-01] [ 2.90571295e-03 -8.27223177e-05 9.99995775e-01 -1.70409929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07800114499999 meters 0.06557988311700388 Centerline is valid? [True, True] Translation: X:93.22, Y:-0.29, Z:-1.71 [[ 9.99671306e-01 -2.54918823e-02 -2.72840912e-03 9.32177203e+01] [ 2.54920021e-02 9.99675026e-01 9.13257271e-06 -2.88396371e-01] [ 2.72728965e-03 -7.86821819e-05 9.99996278e-01 -1.70606335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10800114499999 meters 0.06558959098622075 Centerline is valid? [True, True] Translation: X:93.25, Y:-0.29, Z:-1.71 [[ 9.99646634e-01 -2.62010250e-02 -4.48484893e-03 9.32498875e+01] [ 2.62013484e-02 9.99656686e-01 1.33678851e-05 -2.86027474e-01] [ 4.48295896e-03 -1.30872251e-04 9.99989943e-01 -1.70668992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13800114499999 meters 0.06641675976939232 Centerline is valid? [True, True] Translation: X:93.28, Y:-0.29, Z:-1.71 [[ 9.99634680e-01 -2.67211303e-02 -4.06058763e-03 9.32813972e+01] [ 2.67213999e-02 9.99642920e-01 1.21325125e-05 -2.86420789e-01] [ 4.05881348e-03 -1.20632666e-04 9.99991756e-01 -1.70930495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16800114499999 meters 0.06641675976939232 Centerline is valid? [True, True] Translation: X:93.31, Y:-0.29, Z:-1.71 [[ 9.99637211e-01 -2.66262522e-02 -4.06058437e-03 9.33139753e+01] [ 2.66265256e-02 9.99645451e-01 1.32651399e-05 -2.86624795e-01] [ 4.05879150e-03 -1.21379581e-04 9.99991756e-01 -1.70983371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19800114499998 meters 0.06651944398262351 Centerline is valid? [True, True] Translation: X:93.35, Y:-0.28, Z:-1.71 [[ 9.99626746e-01 -2.67918630e-02 -5.34468949e-03 9.33461745e+01] [ 2.67923355e-02 9.99641021e-01 1.68139719e-05 -2.83158907e-01] [ 5.34232038e-03 -1.60004410e-04 9.99985717e-01 -1.71098639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22800114499998 meters 0.06641224297499514 Centerline is valid? [True, True] Translation: X:93.38, Y:-0.28, Z:-1.71 [[ 9.99634413e-01 -2.64972183e-02 -5.37931833e-03 9.33784462e+01] [ 2.64976946e-02 9.99648874e-01 1.72779851e-05 -2.81515116e-01] [ 5.37697169e-03 -1.59811203e-04 9.99985531e-01 -1.71173629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25800114499998 meters 0.06642597732132971 Centerline is valid? [True, True] Translation: X:93.41, Y:-0.28, Z:-1.71 [[ 9.99662402e-01 -2.54092490e-02 -5.42705343e-03 9.34103592e+01] [ 2.54097196e-02 9.99677121e-01 1.77675836e-05 -2.80219147e-01] [ 5.42484969e-03 -1.55661491e-04 9.99985273e-01 -1.71321115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28800114499998 meters 0.06578221701076459 Centerline is valid? [True, True] Translation: X:93.44, Y:-0.28, Z:-1.71 [[ 9.99706284e-01 -2.37693643e-02 -4.72887406e-03 9.34431196e+01] [ 2.37697072e-02 9.99717460e-01 1.63004153e-05 -2.77315898e-01] [ 4.72715052e-03 -1.28699579e-04 9.99988819e-01 -1.71251187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31800114499998 meters 0.06526116951218039 Centerline is valid? [True, True] Translation: X:93.47, Y:-0.27, Z:-1.71 [[ 9.99779933e-01 -2.07797152e-02 -2.87922982e-03 9.34742104e+01] [ 2.07798294e-02 9.99784076e-01 9.74024163e-06 -2.69985888e-01] [ 2.87840573e-03 -6.95680026e-05 9.99995855e-01 -1.71166856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34800114499998 meters 0.06507915495684757 Centerline is valid? [True, True] Translation: X:93.51, Y:-0.27, Z:-1.71 [[ 9.99815665e-01 -1.88455492e-02 -3.67168715e-03 9.35050870e+01] [ 1.88457229e-02 9.99822404e-01 1.27113109e-05 -2.66786160e-01] [ 3.67079552e-03 -8.19045665e-05 9.99993259e-01 -1.71219208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37800114499998 meters 0.06481658844860456 Centerline is valid? [True, True] Translation: X:93.54, Y:-0.26, Z:-1.71 [[ 9.99848944e-01 -1.70491287e-02 -3.37872129e-03 9.35369030e+01] [ 1.70492675e-02 9.99854651e-01 1.22623945e-05 -2.62411438e-01] [ 3.37802113e-03 -6.98652652e-05 9.99994292e-01 -1.71251958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40800114499999 meters 0.06449179726453069 Centerline is valid? [True, True] Translation: X:93.57, Y:-0.26, Z:-1.71 [[ 9.99917256e-01 -1.23430955e-02 -3.62335106e-03 9.35670734e+01] [ 1.23432212e-02 9.99923819e-01 1.23228241e-05 -2.57074035e-01] [ 3.62292292e-03 -5.70456280e-05 9.99993436e-01 -1.71460434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43800114499999 meters 0.06427453641857626 Centerline is valid? [True, True] Translation: X:93.60, Y:-0.26, Z:-1.72 [[ 9.99941516e-01 -1.04063687e-02 -2.94474336e-03 9.35994200e+01] [ 1.04064464e-02 9.99945851e-01 1.10398774e-05 -2.55071812e-01] [ 2.94446902e-03 -4.16835456e-05 9.99995664e-01 -1.71626171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46800114499999 meters 0.0642326761108911 Centerline is valid? [True, True] Translation: X:93.63, Y:-0.25, Z:-1.72 [[ 9.99953367e-01 -9.21650151e-03 -2.88429158e-03 9.36308272e+01] [ 9.21657072e-03 9.99957526e-01 1.07041991e-05 -2.53353201e-01] [ 2.88407042e-03 -3.72869773e-05 9.99995840e-01 -1.71721232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49800114499999 meters 0.06418499070993851 Centerline is valid? [True, True] Translation: X:93.66, Y:-0.25, Z:-1.72 [[ 9.99960457e-01 -8.14828409e-03 -3.56219939e-03 9.36630408e+01] [ 8.14838393e-03 9.99966801e-01 1.35148421e-05 -2.50498318e-01] [ 3.56197100e-03 -4.25404759e-05 9.99993655e-01 -1.71715795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52800114499999 meters 0.0641956324379812 Centerline is valid? [True, True] Translation: X:93.69, Y:-0.24, Z:-1.72 [[ 9.99976509e-01 -5.48851370e-03 -4.10573572e-03 9.36944015e+01] [ 5.48862800e-03 9.99984937e-01 1.65712329e-05 -2.43903780e-01] [ 4.10558293e-03 -3.91056997e-05 9.99991571e-01 -1.71703094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55800114499999 meters 0.06418268977485436 Centerline is valid? [True, True] Translation: X:93.73, Y:-0.24, Z:-1.72 [[ 9.99978554e-01 -4.18615572e-03 -5.03655479e-03 9.37254389e+01] [ 4.18630378e-03 9.99991237e-01 1.88545754e-05 -2.41581070e-01] [ 5.03643173e-03 -3.99387194e-05 9.99987316e-01 -1.71818285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58800114499998 meters 0.06438352780837044 Centerline is valid? [True, True] Translation: X:93.76, Y:-0.24, Z:-1.72 [[ 9.99977641e-01 -3.09384489e-03 -5.92835723e-03 9.37561407e+01] [ 3.09402729e-03 9.99995213e-01 2.15954901e-05 -2.40667287e-01] [ 5.92826204e-03 -3.99375063e-05 9.99982427e-01 -1.72094026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61800114499998 meters 0.06452388449686473 Centerline is valid? [True, True] Translation: X:93.79, Y:-0.24, Z:-1.72 [[ 9.99969249e-01 -1.47641822e-03 -7.70204387e-03 9.37853689e+01] [ 1.47667246e-03 9.99998909e-01 2.73219179e-05 -2.39864423e-01] [ 7.70199513e-03 -3.86944738e-05 9.99970338e-01 -1.72432618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64800114499998 meters 0.06449868593816298 Centerline is valid? [True, True] Translation: X:93.81, Y:-0.23, Z:-1.73 [[ 9.99967109e-01 1.72140209e-03 -7.92577765e-03 9.38134821e+01] [-1.72127634e-03 9.99998518e-01 2.26876774e-05 -2.34739207e-01] [ 7.92580496e-03 -9.04447760e-06 9.99968590e-01 -1.72590468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67800114499998 meters 0.06441865773426685 Centerline is valid? [True, True] Translation: X:93.84, Y:-0.23, Z:-1.73 [[ 9.99961552e-01 3.12533890e-03 -8.19312298e-03 9.38412837e+01] [-3.12526736e-03 9.99995116e-01 2.15346441e-05 -2.31181543e-01] [ 8.19315027e-03 4.07188367e-06 9.99966436e-01 -1.72531974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70800114499998 meters 0.06463197097719459 Centerline is valid? [True, True] Translation: X:93.87, Y:-0.23, Z:-1.73 [[ 9.99956214e-01 5.07783162e-03 -7.86043728e-03 9.38686099e+01] [-5.07782801e-03 9.99987108e-01 2.04159811e-05 -2.28035489e-01] [ 7.86043961e-03 1.94988614e-05 9.99969106e-01 -1.72672200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73800114499998 meters 0.06461507020761537 Centerline is valid? [True, True] Translation: X:93.90, Y:-0.23, Z:-1.73 [[ 9.99941195e-01 6.78115462e-03 -8.46295386e-03 9.38969401e+01] [-6.78120253e-03 9.99977007e-01 2.30336328e-05 -2.26612231e-01] [ 8.46291547e-03 3.43567259e-05 9.99964188e-01 -1.72583789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76800114499999 meters 0.06504054688952784 Centerline is valid? [True, True] Translation: X:93.92, Y:-0.22, Z:-1.73 [[ 9.99910085e-01 9.49717338e-03 -9.46709423e-03 9.39248965e+01] [-9.49736044e-03 9.99954899e-01 2.51983435e-05 -2.24411932e-01] [ 9.46690657e-03 6.47163285e-05 9.99955186e-01 -1.73062570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79800114499999 meters 0.06469734197924316 Centerline is valid? [True, True] Translation: X:93.95, Y:-0.23, Z:-1.73 [[ 9.99914875e-01 9.32734992e-03 -9.12378728e-03 9.39539688e+01] [-9.32752048e-03 9.99956497e-01 2.38591158e-05 -2.25642563e-01] [ 9.12361292e-03 6.12452279e-05 9.99958377e-01 -1.72653334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82800114499999 meters 0.06485753665674626 Centerline is valid? [True, True] Translation: X:93.98, Y:-0.23, Z:-1.73 [[ 9.99925513e-01 8.56324967e-03 -8.69705889e-03 9.39822003e+01] [-8.56338090e-03 9.99963333e-01 2.21506616e-05 -2.25013882e-01] [ 8.69692968e-03 5.23272163e-05 9.99962180e-01 -1.72942592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85800114499999 meters 0.06469548758978899 Centerline is valid? [True, True] Translation: X:94.01, Y:-0.23, Z:-1.73 [[ 9.99957093e-01 4.85684686e-03 -7.88811756e-03 9.40099854e+01] [-4.85684638e-03 9.99988205e-01 1.92167844e-05 -2.27812564e-01] [ 7.88811786e-03 1.90954154e-05 9.99968888e-01 -1.72972789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88800114499999 meters 0.0646618474805705 Centerline is valid? [True, True] Translation: X:94.04, Y:-0.23, Z:-1.73 [[ 9.99961227e-01 3.21322595e-03 -8.19873258e-03 9.40383353e+01] [-3.21317238e-03 9.99994838e-01 1.97060532e-05 -2.30190883e-01] [ 8.19875358e-03 6.63865197e-06 9.99966390e-01 -1.72780242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91800114499999 meters 0.06475789114692874 Centerline is valid? [True, True] Translation: X:94.07, Y:-0.23, Z:-1.73 [[ 9.99961741e-01 3.08461999e-04 -8.74195115e-03 9.40660510e+01] [-3.08297646e-04 9.99999952e-01 2.01479976e-05 -2.33355870e-01] [ 8.74195694e-03 -1.74521038e-05 9.99961788e-01 -1.73007067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94800114499998 meters 0.06469384915823916 Centerline is valid? [True, True] Translation: X:94.10, Y:-0.24, Z:-1.73 [[ 9.99959243e-01 -2.08639178e-03 -8.78408385e-03 9.40952011e+01] [ 2.08664748e-03 9.99997823e-01 1.99448132e-05 -2.36252635e-01] [ 8.78402311e-03 -3.82732866e-05 9.99961419e-01 -1.72933012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97800114499998 meters 0.06518389779361954 Centerline is valid? [True, True] Translation: X:94.12, Y:-0.24, Z:-1.73 [[ 9.99928766e-01 -7.16816662e-03 -9.54362522e-03 9.41224301e+01] [ 7.16869115e-03 9.99974304e-01 2.07538617e-05 -2.43254784e-01] [ 9.54323122e-03 -8.91676849e-05 9.99954458e-01 -1.73230619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00800114499998 meters 0.0653041812063845 Centerline is valid? [True, True] Translation: X:94.15, Y:-0.25, Z:-1.73 [[ 9.99910323e-01 -9.43281052e-03 -9.50621846e-03 9.41524475e+01] [ 9.43344155e-03 9.99955504e-01 2.15431579e-05 -2.45630596e-01] [ 9.50559226e-03 -1.11217582e-04 9.99954815e-01 -1.73295151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03800114499998 meters 0.06565253741589548 Centerline is valid? [True, True] Translation: X:94.18, Y:-0.25, Z:-1.73 [[ 9.99891072e-01 -1.09418623e-02 -9.90559136e-03 9.41824054e+01] [ 1.09426281e-02 9.99940127e-01 2.31140755e-05 -2.47690538e-01] [ 9.90474538e-03 -1.31504760e-04 9.99950938e-01 -1.73484813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06800114499998 meters 0.06547692745888622 Centerline is valid? [True, True] Translation: X:94.21, Y:-0.25, Z:-1.73 [[ 9.99875396e-01 -1.20969488e-02 -1.01417821e-02 9.42136323e+01] [ 1.20978166e-02 9.99926818e-01 2.42202670e-05 -2.47362651e-01] [ 1.01407469e-02 -1.46910668e-04 9.99948571e-01 -1.73286314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09800114499998 meters 0.06554663182843455 Centerline is valid? [True, True] Translation: X:94.25, Y:-0.25, Z:-1.73 [[ 9.99860549e-01 -1.42197729e-02 -8.75670882e-03 9.42463329e+01] [ 1.42205113e-02 9.99898883e-01 2.20698663e-05 -2.48380591e-01] [ 8.75550954e-03 -1.46591666e-04 9.99961659e-01 -1.73050928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12800114499998 meters 0.06570389426065322 Centerline is valid? [True, True] Translation: X:94.28, Y:-0.25, Z:-1.73 [[ 9.99850233e-01 -1.50077087e-02 -8.61859013e-03 9.42781251e+01] [ 1.50084583e-02 9.99887367e-01 2.22927686e-05 -2.50232465e-01] [ 8.61728483e-03 -1.51641180e-04 9.99962859e-01 -1.73100432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15800114499999 meters 0.06583563355081226 Centerline is valid? [True, True] Translation: X:94.31, Y:-0.25, Z:-1.73 [[ 9.99838209e-01 -1.58135458e-02 -8.57247441e-03 9.43106543e+01] [ 1.58143217e-02 9.99874946e-01 2.27262699e-05 -2.51750718e-01] [ 8.57104300e-03 -1.58290461e-04 9.99963255e-01 -1.73187348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18800114499999 meters 0.06605784776699455 Centerline is valid? [True, True] Translation: X:94.34, Y:-0.25, Z:-1.73 [[ 9.99828454e-01 -1.64142810e-02 -8.58105823e-03 9.43419087e+01] [ 1.64150937e-02 9.99865263e-01 2.42877408e-05 -2.53033349e-01] [ 8.57950337e-03 -1.65142449e-04 9.99963182e-01 -1.73297457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21800114499999 meters 0.06628902899509362 Centerline is valid? [True, True] Translation: X:94.37, Y:-0.25, Z:-1.73 [[ 9.99821263e-01 -1.69326223e-02 -8.41007501e-03 9.43728808e+01] [ 1.69334170e-02 9.99856619e-01 2.33016907e-05 -2.54263953e-01] [ 8.40847461e-03 -1.65708833e-04 9.99964634e-01 -1.73400582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24800114499999 meters 0.06638443510620484 Centerline is valid? [True, True] Translation: X:94.40, Y:-0.25, Z:-1.73 [[ 9.99831665e-01 -1.66304728e-02 -7.75044773e-03 9.44041189e+01] [ 1.66311534e-02 9.99861693e-01 2.33579631e-05 -2.54221418e-01] [ 7.74898733e-03 -1.52252916e-04 9.99969965e-01 -1.73492838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27800114499999 meters 0.06620635512077822 Centerline is valid? [True, True] Translation: X:94.44, Y:-0.25, Z:-1.73 [[ 9.99835540e-01 -1.61577132e-02 -8.23539833e-03 9.44358594e+01] [ 1.61584626e-02 9.99869443e-01 2.44682939e-05 -2.53536512e-01] [ 8.23392779e-03 -1.57535646e-04 9.99966088e-01 -1.73496252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30800114499999 meters 0.06621796816004545 Centerline is valid? [True, True] Translation: X:94.47, Y:-0.25, Z:-1.74 [[ 9.99844105e-01 -1.53324389e-02 -8.75677092e-03 9.44670879e+01] [ 1.53332553e-02 9.99882438e-01 2.61032113e-05 -2.53237074e-01] [ 8.75534123e-03 -1.60368946e-04 9.99961658e-01 -1.73645883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33800114499998 meters 0.06612793343832941 Centerline is valid? [True, True] Translation: X:94.50, Y:-0.25, Z:-1.74 [[ 9.99862362e-01 -1.40813699e-02 -8.77333269e-03 9.44992310e+01] [ 1.40821482e-02 9.99900841e-01 2.69437892e-05 -2.53448204e-01] [ 8.77208333e-03 -1.50487452e-04 9.99961513e-01 -1.73846683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36800114499998 meters 0.06596275277172849 Centerline is valid? [True, True] Translation: X:94.53, Y:-0.25, Z:-1.74 [[ 9.99866950e-01 -1.38057842e-02 -8.68810725e-03 9.45311503e+01] [ 1.38065418e-02 9.99904685e-01 2.72357078e-05 -2.53502007e-01] [ 8.68690313e-03 -1.47184800e-04 9.99962257e-01 -1.73899205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39800114499998 meters 0.06607152941819838 Centerline is valid? [True, True] Translation: X:94.56, Y:-0.25, Z:-1.74 [[ 9.99868792e-01 -1.34008357e-02 -9.10032813e-03 9.45621194e+01] [ 1.34016513e-02 9.99910193e-01 2.86406253e-05 -2.53423596e-01] [ 9.09912705e-03 -1.50596292e-04 9.99958591e-01 -1.74022439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42800114499998 meters 0.06590868598705511 Centerline is valid? [True, True] Translation: X:94.59, Y:-0.25, Z:-1.74 [[ 9.99855540e-01 -1.39058832e-02 -9.77376520e-03 9.45947371e+01] [ 1.39068562e-02 9.99903295e-01 3.15997668e-05 -2.49682302e-01] [ 9.77238060e-03 -1.67517549e-04 9.99952235e-01 -1.73729767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45800114499998 meters 0.06592402271927451 Centerline is valid? [True, True] Translation: X:94.63, Y:-0.25, Z:-1.74 [[ 9.99843841e-01 -1.41251377e-02 -1.06195566e-02 9.46267050e+01] [ 1.41263050e-02 9.99900218e-01 3.49138722e-05 -2.48824772e-01] [ 1.06180038e-02 -1.84923515e-04 9.99943610e-01 -1.73728084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48800114499998 meters 0.06620157048419421 Centerline is valid? [True, True] Translation: X:94.66, Y:-0.25, Z:-1.74 [[ 9.99838719e-01 -1.41795544e-02 -1.10216097e-02 9.46579819e+01] [ 1.41808174e-02 9.99899446e-01 3.64519547e-05 -2.50202303e-01] [ 1.10199845e-02 -1.92741510e-04 9.99939260e-01 -1.73964009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51800114499999 meters 0.06637935008969308 Centerline is valid? [True, True] Translation: X:94.69, Y:-0.25, Z:-1.74 [[ 9.99829917e-01 -1.43332871e-02 -1.16057637e-02 9.46903335e+01] [ 1.43347087e-02 9.99897252e-01 3.93122248e-05 -2.52754730e-01] [ 1.16040077e-02 -2.05670780e-04 9.99932650e-01 -1.74251743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54800114499999 meters 0.06679807305527441 Centerline is valid? [True, True] Translation: X:94.72, Y:-0.26, Z:-1.75 [[ 9.99807864e-01 -1.58410858e-02 -1.15453727e-02 9.47210007e+01] [ 1.58425915e-02 9.99874498e-01 3.89674381e-05 -2.56921003e-01] [ 1.15433064e-02 -2.21868574e-04 9.99933349e-01 -1.74558479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57800114499999 meters 0.06677911979505625 Centerline is valid? [True, True] Translation: X:94.75, Y:-0.26, Z:-1.75 [[ 9.99802404e-01 -1.60151686e-02 -1.17756963e-02 9.47533501e+01] [ 1.60167612e-02 9.99871723e-01 4.09438413e-05 -2.56606080e-01] [ 1.17735301e-02 -2.29544268e-04 9.99930663e-01 -1.74542394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60800114499999 meters 0.0668550906868855 Centerline is valid? [True, True] Translation: X:94.79, Y:-0.26, Z:-1.75 [[ 9.99786905e-01 -1.66580818e-02 -1.21923394e-02 9.47858004e+01] [ 1.66598455e-02 9.99861214e-01 4.31026533e-05 -2.55476981e-01] [ 1.21899293e-02 -2.46215960e-04 9.99925670e-01 -1.74509972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63800114499999 meters 0.06697053747580851 Centerline is valid? [True, True] Translation: X:94.82, Y:-0.26, Z:-1.74 [[ 9.99794941e-01 -1.70531286e-02 -1.09209536e-02 9.48170227e+01] [ 1.70545711e-02 9.99854559e-01 3.89623500e-05 -2.56191268e-01] [ 1.09187008e-02 -2.25206540e-04 9.99940364e-01 -1.74477668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66800114499999 meters 0.06729591589399252 Centerline is valid? [True, True] Translation: X:94.85, Y:-0.26, Z:-1.75 [[ 9.99770078e-01 -1.81689379e-02 -1.13877388e-02 9.48490317e+01] [ 1.81705888e-02 9.99834900e-01 4.15132482e-05 -2.59279698e-01] [ 1.13851045e-02 -2.48425623e-04 9.99935157e-01 -1.74610321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69800114499998 meters 0.06772468800557943 Centerline is valid? [True, True] Translation: X:94.88, Y:-0.26, Z:-1.75 [[ 9.99750105e-01 -1.94946721e-02 -1.09400351e-02 9.48808810e+01] [ 1.94962826e-02 9.99809929e-01 4.05698847e-05 -2.62879344e-01] [ 1.09371648e-02 -2.53849763e-04 9.99940155e-01 -1.74732910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72800114499998 meters 0.06733076959526207 Centerline is valid? [True, True] Translation: X:94.91, Y:-0.26, Z:-1.75 [[ 9.99729986e-01 -2.08174210e-02 -1.03242668e-02 9.49127167e+01] [ 2.08189335e-02 9.99783262e-01 3.90350245e-05 -2.62938079e-01] [ 1.03212165e-02 -2.53964708e-04 9.99946703e-01 -1.74500702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75800114499998 meters 0.06782833459206733 Centerline is valid? [True, True] Translation: X:94.94, Y:-0.26, Z:-1.74 [[ 9.99695368e-01 -2.25278243e-02 -1.00830642e-02 9.49441809e+01] [ 2.25293563e-02 9.99746181e-01 3.83592623e-05 -2.64101715e-01] [ 1.00796408e-02 -2.65512523e-04 9.99949164e-01 -1.74367455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78800114499998 meters 0.06804662727499286 Centerline is valid? [True, True] Translation: X:94.98, Y:-0.26, Z:-1.74 [[ 9.99702116e-01 -2.22237620e-02 -1.00888149e-02 9.49753191e+01] [ 2.22252848e-02 9.99752987e-01 3.88409434e-05 -2.63698849e-01] [ 1.00854597e-02 -2.63056159e-04 9.99949106e-01 -1.74479392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81800114499998 meters 0.06812909443266978 Centerline is valid? [True, True] Translation: X:95.01, Y:-0.26, Z:-1.75 [[ 9.99719049e-01 -2.12281482e-02 -1.05445841e-02 9.50074158e+01] [ 2.12297656e-02 9.99774622e-01 4.14594235e-05 -2.63299615e-01] [ 1.05413275e-02 -2.65306824e-04 9.99944403e-01 -1.74637172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84800114499998 meters 0.0674352249216942 Centerline is valid? [True, True] Translation: X:95.04, Y:-0.26, Z:-1.75 [[ 9.99749826e-01 -1.95973254e-02 -1.07810036e-02 9.50399066e+01] [ 1.95989285e-02 9.99807922e-01 4.30547276e-05 -2.61507462e-01] [ 1.07780890e-02 -2.54340074e-04 9.99941882e-01 -1.74647474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87800114499998 meters 0.06737702659181632 Centerline is valid? [True, True] Translation: X:95.07, Y:-0.26, Z:-1.75 [[ 9.99799436e-01 -1.66611076e-02 -1.11128407e-02 9.50707950e+01] [ 1.66626321e-02 9.99861168e-01 4.46037463e-05 -2.60969810e-01] [ 1.11105547e-02 -2.29763976e-04 9.99938249e-01 -1.74989835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90800114499999 meters 0.06735515399161743 Centerline is valid? [True, True] Translation: X:95.10, Y:-0.26, Z:-1.75 [[ 9.99808418e-01 -1.57414432e-02 -1.16333167e-02 9.51020579e+01] [ 1.57430571e-02 9.99876069e-01 4.71614294e-05 -2.60384181e-01] [ 1.16311325e-02 -2.30296363e-04 9.99932330e-01 -1.75107978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93800114499999 meters 0.06709811681065357 Centerline is valid? [True, True] Translation: X:95.13, Y:-0.26, Z:-1.75 [[ 9.99833286e-01 -1.41267511e-02 -1.15686892e-02 9.51343381e+01] [ 1.41282497e-02 9.99900190e-01 4.78197148e-05 -2.58347492e-01] [ 1.15668589e-02 -2.11257072e-04 9.99933079e-01 -1.75151524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96800114499999 meters 0.0665426440753939 Centerline is valid? [True, True] Translation: X:95.17, Y:-0.25, Z:-1.75 [[ 9.99874086e-01 -1.07176639e-02 -1.17022905e-02 9.51659354e+01] [ 1.07189622e-02 9.99942549e-01 4.82222514e-05 -2.53266815e-01] [ 1.17011013e-02 -1.73652589e-04 9.99931525e-01 -1.75180619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99800114499999 meters 0.06599501573868405 Centerline is valid? [True, True] Translation: X:95.20, Y:-0.25, Z:-1.75 [[ 9.99874240e-01 -9.45660054e-03 -1.27309072e-02 9.51965494e+01] [ 9.45802823e-03 9.99955271e-01 5.19398117e-05 -2.49970387e-01] [ 1.27298465e-02 -1.72342559e-04 9.99918957e-01 -1.74880360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02800114499999 meters 0.06641503787980789 Centerline is valid? [True, True] Translation: X:95.22, Y:-0.25, Z:-1.75 [[ 9.99889236e-01 -8.20393102e-03 -1.24182021e-02 9.52247045e+01] [ 8.20517306e-03 9.99966336e-01 4.90710204e-05 -2.50422529e-01] [ 1.24173815e-02 -1.50959083e-04 9.99922890e-01 -1.75370383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05800114499999 meters 0.06641503787980789 Centerline is valid? [True, True] Translation: X:95.25, Y:-0.25, Z:-1.75 [[ 9.99887546e-01 -8.40732250e-03 -1.24182214e-02 9.52529061e+01] [ 8.40851904e-03 9.99964647e-01 4.41443928e-05 -2.50415266e-01] [ 1.24174112e-02 -1.48558279e-04 9.99922890e-01 -1.75416251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08800114499998 meters 0.06591662911257254 Centerline is valid? [True, True] Translation: X:95.28, Y:-0.25, Z:-1.75 [[ 9.99889919e-01 -7.35899344e-03 -1.28839293e-02 9.52818148e+01] [ 7.36015744e-03 9.99972913e-01 4.29311611e-05 -2.47484880e-01] [ 1.28832643e-02 -1.37754183e-04 9.99916998e-01 -1.75113661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11800114499998 meters 0.0656861278397703 Centerline is valid? [True, True] Translation: X:95.31, Y:-0.25, Z:-1.75 [[ 9.99905082e-01 -6.33943959e-03 -1.22326503e-02 9.53105488e+01] [ 6.34037672e-03 9.99979899e-01 3.78291953e-05 -2.45832705e-01] [ 1.22321646e-02 -1.15385216e-04 9.99925178e-01 -1.74996345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14800114499998 meters 0.06528156164323722 Centerline is valid? [True, True] Translation: X:95.34, Y:-0.24, Z:-1.75 [[ 9.99934115e-01 -4.88539800e-03 -1.03874233e-02 9.53387261e+01] [ 4.88596686e-03 9.99988063e-01 2.93877640e-05 -2.43183521e-01] [ 1.03871557e-02 -8.01384336e-05 9.99946049e-01 -1.74852995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17800114499998 meters 0.06496827796923657 Centerline is valid? [True, True] Translation: X:95.37, Y:-0.24, Z:-1.75 [[ 9.99951719e-01 -4.15052995e-03 -8.90689355e-03 9.53672450e+01] [ 4.15089556e-03 9.99991385e-01 2.25617792e-05 -2.41379875e-01] [ 8.90672317e-03 -5.95322747e-05 9.99960333e-01 -1.74509686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20800114499998 meters 0.06480031378779678 Centerline is valid? [True, True] Translation: X:95.40, Y:-0.24, Z:-1.75 [[ 9.99959739e-01 -3.48078187e-03 -8.27072652e-03 9.53957227e+01] [ 3.48105656e-03 9.99993941e-01 1.88161446e-05 -2.39995757e-01] [ 8.27061091e-03 -4.76062538e-05 9.99965797e-01 -1.74511084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23800114499998 meters 0.06488450350579583 Centerline is valid? [True, True] Translation: X:95.42, Y:-0.24, Z:-1.75 [[ 9.99967454e-01 -3.14963603e-03 -7.42773663e-03 9.54238204e+01] [ 3.14985881e-03 9.99995039e-01 1.82949719e-05 -2.40289294e-01] [ 7.42764216e-03 -4.16906981e-05 9.99972414e-01 -1.74738811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26800114499999 meters 0.06479088957143453 Centerline is valid? [True, True] Translation: X:95.45, Y:-0.24, Z:-1.75 [[ 9.99956453e-01 -4.45778843e-03 -8.19874732e-03 9.54525502e+01] [ 4.45810300e-03 9.99990062e-01 2.00923282e-05 -2.42068393e-01] [ 8.19857628e-03 -5.66423133e-05 9.99966390e-01 -1.74663722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29800114499999 meters 0.06491424360873077 Centerline is valid? [True, True] Translation: X:95.48, Y:-0.24, Z:-1.75 [[ 9.99949754e-01 -5.93622883e-03 -8.07784647e-03 9.54816226e+01] [ 5.93654745e-03 9.99982378e-01 1.54665124e-05 -2.43958212e-01] [ 8.07761231e-03 -6.34202542e-05 9.99967374e-01 -1.74804925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32800114499999 meters 0.06515070631879395 Centerline is valid? [True, True] Translation: X:95.51, Y:-0.25, Z:-1.75 [[ 9.99938916e-01 -8.01757918e-03 -7.60804383e-03 9.55115570e+01] [ 8.01794475e-03 9.99967856e-01 1.75511980e-05 -2.46672422e-01] [ 7.60765855e-03 -7.85510010e-05 9.99971058e-01 -1.74926572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35800114499999 meters 0.0654779957925791 Centerline is valid? [True, True] Translation: X:95.54, Y:-0.25, Z:-1.75 [[ 9.99913207e-01 -1.02720471e-02 -8.25011246e-03 9.55429814e+01] [ 1.02725623e-02 9.99947236e-01 2.00639395e-05 -2.49659149e-01] [ 8.24947105e-03 -1.04811992e-04 9.99965967e-01 -1.75028048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38800114499999 meters 0.0662871008338325 Centerline is valid? [True, True] Translation: X:95.57, Y:-0.26, Z:-1.75 [[ 9.99847443e-01 -1.49874468e-02 -8.97040317e-03 9.55738146e+01] [ 1.49882476e-02 9.99887670e-01 2.20513681e-05 -2.55405029e-01] [ 8.96906502e-03 -1.56498628e-04 9.99959765e-01 -1.75114490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41800114499999 meters 0.06646726544128669 Centerline is valid? [True, True] Translation: X:95.61, Y:-0.26, Z:-1.75 [[ 9.99828625e-01 -1.64504559e-02 -8.49137260e-03 9.56053336e+01] [ 1.64512432e-02 9.99864669e-01 2.28777836e-05 -2.58609074e-01] [ 8.48984710e-03 -1.62567499e-04 9.99963947e-01 -1.75169552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44800114499998 meters 0.06658428855631077 Centerline is valid? [True, True] Translation: X:95.64, Y:-0.26, Z:-1.75 [[ 9.99820368e-01 -1.71761445e-02 -8.01328123e-03 9.56377072e+01] [ 1.71768687e-02 9.99852466e-01 2.15487890e-05 -2.61100126e-01] [ 8.01172887e-03 -1.59187997e-04 9.99967893e-01 -1.75207766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47800114499998 meters 0.0663672493200952 Centerline is valid? [True, True] Translation: X:95.67, Y:-0.26, Z:-1.75 [[ 9.99830278e-01 -1.69024780e-02 -7.32951130e-03 9.56697778e+01] [ 1.69030804e-02 9.99857133e-01 2.02433691e-05 -2.62427596e-01] [ 7.32812199e-03 -1.44131252e-04 9.99973139e-01 -1.75197845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50800114499998 meters 0.06576364856874715 Centerline is valid? [True, True] Translation: X:95.70, Y:-0.26, Z:-1.75 [[ 9.99863600e-01 -1.50782751e-02 -6.73990971e-03 9.57022342e+01] [ 1.50787466e-02 9.99886309e-01 1.91543377e-05 -2.62532681e-01] [ 6.73885463e-03 -1.20781116e-04 9.99977286e-01 -1.75160100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53800114499998 meters 0.06586547142054068 Centerline is valid? [True, True] Translation: X:95.73, Y:-0.26, Z:-1.75 [[ 9.99870566e-01 -1.41916938e-02 -7.57933925e-03 9.57337208e+01] [ 1.41922749e-02 9.99899284e-01 2.28918430e-05 -2.63804094e-01] [ 7.57825102e-03 -1.30456946e-04 9.99971276e-01 -1.75406940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56800114499998 meters 0.06574102615985128 Centerline is valid? [True, True] Translation: X:95.77, Y:-0.26, Z:-1.75 [[ 9.99891418e-01 -1.30170847e-02 -6.90713452e-03 9.57652110e+01] [ 1.30175454e-02 9.99915268e-01 2.17398198e-05 -2.63480925e-01] [ 6.90626627e-03 -1.11651396e-04 9.99976145e-01 -1.75451260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59800114499998 meters 0.0649641324245666 Centerline is valid? [True, True] Translation: X:95.80, Y:-0.26, Z:-1.75 [[ 9.99895804e-01 -1.24066733e-02 -7.37937759e-03 9.57974475e+01] [ 1.24071803e-02 9.99923028e-01 2.29364132e-05 -2.60072813e-01] [ 7.37852501e-03 -1.14491292e-04 9.99972772e-01 -1.75017182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62800114499998 meters 0.06525335222255102 Centerline is valid? [True, True] Translation: X:95.83, Y:-0.26, Z:-1.75 [[ 9.99908206e-01 -1.11210072e-02 -7.73973144e-03 9.58288860e+01] [ 1.11215270e-02 9.99938154e-01 2.41161952e-05 -2.63118894e-01] [ 7.73898457e-03 -1.10191614e-04 9.99970048e-01 -1.75438786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65800114499999 meters 0.06492936024761402 Centerline is valid? [True, True] Translation: X:95.86, Y:-0.26, Z:-1.75 [[ 9.99920079e-01 -1.04060924e-02 -7.17977850e-03 9.58607650e+01] [ 1.04065268e-02 9.99945850e-01 2.31358992e-05 -2.63547459e-01] [ 7.17914897e-03 -9.78506072e-05 9.99974225e-01 -1.75324446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68800114499999 meters 0.06461638891630005 Centerline is valid? [True, True] Translation: X:95.89, Y:-0.26, Z:-1.75 [[ 9.99927457e-01 -9.93810176e-03 -6.80551999e-03 9.58932697e+01] [ 9.93848448e-03 9.99950612e-01 2.24202729e-05 -2.64416883e-01] [ 6.80496107e-03 -9.00552013e-05 9.99976842e-01 -1.75294998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71800114499999 meters 0.06463255722421389 Centerline is valid? [True, True] Translation: X:95.92, Y:-0.27, Z:-1.75 [[ 9.99932497e-01 -9.46653537e-03 -6.73689332e-03 9.59246945e+01] [ 9.46690015e-03 9.99955188e-01 2.22588645e-05 -2.65085191e-01] [ 6.73638071e-03 -8.60348583e-05 9.99977307e-01 -1.75307256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74800114499999 meters 0.06429071977616174 Centerline is valid? [True, True] Translation: X:95.96, Y:-0.26, Z:-1.75 [[ 9.99942829e-01 -7.56406007e-03 -7.55807657e-03 9.59566028e+01] [ 7.56446992e-03 9.99971389e-01 2.56419874e-05 -2.63768989e-01] [ 7.55766636e-03 -8.28133643e-05 9.99971437e-01 -1.75242998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77800114499999 meters 0.06450490761497102 Centerline is valid? [True, True] Translation: X:95.99, Y:-0.26, Z:-1.76 [[ 9.99945044e-01 -6.08435705e-03 -8.53750870e-03 9.59864558e+01] [ 6.08481933e-03 9.99981487e-01 2.81725254e-05 -2.64725961e-01] [ 8.53717923e-03 -8.01201751e-05 9.99963554e-01 -1.75586263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80800114499998 meters 0.06446712466722154 Centerline is valid? [True, True] Translation: X:96.02, Y:-0.26, Z:-1.76 [[ 9.99941753e-01 -4.95078991e-03 -9.59064294e-03 9.60160139e+01] [ 4.95131054e-03 9.99987742e-01 3.05428038e-05 -2.64747072e-01] [ 9.59037416e-03 -7.80272762e-05 9.99954008e-01 -1.75626297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83800114499998 meters 0.06429287696203981 Centerline is valid? [True, True] Translation: X:96.04, Y:-0.27, Z:-1.76 [[ 9.99934069e-01 -4.14533941e-03 -1.07085502e-02 9.60443403e+01] [ 4.14588463e-03 9.99991405e-01 2.87166699e-05 -2.65313388e-01] [ 1.07083391e-02 -7.31111902e-05 9.99942661e-01 -1.75756731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86800114499998 meters 0.06433334288996867 Centerline is valid? [True, True] Translation: X:96.07, Y:-0.27, Z:-1.76 [[ 9.99932225e-01 -2.86710581e-03 -1.12838364e-02 9.60718786e+01] [ 2.86764811e-03 9.99995888e-01 3.18806090e-05 -2.66119635e-01] [ 1.12836986e-02 -6.42365206e-05 9.99936335e-01 -1.75753340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89800114499998 meters 0.06414031495433986 Centerline is valid? [True, True] Translation: X:96.10, Y:-0.27, Z:-1.76 [[ 9.99951054e-01 -2.14699584e-03 -9.65811351e-03 9.61002700e+01] [ 2.14731560e-03 9.99997694e-01 2.27388169e-05 -2.66313661e-01] [ 9.65804242e-03 -4.34767218e-05 9.99953359e-01 -1.75684525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92800114499998 meters 0.06400367043137724 Centerline is valid? [True, True] Translation: X:96.13, Y:-0.27, Z:-1.76 [[ 9.99961614e-01 -1.40556863e-03 -8.64835385e-03 9.61289059e+01] [ 1.40577827e-03 9.99999012e-01 1.81609283e-05 -2.66683285e-01] [ 8.64831977e-03 -3.03178990e-05 9.99962602e-01 -1.75645282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95800114499998 meters 0.06405760950748547 Centerline is valid? [True, True] Translation: X:96.16, Y:-0.27, Z:-1.76 [[ 9.99964780e-01 -1.08398079e-03 -8.32252961e-03 9.61567849e+01] [ 1.08416809e-03 9.99999412e-01 1.79946840e-05 -2.68299481e-01] [ 8.32250521e-03 -2.70170713e-05 9.99965367e-01 -1.75701984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98800114499998 meters 0.0639231665510698 Centerline is valid? [True, True] Translation: X:96.19, Y:-0.27, Z:-1.76 [[ 9.99967224e-01 -1.43407510e-03 -7.96839617e-03 9.61858046e+01] [ 1.43426047e-03 9.99998971e-01 1.75487720e-05 -2.69469131e-01] [ 7.96836281e-03 -2.89769524e-05 9.99968252e-01 -1.75777497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01800114499999 meters 0.06394054156589825 Centerline is valid? [True, True] Translation: X:96.21, Y:-0.27, Z:-1.76 [[ 9.99966014e-01 -1.90028295e-03 -8.02241812e-03 9.62148438e+01] [ 1.90048131e-03 9.99998194e-01 1.71023271e-05 -2.71079701e-01] [ 8.02237113e-03 -3.23482016e-05 9.99967820e-01 -1.75636831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04800114499999 meters 0.06411403610816943 Centerline is valid? [True, True] Translation: X:96.24, Y:-0.27, Z:-1.76 [[ 9.99967921e-01 -2.41892556e-03 -7.63585913e-03 9.62428635e+01] [ 2.41911341e-03 9.99997074e-01 1.53643221e-05 -2.73799741e-01] [ 7.63579962e-03 -3.38358384e-05 9.99970846e-01 -1.75905960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07800114499999 meters 0.06413409434145818 Centerline is valid? [True, True] Translation: X:96.27, Y:-0.28, Z:-1.76 [[ 9.99972623e-01 -3.70904469e-03 -6.40286532e-03 9.62715252e+01] [ 3.70920140e-03 9.99993121e-01 1.25999613e-05 -2.76285950e-01] [ 6.40277454e-03 -3.63491334e-05 9.99979501e-01 -1.75866733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10800114499999 meters 0.06424984105930878 Centerline is valid? [True, True] Translation: X:96.30, Y:-0.28, Z:-1.76 [[ 9.99938778e-01 -8.15473406e-03 -7.47939500e-03 9.63012637e+01] [ 8.15507804e-03 9.99966747e-01 1.54920490e-05 -2.81455209e-01] [ 7.47901995e-03 -7.64861505e-05 9.99972029e-01 -1.75680603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13800114499999 meters 0.06488669229306956 Centerline is valid? [True, True] Translation: X:96.33, Y:-0.29, Z:-1.76 [[ 9.99909554e-01 -1.06427655e-02 -8.22287616e-03 9.63318658e+01] [ 1.06432742e-02 9.99943359e-01 1.81020411e-05 -2.86783881e-01] [ 8.22221775e-03 -1.05618729e-04 9.99966191e-01 -1.76148053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16800114499999 meters 0.06494163364105995 Centerline is valid? [True, True] Translation: X:96.36, Y:-0.29, Z:-1.76 [[ 9.99879184e-01 -1.26781654e-02 -8.99343696e-03 9.63635451e+01] [ 1.26788615e-02 9.99919620e-01 2.03858681e-05 -2.88825238e-01] [ 8.99245561e-03 -1.34409946e-04 9.99959558e-01 -1.76052460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19800114499998 meters 0.06472583416196903 Centerline is valid? [True, True] Translation: X:96.40, Y:-0.29, Z:-1.76 [[ 9.99855521e-01 -1.42816784e-02 -9.21794564e-03 9.63962121e+01] [ 1.42824857e-02 9.99898000e-01 2.17534502e-05 -2.89723901e-01] [ 9.21669473e-03 -1.53405484e-04 9.99957514e-01 -1.75901327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22800114499998 meters 0.06484743933847262 Centerline is valid? [True, True] Translation: X:96.43, Y:-0.29, Z:-1.76 [[ 9.99839194e-01 -1.55723954e-02 -8.89304049e-03 9.64286383e+01] [ 1.55732032e-02 9.99878730e-01 2.15966140e-05 -2.91635044e-01] [ 8.89162572e-03 -1.60086268e-04 9.99960456e-01 -1.75920626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25800114499998 meters 0.06555747966022092 Centerline is valid? [True, True] Translation: X:96.46, Y:-0.30, Z:-1.76 [[ 9.99809445e-01 -1.72051372e-02 -9.22264110e-03 9.64601156e+01] [ 1.72060767e-02 9.99851964e-01 2.25339541e-05 -2.98545064e-01] [ 9.22088812e-03 -1.81215130e-04 9.99957470e-01 -1.76353135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28800114499998 meters 0.06522437113385458 Centerline is valid? [True, True] Translation: X:96.49, Y:-0.30, Z:-1.76 [[ 9.99785175e-01 -1.80787030e-02 -1.01373201e-02 9.64919671e+01] [ 1.80798915e-02 9.99836545e-01 2.56024324e-05 -2.99731116e-01] [ 1.01352003e-02 -2.08878581e-04 9.99948616e-01 -1.76275255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31800114499998 meters 0.06541445532056415 Centerline is valid? [True, True] Translation: X:96.52, Y:-0.30, Z:-1.76 [[ 9.99777385e-01 -1.82899405e-02 -1.05194005e-02 9.65230398e+01] [ 1.82912341e-02 9.99832701e-01 2.67658039e-05 -3.01980025e-01] [ 1.05171511e-02 -2.19172663e-04 9.99944669e-01 -1.76430699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34800114499998 meters 0.06533961965780193 Centerline is valid? [True, True] Translation: X:96.56, Y:-0.30, Z:-1.76 [[ 9.99777947e-01 -1.75096078e-02 -1.17248101e-02 9.65556867e+01] [ 1.75111719e-02 9.99846667e-01 3.07455179e-05 -3.01870557e-01] [ 1.17224739e-02 -2.36053855e-04 9.99931262e-01 -1.76493877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37800114499998 meters 0.0652965229722684 Centerline is valid? [True, True] Translation: X:96.59, Y:-0.30, Z:-1.76 [[ 9.99790382e-01 -1.61126078e-02 -1.26323267e-02 9.65868096e+01] [ 1.61143367e-02 9.99870155e-01 3.50863768e-05 -3.00503870e-01] [ 1.26301211e-02 -2.38640589e-04 9.99920208e-01 -1.76460125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40800114499999 meters 0.06548753467808206 Centerline is valid? [True, True] Translation: X:96.62, Y:-0.30, Z:-1.77 [[ 9.99797086e-01 -1.55079943e-02 -1.28564805e-02 9.66182060e+01] [ 1.55097300e-02 9.99879716e-01 3.53090224e-05 -3.01101553e-01] [ 1.28543865e-02 -2.34702399e-04 9.99917351e-01 -1.76695216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43800114499999 meters 0.06488175539941506 Centerline is valid? [True, True] Translation: X:96.65, Y:-0.30, Z:-1.77 [[ 9.99828901e-01 -1.27330479e-02 -1.34178275e-02 9.66500596e+01] [ 1.27346964e-02 9.99918910e-01 3.74234152e-05 -3.00086974e-01] [ 1.34162630e-02 -2.08288972e-04 9.99909976e-01 -1.76675452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46800114499999 meters 0.06442882160637964 Centerline is valid? [True, True] Translation: X:96.68, Y:-0.30, Z:-1.76 [[ 9.99849608e-01 -1.16948548e-02 -1.28059160e-02 9.66802397e+01] [ 1.16962562e-02 9.99931596e-01 3.45442041e-05 -2.99311473e-01] [ 1.28046360e-02 -1.84320283e-04 9.99918000e-01 -1.76480518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49800114499999 meters 0.06425683298774636 Centerline is valid? [True, True] Translation: X:96.71, Y:-0.30, Z:-1.76 [[ 9.99864075e-01 -1.11905342e-02 -1.21079960e-02 9.67109111e+01] [ 1.11917530e-02 9.99937370e-01 3.29046603e-05 -2.98743445e-01] [ 1.21068695e-02 -1.68409889e-04 9.99926695e-01 -1.76415480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52800114499999 meters 0.06413908450648108 Centerline is valid? [True, True] Translation: X:96.74, Y:-0.30, Z:-1.76 [[ 9.99884585e-01 -1.01600687e-02 -1.12956005e-02 9.67417880e+01] [ 1.01610636e-02 9.99948375e-01 3.06968963e-05 -2.98379792e-01] [ 1.12947055e-02 -1.45468669e-04 9.99936202e-01 -1.76369611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55800114499998 meters 0.0637788436595133 Centerline is valid? [True, True] Translation: X:96.77, Y:-0.30, Z:-1.76 [[ 9.99907586e-01 -8.60142726e-03 -1.05278265e-02 9.67719578e+01] [ 8.60220518e-03 9.99963000e-01 2.86103955e-05 -2.95710689e-01] [ 1.05271909e-02 -1.19170275e-04 9.99944580e-01 -1.76091696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58800114499998 meters 0.06369712866750116 Centerline is valid? [True, True] Translation: X:96.80, Y:-0.30, Z:-1.76 [[ 9.99905833e-01 -8.28913236e-03 -1.09368476e-02 9.68011804e+01] [ 8.28994390e-03 9.99965637e-01 2.88693122e-05 -2.95341581e-01] [ 1.09362325e-02 -1.19532447e-04 9.99940190e-01 -1.76172832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61800114499998 meters 0.06372059068482425 Centerline is valid? [True, True] Translation: X:96.83, Y:-0.30, Z:-1.76 [[ 9.99909789e-01 -7.87928062e-03 -1.08780360e-02 9.68307920e+01] [ 7.88005553e-03 9.99968951e-01 2.83764571e-05 -2.96304744e-01] [ 1.08774747e-02 -1.14093425e-04 9.99940832e-01 -1.76314403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64800114499998 meters 0.06372718070179074 Centerline is valid? [True, True] Translation: X:96.86, Y:-0.30, Z:-1.76 [[ 9.99901715e-01 -8.07800059e-03 -1.14589212e-02 9.68608686e+01] [ 8.07886963e-03 9.99967365e-01 2.95519530e-05 -2.96667102e-01] [ 1.14583085e-02 -1.22124179e-04 9.99934344e-01 -1.76344968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67800114499998 meters 0.06378742572151715 Centerline is valid? [True, True] Translation: X:96.89, Y:-0.30, Z:-1.76 [[ 9.99889027e-01 -8.77882148e-03 -1.20359909e-02 9.68897470e+01] [ 8.77982150e-03 9.99961456e-01 3.02478294e-05 -2.96870978e-01] [ 1.20352615e-02 -1.35918325e-04 9.99927564e-01 -1.76444085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70800114499998 meters 0.06389501921788518 Centerline is valid? [True, True] Translation: X:96.92, Y:-0.30, Z:-1.76 [[ 9.99899828e-01 -9.39427989e-03 -1.05868845e-02 9.69197301e+01] [ 9.39508638e-03 9.99955865e-01 2.64453542e-05 -2.97622706e-01] [ 1.05861688e-02 -1.25907400e-04 9.99943957e-01 -1.76472792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73800114499998 meters 0.06397146387873336 Centerline is valid? [True, True] Translation: X:96.95, Y:-0.30, Z:-1.77 [[ 9.99900892e-01 -1.00609221e-02 -9.84806955e-03 9.69493372e+01] [ 1.00616530e-02 9.99949380e-01 2.46662675e-05 -2.99157228e-01] [ 9.84732288e-03 -1.23751681e-04 9.99951506e-01 -1.76511038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76800114499999 meters 0.06406465349411106 Centerline is valid? [True, True] Translation: X:96.98, Y:-0.30, Z:-1.76 [[ 9.99902766e-01 -1.09268681e-02 -8.66381801e-03 9.69797585e+01] [ 1.09274681e-02 9.99940293e-01 2.19203522e-05 -3.00362184e-01] [ 8.66306120e-03 -1.16591816e-04 9.99962468e-01 -1.76460859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79800114499999 meters 0.0638169423608885 Centerline is valid? [True, True] Translation: X:97.01, Y:-0.30, Z:-1.76 [[ 9.99902157e-01 -1.16154039e-02 -7.79484251e-03 9.70122583e+01] [ 1.16159225e-02 9.99932533e-01 2.12558949e-05 -3.01627566e-01] [ 7.79406972e-03 -1.11798102e-04 9.99969620e-01 -1.76335008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82800114499999 meters 0.06396963259171906 Centerline is valid? [True, True] Translation: X:97.04, Y:-0.30, Z:-1.76 [[ 9.99902866e-01 -1.23592348e-02 -6.44264333e-03 9.70437454e+01] [ 1.23596060e-02 9.99923617e-01 1.77960608e-05 -3.03127171e-01] [ 6.44193127e-03 -9.74228654e-05 9.99979246e-01 -1.76471718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85800114499999 meters 0.06382860274695538 Centerline is valid? [True, True] Translation: X:97.08, Y:-0.30, Z:-1.76 [[ 9.99904680e-01 -1.24672039e-02 -5.93293695e-03 9.70762686e+01] [ 1.24675247e-02 9.99922277e-01 1.70908863e-05 -3.03753767e-01] [ 5.93226275e-03 -9.10582951e-05 9.99982400e-01 -1.76390369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88800114499999 meters 0.06423060167125953 Centerline is valid? [True, True] Translation: X:97.11, Y:-0.31, Z:-1.77 [[ 9.99871139e-01 -1.44016331e-02 -7.09213143e-03 9.71074878e+01] [ 1.44021393e-02 9.99896284e-01 2.02993335e-05 -3.06226570e-01] [ 7.09110352e-03 -1.22438583e-04 9.99974850e-01 -1.76640608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91800114499999 meters 0.06455343732016576 Centerline is valid? [True, True] Translation: X:97.14, Y:-0.31, Z:-1.77 [[ 9.99845537e-01 -1.54724947e-02 -8.33688972e-03 9.71382390e+01] [ 1.54732302e-02 9.99880282e-01 2.37295452e-05 -3.07711126e-01] [ 8.33552449e-03 -1.52724494e-04 9.99965247e-01 -1.76848309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94800114499998 meters 0.06449199614625023 Centerline is valid? [True, True] Translation: X:97.17, Y:-0.31, Z:-1.77 [[ 9.99833298e-01 -1.60427161e-02 -8.71825588e-03 9.71708944e+01] [ 1.60435512e-02 9.99871294e-01 2.58554835e-05 -3.08116705e-01] [ 8.71671899e-03 -1.65722958e-04 9.99961995e-01 -1.76851856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97800114499998 meters 0.06449199614625023 Centerline is valid? [True, True] Translation: X:97.20, Y:-0.31, Z:-1.77 [[ 9.99834310e-01 -1.59794988e-02 -8.71825425e-03 9.72026128e+01] [ 1.59803363e-02 9.99872306e-01 2.64075574e-05 -3.08278166e-01] [ 8.71671900e-03 -1.65723817e-04 9.99961995e-01 -1.76903323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00800114499998 meters 0.06485014886604394 Centerline is valid? [True, True] Translation: X:97.23, Y:-0.31, Z:-1.77 [[ 9.99831013e-01 -1.64450320e-02 -8.21624613e-03 9.72332855e+01] [ 1.64457931e-02 9.99864758e-01 2.50726005e-05 -3.10919851e-01] [ 8.21472264e-03 -1.60191048e-04 9.99966246e-01 -1.77092904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03800114499998 meters 0.06440387252959257 Centerline is valid? [True, True] Translation: X:97.27, Y:-0.31, Z:-1.77 [[ 9.99848382e-01 -1.62967990e-02 -6.13416688e-03 9.72657857e+01] [ 1.62972256e-02 9.99867191e-01 1.95697402e-05 -3.11965260e-01] [ 6.13303328e-03 -1.19536675e-04 9.99981186e-01 -1.76908818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06800114499998 meters 0.06418784305857811 Centerline is valid? [True, True] Translation: X:97.30, Y:-0.31, Z:-1.77 [[ 9.99858861e-01 -1.58321956e-02 -5.62130829e-03 9.72981064e+01] [ 1.58325491e-02 9.99874657e-01 1.83732949e-05 -3.11954766e-01] [ 5.62031281e-03 -1.07370341e-04 9.99984200e-01 -1.76889061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09800114499998 meters 0.06406899082249753 Centerline is valid? [True, True] Translation: X:97.33, Y:-0.31, Z:-1.77 [[ 9.99879416e-01 -1.45649843e-02 -5.38661259e-03 9.73308545e+01] [ 1.45652943e-02 9.99893920e-01 1.83210118e-05 -3.11190531e-01] [ 5.38577433e-03 -9.67764003e-05 9.99985492e-01 -1.76864838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12800114499998 meters 0.063874323132504 Centerline is valid? [True, True] Translation: X:97.36, Y:-0.31, Z:-1.77 [[ 9.99895466e-01 -1.33872057e-02 -5.46260679e-03 9.73627603e+01] [ 1.33875073e-02 9.99910383e-01 1.86460157e-05 -3.10577900e-01] [ 5.46186763e-03 -9.17747548e-05 9.99985080e-01 -1.76973135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15800114499999 meters 0.06347238785500271 Centerline is valid? [True, True] Translation: X:97.40, Y:-0.31, Z:-1.77 [[ 9.99938872e-01 -9.37984769e-03 -5.85409057e-03 9.73955508e+01] [ 9.38012937e-03 9.99956005e-01 2.06621937e-05 -3.08179013e-01] [ 5.85363922e-03 -7.55730576e-05 9.99982864e-01 -1.77028934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18800114499999 meters 0.06349214476943589 Centerline is valid? [True, True] Translation: X:97.43, Y:-0.31, Z:-1.77 [[ 9.99946063e-01 -7.87059575e-03 -6.77676593e-03 9.74266985e+01] [ 7.87094485e-03 9.99969023e-01 2.48442881e-05 -3.07387231e-01] [ 6.77636047e-03 -7.81824989e-05 9.99977037e-01 -1.77183490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21800114499999 meters 0.0634950590964348 Centerline is valid? [True, True] Translation: X:97.46, Y:-0.31, Z:-1.77 [[ 9.99952953e-01 -5.80288132e-03 -7.77296283e-03 9.74575058e+01] [ 5.80325944e-03 9.99983161e-01 2.60912421e-05 -3.06183753e-01] [ 7.77268053e-03 -7.11985345e-05 9.99969790e-01 -1.77395243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24800114499999 meters 0.0637396855900892 Centerline is valid? [True, True] Translation: X:97.49, Y:-0.31, Z:-1.78 [[ 9.99949235e-01 -6.00602911e-03 -8.09048723e-03 9.74872815e+01] [ 6.00644818e-03 9.99981961e-01 2.75008733e-05 -3.07352852e-01] [ 8.09017611e-03 -7.60945695e-05 9.99967271e-01 -1.77662884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27800114499999 meters 0.06346878970116232 Centerline is valid? [True, True] Translation: X:97.52, Y:-0.31, Z:-1.77 [[ 9.99943572e-01 -5.69721381e-03 -8.96627960e-03 9.75165631e+01] [ 5.69770875e-03 9.99983767e-01 2.96568421e-05 -3.07921169e-01] [ 8.96596509e-03 -8.07424184e-05 9.99959802e-01 -1.77491849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30800114499998 meters 0.06363265929090386 Centerline is valid? [True, True] Translation: X:97.55, Y:-0.31, Z:-1.78 [[ 9.99943321e-01 -6.52767292e-03 -8.41095293e-03 9.75451541e+01] [ 6.52812973e-03 9.99978691e-01 2.68578838e-05 -3.09250883e-01] [ 8.41059838e-03 -8.17641534e-05 9.99964627e-01 -1.77649249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33800114499998 meters 0.06379445990789186 Centerline is valid? [True, True] Translation: X:97.58, Y:-0.31, Z:-1.78 [[ 9.99944063e-01 -6.97459717e-03 -7.95150872e-03 9.75751088e+01] [ 6.97502743e-03 9.99975674e-01 2.63798680e-05 -3.11338349e-01] [ 7.95113131e-03 -8.18403838e-05 9.99968386e-01 -1.77814648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36800114499998 meters 0.0634420010476952 Centerline is valid? [True, True] Translation: X:97.61, Y:-0.31, Z:-1.78 [[ 9.99946905e-01 -7.20193934e-03 -7.37019849e-03 9.76058872e+01] [ 7.20231474e-03 9.99974063e-01 2.43946013e-05 -3.11551097e-01] [ 7.36983164e-03 -7.74757953e-05 9.99972839e-01 -1.77574296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39800114499998 meters 0.06344193437073403 Centerline is valid? [True, True] Translation: X:97.64, Y:-0.31, Z:-1.78 [[ 9.99962982e-01 -6.59899594e-03 -5.52161620e-03 9.76364665e+01] [ 6.59919745e-03 9.99978225e-01 1.82759834e-05 -3.13238124e-01] [ 5.52137536e-03 -5.47135424e-05 9.99984756e-01 -1.77657063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42800114499998 meters 0.06348724268617548 Centerline is valid? [True, True] Translation: X:97.67, Y:-0.32, Z:-1.78 [[ 9.99960767e-01 -6.91357891e-03 -5.53779078e-03 9.76667499e+01] [ 6.91379227e-03 9.99976099e-01 1.93856740e-05 -3.15508232e-01] [ 5.53752439e-03 -5.76720485e-05 9.99984666e-01 -1.77792348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45800114499998 meters 0.0631559558262468 Centerline is valid? [True, True] Translation: X:97.70, Y:-0.32, Z:-1.78 [[ 9.99951324e-01 -7.40939566e-03 -6.51537034e-03 9.76978133e+01] [ 7.40970018e-03 9.99972548e-01 2.25997786e-05 -3.16079862e-01] [ 6.51502402e-03 -7.08756193e-05 9.99978774e-01 -1.77577387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48800114499998 meters 0.06339046695480831 Centerline is valid? [True, True] Translation: X:97.73, Y:-0.32, Z:-1.78 [[ 9.99953818e-01 -7.40027840e-03 -6.13172582e-03 9.77282708e+01] [ 7.40054713e-03 9.99972615e-01 2.11379083e-05 -3.17423974e-01] [ 6.13140148e-03 -6.65150580e-05 9.99981201e-01 -1.77819047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51800114499999 meters 0.06334278150248124 Centerline is valid? [True, True] Translation: X:97.76, Y:-0.32, Z:-1.78 [[ 9.99957547e-01 -6.86975346e-03 -6.14093620e-03 9.77582109e+01] [ 6.87001838e-03 9.99976401e-01 2.20463963e-05 -3.17710085e-01] [ 6.14063983e-03 -6.42338049e-05 9.99981144e-01 -1.77870966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54800114499999 meters 0.06322671477062759 Centerline is valid? [True, True] Translation: X:97.79, Y:-0.32, Z:-1.78 [[ 9.99960189e-01 -5.96577642e-03 -6.63546587e-03 9.77891169e+01] [ 5.96606467e-03 9.99982203e-01 2.36478236e-05 -3.19503909e-01] [ 6.63520670e-03 -6.32345007e-05 9.99977985e-01 -1.77903451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57800114499999 meters 0.06322432514843698 Centerline is valid? [True, True] Translation: X:97.82, Y:-0.32, Z:-1.78 [[ 9.99962978e-01 -5.06161513e-03 -6.95869824e-03 9.78188596e+01] [ 5.06190406e-03 9.99987188e-01 2.39090724e-05 -3.20907230e-01] [ 6.95848806e-03 -5.91324501e-05 9.99975788e-01 -1.78019587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60800114499999 meters 0.06307810142849604 Centerline is valid? [True, True] Translation: X:97.85, Y:-0.32, Z:-1.78 [[ 9.99966134e-01 -5.08145552e-03 -6.47372173e-03 9.78486572e+01] [ 5.08170287e-03 9.99987088e-01 2.17596129e-05 -3.20480542e-01] [ 6.47352757e-03 -5.46564063e-05 9.99979045e-01 -1.77922446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63800114499999 meters 0.06316091311077456 Centerline is valid? [True, True] Translation: X:97.88, Y:-0.32, Z:-1.78 [[ 9.99962522e-01 -5.76584227e-03 -6.45824160e-03 9.78780849e+01] [ 5.76610139e-03 9.99983376e-01 2.15029601e-05 -3.21179045e-01] [ 6.45801026e-03 -5.87410300e-05 9.99979145e-01 -1.77928005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66800114499999 meters 0.0631005598116078 Centerline is valid? [True, True] Translation: X:97.91, Y:-0.32, Z:-1.78 [[ 9.99966333e-01 -6.95645948e-03 -4.35203673e-03 9.79074036e+01] [ 6.95658851e-03 9.99975803e-01 1.45119782e-05 -3.23389706e-01] [ 4.35183047e-03 -4.47868184e-05 9.99990530e-01 -1.77808231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69800114499998 meters 0.06308546311306153 Centerline is valid? [True, True] Translation: X:97.94, Y:-0.32, Z:-1.78 [[ 9.99970525e-01 -6.86285960e-03 -3.44248011e-03 9.79383631e+01] [ 6.86294258e-03 9.99976450e-01 1.22911149e-05 -3.24990279e-01] [ 3.44231468e-03 -3.59162959e-05 9.99994075e-01 -1.77758915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72800114499998 meters 0.0630540060625148 Centerline is valid? [True, True] Translation: X:97.97, Y:-0.33, Z:-1.78 [[ 9.99970036e-01 -7.08743009e-03 -3.11364222e-03 9.79708281e+01] [ 7.08750141e-03 9.99974883e-01 1.18690696e-05 -3.27977788e-01] [ 3.11347989e-03 -3.39366576e-05 9.99995153e-01 -1.77848466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75800114499998 meters 0.06338767522486206 Centerline is valid? [True, True] Translation: X:98.00, Y:-0.33, Z:-1.78 [[ 9.99969222e-01 -7.37272230e-03 -2.68305994e-03 9.80017330e+01] [ 7.37277629e-03 9.99972821e-01 1.02348937e-05 -3.31936920e-01] [ 2.68291156e-03 -3.00161794e-05 9.99996401e-01 -1.78183904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78800114499998 meters 0.06321583034405016 Centerline is valid? [True, True] Translation: X:98.03, Y:-0.33, Z:-1.78 [[ 9.99961320e-01 -8.17713122e-03 -3.23918072e-03 9.80339985e+01] [ 8.17721512e-03 9.99966566e-01 1.26595479e-05 -3.33162207e-01] [ 3.23896891e-03 -3.91465358e-05 9.99994754e-01 -1.78168842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81800114499998 meters 0.06326595325426708 Centerline is valid? [True, True] Translation: X:98.07, Y:-0.33, Z:-1.78 [[ 9.99964443e-01 -7.96739661e-03 -2.76283968e-03 9.80656315e+01] [ 7.96745690e-03 9.99968259e-01 1.08180702e-05 -3.33747607e-01] [ 2.76266579e-03 -3.28304916e-05 9.99996183e-01 -1.78286989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84800114499998 meters 0.06335567585812016 Centerline is valid? [True, True] Translation: X:98.10, Y:-0.33, Z:-1.78 [[ 9.99962676e-01 -8.33164166e-03 -2.28693256e-03 9.80974802e+01] [ 8.33168507e-03 9.99965291e-01 9.45187642e-06 -3.33855947e-01] [ 2.28677443e-03 -2.85055255e-05 9.99997385e-01 -1.78285681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87800114499998 meters 0.0635580455366405 Centerline is valid? [True, True] Translation: X:98.13, Y:-0.34, Z:-1.78 [[ 9.99946562e-01 -1.00908581e-02 -2.24673871e-03 9.81286087e+01] [ 1.00909042e-02 9.99949085e-01 9.15433883e-06 -3.37964498e-01] [ 2.24653194e-03 -3.18254747e-05 9.99997476e-01 -1.78375678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90800114499999 meters 0.06377480740979974 Centerline is valid? [True, True] Translation: X:98.16, Y:-0.34, Z:-1.79 [[ 9.99928094e-01 -1.16402826e-02 -2.88265816e-03 9.81611783e+01] [ 1.16403654e-02 9.99932249e-01 1.19399528e-05 -3.41496897e-01] [ 2.88232387e-03 -4.54942887e-05 9.99995845e-01 -1.78524072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93800114499999 meters 0.0635813562483313 Centerline is valid? [True, True] Translation: X:98.19, Y:-0.34, Z:-1.78 [[ 9.99904995e-01 -1.33725838e-02 -3.34287207e-03 9.81930676e+01] [ 1.33727052e-02 9.99910581e-01 1.39611865e-05 -3.42827629e-01] [ 3.34238646e-03 -5.86631027e-05 9.99994412e-01 -1.78380837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96800114499999 meters 0.06376806940895315 Centerline is valid? [True, True] Translation: X:98.22, Y:-0.35, Z:-1.79 [[ 9.99885426e-01 -1.48621702e-02 -2.87225548e-03 9.82244439e+01] [ 1.48622660e-02 9.99889550e-01 1.20157557e-05 -3.46042838e-01] [ 2.87175966e-03 -5.47026041e-05 9.99995875e-01 -1.78538301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99800114499999 meters 0.06419680236959635 Centerline is valid? [True, True] Translation: X:98.26, Y:-0.35, Z:-1.79 [[ 9.99848202e-01 -1.73020798e-02 -2.05212293e-03 9.82555699e+01] [ 1.73021344e-02 9.99850307e-01 8.88903829e-06 -3.50929884e-01] [ 2.05166194e-03 -4.43937957e-05 9.99997894e-01 -1.78633181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02800114499999 meters 0.0643134144776359 Centerline is valid? [True, True] Translation: X:98.29, Y:-0.35, Z:-1.79 [[ 9.99823886e-01 -1.86180472e-02 -2.35898105e-03 9.82876459e+01] [ 1.86181238e-02 9.99826668e-01 1.04892049e-05 -3.53290118e-01] [ 2.35837687e-03 -5.44071587e-05 9.99997218e-01 -1.78732048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05800114499998 meters 0.06453946582025312 Centerline is valid? [True, True] Translation: X:98.32, Y:-0.36, Z:-1.79 [[ 9.99812660e-01 -1.91860631e-02 -2.55744475e-03 9.83198654e+01] [ 1.91861551e-02 9.99815929e-01 1.14419169e-05 -3.55085975e-01] [ 2.55675447e-03 -6.05073050e-05 9.99996730e-01 -1.78805688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08800114499998 meters 0.06433245125555173 Centerline is valid? [True, True] Translation: X:98.35, Y:-0.36, Z:-1.79 [[ 9.99808882e-01 -1.94127676e-02 -2.31152464e-03 9.83531348e+01] [ 1.94128453e-02 9.99811553e-01 1.11856965e-05 -3.56572013e-01] [ 2.31087189e-03 -5.60568289e-05 9.99997328e-01 -1.78773919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11800114499998 meters 0.06413405772210601 Centerline is valid? [True, True] Translation: X:98.39, Y:-0.36, Z:-1.79 [[ 9.99802115e-01 -1.97603686e-02 -2.29322618e-03 9.83855626e+01] [ 1.97604452e-02 9.99804743e-01 1.07516501e-05 -3.57401265e-01] [ 2.29256596e-03 -5.60646929e-05 9.99997370e-01 -1.78809272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14800114499998 meters 0.06468043727565306 Centerline is valid? [True, True] Translation: X:98.42, Y:-0.36, Z:-1.79 [[ 9.99819482e-01 -1.88351309e-02 -2.49830415e-03 9.84168022e+01] [ 1.88352183e-02 9.99822601e-01 1.14799523e-05 -3.61138182e-01] [ 2.49764473e-03 -5.85339841e-05 9.99996879e-01 -1.79087876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17800114499998 meters 0.06449070615100246 Centerline is valid? [True, True] Translation: X:98.45, Y:-0.36, Z:-1.79 [[ 9.99838419e-01 -1.78667732e-02 -1.97868238e-03 9.84489120e+01] [ 1.78668271e-02 9.99840375e-01 9.56748438e-06 -3.61564855e-01] [ 1.97819560e-03 -4.49187145e-05 9.99998042e-01 -1.79197467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20800114499998 meters 0.06376624835455091 Centerline is valid? [True, True] Translation: X:98.48, Y:-0.36, Z:-1.79 [[ 9.99844447e-01 -1.75346563e-02 -1.90189156e-03 9.84815014e+01] [ 1.75347059e-02 9.99846255e-01 9.41835425e-06 -3.58922329e-01] [ 1.90143401e-03 -4.27659984e-05 9.99998191e-01 -1.78931875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23800114499998 meters 0.06372329272301554 Centerline is valid? [True, True] Translation: X:98.51, Y:-0.36, Z:-1.79 [[ 9.99856521e-01 -1.68633649e-02 -1.60141103e-03 9.85139284e+01] [ 1.68633997e-02 9.99857803e-01 8.19390369e-06 -3.58830962e-01] [ 1.60104514e-03 -3.51979623e-05 9.99998718e-01 -1.78869933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26800114499999 meters 0.06372793110574328 Centerline is valid? [True, True] Translation: X:98.54, Y:-0.36, Z:-1.79 [[ 9.99873557e-01 -1.58470773e-02 -1.31926284e-03 9.85449511e+01] [ 1.58471000e-02 9.99874427e-01 6.73031725e-06 -3.58596680e-01] [ 1.31899052e-03 -2.76359564e-05 9.99999130e-01 -1.78902176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29800114499999 meters 0.06370893454262072 Centerline is valid? [True, True] Translation: X:98.58, Y:-0.36, Z:-1.79 [[ 9.99887561e-01 -1.49403089e-02 -1.28515048e-03 9.85774242e+01] [ 1.49403301e-02 9.99888387e-01 6.90336289e-06 -3.59050879e-01] [ 1.28490390e-03 -2.61031590e-05 9.99999174e-01 -1.79033027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32800114499999 meters 0.06375307361451737 Centerline is valid? [True, True] Translation: X:98.61, Y:-0.36, Z:-1.79 [[ 9.99900105e-01 -1.40650871e-02 -1.39761187e-03 9.86087092e+01] [ 1.40651128e-02 9.99901081e-01 8.57150920e-06 -3.61655852e-01] [ 1.39735306e-03 -2.82282215e-05 9.99999023e-01 -1.79363972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35800114499999 meters 0.06384396546747863 Centerline is valid? [True, True] Translation: X:98.64, Y:-0.36, Z:-1.79 [[ 9.99894682e-01 -1.43847896e-02 -1.92405005e-03 9.86407553e+01] [ 1.43848357e-02 9.99896533e-01 1.01709198e-05 -3.62127421e-01] [ 1.92370466e-03 -3.78469925e-05 9.99998149e-01 -1.79456569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38800114499999 meters 0.06393373951475287 Centerline is valid? [True, True] Translation: X:98.67, Y:-0.36, Z:-1.80 [[ 9.99883522e-01 -1.50321693e-02 -2.64142444e-03 9.86729080e+01] [ 1.50322581e-02 9.99887009e-01 1.37484517e-05 -3.62126791e-01] [ 2.64091932e-03 -5.34534241e-05 9.99996511e-01 -1.79525341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41800114499999 meters 0.06405473562558023 Centerline is valid? [True, True] Translation: X:98.71, Y:-0.36, Z:-1.80 [[ 9.99885163e-01 -1.48851651e-02 -2.84472209e-03 9.87055951e+01] [ 1.48852677e-02 9.99889208e-01 1.48947986e-05 -3.62610529e-01] [ 2.84418521e-03 -5.72375379e-05 9.99995954e-01 -1.79614376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44800114499998 meters 0.064264560900294 Centerline is valid? [True, True] Translation: X:98.74, Y:-0.36, Z:-1.80 [[ 9.99882202e-01 -1.50303208e-02 -3.10997387e-03 9.87366756e+01] [ 1.50304435e-02 9.99887036e-01 1.60824058e-05 -3.63966234e-01] [ 3.10938084e-03 -6.28247979e-05 9.99995164e-01 -1.79738950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47800114499998 meters 0.06463581730640763 Centerline is valid? [True, True] Translation: X:98.77, Y:-0.37, Z:-1.80 [[ 9.99841885e-01 -1.73418911e-02 -3.93233383e-03 9.87690808e+01] [ 1.73421062e-02 9.99849614e-01 2.06125729e-05 -3.66472402e-01] [ 3.93138501e-03 -8.88042647e-05 9.99992268e-01 -1.79876158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50800114499998 meters 0.06505865564673398 Centerline is valid? [True, True] Translation: X:98.80, Y:-0.37, Z:-1.80 [[ 9.99823072e-01 -1.82477493e-02 -4.56557293e-03 9.87998987e+01] [ 1.82480478e-02 9.99833490e-01 2.37335230e-05 -3.68711626e-01] [ 4.56437964e-03 -1.07042117e-04 9.99989577e-01 -1.80062797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53800114499998 meters 0.06441524375087343 Centerline is valid? [True, True] Translation: X:98.83, Y:-0.37, Z:-1.80 [[ 9.99805056e-01 -1.91331245e-02 -4.87581228e-03 9.88320755e+01] [ 1.91334782e-02 9.99816938e-01 2.59074833e-05 -3.66911904e-01] [ 4.87442402e-03 -1.19193681e-04 9.99988113e-01 -1.79868972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56800114499998 meters 0.06452725775766971 Centerline is valid? [True, True] Translation: X:98.86, Y:-0.37, Z:-1.80 [[ 9.99793664e-01 -1.96834545e-02 -5.01899741e-03 9.88627355e+01] [ 1.96838343e-02 9.99806254e-01 2.62819856e-05 -3.69114878e-01] [ 5.01750768e-03 -1.25069676e-04 9.99987404e-01 -1.80065358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59800114499998 meters 0.06535192976843403 Centerline is valid? [True, True] Translation: X:98.89, Y:-0.37, Z:-1.80 [[ 9.99808807e-01 -1.88299063e-02 -5.27106930e-03 9.88936889e+01] [ 1.88303158e-02 9.99822693e-01 2.80702456e-05 -3.72958594e-01] [ 5.26960614e-03 -1.27320778e-04 9.99986107e-01 -1.80433055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62800114499998 meters 0.06452997252047872 Centerline is valid? [True, True] Translation: X:98.93, Y:-0.37, Z:-1.80 [[ 9.99821210e-01 -1.81756428e-02 -5.21484817e-03 9.89255827e+01] [ 1.81760377e-02 9.99834802e-01 2.83471624e-05 -3.68927165e-01] [ 5.21347145e-03 -1.23127371e-04 9.99986402e-01 -1.80233199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65800114499999 meters 0.06428214496894627 Centerline is valid? [True, True] Translation: X:98.96, Y:-0.37, Z:-1.80 [[ 9.99839262e-01 -1.72562330e-02 -4.86554283e-03 9.89575603e+01] [ 1.72565678e-02 9.99851094e-01 2.68386411e-05 -3.66897931e-01] [ 4.86435519e-03 -1.10796897e-04 9.99988163e-01 -1.80219762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68800114499999 meters 0.06400156011650569 Centerline is valid? [True, True] Translation: X:98.99, Y:-0.36, Z:-1.80 [[ 9.99873294e-01 -1.46794287e-02 -6.15715887e-03 9.89899840e+01] [ 1.46799168e-02 9.99892244e-01 3.40833411e-05 -3.64191491e-01] [ 6.15599507e-03 -1.24465602e-04 9.99981044e-01 -1.80331202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71800114499999 meters 0.06419585331754324 Centerline is valid? [True, True] Translation: X:99.02, Y:-0.36, Z:-1.81 [[ 9.99882480e-01 -1.38417772e-02 -6.59028110e-03 9.90212569e+01] [ 1.38423181e-02 9.99904190e-01 3.64595576e-05 -3.64099871e-01] [ 6.58914502e-03 -1.27680040e-04 9.99978283e-01 -1.80580234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74800114499999 meters 0.063778106213922 Centerline is valid? [True, True] Translation: X:99.05, Y:-0.36, Z:-1.81 [[ 9.99895861e-01 -1.26382139e-02 -6.96723135e-03 9.90537249e+01] [ 1.26387938e-02 9.99920126e-01 3.92093504e-05 -3.61675972e-01] [ 6.96617932e-03 -1.27262668e-04 9.99975728e-01 -1.80502853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77800114499999 meters 0.06401784838336569 Centerline is valid? [True, True] Translation: X:99.09, Y:-0.36, Z:-1.81 [[ 9.99904684e-01 -1.10761748e-02 -8.24264370e-03 9.90853440e+01] [ 1.10769329e-02 9.99938648e-01 4.63279875e-05 -3.59936234e-01] [ 8.24162486e-03 -1.37626783e-04 9.99966028e-01 -1.80818618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80800114499998 meters 0.0636480541832016 Centerline is valid? [True, True] Translation: X:99.12, Y:-0.36, Z:-1.81 [[ 9.99904389e-01 -1.10911408e-02 -8.25824898e-03 9.91162355e+01] [ 1.10919023e-02 9.99938482e-01 4.64156733e-05 -3.57851151e-01] [ 8.25722614e-03 -1.38010927e-04 9.99965899e-01 -1.80700727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83800114499998 meters 0.0637110935350167 Centerline is valid? [True, True] Translation: X:99.15, Y:-0.36, Z:-1.81 [[ 9.99900529e-01 -1.09625472e-02 -8.87442640e-03 9.91469176e+01] [ 1.09634236e-02 9.99939899e-01 5.01195737e-05 -3.57527880e-01] [ 8.87334360e-03 -1.47408684e-04 9.99960620e-01 -1.80855702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86800114499998 meters 0.0637110935350167 Centerline is valid? [True, True] Translation: X:99.18, Y:-0.36, Z:-1.81 [[ 9.99900869e-01 -1.09314814e-02 -8.87442488e-03 9.91777787e+01] [ 1.09323590e-02 9.99940239e-01 5.03889673e-05 -3.57734542e-01] [ 8.87334371e-03 -1.47402371e-04 9.99960620e-01 -1.80905808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89800114499998 meters 0.06368067778147411 Centerline is valid? [True, True] Translation: X:99.21, Y:-0.36, Z:-1.81 [[ 9.99891233e-01 -1.17991862e-02 -8.84876379e-03 9.92092151e+01] [ 1.18000953e-02 9.99930375e-01 5.05271100e-05 -3.57067165e-01] [ 8.84755152e-03 -1.54937870e-04 9.99960848e-01 -1.80914912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92800114499998 meters 0.06412396376756255 Centerline is valid? [True, True] Translation: X:99.24, Y:-0.36, Z:-1.81 [[ 9.99856366e-01 -1.40887155e-02 -9.42096563e-03 9.92401659e+01] [ 1.40898538e-02 9.99900732e-01 5.44557873e-05 -3.58985340e-01] [ 9.41926322e-03 -1.87187994e-04 9.99955620e-01 -1.81157124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95800114499998 meters 0.06458116581486467 Centerline is valid? [True, True] Translation: X:99.27, Y:-0.36, Z:-1.81 [[ 9.99854007e-01 -1.44832191e-02 -9.06644052e-03 9.92715455e+01] [ 1.44842935e-02 9.99895096e-01 5.28433110e-05 -3.61616161e-01] [ 9.06472407e-03 -1.84156582e-04 9.99958898e-01 -1.81456067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98800114499998 meters 0.06416117943114207 Centerline is valid? [True, True] Translation: X:99.30, Y:-0.36, Z:-1.81 [[ 9.99842601e-01 -1.48905057e-02 -9.64603920e-03 9.93040339e+01] [ 1.48917488e-02 9.99889110e-01 5.70507350e-05 -3.59826950e-01] [ 9.64412003e-03 -2.00688148e-04 9.99953474e-01 -1.81328680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01800114499999 meters 0.06419009873495926 Centerline is valid? [True, True] Translation: X:99.33, Y:-0.36, Z:-1.82 [[ 9.99859195e-01 -1.39545914e-02 -9.31989951e-03 9.93349703e+01] [ 1.39557132e-02 9.99902613e-01 5.53359814e-05 -3.59423501e-01] [ 9.31821967e-03 -1.85394034e-04 9.99956567e-01 -1.81552720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04800114499999 meters 0.06436815079376138 Centerline is valid? [True, True] Translation: X:99.37, Y:-0.36, Z:-1.82 [[ 9.99860364e-01 -1.31991992e-02 -1.02486196e-02 9.93662864e+01] [ 1.32005199e-02 9.99912867e-01 6.12294444e-05 -3.55626438e-01] [ 1.02469185e-02 -1.96508002e-04 9.99947480e-01 -1.81731254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07800114499999 meters 0.063901674867352 Centerline is valid? [True, True] Translation: X:99.40, Y:-0.35, Z:-1.81 [[ 9.99871390e-01 -1.21330976e-02 -1.04876664e-02 9.93976238e+01] [ 1.21344228e-02 9.99926373e-01 6.27369653e-05 -3.51680371e-01] [ 1.04861331e-02 -1.89990676e-04 9.99945001e-01 -1.81420306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10800114499999 meters 0.06425700226487113 Centerline is valid? [True, True] Translation: X:99.43, Y:-0.35, Z:-1.82 [[ 9.99882262e-01 -1.19383981e-02 -9.64039263e-03 9.94275222e+01] [ 1.19395082e-02 9.99928720e-01 5.76026137e-05 -3.50936160e-01] [ 9.63901778e-03 -1.72697378e-04 9.99953529e-01 -1.81594244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13800114499999 meters 0.06410290607218642 Centerline is valid? [True, True] Translation: X:99.46, Y:-0.35, Z:-1.82 [[ 9.99875088e-01 -1.18254814e-02 -1.04864871e-02 9.94588265e+01] [ 1.18267945e-02 9.99930059e-01 6.32092866e-05 -3.48432895e-01] [ 1.04850062e-02 -1.87222919e-04 9.99945013e-01 -1.81586562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16800114499999 meters 0.063942501604784 Centerline is valid? [True, True] Translation: X:99.49, Y:-0.35, Z:-1.82 [[ 9.99871167e-01 -1.20377448e-02 -1.06179923e-02 9.94903057e+01] [ 1.20391065e-02 9.99927525e-01 6.43415857e-05 -3.48274995e-01] [ 1.06164483e-02 -1.92164437e-04 9.99943625e-01 -1.81598610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19800114499998 meters 0.06404648194432319 Centerline is valid? [True, True] Translation: X:99.52, Y:-0.35, Z:-1.82 [[ 9.99887741e-01 -1.10729039e-02 -1.00943716e-02 9.95209396e+01] [ 1.10740958e-02 9.99938678e-01 6.21800763e-05 -3.48083754e-01] [ 1.00930641e-02 -1.73959134e-04 9.99949049e-01 -1.81744169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22800114499998 meters 0.0639236511358758 Centerline is valid? [True, True] Translation: X:99.55, Y:-0.35, Z:-1.82 [[ 9.99885712e-01 -1.13182151e-02 -1.00230503e-02 9.95510029e+01] [ 1.13193933e-02 9.99935932e-01 6.08227350e-05 -3.46359895e-01] [ 1.00217197e-02 -1.74270632e-04 9.99949766e-01 -1.81731560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25800114499998 meters 0.06401950876570417 Centerline is valid? [True, True] Translation: X:99.58, Y:-0.34, Z:-1.82 [[ 9.99883661e-01 -1.09067292e-02 -1.06634160e-02 9.95824330e+01] [ 1.09080483e-02 9.99940503e-01 6.55544242e-05 -3.42558266e-01] [ 1.06620666e-02 -1.81863855e-04 9.99943142e-01 -1.81771545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28800114499998 meters 0.06407563999935553 Centerline is valid? [True, True] Translation: X:99.61, Y:-0.34, Z:-1.82 [[ 9.99888210e-01 -1.11206042e-02 -9.99495401e-03 9.96127750e+01] [ 1.11217690e-02 9.99938149e-01 6.09664976e-05 -3.42182108e-01] [ 9.99365783e-03 -1.72121252e-04 9.99950047e-01 -1.81849863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31800114499998 meters 0.06422641822446822 Centerline is valid? [True, True] Translation: X:99.64, Y:-0.34, Z:-1.82 [[ 9.99892552e-01 -1.12715000e-02 -9.37219810e-03 9.96430893e+01] [ 1.12725345e-02 9.99936461e-01 5.75668930e-05 -3.43333364e-01] [ 9.37095374e-03 -1.63209134e-04 9.99956078e-01 -1.81985744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34800114499998 meters 0.06493532316327787 Centerline is valid? [True, True] Translation: X:99.67, Y:-0.35, Z:-1.82 [[ 9.99872929e-01 -1.28271453e-02 -9.46517492e-03 9.96731228e+01] [ 1.28282716e-02 9.99917713e-01 5.82790046e-05 -3.47523221e-01] [ 9.46364851e-03 -1.79693433e-04 9.99955203e-01 -1.82463468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37800114499998 meters 0.06418231458076779 Centerline is valid? [True, True] Translation: X:99.70, Y:-0.34, Z:-1.82 [[ 9.99891395e-01 -1.22539763e-02 -8.18763182e-03 9.97049427e+01] [ 1.22548042e-02 9.99924906e-01 5.09571523e-05 -3.44608838e-01] [ 8.18639254e-03 -1.51289443e-04 9.99966479e-01 -1.82028587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40800114499999 meters 0.06401659523957896 Centerline is valid? [True, True] Translation: X:99.74, Y:-0.34, Z:-1.82 [[ 9.99899906e-01 -1.17792071e-02 -7.83755847e-03 9.97367433e+01] [ 1.17799594e-02 9.99930613e-01 4.98224886e-05 -3.43166326e-01] [ 7.83642777e-03 -1.42143622e-04 9.99969285e-01 -1.81911898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43800114499999 meters 0.06392907872055618 Centerline is valid? [True, True] Translation: X:99.77, Y:-0.34, Z:-1.82 [[ 9.99920123e-01 -1.07941461e-02 -6.57528998e-03 9.97680985e+01] [ 1.07946533e-02 9.99941735e-01 4.16521090e-05 -3.42830901e-01] [ 6.57445727e-03 -1.12626758e-04 9.99978382e-01 -1.81944496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46800114499999 meters 0.06401892612866394 Centerline is valid? [True, True] Translation: X:99.80, Y:-0.34, Z:-1.82 [[ 9.99939770e-01 -9.41724491e-03 -5.63665343e-03 9.97993707e+01] [ 9.41759910e-03 9.99955653e-01 3.62979991e-05 -3.42646447e-01] [ 5.63606164e-03 -8.93795552e-05 9.99984113e-01 -1.81964292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49800114499999 meters 0.06403431756296352 Centerline is valid? [True, True] Translation: X:99.83, Y:-0.34, Z:-1.82 [[ 9.99940968e-01 -9.33319184e-03 -5.56338143e-03 9.98302903e+01] [ 9.33353688e-03 9.99956441e-01 3.60586757e-05 -3.42817500e-01] [ 5.56280255e-03 -8.79825729e-05 9.99984524e-01 -1.82021037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52800114499999 meters 0.06408413158496871 Centerline is valid? [True, True] Translation: X:99.86, Y:-0.34, Z:-1.82 [[ 9.99943823e-01 -8.76473549e-03 -5.96071746e-03 9.98624335e+01] [ 8.76512469e-03 9.99961585e-01 3.91742883e-05 -3.44016167e-01] [ 5.96014512e-03 -9.14185194e-05 9.99982234e-01 -1.82161096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55800114499998 meters 0.06381752198614878 Centerline is valid? [True, True] Translation: X:99.89, Y:-0.34, Z:-1.82 [[ 9.99937680e-01 -8.77984982e-03 -6.89560788e-03 9.98940876e+01] [ 8.78036826e-03 9.99961451e-01 4.49135683e-05 -3.44091002e-01] [ 6.89494773e-03 -1.05456746e-04 9.99976224e-01 -1.82095501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58800114499998 meters 0.0638643696187826 Centerline is valid? [True, True] Translation: X:99.92, Y:-0.34, Z:-1.82 [[ 9.99941825e-01 -6.57459886e-03 -8.55107183e-03 9.99247917e+01] [ 6.57533310e-03 9.99978381e-01 5.77552476e-05 -3.43964811e-01] [ 8.55050724e-03 -1.13978033e-04 9.99963437e-01 -1.82266874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61800114499998 meters 0.06372712091461638 Centerline is valid? [True, True] Translation: X:99.95, Y:-0.34, Z:-1.82 [[ 9.99948657e-01 -5.50908016e-03 -8.50488623e-03 9.99542852e+01] [ 5.50974649e-03 9.99984820e-01 5.49177798e-05 -3.42467100e-01] [ 8.50445458e-03 -1.01774727e-04 9.99963831e-01 -1.82234150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64800114499998 meters 0.06376091255743489 Centerline is valid? [True, True] Translation: X:99.98, Y:-0.34, Z:-1.82 [[ 9.99940872e-01 -2.83221366e-03 -1.04991416e-02 9.99825619e+01] [ 2.83307507e-03 9.99995985e-01 6.71740443e-05 -3.42595183e-01] [ 1.04989092e-02 -9.69149286e-05 9.99944880e-01 -1.82450761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67800114499998 meters 0.06392957960637045 Centerline is valid? [True, True] Translation: X:100.01, Y:-0.34, Z:-1.83 [[ 9.99933231e-01 -1.58295222e-03 -1.14467339e-02 1.00010198e+02] [ 1.58387941e-03 9.99998743e-01 7.19351358e-05 -3.43347897e-01] [ 1.14466056e-02 -9.00605789e-05 9.99934481e-01 -1.82785729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70800114499998 meters 0.06364248827280261 Centerline is valid? [True, True] Translation: X:100.04, Y:-0.34, Z:-1.83 [[ 9.99932519e-01 -6.54732132e-04 -1.15986658e-02 1.00038366e+02] [ 6.55555970e-04 9.99999783e-01 6.72268961e-05 -3.42178323e-01] [ 1.15986193e-02 -7.48259341e-05 9.99932731e-01 -1.82649006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73800114499998 meters 0.06349556754483396 Centerline is valid? [True, True] Translation: X:100.07, Y:-0.34, Z:-1.83 [[ 9.99941314e-01 4.73874501e-04 -1.08233077e-02 1.00066831e+02] [-4.73247055e-04 9.99999886e-01 6.05327517e-05 -3.42098999e-01] [ 1.08233351e-02 -5.54071008e-05 9.99941424e-01 -1.82610036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76800114499999 meters 0.06341684498174519 Centerline is valid? [True, True] Translation: X:100.09, Y:-0.34, Z:-1.83 [[ 9.99942215e-01 8.01994615e-04 -1.07202185e-02 1.00093378e+02] [-8.01409410e-04 9.99999677e-01 5.88845379e-05 -3.42928855e-01] [ 1.07202623e-02 -5.02898512e-05 9.99942535e-01 -1.82818088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79800114499999 meters 0.06366972569617846 Centerline is valid? [True, True] Translation: X:100.12, Y:-0.34, Z:-1.83 [[ 9.99947458e-01 1.36250153e-03 -1.01599823e-02 1.00121248e+02] [-1.36199868e-03 9.99999071e-01 5.64112705e-05 -3.44172180e-01] [ 1.01600497e-02 -4.25704240e-05 9.99948384e-01 -1.83151676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82800114499999 meters 0.06341715999606151 Centerline is valid? [True, True] Translation: X:100.15, Y:-0.34, Z:-1.83 [[ 9.99947592e-01 2.42284925e-04 -1.02349810e-02 1.00149677e+02] [-2.41720014e-04 9.99999969e-01 5.64310762e-05 -3.44579916e-01] [ 1.02349943e-02 -5.39541190e-05 9.99947620e-01 -1.82737738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85800114499999 meters 0.06306071130969354 Centerline is valid? [True, True] Translation: X:100.18, Y:-0.35, Z:-1.83 [[ 9.99954055e-01 -5.10254808e-04 -9.57226870e-03 1.00178402e+02] [ 5.10776334e-04 9.99999868e-01 5.20384088e-05 -3.45345017e-01] [ 9.57224088e-03 -5.69253062e-05 9.99954183e-01 -1.82515702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88800114499999 meters 0.06317807349348571 Centerline is valid? [True, True] Translation: X:100.21, Y:-0.35, Z:-1.83 [[ 9.99959532e-01 -2.81237452e-03 -8.54545023e-03 1.00205967e+02] [ 2.81286509e-03 9.99996043e-01 4.53882136e-05 -3.49387324e-01] [ 8.54528877e-03 -6.94235755e-05 9.99963486e-01 -1.82573649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91800114499998 meters 0.06320902026623845 Centerline is valid? [True, True] Translation: X:100.24, Y:-0.35, Z:-1.83 [[ 9.99948116e-01 -4.27386043e-03 -9.24655637e-03 1.00235071e+02] [ 4.27449530e-03 9.99990863e-01 4.88986201e-05 -3.51702542e-01] [ 9.24626290e-03 -8.84204448e-05 9.99957248e-01 -1.82693272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94800114499998 meters 0.06323197938008823 Centerline is valid? [True, True] Translation: X:100.26, Y:-0.35, Z:-1.83 [[ 9.99942118e-01 -5.66809067e-03 -9.14514953e-03 1.00262897e+02] [ 5.66876088e-03 9.99983931e-01 4.73652042e-05 -3.54316474e-01] [ 9.14473411e-03 -9.92041285e-05 9.99958181e-01 -1.82817060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97800114499998 meters 0.06328615325469016 Centerline is valid? [True, True] Translation: X:100.29, Y:-0.36, Z:-1.83 [[ 9.99930830e-01 -8.28379072e-03 -8.34949532e-03 1.00291232e+02] [ 8.28443746e-03 9.99965683e-01 4.28741404e-05 -3.58507815e-01] [ 8.34885362e-03 -1.12042047e-04 9.99965141e-01 -1.82814634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00800114499998 meters 0.0633754756141835 Centerline is valid? [True, True] Translation: X:100.32, Y:-0.36, Z:-1.83 [[ 9.99933036e-01 -8.87661641e-03 -7.42484187e-03 1.00321405e+02] [ 8.87715096e-03 9.99960597e-01 3.90406376e-05 -3.60509948e-01] [ 7.42420275e-03 -1.04949465e-04 9.99972435e-01 -1.82852494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03800114499998 meters 0.06324976950572421 Centerline is valid? [True, True] Translation: X:100.35, Y:-0.36, Z:-1.83 [[ 9.99931252e-01 -9.83758442e-03 -6.38072284e-03 1.00352869e+02] [ 9.83800333e-03 9.99951605e-01 3.42689378e-05 -3.61859956e-01] [ 6.38007692e-03 -9.70401544e-05 9.99979642e-01 -1.82870853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06800114499998 meters 0.06324459008695033 Centerline is valid? [True, True] Translation: X:100.38, Y:-0.36, Z:-1.83 [[ 9.99926757e-01 -1.02934723e-02 -6.36585403e-03 1.00384645e+02] [ 1.02939044e-02 9.99947016e-01 3.51124019e-05 -3.62609870e-01] [ 6.36515532e-03 -1.00639323e-04 9.99979737e-01 -1.82904048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09800114499998 meters 0.06322967091462646 Centerline is valid? [True, True] Translation: X:100.42, Y:-0.36, Z:-1.83 [[ 9.99928592e-01 -1.04099918e-02 -5.86878695e-03 1.00416014e+02] [ 1.04103617e-02 9.99945810e-01 3.24701550e-05 -3.62708946e-01] [ 5.86813091e-03 -9.35640310e-05 9.99982778e-01 -1.83005922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12800114499998 meters 0.06340579438730547 Centerline is valid? [True, True] Translation: X:100.45, Y:-0.36, Z:-1.83 [[ 9.99935412e-01 -9.67987215e-03 -5.95577185e-03 1.00446941e+02] [ 9.68024156e-03 9.99953145e-01 3.32011483e-05 -3.63225589e-01] [ 5.95517140e-03 -9.08523140e-05 9.99982264e-01 -1.83085050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15800114499999 meters 0.06325041969987832 Centerline is valid? [True, True] Translation: X:100.48, Y:-0.36, Z:-1.83 [[ 9.99943903e-01 -9.20138155e-03 -5.24643033e-03 1.00478852e+02] [ 9.20166517e-03 9.99957663e-01 2.99238209e-05 -3.64089223e-01] [ 5.24593288e-03 -7.81980376e-05 9.99986237e-01 -1.83130447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18800114499999 meters 0.06330627431224813 Centerline is valid? [True, True] Translation: X:100.51, Y:-0.37, Z:-1.83 [[ 9.99944203e-01 -9.14356240e-03 -5.29014158e-03 1.00510272e+02] [ 9.14384986e-03 9.99958194e-01 3.01549266e-05 -3.66292470e-01] [ 5.28964469e-03 -7.85255043e-05 9.99986007e-01 -1.83259593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21800114499999 meters 0.06320650037567446 Centerline is valid? [True, True] Translation: X:100.54, Y:-0.37, Z:-1.83 [[ 9.99949007e-01 -8.09705893e-03 -6.03502399e-03 1.00542612e+02] [ 8.09741706e-03 9.99967215e-01 3.49101833e-05 -3.66531782e-01] [ 6.03454346e-03 -8.37765093e-05 9.99981788e-01 -1.83382357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24800114499999 meters 0.06305301264026068 Centerline is valid? [True, True] Translation: X:100.57, Y:-0.36, Z:-1.83 [[ 9.99955906e-01 -7.42630746e-03 -5.74771606e-03 1.00573924e+02] [ 7.42661965e-03 9.99972422e-01 3.29739906e-05 -3.64793366e-01] [ 5.74731267e-03 -7.56586376e-05 9.99983481e-01 -1.83320308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27800114499999 meters 0.06293164179684341 Centerline is valid? [True, True] Translation: X:100.60, Y:-0.36, Z:-1.83 [[ 9.99961038e-01 -6.54990584e-03 -5.91782255e-03 1.00604851e+02] [ 6.55022252e-03 9.99978546e-01 3.41319099e-05 -3.63370773e-01] [ 5.91747203e-03 -7.28936346e-05 9.99982489e-01 -1.83234848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30800114499998 meters 0.0629829334198504 Centerline is valid? [True, True] Translation: X:100.64, Y:-0.36, Z:-1.83 [[ 9.99965358e-01 -5.80688548e-03 -5.96338761e-03 1.00635286e+02] [ 5.80719284e-03 9.99983138e-01 3.42263387e-05 -3.63911493e-01] [ 5.96308831e-03 -6.88556949e-05 9.99982218e-01 -1.83379816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33800114499998 meters 0.06326094624285392 Centerline is valid? [True, True] Translation: X:100.66, Y:-0.37, Z:-1.84 [[ 9.99971794e-01 -4.84376154e-03 -5.74020072e-03 1.00664491e+02] [ 4.84402983e-03 9.99988267e-01 3.28373709e-05 -3.67520970e-01] [ 5.73997432e-03 -6.06421482e-05 9.99983524e-01 -1.83780691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36800114499998 meters 0.06292902227979567 Centerline is valid? [True, True] Translation: X:100.69, Y:-0.37, Z:-1.84 [[ 9.99975326e-01 -4.10284892e-03 -5.70217783e-03 1.00694152e+02] [ 4.10309716e-03 9.99991582e-01 3.18360737e-05 -3.67628779e-01] [ 5.70199920e-03 -5.52318778e-05 9.99983742e-01 -1.83656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39800114499998 meters 0.06327341483458167 Centerline is valid? [True, True] Translation: X:100.72, Y:-0.37, Z:-1.84 [[ 9.99974402e-01 -3.86676433e-03 -6.02028514e-03 1.00723898e+02] [ 3.86703790e-03 9.99992522e-01 3.38015960e-05 -3.69582382e-01] [ 6.02010942e-03 -5.70814016e-05 9.99981877e-01 -1.83955486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42800114499998 meters 0.06305631353008838 Centerline is valid? [True, True] Translation: X:100.75, Y:-0.37, Z:-1.84 [[ 9.99972098e-01 -3.96141397e-03 -6.33322330e-03 1.00753242e+02] [ 3.96171592e-03 9.99992152e-01 3.51313095e-05 -3.68413366e-01] [ 6.33303442e-03 -6.02207608e-05 9.99979944e-01 -1.83735540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45800114499998 meters 0.06295509727463171 Centerline is valid? [True, True] Translation: X:100.78, Y:-0.37, Z:-1.84 [[ 9.99965727e-01 -3.71340917e-03 -7.39970308e-03 1.00782995e+02] [ 3.71381346e-03 9.99993103e-01 4.08965124e-05 -3.67554836e-01] [ 7.39950018e-03 -6.83762277e-05 9.99972621e-01 -1.83654221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48800114499998 meters 0.0631283963472254 Centerline is valid? [True, True] Translation: X:100.81, Y:-0.37, Z:-1.84 [[ 9.99955481e-01 -4.51771825e-03 -8.28405794e-03 1.00812009e+02] [ 4.51821298e-03 9.99989792e-01 4.10077870e-05 -3.68136062e-01] [ 8.28378812e-03 -7.84350995e-05 9.99965686e-01 -1.83759401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51800114499999 meters 0.06332797815966511 Centerline is valid? [True, True] Translation: X:100.84, Y:-0.37, Z:-1.84 [[ 9.99946213e-01 -5.39847184e-03 -8.85598217e-03 1.00840786e+02] [ 5.39905689e-03 9.99985424e-01 4.21558149e-05 -3.70297477e-01] [ 8.85562550e-03 -8.99674989e-05 9.99960784e-01 -1.83891620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54800114499999 meters 0.063745968352775 Centerline is valid? [True, True] Translation: X:100.87, Y:-0.38, Z:-1.84 [[ 9.99929866e-01 -7.72517834e-03 -8.97692150e-03 1.00868863e+02] [ 7.72590625e-03 9.99970154e-01 4.64111110e-05 -3.78656937e-01] [ 8.97629504e-03 -1.15762710e-04 9.99959706e-01 -1.84403462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57800114499999 meters 0.06354969725114831 Centerline is valid? [True, True] Translation: X:100.90, Y:-0.38, Z:-1.84 [[ 9.99917471e-01 -8.89279357e-03 -9.27194526e-03 1.00898819e+02] [ 8.89361230e-03 9.99960450e-01 4.70737351e-05 -3.80172010e-01] [ 9.27115994e-03 -1.29530937e-04 9.99957013e-01 -1.84256247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60800114499999 meters 0.06394920934306107 Centerline is valid? [True, True] Translation: X:100.93, Y:-0.38, Z:-1.85 [[ 9.99895953e-01 -1.07232024e-02 -9.64865090e-03 1.00928425e+02] [ 1.07241755e-02 9.99942493e-01 4.91136548e-05 -3.82715227e-01] [ 9.64756938e-03 -1.52582370e-04 9.99953449e-01 -1.84512252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63800114499999 meters 0.0633968344551014 Centerline is valid? [True, True] Translation: X:100.96, Y:-0.38, Z:-1.84 [[ 9.99878534e-01 -1.19097943e-02 -1.00535388e-02 1.00958932e+02] [ 1.19109133e-02 9.99929061e-01 5.14370230e-05 -3.79936506e-01] [ 1.00522130e-02 -1.71177605e-04 9.99949461e-01 -1.84046717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66800114499998 meters 0.06404583349926474 Centerline is valid? [True, True] Translation: X:100.99, Y:-0.38, Z:-1.84 [[ 9.99873140e-01 -1.20640179e-02 -1.04001731e-02 1.00989198e+02] [ 1.20652378e-02 9.99927211e-01 5.45585894e-05 -3.82546828e-01] [ 1.03987579e-02 -1.80032230e-04 9.99945915e-01 -1.84476060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69800114499998 meters 0.06345833183491774 Centerline is valid? [True, True] Translation: X:101.02, Y:-0.38, Z:-1.84 [[ 9.99885629e-01 -1.16614059e-02 -9.63015109e-03 1.01019673e+02] [ 1.16624258e-02 9.99931990e-01 4.97582248e-05 -3.81174564e-01] [ 9.62891589e-03 -1.62063456e-04 9.99953628e-01 -1.84098665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72800114499998 meters 0.06417074649022492 Centerline is valid? [True, True] Translation: X:101.05, Y:-0.39, Z:-1.85 [[ 9.99884299e-01 -1.15532958e-02 -9.89498636e-03 1.01049905e+02] [ 1.15543807e-02 9.99933245e-01 5.24798194e-05 -3.86143442e-01] [ 9.89371950e-03 -1.66804187e-04 9.99951042e-01 -1.84704307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75800114499998 meters 0.06350543965488571 Centerline is valid? [True, True] Translation: X:101.08, Y:-0.38, Z:-1.84 [[ 9.99878440e-01 -1.16060087e-02 -1.04118562e-02 1.01080270e+02] [ 1.16072035e-02 9.99932633e-01 5.43364086e-05 -3.84154756e-01] [ 1.04105242e-02 -1.75182337e-04 9.99945794e-01 -1.84294203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78800114499998 meters 0.06350543965488571 Centerline is valid? [True, True] Translation: X:101.11, Y:-0.38, Z:-1.84 [[ 9.99878440e-01 -1.16060087e-02 -1.04118562e-02 1.01110281e+02] [ 1.16072035e-02 9.99932633e-01 5.43364086e-05 -3.84311372e-01] [ 1.04105242e-02 -1.75182337e-04 9.99945794e-01 -1.84342954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81800114499998 meters 0.06370358299098769 Centerline is valid? [True, True] Translation: X:101.14, Y:-0.38, Z:-1.84 [[ 9.99879622e-01 -1.20076222e-02 -9.82638356e-03 1.01140188e+02] [ 1.20087099e-02 9.99927892e-01 5.16906715e-05 -3.84285927e-01] [ 9.82505432e-03 -1.69686639e-04 9.99951719e-01 -1.84322066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84800114499998 meters 0.06362149434941013 Centerline is valid? [True, True] Translation: X:101.17, Y:-0.38, Z:-1.84 [[ 9.99883593e-01 -1.19881218e-02 -9.43853537e-03 1.01171900e+02] [ 1.19891297e-02 9.99928127e-01 5.02089976e-05 -3.83452816e-01] [ 9.43725508e-03 -1.63362978e-04 9.99955455e-01 -1.84263169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87800114499998 meters 0.06357953408992728 Centerline is valid? [True, True] Translation: X:101.20, Y:-0.38, Z:-1.84 [[ 9.99889596e-01 -1.19158058e-02 -8.87742427e-03 1.01202097e+02] [ 1.19166938e-02 9.99928993e-01 4.71358473e-05 -3.83797981e-01] [ 8.87623224e-03 -1.52920190e-04 9.99960594e-01 -1.84289457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90800114499999 meters 0.06326499646594773 Centerline is valid? [True, True] Translation: X:101.23, Y:-0.38, Z:-1.84 [[ 9.99900716e-01 -1.22664524e-02 -6.93480109e-03 1.01233168e+02] [ 1.22670064e-02 9.99924757e-01 3.73592083e-05 -3.83748384e-01] [ 6.93382103e-03 -1.22424749e-04 9.99975953e-01 -1.84021460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93800114499999 meters 0.06319155897141684 Centerline is valid? [True, True] Translation: X:101.27, Y:-0.38, Z:-1.84 [[ 9.99907680e-01 -1.22248602e-02 -5.93160630e-03 1.01265910e+02] [ 1.22252727e-02 9.99925268e-01 3.32842360e-05 -3.84541893e-01] [ 5.93075612e-03 -1.05796668e-04 9.99982407e-01 -1.84072230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96800114499999 meters 0.06321434028502525 Centerline is valid? [True, True] Translation: X:101.30, Y:-0.39, Z:-1.84 [[ 9.99897329e-01 -1.23882334e-02 -7.20161486e-03 1.01297704e+02] [ 1.23888452e-02 9.99923255e-01 4.03497018e-05 -3.85149940e-01] [ 7.20056231e-03 -1.29565251e-04 9.99974067e-01 -1.84066201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99800114499999 meters 0.06350844543866709 Centerline is valid? [True, True] Translation: X:101.33, Y:-0.39, Z:-1.84 [[ 9.99903107e-01 -1.20269246e-02 -7.00928974e-03 1.01329335e+02] [ 1.20274985e-02 9.99927666e-01 3.97420909e-05 -3.86866910e-01] [ 7.00830475e-03 -1.24042462e-04 9.99975434e-01 -1.84372621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02800114499999 meters 0.06313575508464489 Centerline is valid? [True, True] Translation: X:101.36, Y:-0.38, Z:-1.84 [[ 9.99920097e-01 -1.08529904e-02 -6.48169761e-03 1.01360711e+02] [ 1.08534551e-02 9.99941099e-01 3.65157601e-05 -3.83728052e-01] [ 6.48091952e-03 -1.06861656e-04 9.99978993e-01 -1.84228662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05800114499998 meters 0.06307076010785892 Centerline is valid? [True, True] Translation: X:101.39, Y:-0.38, Z:-1.84 [[ 9.99928347e-01 -9.83423125e-03 -6.82556557e-03 1.01393327e+02] [ 9.83472914e-03 9.99951637e-01 3.93837327e-05 -3.81734750e-01] [ 6.82484816e-03 -1.06508499e-04 9.99976705e-01 -1.84226226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08800114499998 meters 0.06305311263500582 Centerline is valid? [True, True] Translation: X:101.42, Y:-0.38, Z:-1.84 [[ 9.99936714e-01 -9.09748873e-03 -6.61839399e-03 1.01424519e+02] [ 9.09793885e-03 9.99958612e-01 3.79068653e-05 -3.80961616e-01] [ 6.61777521e-03 -9.81182102e-05 9.99978097e-01 -1.84267693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11800114499998 meters 0.06305902353719278 Centerline is valid? [True, True] Translation: X:101.46, Y:-0.38, Z:-1.84 [[ 9.99943706e-01 -8.12303277e-03 -6.82654715e-03 1.01455973e+02] [ 8.12349031e-03 9.99967003e-01 3.92971403e-05 -3.81093206e-01] [ 6.82600268e-03 -9.47503177e-05 9.99976698e-01 -1.84358931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14800114499998 meters 0.06313475088626866 Centerline is valid? [True, True] Translation: X:101.49, Y:-0.38, Z:-1.85 [[ 9.99941729e-01 -7.89740916e-03 -7.36001332e-03 1.01486055e+02] [ 7.89793080e-03 9.99968810e-01 4.18129471e-05 -3.82565081e-01] [ 7.35945355e-03 -9.99393865e-05 9.99972914e-01 -1.84508684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17800114499998 meters 0.06316890182405982 Centerline is valid? [True, True] Translation: X:101.52, Y:-0.38, Z:-1.85 [[ 9.99934961e-01 -7.96256748e-03 -8.16530344e-03 1.01516231e+02] [ 7.96322169e-03 9.99968292e-01 4.76118250e-05 -3.83422851e-01] [ 8.16466542e-03 -1.12630850e-04 9.99966662e-01 -1.84603008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20800114499998 meters 0.06316281046304113 Centerline is valid? [True, True] Translation: X:101.55, Y:-0.38, Z:-1.85 [[ 9.99922305e-01 -8.50808910e-03 -9.11022262e-03 1.01546580e+02] [ 8.50891785e-03 9.99963797e-01 5.22129943e-05 -3.83080713e-01] [ 9.10944857e-03 -1.29727074e-04 9.99958500e-01 -1.84559404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23800114499998 meters 0.06331367300246636 Centerline is valid? [True, True] Translation: X:101.58, Y:-0.38, Z:-1.85 [[ 9.99914796e-01 -9.63009838e-03 -8.81257373e-03 1.01576418e+02] [ 9.63091395e-03 9.99953620e-01 5.01129947e-05 -3.84317651e-01] [ 8.81168241e-03 -1.34981864e-04 9.99961167e-01 -1.84604302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26800114499999 meters 0.06337853175274281 Centerline is valid? [True, True] Translation: X:101.61, Y:-0.39, Z:-1.85 [[ 9.99916397e-01 -1.00897548e-02 -8.08682576e-03 1.01606264e+02] [ 1.00904616e-02 9.99949089e-01 4.66006186e-05 -3.85380432e-01] [ 8.08594386e-03 -1.28196527e-04 9.99967300e-01 -1.84702190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29800114499999 meters 0.063506710886991 Centerline is valid? [True, True] Translation: X:101.64, Y:-0.39, Z:-1.85 [[ 9.99910427e-01 -1.05755685e-02 -8.20343302e-03 1.01636629e+02] [ 1.05763132e-02 9.99944068e-01 4.73924918e-05 -3.86195323e-01] [ 8.20247298e-03 -1.34150323e-04 9.99966350e-01 -1.84784344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32800114499999 meters 0.06376818572766622 Centerline is valid? [True, True] Translation: X:101.67, Y:-0.39, Z:-1.85 [[ 9.99894222e-01 -1.16366873e-02 -8.72537725e-03 1.01667846e+02] [ 1.16375744e-02 9.99932280e-01 5.09073513e-05 -3.85821240e-01] [ 8.72419397e-03 -1.52444193e-04 9.99961932e-01 -1.84864038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35800114499999 meters 0.06374350475623715 Centerline is valid? [True, True] Translation: X:101.70, Y:-0.39, Z:-1.85 [[ 9.99905733e-01 -1.11656321e-02 -7.99084633e-03 1.01699498e+02] [ 1.11663634e-02 9.99937653e-01 4.69058258e-05 -3.85371628e-01] [ 7.98982440e-03 -1.36130098e-04 9.99968072e-01 -1.84927575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38800114499999 meters 0.06378318455572654 Centerline is valid? [True, True] Translation: X:101.73, Y:-0.38, Z:-1.85 [[ 9.99913307e-01 -1.04646978e-02 -7.99184419e-03 1.01731259e+02] [ 1.04654088e-02 9.99945235e-01 4.71516257e-05 -3.84700429e-01] [ 7.99091309e-03 -1.30785454e-04 9.99968064e-01 -1.85058627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41800114499998 meters 0.06366730928800056 Centerline is valid? [True, True] Translation: X:101.76, Y:-0.38, Z:-1.85 [[ 9.99920719e-01 -9.41966896e-03 -8.35615178e-03 1.01762393e+02] [ 9.42041170e-03 9.99955626e-01 4.95289284e-05 -3.83271991e-01] [ 8.35531443e-03 -1.28243392e-04 9.99965086e-01 -1.85118606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44800114499998 meters 0.0635006144029397 Centerline is valid? [True, True] Translation: X:101.79, Y:-0.38, Z:-1.85 [[ 9.99944813e-01 -6.09318542e-03 -8.55826903e-03 1.01792962e+02] [ 6.09383841e-03 9.99981431e-01 5.02239885e-05 -3.78867063e-01] [ 8.55780409e-03 -1.02373925e-04 9.99963376e-01 -1.85236275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47800114499998 meters 0.06358991119950583 Centerline is valid? [True, True] Translation: X:101.82, Y:-0.38, Z:-1.85 [[ 9.99942115e-01 -5.46576056e-03 -9.26780227e-03 1.01821101e+02] [ 5.46649081e-03 9.99985057e-01 5.34645333e-05 -3.77061348e-01] [ 9.26737156e-03 -1.04123794e-04 9.99957052e-01 -1.85473846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50800114499998 meters 0.06353019162336017 Centerline is valid? [True, True] Translation: X:101.85, Y:-0.38, Z:-1.86 [[ 9.99942984e-01 -4.62862766e-03 -9.62314101e-03 1.01850206e+02] [ 4.62933063e-03 9.99989283e-01 5.07756972e-05 -3.75297773e-01] [ 9.62280286e-03 -9.53215036e-05 9.99953695e-01 -1.85576891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53800114499998 meters 0.06358510808534708 Centerline is valid? [True, True] Translation: X:101.88, Y:-0.37, Z:-1.86 [[ 9.99931891e-01 -4.58270072e-03 -1.07336983e-02 1.01878594e+02] [ 4.58355244e-03 9.99989494e-01 5.47509980e-05 -3.74072134e-01] [ 1.07333346e-02 -1.03945738e-04 9.99942391e-01 -1.85610007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56800114499998 meters 0.06395781738703547 Centerline is valid? [True, True] Translation: X:101.91, Y:-0.38, Z:-1.86 [[ 9.99914010e-01 -7.15411892e-03 -1.09905386e-02 1.01905842e+02] [ 7.15518464e-03 9.99974400e-01 5.76487113e-05 -3.76440852e-01] [ 1.09898449e-02 -1.36283087e-04 9.99939601e-01 -1.86034373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59800114499998 meters 0.06414822707491993 Centerline is valid? [True, True] Translation: X:101.93, Y:-0.38, Z:-1.86 [[ 9.99897207e-01 -8.74316866e-03 -1.13636132e-02 1.01934085e+02] [ 8.74438744e-03 9.99961765e-01 5.75704428e-05 -3.78762958e-01] [ 1.13626754e-02 -1.56932362e-04 9.99935430e-01 -1.86238904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62800114499998 meters 0.06356543380002219 Centerline is valid? [True, True] Translation: X:101.96, Y:-0.38, Z:-1.86 [[ 9.99870890e-01 -1.09361148e-02 -1.17730552e-02 1.01963191e+02] [ 1.09375234e-02 9.99940182e-01 5.52608524e-05 -3.77481164e-01] [ 1.17717466e-02 -1.84021784e-04 9.99930694e-01 -1.85735451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65800114499999 meters 0.06383217819023368 Centerline is valid? [True, True] Translation: X:101.99, Y:-0.38, Z:-1.86 [[ 9.99856131e-01 -1.21877364e-02 -1.17972986e-02 1.01992909e+02] [ 1.21892759e-02 9.99925706e-01 5.86040086e-05 -3.78405436e-01] [ 1.17957079e-02 -2.02396105e-04 9.99930408e-01 -1.85918676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68800114499999 meters 0.06427053375265811 Centerline is valid? [True, True] Translation: X:102.02, Y:-0.38, Z:-1.86 [[ 9.99825932e-01 -1.39333999e-02 -1.24082733e-02 1.02022791e+02] [ 1.39352409e-02 9.99902898e-01 6.19123303e-05 -3.78278208e-01] [ 1.24062058e-02 -2.34813831e-04 9.99923012e-01 -1.86111240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71800114499999 meters 0.06410247291051364 Centerline is valid? [True, True] Translation: X:102.05, Y:-0.38, Z:-1.86 [[ 9.99832818e-01 -1.37085646e-02 -1.21000243e-02 1.02053554e+02] [ 1.37102987e-02 9.99906008e-01 6.03742908e-05 -3.76873254e-01] [ 1.20980594e-02 -2.26259145e-04 9.99926790e-01 -1.86036968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74800114499999 meters 0.06401405011826931 Centerline is valid? [True, True] Translation: X:102.08, Y:-0.38, Z:-1.86 [[ 9.99823422e-01 -1.37917292e-02 -1.27637141e-02 1.02083635e+02] [ 1.37936656e-02 9.99904861e-01 6.36858376e-05 -3.76818528e-01] [ 1.27616214e-02 -2.39732995e-04 9.99918538e-01 -1.86030895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77800114499999 meters 0.06439770414120274 Centerline is valid? [True, True] Translation: X:102.11, Y:-0.38, Z:-1.86 [[ 9.99832317e-01 -1.32528882e-02 -1.26371948e-02 1.02113557e+02] [ 1.32547434e-02 9.99912150e-01 6.30545568e-05 -3.77502505e-01] [ 1.26352489e-02 -2.30546757e-04 9.99920145e-01 -1.86360753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80800114499998 meters 0.063852214779646 Centerline is valid? [True, True] Translation: X:102.14, Y:-0.37, Z:-1.86 [[ 9.99824710e-01 -1.24589495e-02 -1.39758096e-02 1.02144355e+02] [ 1.24611410e-02 9.99922355e-01 6.97337105e-05 -3.73422435e-01] [ 1.39738557e-02 -2.43876021e-04 9.99902331e-01 -1.86169035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83800114499998 meters 0.06391244598515597 Centerline is valid? [True, True] Translation: X:102.17, Y:-0.37, Z:-1.86 [[ 9.99836271e-01 -1.16034253e-02 -1.38849600e-02 1.02172554e+02] [ 1.16054819e-02 9.99932652e-01 6.75473110e-05 -3.72679441e-01] [ 1.38832411e-02 -2.28677903e-04 9.99903597e-01 -1.86379395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86800114499998 meters 0.06349631605860465 Centerline is valid? [True, True] Translation: X:102.20, Y:-0.37, Z:-1.86 [[ 9.99872003e-01 -1.03400939e-02 -1.22089851e-02 1.02201687e+02] [ 1.03415287e-02 9.99946523e-01 5.43909271e-05 -3.66649504e-01] [ 1.22077698e-02 -1.80643535e-04 9.99925466e-01 -1.86130836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89800114499998 meters 0.06341890407203286 Centerline is valid? [True, True] Translation: X:102.23, Y:-0.36, Z:-1.86 [[ 9.99894834e-01 -8.95901802e-03 -1.14042558e-02 1.02230748e+02] [ 8.96020565e-03 9.99959855e-01 5.30487894e-05 -3.64587251e-01] [ 1.14033227e-02 -1.55227688e-04 9.99934968e-01 -1.86180752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92800114499998 meters 0.06335000440048535 Centerline is valid? [True, True] Translation: X:102.26, Y:-0.36, Z:-1.86 [[ 9.99896341e-01 -8.74431593e-03 -1.14387145e-02 1.02260748e+02] [ 8.74549263e-03 9.99961756e-01 5.28529752e-05 -3.62735868e-01] [ 1.14378148e-02 -1.52884690e-04 9.99934574e-01 -1.86137364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95800114499998 meters 0.06345378522146504 Centerline is valid? [True, True] Translation: X:102.29, Y:-0.36, Z:-1.86 [[ 9.99903867e-01 -8.31854246e-03 -1.10931804e-02 1.02289749e+02] [ 8.31961430e-03 9.99965390e-01 5.04770594e-05 -3.62662561e-01] [ 1.10923766e-02 -1.42763189e-04 9.99938468e-01 -1.86365124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98800114499998 meters 0.06330341724039593 Centerline is valid? [True, True] Translation: X:102.32, Y:-0.36, Z:-1.86 [[ 9.99903907e-01 -8.80784358e-03 -1.07050985e-02 1.02318813e+02] [ 8.80881404e-03 9.99961201e-01 4.35054773e-05 -3.62459230e-01] [ 1.07043000e-02 -1.37800519e-04 9.99942698e-01 -1.86365729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01800114499999 meters 0.06369585668962019 Centerline is valid? [True, True] Translation: X:102.35, Y:-0.36, Z:-1.87 [[ 9.99864807e-01 -1.14834948e-02 -1.17685173e-02 1.02347825e+02] [ 1.14849055e-02 9.99934045e-01 5.22944366e-05 -3.62047297e-01] [ 1.17671406e-02 -1.87447676e-04 9.99930747e-01 -1.86525262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04800114499999 meters 0.06404922656263864 Centerline is valid? [True, True] Translation: X:102.38, Y:-0.36, Z:-1.87 [[ 9.99828821e-01 -1.34332744e-02 -1.27230636e-02 1.02378605e+02] [ 1.34350769e-02 9.99909744e-01 5.62003533e-05 -3.61681878e-01] [ 1.27211603e-02 -2.27126071e-04 9.99919057e-01 -1.86532743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07800114499999 meters 0.06403803228822616 Centerline is valid? [True, True] Translation: X:102.41, Y:-0.36, Z:-1.87 [[ 9.99819983e-01 -1.49031102e-02 -1.17430776e-02 1.02409091e+02] [ 1.49047469e-02 9.99888917e-01 5.18715564e-05 -3.61978197e-01] [ 1.17410001e-02 -2.26889819e-04 9.99931046e-01 -1.86527054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10800114499999 meters 0.06449362719546692 Centerline is valid? [True, True] Translation: X:102.44, Y:-0.36, Z:-1.87 [[ 9.99792551e-01 -1.73726394e-02 -1.06322818e-02 1.02440264e+02] [ 1.73741341e-02 9.99849057e-01 4.82272870e-05 -3.64259218e-01] [ 1.06298391e-02 -2.32943972e-04 9.99943475e-01 -1.86747839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13800114499999 meters 0.06454050918615088 Centerline is valid? [True, True] Translation: X:102.47, Y:-0.36, Z:-1.87 [[ 9.99781174e-01 -1.81597815e-02 -1.03839708e-02 1.02472305e+02] [ 1.81612591e-02 9.99835070e-01 4.80076303e-05 -3.63682901e-01] [ 1.03813864e-02 -2.36583109e-04 9.99946084e-01 -1.86684993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16800114499998 meters 0.06458832947149304 Centerline is valid? [True, True] Translation: X:102.50, Y:-0.36, Z:-1.87 [[ 9.99764120e-01 -1.89379519e-02 -1.06328968e-02 1.02504858e+02] [ 1.89395520e-02 9.99820629e-01 4.98073673e-05 -3.63541693e-01] [ 1.06300463e-02 -2.51177921e-04 9.99943468e-01 -1.86686868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19800114499998 meters 0.06524762409022969 Centerline is valid? [True, True] Translation: X:102.54, Y:-0.37, Z:-1.87 [[ 9.99737350e-01 -2.01532160e-02 -1.09123393e-02 1.02535864e+02] [ 2.01549762e-02 9.99796867e-01 5.13457523e-05 -3.65268685e-01] [ 1.09090879e-02 -2.71270206e-04 9.99940457e-01 -1.86955011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22800114499998 meters 0.06463103041540194 Centerline is valid? [True, True] Translation: X:102.57, Y:-0.36, Z:-1.87 [[ 9.99733790e-01 -2.05009608e-02 -1.05857985e-02 1.02567813e+02] [ 2.05026469e-02 9.99789797e-01 5.07777788e-05 -3.61715107e-01] [ 1.05825323e-02 -2.67801151e-04 9.99943968e-01 -1.86732226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25800114499998 meters 0.06496155809651176 Centerline is valid? [True, True] Translation: X:102.60, Y:-0.36, Z:-1.87 [[ 9.99729536e-01 -2.09941577e-02 -1.00049886e-02 1.02599459e+02] [ 2.09957057e-02 9.99779565e-01 4.97046138e-05 -3.61552820e-01] [ 1.00017396e-02 -2.59752967e-04 9.99949948e-01 -1.86889188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28800114499998 meters 0.06505866777150612 Centerline is valid? [True, True] Translation: X:102.63, Y:-0.36, Z:-1.87 [[ 9.99735386e-01 -2.08777188e-02 -9.65807280e-03 1.02631677e+02] [ 2.08791560e-02 9.99782006e-01 4.79856784e-05 -3.60804536e-01] [ 9.65496556e-03 -2.49625389e-04 9.99953359e-01 -1.86898385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31800114499998 meters 0.06486931029493469 Centerline is valid? [True, True] Translation: X:102.66, Y:-0.36, Z:-1.87 [[ 9.99749331e-01 -2.03846400e-02 -9.25964968e-03 1.02664017e+02] [ 2.03859458e-02 9.99792184e-01 4.66523553e-05 -3.58911916e-01] [ 9.25677438e-03 -2.35407377e-04 9.99957127e-01 -1.86927042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34800114499998 meters 0.06510829587293465 Centerline is valid? [True, True] Translation: X:102.69, Y:-0.36, Z:-1.87 [[ 9.99751460e-01 -2.02356457e-02 -9.35609353e-03 1.02694867e+02] [ 2.02369739e-02 9.99795210e-01 4.73096385e-05 -3.59471931e-01] [ 9.35322016e-03 -2.36636901e-04 9.99956230e-01 -1.87110800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37800114499998 meters 0.06504462314566614 Centerline is valid? [True, True] Translation: X:102.73, Y:-0.36, Z:-1.87 [[ 9.99748754e-01 -2.02400373e-02 -9.63166803e-03 1.02726866e+02] [ 2.02414532e-02 9.99795120e-01 4.95435716e-05 -3.58128950e-01] [ 9.62869192e-03 -2.44490082e-04 9.99953613e-01 -1.87137778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40800114499999 meters 0.06510302737901054 Centerline is valid? [True, True] Translation: X:102.76, Y:-0.36, Z:-1.87 [[ 9.99717351e-01 -2.17160441e-02 -9.67637408e-03 1.02759325e+02] [ 2.17175527e-02 9.99764145e-01 5.08513834e-05 -3.55667172e-01] [ 9.67298757e-03 -2.60984175e-04 9.99953182e-01 -1.87064870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43800114499999 meters 0.06551008562669632 Centerline is valid? [True, True] Translation: X:102.79, Y:-0.36, Z:-1.87 [[ 9.99702084e-01 -2.26676445e-02 -9.05097638e-03 1.02790698e+02] [ 2.26690035e-02 9.99743024e-01 4.75667897e-05 -3.56276306e-01] [ 9.04757227e-03 -2.52729234e-04 9.99959038e-01 -1.87225381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46800114499999 meters 0.06587888496871525 Centerline is valid? [True, True] Translation: X:102.82, Y:-0.36, Z:-1.87 [[ 9.99701825e-01 -2.28224513e-02 -8.68310815e-03 1.02822822e+02] [ 2.28237149e-02 9.99739504e-01 4.64505582e-05 -3.56275628e-01] [ 8.67978612e-03 -2.44617493e-04 9.99962300e-01 -1.87274629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49800114499999 meters 0.06540481162318207 Centerline is valid? [True, True] Translation: X:102.85, Y:-0.35, Z:-1.87 [[ 9.99712037e-01 -2.25183147e-02 -8.29264974e-03 1.02854934e+02] [ 2.25194618e-02 9.99746404e-01 4.49726929e-05 -3.54321094e-01] [ 8.28953404e-03 -2.31705752e-04 9.99965614e-01 -1.87248101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52800114499999 meters 0.06589263737310565 Centerline is valid? [True, True] Translation: X:102.89, Y:-0.35, Z:-1.87 [[ 9.99702828e-01 -2.29505543e-02 -8.21751571e-03 1.02886391e+02] [ 2.29516997e-02 9.99736574e-01 4.50933679e-05 -3.53865356e-01] [ 8.21431609e-03 -2.33685920e-04 9.99966235e-01 -1.87328869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55800114499998 meters 0.06599703530351538 Centerline is valid? [True, True] Translation: X:102.92, Y:-0.35, Z:-1.87 [[ 9.99703095e-01 -2.27349810e-02 -8.76595678e-03 1.02918393e+02] [ 2.27362805e-02 9.99741496e-01 4.85966772e-05 -3.51553399e-01] [ 8.76258590e-03 -2.47887501e-04 9.99961577e-01 -1.87476222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58800114499998 meters 0.06600998797320906 Centerline is valid? [True, True] Translation: X:102.95, Y:-0.35, Z:-1.88 [[ 9.99722033e-01 -2.18078190e-02 -8.95971266e-03 1.02949182e+02] [ 2.18091405e-02 9.99762151e-01 4.98089005e-05 -3.50465394e-01] [ 8.95649538e-03 -2.45198688e-04 9.99959860e-01 -1.87612443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61800114499998 meters 0.0660220691449225 Centerline is valid? [True, True] Translation: X:102.98, Y:-0.35, Z:-1.88 [[ 9.99749886e-01 -2.09128118e-02 -7.92590011e-03 1.02980008e+02] [ 2.09138215e-02 9.99781281e-01 4.45240962e-05 -3.47983263e-01] [ 7.92323544e-03 -2.10273820e-04 9.99968589e-01 -1.87768358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64800114499998 meters 0.06581731851601383 Centerline is valid? [True, True] Translation: X:103.01, Y:-0.35, Z:-1.88 [[ 9.99755920e-01 -2.07133558e-02 -7.68481359e-03 1.03012285e+02] [ 2.07143051e-02 9.99785435e-01 4.39431019e-05 -3.45918410e-01] [ 7.68225448e-03 -2.03117950e-04 9.99970470e-01 -1.87712124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67800114499998 meters 0.06581731851601383 Centerline is valid? [True, True] Translation: X:103.04, Y:-0.35, Z:-1.88 [[ 9.99757892e-01 -2.06179640e-02 -7.68480650e-03 1.03044862e+02] [ 2.06189201e-02 9.99787406e-01 4.51925325e-05 -3.46207391e-01] [ 7.68224098e-03 -2.03634002e-04 9.99970470e-01 -1.87764985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70800114499998 meters 0.06612128914684982 Centerline is valid? [True, True] Translation: X:103.08, Y:-0.35, Z:-1.88 [[ 9.99761218e-01 -2.02892857e-02 -8.11492366e-03 1.03076691e+02] [ 2.02903464e-02 9.99794129e-01 4.83938363e-05 -3.45141535e-01] [ 8.11227115e-03 -2.13036893e-04 9.99967072e-01 -1.87888045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73800114499998 meters 0.06651739589615369 Centerline is valid? [True, True] Translation: X:103.11, Y:-0.34, Z:-1.88 [[ 9.99776560e-01 -1.96364681e-02 -7.82553946e-03 1.03107855e+02] [ 1.96374316e-02 9.99807166e-01 4.63066252e-05 -3.44134825e-01] [ 7.82312113e-03 -1.99969775e-04 9.99969379e-01 -1.88013341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76800114499999 meters 0.06644445701034292 Centerline is valid? [True, True] Translation: X:103.14, Y:-0.34, Z:-1.88 [[ 9.99783257e-01 -1.95108381e-02 -7.26399436e-03 1.03139898e+02] [ 1.95116704e-02 9.99809628e-01 4.37230054e-05 -3.40917150e-01] [ 7.26175842e-03 -1.85446192e-04 9.99973616e-01 -1.87949990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79800114499999 meters 0.0660300792696337 Centerline is valid? [True, True] Translation: X:103.17, Y:-0.34, Z:-1.88 [[ 9.99790895e-01 -1.94066939e-02 -6.44573290e-03 1.03171869e+02] [ 1.94073507e-02 9.99811659e-01 3.93638475e-05 -3.38959063e-01] [ 6.44375498e-03 -1.64450215e-04 9.99979225e-01 -1.87808347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82800114499999 meters 0.06636251604542544 Centerline is valid? [True, True] Translation: X:103.20, Y:-0.34, Z:-1.88 [[ 9.99791782e-01 -1.95631618e-02 -5.80310501e-03 1.03203021e+02] [ 1.95636975e-02 9.99808612e-01 3.55579060e-05 -3.39276432e-01] [ 5.80129874e-03 -1.49080693e-04 9.99983161e-01 -1.88012878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85800114499999 meters 0.06661225774748965 Centerline is valid? [True, True] Translation: X:103.24, Y:-0.34, Z:-1.88 [[ 9.99774994e-01 -2.00589812e-02 -6.89915760e-03 1.03235283e+02] [ 2.00597538e-02 9.99798782e-01 4.28030023e-05 -3.37094220e-01] [ 6.89691078e-03 -1.81188774e-04 9.99976200e-01 -1.88096649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88800114499999 meters 0.06665036768115347 Centerline is valid? [True, True] Translation: X:103.27, Y:-0.34, Z:-1.88 [[ 9.99780543e-01 -2.00024445e-02 -6.22641921e-03 1.03267643e+02] [ 2.00030758e-02 9.99799918e-01 3.91250444e-05 -3.36325298e-01] [ 6.22439082e-03 -1.63663994e-04 9.99980615e-01 -1.88266191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91800114499998 meters 0.06693474570181766 Centerline is valid? [True, True] Translation: X:103.30, Y:-0.34, Z:-1.88 [[ 9.99796511e-01 -1.93282307e-02 -5.77549331e-03 1.03299198e+02] [ 1.93287632e-02 9.99813181e-01 3.63794036e-05 -3.36118790e-01] [ 5.77371119e-03 -1.48005143e-04 9.99983321e-01 -1.88466725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94800114499998 meters 0.06668249469017794 Centerline is valid? [True, True] Translation: X:103.33, Y:-0.33, Z:-1.88 [[ 9.99809368e-01 -1.88396196e-02 -5.12797001e-03 1.03331616e+02] [ 1.88400362e-02 9.99822510e-01 3.29522495e-05 -3.34179197e-01] [ 5.12643904e-03 -1.29557109e-04 9.99986851e-01 -1.88446643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97800114499998 meters 0.06669516199037458 Centerline is valid? [True, True] Translation: X:103.36, Y:-0.33, Z:-1.89 [[ 9.99829521e-01 -1.79788897e-02 -4.20582066e-03 1.03363473e+02] [ 1.79791643e-02 9.99838361e-01 2.74701892e-05 -3.31050968e-01] [ 4.20464695e-03 -1.03082647e-04 9.99991155e-01 -1.88545173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00800114499998 meters 0.06687533809731945 Centerline is valid? [True, True] Translation: X:103.40, Y:-0.33, Z:-1.89 [[ 9.99833988e-01 -1.76659379e-02 -4.46208417e-03 1.03395968e+02] [ 1.76662531e-02 9.99843939e-01 3.12307432e-05 -3.30522438e-01] [ 4.46083609e-03 -1.10053867e-04 9.99990044e-01 -1.88649749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03800114499998 meters 0.06686901493862502 Centerline is valid? [True, True] Translation: X:103.43, Y:-0.33, Z:-1.89 [[ 9.99840846e-01 -1.75238609e-02 -3.34610114e-03 1.03426958e+02] [ 1.75240341e-02 9.99846442e-01 2.24595637e-05 -3.29472900e-01] [ 3.34519374e-03 -8.10931796e-05 9.99994402e-01 -1.88571358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06800114499998 meters 0.06703158947984689 Centerline is valid? [True, True] Translation: X:103.46, Y:-0.33, Z:-1.89 [[ 9.99835972e-01 -1.78047319e-02 -3.31968322e-03 1.03459381e+02] [ 1.78049055e-02 9.99841480e-01 2.27325263e-05 -3.28305212e-01] [ 3.31875223e-03 -8.18354434e-05 9.99994490e-01 -1.88630617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09800114499998 meters 0.06797334555608278 Centerline is valid? [True, True] Translation: X:103.49, Y:-0.33, Z:-1.89 [[ 9.99784726e-01 -2.04746249e-02 -3.36027767e-03 1.03490520e+02] [ 2.04748174e-02 9.99790369e-01 2.29051182e-05 -3.29938317e-01] [ 3.35910427e-03 -9.17012590e-05 9.99994354e-01 -1.88844421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12800114499998 meters 0.06815008006259847 Centerline is valid? [True, True] Translation: X:103.52, Y:-0.33, Z:-1.89 [[ 9.99728910e-01 -2.28437293e-02 -4.50236761e-03 1.03522232e+02] [ 2.28440989e-02 9.99739039e-01 3.06720867e-05 -3.30279743e-01] [ 4.50049200e-03 -1.33516303e-04 9.99989864e-01 -1.88907037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15800114499999 meters 0.06795189923442584 Centerline is valid? [True, True] Translation: X:103.55, Y:-0.33, Z:-1.89 [[ 9.99677768e-01 -2.48100791e-02 -5.36835632e-03 1.03554527e+02] [ 2.48106356e-02 9.99692168e-01 3.70773858e-05 -3.30194345e-01] [ 5.36578388e-03 -1.70257771e-04 9.99985590e-01 -1.88926109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18800114499999 meters 0.0686925221199481 Centerline is valid? [True, True] Translation: X:103.58, Y:-0.33, Z:-1.89 [[ 9.99603829e-01 -2.73877315e-02 -6.48823410e-03 1.03584281e+02] [ 2.73885903e-02 9.99624861e-01 4.35262098e-05 -3.32833257e-01] [ 6.48460803e-03 -2.21212551e-04 9.99978950e-01 -1.89168356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21800114499999 meters 0.07011537414843307 Centerline is valid? [True, True] Translation: X:103.62, Y:-0.34, Z:-1.89 [[ 9.99497728e-01 -3.07466113e-02 -7.67705737e-03 1.03615582e+02] [ 3.07479214e-02 9.99527169e-01 5.26530496e-05 -3.35349007e-01] [ 7.67180852e-03 -2.88680160e-04 9.99970530e-01 -1.89471488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24800114499999 meters 0.07019342475163676 Centerline is valid? [True, True] Translation: X:103.65, Y:-0.33, Z:-1.89 [[ 9.99471165e-01 -3.16898152e-02 -7.29015270e-03 1.03647955e+02] [ 3.16910274e-02 9.99497712e-01 5.07926104e-05 -3.34552397e-01] [ 7.28488133e-03 -2.81798178e-04 9.99973425e-01 -1.89431950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27800114499998 meters 0.07050651960353241 Centerline is valid? [True, True] Translation: X:103.68, Y:-0.33, Z:-1.90 [[ 9.99485619e-01 -3.12566955e-02 -7.17746864e-03 1.03679071e+02] [ 3.12578735e-02 9.99511352e-01 5.19760933e-05 -3.34686864e-01] [ 7.17233678e-03 -2.76301765e-04 9.99974240e-01 -1.89546195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30800114499998 meters 0.07040746126800862 Centerline is valid? [True, True] Translation: X:103.71, Y:-0.33, Z:-1.90 [[ 9.99523858e-01 -3.02538492e-02 -6.06323935e-03 1.03710839e+02] [ 3.02546693e-02 9.99542222e-01 4.35671937e-05 -3.32919921e-01] [ 6.05914565e-03 -2.26987751e-04 9.99981617e-01 -1.89623846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33800114499998 meters 0.07027617088018036 Centerline is valid? [True, True] Translation: X:103.74, Y:-0.33, Z:-1.90 [[ 9.99559000e-01 -2.91499261e-02 -5.66463555e-03 1.03743301e+02] [ 2.91506266e-02 9.99575029e-01 4.11284461e-05 -3.31285323e-01] [ 5.66102936e-03 -2.06237984e-04 9.99983955e-01 -1.89646611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36800114499998 meters 0.07006297055818167 Centerline is valid? [True, True] Translation: X:103.77, Y:-0.33, Z:-1.90 [[ 9.99592919e-01 -2.78009907e-02 -6.41104798e-03 1.03774915e+02] [ 2.78018598e-02 9.99613453e-01 4.64532037e-05 -3.28416295e-01] [ 6.40727836e-03 -2.24673350e-04 9.99979448e-01 -1.89671901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39800114499998 meters 0.0699635876301077 Centerline is valid? [True, True] Translation: X:103.81, Y:-0.33, Z:-1.90 [[ 9.99627784e-01 -2.65237544e-02 -6.38617206e-03 1.03806830e+02] [ 2.65245948e-02 9.99648160e-01 4.69161048e-05 -3.25730455e-01] [ 6.38268076e-03 -2.16289268e-04 9.99979607e-01 -1.89736856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42800114499998 meters 0.06964873804503194 Centerline is valid? [True, True] Translation: X:103.84, Y:-0.32, Z:-1.90 [[ 9.99679711e-01 -2.45856399e-02 -6.00181693e-03 1.03837835e+02] [ 2.45863477e-02 9.99697709e-01 4.41705785e-05 -3.20692659e-01] [ 5.99891667e-03 -1.91719189e-04 9.99981988e-01 -1.89769252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45800114499998 meters 0.06935236843232695 Centerline is valid? [True, True] Translation: X:103.87, Y:-0.32, Z:-1.90 [[ 9.99704474e-01 -2.36166866e-02 -5.76348607e-03 1.03870550e+02] [ 2.36173289e-02 9.99721071e-01 4.34028290e-05 -3.19305681e-01] [ 5.76085343e-03 -1.79508148e-04 9.99983390e-01 -1.89848707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48800114499998 meters 0.06953462182797658 Centerline is valid? [True, True] Translation: X:103.90, Y:-0.32, Z:-1.90 [[ 9.99709921e-01 -2.34166693e-02 -5.63324524e-03 1.03902424e+02] [ 2.34172919e-02 9.99725777e-01 4.45793389e-05 -3.19065740e-01] [ 5.63065658e-03 -1.76481756e-04 9.99984132e-01 -1.90001886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51800114499999 meters 0.06988270104532186 Centerline is valid? [True, True] Translation: X:103.93, Y:-0.32, Z:-1.90 [[ 9.99719144e-01 -2.28919817e-02 -6.13111568e-03 1.03933654e+02] [ 2.28926989e-02 9.99737927e-01 4.68139220e-05 -3.19526328e-01] [ 6.12843721e-03 -1.87158559e-04 9.99981203e-01 -1.90242499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54800114499999 meters 0.06968536801869835 Centerline is valid? [True, True] Translation: X:103.97, Y:-0.32, Z:-1.90 [[ 9.99730032e-01 -2.22193307e-02 -6.79444954e-03 1.03966118e+02] [ 2.22201999e-02 9.99753100e-01 5.24668888e-05 -3.16789686e-01] [ 6.79160621e-03 -2.03426752e-04 9.99976916e-01 -1.90396848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57800114499999 meters 0.06944251655755215 Centerline is valid? [True, True] Translation: X:104.00, Y:-0.32, Z:-1.91 [[ 9.99765655e-01 -2.03814752e-02 -7.29588095e-03 1.03996997e+02] [ 2.03824287e-02 9.99792255e-01 5.63492720e-05 -3.15170203e-01] [ 7.29321679e-03 -2.05043840e-04 9.99973383e-01 -1.90612545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60800114499999 meters 0.0681441428178693 Centerline is valid? [True, True] Translation: X:104.03, Y:-0.31, Z:-1.90 [[ 9.99801093e-01 -1.77691517e-02 -9.05718639e-03 1.04029446e+02] [ 1.77705200e-02 9.99842089e-01 7.06097224e-05 -3.05603218e-01] [ 9.05450149e-03 -2.31546590e-04 9.99958980e-01 -1.90430819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63800114499999 meters 0.06770780494301439 Centerline is valid? [True, True] Translation: X:104.06, Y:-0.30, Z:-1.90 [[ 9.99837157e-01 -1.53231798e-02 -9.53200778e-03 1.04062267e+02] [ 1.53245933e-02 9.99882569e-01 7.52613999e-05 -3.01213240e-01] [ 9.52973518e-03 -2.21323287e-04 9.99954567e-01 -1.90474666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66800114499998 meters 0.06707533403317716 Centerline is valid? [True, True] Translation: X:104.10, Y:-0.30, Z:-1.90 [[ 9.99872245e-01 -1.27344924e-02 -9.66054153e-03 1.04095021e+02] [ 1.27358308e-02 9.99918893e-01 7.70342254e-05 -2.96750015e-01] [ 9.65877700e-03 -2.00059406e-04 9.99953333e-01 -1.90499829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69800114499998 meters 0.06658666642777884 Centerline is valid? [True, True] Translation: X:104.13, Y:-0.29, Z:-1.91 [[ 9.99894773e-01 -1.06575544e-02 -9.84176825e-03 1.04127097e+02] [ 1.06588465e-02 9.99943190e-01 7.88490981e-05 -2.93069772e-01] [ 9.84036879e-03 -1.83742698e-04 9.99951566e-01 -1.90506102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72800114499998 meters 0.06683946011900951 Centerline is valid? [True, True] Translation: X:104.16, Y:-0.29, Z:-1.91 [[ 9.99931882e-01 -6.54509089e-03 -9.66400578e-03 1.04157043e+02] [ 6.54613486e-03 9.99978571e-01 7.63987509e-05 -2.88267037e-01] [ 9.66329865e-03 -1.39655432e-04 9.99953299e-01 -1.90999306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75800114499998 meters 0.06601498906641497 Centerline is valid? [True, True] Translation: X:104.19, Y:-0.28, Z:-1.91 [[ 9.99938617e-01 -5.17806660e-03 -9.79535670e-03 1.04186506e+02] [ 5.17906554e-03 9.99986586e-01 7.66173311e-05 -2.82465839e-01] [ 9.79482858e-03 -1.27343422e-04 9.99952021e-01 -1.90619037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78800114499998 meters 0.0660299288717722 Centerline is valid? [True, True] Translation: X:104.22, Y:-0.28, Z:-1.91 [[ 9.99942715e-01 -4.09202856e-03 -9.89051400e-03 1.04215572e+02] [ 4.09294163e-03 9.99991621e-01 7.20774139e-05 -2.79635876e-01] [ 9.89013619e-03 -1.12554581e-04 9.99951085e-01 -1.90652000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81800114499998 meters 0.06607058130418308 Centerline is valid? [True, True] Translation: X:104.24, Y:-0.28, Z:-1.91 [[ 9.99936517e-01 -3.13681040e-03 -1.08223447e-02 1.04243273e+02] [ 3.13786730e-03 9.99995074e-01 8.06802855e-05 -2.77251668e-01] [ 1.08220383e-02 -1.14634245e-04 9.99941433e-01 -1.90831538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84800114499998 meters 0.06612853151367323 Centerline is valid? [True, True] Translation: X:104.27, Y:-0.27, Z:-1.91 [[ 9.99924443e-01 -7.28675689e-04 -1.22710268e-02 1.04270894e+02] [ 7.29843950e-04 9.99999730e-01 9.07269835e-05 -2.71572027e-01] [ 1.22709574e-02 -9.96760630e-05 9.99924704e-01 -1.91068973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87800114499998 meters 0.06596081839962852 Centerline is valid? [True, True] Translation: X:104.30, Y:-0.27, Z:-1.91 [[ 9.99932216e-01 5.30236495e-04 -1.16310626e-02 1.04300072e+02] [-5.29323593e-04 9.99999857e-01 8.15665492e-05 -2.68882871e-01] [ 1.16311041e-02 -7.54044245e-05 9.99932354e-01 -1.91118703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90800114499999 meters 0.06596181835496699 Centerline is valid? [True, True] Translation: X:104.33, Y:-0.27, Z:-1.91 [[ 9.99932331e-01 1.67078377e-03 -1.15126803e-02 1.04328982e+02] [-1.66999655e-03 9.99998603e-01 7.79911912e-05 -2.66921788e-01] [ 1.15127945e-02 -5.87597773e-05 9.99933724e-01 -1.91200273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93800114499999 meters 0.06573839311527209 Centerline is valid? [True, True] Translation: X:104.36, Y:-0.26, Z:-1.91 [[ 9.99932801e-01 4.21334030e-03 -1.08001007e-02 1.04356751e+02] [-4.21278273e-03 9.99991123e-01 7.43761470e-05 -2.62251028e-01] [ 1.08003182e-02 -2.88726711e-05 9.99941674e-01 -1.91076336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96800114499999 meters 0.06561283617324797 Centerline is valid? [True, True] Translation: X:104.38, Y:-0.26, Z:-1.91 [[ 9.99926618e-01 5.49144199e-03 -1.07982529e-02 1.04384910e+02] [-5.49097377e-03 9.99984922e-01 7.30070826e-05 -2.60127366e-01] [ 1.07984910e-02 -1.37088017e-05 9.99941695e-01 -1.90791034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99800114499999 meters 0.06558224742983448 Centerline is valid? [True, True] Translation: X:104.41, Y:-0.26, Z:-1.91 [[ 9.99917302e-01 6.37563001e-03 -1.11687474e-02 1.04412801e+02] [-6.37519057e-03 9.99979675e-01 7.49480832e-05 -2.59005496e-01] [ 1.11689982e-02 -3.73899208e-06 9.99937625e-01 -1.90899097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02800114499998 meters 0.06563867639925594 Centerline is valid? [True, True] Translation: X:104.44, Y:-0.26, Z:-1.91 [[ 9.99916257e-01 6.72429162e-03 -1.10572411e-02 1.04440940e+02] [-6.72389664e-03 9.99977392e-01 7.28963496e-05 -2.58411470e-01] [ 1.10574813e-02 1.45750132e-06 9.99938864e-01 -1.90916561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05800114499998 meters 0.06557719457720836 Centerline is valid? [True, True] Translation: X:104.47, Y:-0.26, Z:-1.91 [[ 9.99920979e-01 7.58753240e-03 -1.00232504e-02 1.04469894e+02] [-7.58725408e-03 9.99971214e-01 6.57936432e-05 -2.58505614e-01] [ 1.00234610e-02 1.02605030e-05 9.99949764e-01 -1.90837741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08800114499998 meters 0.06559942066166799 Centerline is valid? [True, True] Translation: X:104.50, Y:-0.26, Z:-1.91 [[ 9.99918609e-01 7.68984767e-03 -1.01804650e-02 1.04499010e+02] [-7.68957231e-03 9.99970433e-01 6.61914173e-05 -2.58711423e-01] [ 1.01806730e-02 1.20973919e-05 9.99948176e-01 -1.90821071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11800114499998 meters 0.06564891923382918 Centerline is valid? [True, True] Translation: X:104.53, Y:-0.26, Z:-1.91 [[ 9.99917922e-01 8.42657036e-03 -9.65103763e-03 1.04526921e+02] [-8.42637735e-03 9.99964496e-01 6.06629082e-05 -2.58779776e-01] [ 9.65120616e-03 2.06653558e-05 9.99953426e-01 -1.91026985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14800114499998 meters 0.06548031064655628 Centerline is valid? [True, True] Translation: X:104.56, Y:-0.26, Z:-1.91 [[ 9.99927121e-01 9.02447502e-03 -8.01940412e-03 1.04555881e+02] [-9.02436026e-03 9.99959278e-01 5.04961448e-05 -2.59571220e-01] [ 8.01953326e-03 2.18775272e-05 9.99967843e-01 -1.91003265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17800114499998 meters 0.06526734029481149 Centerline is valid? [True, True] Translation: X:104.58, Y:-0.26, Z:-1.91 [[ 9.99933246e-01 9.52436883e-03 -6.54145108e-03 1.04584598e+02] [-9.52430716e-03 9.99954642e-01 4.05801200e-05 -2.61212989e-01] [ 6.54154087e-03 2.17253782e-05 9.99978604e-01 -1.90839819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20800114499998 meters 0.06542562312654929 Centerline is valid? [True, True] Translation: X:104.61, Y:-0.26, Z:-1.91 [[ 9.99922927e-01 1.02264719e-02 -7.03978663e-03 1.04612636e+02] [-1.02264291e-02 9.99947708e-01 4.20791213e-05 -2.61188319e-01] [ 7.03984883e-03 2.99160007e-05 9.99975220e-01 -1.91009903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23800114499998 meters 0.06535038550475858 Centerline is valid? [True, True] Translation: X:104.64, Y:-0.26, Z:-1.91 [[ 9.99921275e-01 1.05770816e-02 -6.75043006e-03 1.04640568e+02] [-1.05770498e-02 9.99944061e-01 4.03991881e-05 -2.61754742e-01] [ 6.75047975e-03 3.10036275e-05 9.99977215e-01 -1.91084347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26800114499999 meters 0.06504285372558057 Centerline is valid? [True, True] Translation: X:104.67, Y:-0.26, Z:-1.91 [[ 9.99915479e-01 1.17015925e-02 -5.66635867e-03 1.04669760e+02] [-1.17015902e-02 9.99931533e-01 3.35603832e-05 -2.63993013e-01] [ 5.66636342e-03 3.27478606e-05 9.99983945e-01 -1.90747936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29800114499999 meters 0.06507312628541097 Centerline is valid? [True, True] Translation: X:104.70, Y:-0.26, Z:-1.91 [[ 9.99923391e-01 1.18121847e-02 -3.69936925e-03 1.04697433e+02] [-1.18121878e-02 9.99930233e-01 2.10169498e-05 -2.64332320e-01] [ 3.69935941e-03 2.26823047e-05 9.99993157e-01 -1.90822674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32800114499999 meters 0.06500884586486474 Centerline is valid? [True, True] Translation: X:104.73, Y:-0.27, Z:-1.91 [[ 9.99928336e-01 1.16485302e-02 -2.76321391e-03 1.04726534e+02] [-1.16485318e-02 9.99932153e-01 1.55025809e-05 -2.65365235e-01] [ 2.76320702e-03 1.66859154e-05 9.99996182e-01 -1.90723845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35800114499999 meters 0.06517568803340569 Centerline is valid? [True, True] Translation: X:104.75, Y:-0.27, Z:-1.91 [[ 9.99929221e-01 1.15864836e-02 -2.70320805e-03 1.04753260e+02] [-1.15864896e-02 9.99932874e-01 1.34485190e-05 -2.69729747e-01] [ 2.70318241e-03 1.78731248e-05 9.99996346e-01 -1.90969107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38800114499999 meters 0.06525811013612887 Centerline is valid? [True, True] Translation: X:104.78, Y:-0.27, Z:-1.91 [[ 9.99931939e-01 1.10423606e-02 -3.76621032e-03 1.04782037e+02] [-1.10423607e-02 9.99939031e-01 2.07520605e-05 -2.73430122e-01] [ 3.76620985e-03 2.08372049e-05 9.99992908e-01 -1.91191703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41800114499998 meters 0.06514983074388936 Centerline is valid? [True, True] Translation: X:104.81, Y:-0.28, Z:-1.91 [[ 9.99937457e-01 9.98119352e-03 -5.04556835e-03 1.04810398e+02] [-9.98118063e-03 9.99950186e-01 2.77361304e-05 -2.77577898e-01] [ 5.04559385e-03 2.26263333e-05 9.99987271e-01 -1.91093354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44800114499998 meters 0.06556576768316089 Centerline is valid? [True, True] Translation: X:104.84, Y:-0.28, Z:-1.92 [[ 9.99942407e-01 9.40328310e-03 -5.17306590e-03 1.04836979e+02] [-9.40327323e-03 9.99955788e-01 2.62312970e-05 -2.79503092e-01] [ 5.17308385e-03 2.24139659e-05 9.99986619e-01 -1.91632870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47800114499998 meters 0.06521841587856501 Centerline is valid? [True, True] Translation: X:104.87, Y:-0.28, Z:-1.91 [[ 9.99943877e-01 8.66462472e-03 -6.09648351e-03 1.04866189e+02] [-8.66458804e-03 9.99962461e-01 3.24285227e-05 -2.84149810e-01] [ 6.09653564e-03 2.03968154e-05 9.99981416e-01 -1.91309716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50800114499998 meters 0.06522486912526339 Centerline is valid? [True, True] Translation: X:104.89, Y:-0.29, Z:-1.91 [[ 9.99945963e-01 8.40641869e-03 -6.11580633e-03 1.04894339e+02] [-8.40638370e-03 9.99964665e-01 3.14272068e-05 -2.85874470e-01] [ 6.11585442e-03 1.99863061e-05 9.99981298e-01 -1.91291342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53800114499998 meters 0.0653314647019941 Centerline is valid? [True, True] Translation: X:104.92, Y:-0.29, Z:-1.91 [[ 9.99950741e-01 8.13853761e-03 -5.68148438e-03 1.04921809e+02] [-8.13850476e-03 9.99966881e-01 2.89018391e-05 -2.87836227e-01] [ 5.68153143e-03 1.73383721e-05 9.99983860e-01 -1.91413259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56800114499998 meters 0.06530595913602016 Centerline is valid? [True, True] Translation: X:104.95, Y:-0.29, Z:-1.91 [[ 9.99946849e-01 8.39096785e-03 -5.99093554e-03 1.04950015e+02] [-8.39093803e-03 9.99964795e-01 3.01132060e-05 -2.89464104e-01] [ 5.99097730e-03 2.01579634e-05 9.99982054e-01 -1.91475347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59800114499998 meters 0.06530595913602016 Centerline is valid? [True, True] Translation: X:104.98, Y:-0.29, Z:-1.92 [[ 9.99947618e-01 8.29878913e-03 -5.99093962e-03 1.04977454e+02] [-8.29876244e-03 9.99965564e-01 2.93153212e-05 -2.89494787e-01] [ 5.99097660e-03 2.04035991e-05 9.99982054e-01 -1.91520000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62800114499998 meters 0.06509286347278621 Centerline is valid? [True, True] Translation: X:105.01, Y:-0.29, Z:-1.92 [[ 9.99952674e-01 8.21916138e-03 -5.20521281e-03 1.05006352e+02] [-8.21914033e-03 9.99966222e-01 2.54366947e-05 -2.93837097e-01] [ 5.20524605e-03 1.73468836e-05 9.99986452e-01 -1.91508549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65800114499999 meters 0.06521739415245162 Centerline is valid? [True, True] Translation: X:105.03, Y:-0.30, Z:-1.92 [[ 9.99951932e-01 8.34434552e-03 -5.14835168e-03 1.05034595e+02] [-8.34433166e-03 9.99965185e-01 2.41720243e-05 -2.95862757e-01] [ 5.14837414e-03 1.87886915e-05 9.99986747e-01 -1.91587994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68800114499999 meters 0.0652326738110682 Centerline is valid? [True, True] Translation: X:105.06, Y:-0.30, Z:-1.92 [[ 9.99959980e-01 7.83711921e-03 -4.31490733e-03 1.05062180e+02] [-7.83710613e-03 9.99969289e-01 1.99414531e-05 -2.97956395e-01] [ 4.31493110e-03 1.38757316e-05 9.99990691e-01 -1.91708323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71800114499999 meters 0.06521491255502863 Centerline is valid? [True, True] Translation: X:105.09, Y:-0.30, Z:-1.92 [[ 9.99965207e-01 7.66170726e-03 -3.29884295e-03 1.05091477e+02] [-7.66169846e-03 9.99970649e-01 1.53050938e-05 -3.00391334e-01] [ 3.29886339e-03 9.97017867e-06 9.99994559e-01 -1.91660691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74800114499999 meters 0.06537279335646853 Centerline is valid? [True, True] Translation: X:105.12, Y:-0.30, Z:-1.92 [[ 9.99960522e-01 7.90998672e-03 -4.04811921e-03 1.05120011e+02] [-7.90997680e-03 9.99968715e-01 1.84619050e-05 -3.00561089e-01] [ 4.04813860e-03 1.35593528e-05 9.99991806e-01 -1.91710214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77800114499998 meters 0.06534948836861729 Centerline is valid? [True, True] Translation: X:105.15, Y:-0.30, Z:-1.92 [[ 9.99952124e-01 8.90442453e-03 -4.05716869e-03 1.05148834e+02] [-8.90442374e-03 9.99960355e-01 1.82587600e-05 -3.00944550e-01] [ 4.05717042e-03 1.78688633e-05 9.99991769e-01 -1.91802077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80800114499998 meters 0.06538814098910754 Centerline is valid? [True, True] Translation: X:105.18, Y:-0.30, Z:-1.92 [[ 9.99952755e-01 9.02816477e-03 -3.60283463e-03 1.05176636e+02] [-9.02816719e-03 9.99959245e-01 1.55928046e-05 -3.02399594e-01] [ 3.60282857e-03 1.69349255e-05 9.99993510e-01 -1.91961743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83800114499998 meters 0.06530851250044524 Centerline is valid? [True, True] Translation: X:105.20, Y:-0.30, Z:-1.92 [[ 9.99942064e-01 1.05006404e-02 -2.36772303e-03 1.05204414e+02] [-1.05006470e-02 9.99944867e-01 9.66433051e-06 -3.03875424e-01] [ 2.36769397e-03 1.51988531e-05 9.99997197e-01 -1.91991599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86800114499998 meters 0.06502313190217934 Centerline is valid? [True, True] Translation: X:105.23, Y:-0.31, Z:-1.92 [[ 9.99937105e-01 1.10459759e-02 -1.94221277e-03 1.05233751e+02] [-1.10459811e-02 9.99938991e-01 8.06293839e-06 -3.05613968e-01] [ 1.94218334e-03 1.33912142e-05 9.99998114e-01 -1.91703928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89800114499998 meters 0.06512682907648917 Centerline is valid? [True, True] Translation: X:105.26, Y:-0.31, Z:-1.92 [[ 9.99934519e-01 1.11431714e-02 -2.60515866e-03 1.05261818e+02] [-1.11431822e-02 9.99937913e-01 1.03666845e-05 -3.06520938e-01] [ 2.60511243e-03 1.86637520e-05 9.99996607e-01 -1.91965327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92800114499998 meters 0.06512012971171696 Centerline is valid? [True, True] Translation: X:105.29, Y:-0.31, Z:-1.92 [[ 9.99938352e-01 1.08848941e-02 -2.19350811e-03 1.05290208e+02] [-1.08849013e-02 9.99940758e-01 8.68425438e-06 -3.08457796e-01] [ 2.19347269e-03 1.51924002e-05 9.99997594e-01 -1.92039440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95800114499998 meters 0.06486680632710404 Centerline is valid? [True, True] Translation: X:105.32, Y:-0.31, Z:-1.92 [[ 9.99945854e-01 1.00988530e-02 -2.51030812e-03 1.05318434e+02] [-1.00988616e-02 9.99949005e-01 9.28611742e-06 -3.14065513e-01] [ 2.51027389e-03 1.60656396e-05 9.99996849e-01 -1.91959231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98800114499998 meters 0.0647806604464496 Centerline is valid? [True, True] Translation: X:105.35, Y:-0.32, Z:-1.92 [[ 9.99946795e-01 9.77578276e-03 -3.29255618e-03 1.05347018e+02] [-9.77579306e-03 9.99952216e-01 1.29658219e-05 -3.16125208e-01] [ 3.29252560e-03 1.92222159e-05 9.99994579e-01 -1.92063323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01800114499999 meters 0.06484310507077791 Centerline is valid? [True, True] Translation: X:105.38, Y:-0.32, Z:-1.92 [[ 9.99951696e-01 9.01908896e-03 -3.90659146e-03 1.05375219e+02] [-9.01909909e-03 9.99959327e-01 1.50246957e-05 -3.17872086e-01] [ 3.90656807e-03 2.02099655e-05 9.99992369e-01 -1.92265890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04800114499999 meters 0.06509243537040905 Centerline is valid? [True, True] Translation: X:105.40, Y:-0.32, Z:-1.93 [[ 9.99956063e-01 8.09399152e-03 -4.72848172e-03 1.05402420e+02] [-8.09399813e-03 9.99967243e-01 1.77381072e-05 -3.24098639e-01] [ 4.72847040e-03 2.05349944e-05 9.99988821e-01 -1.92583423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07800114499999 meters 0.06488516046284157 Centerline is valid? [True, True] Translation: X:105.43, Y:-0.33, Z:-1.93 [[ 9.99960289e-01 7.45806787e-03 -4.87821043e-03 1.05430261e+02] [-7.45806939e-03 9.99972188e-01 1.78787633e-05 -3.27655468e-01] [ 4.87820810e-03 1.85039787e-05 9.99988101e-01 -1.92511770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10800114499999 meters 0.06512277137373314 Centerline is valid? [True, True] Translation: X:105.46, Y:-0.33, Z:-1.93 [[ 9.99965555e-01 5.84392594e-03 -5.89381389e-03 1.05457508e+02] [-5.84390146e-03 9.99982924e-01 2.13748156e-05 -3.30116308e-01] [ 5.89383816e-03 1.30687883e-05 9.99982631e-01 -1.92848198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13800114499999 meters 0.06505873677751581 Centerline is valid? [True, True] Translation: X:105.49, Y:-0.33, Z:-1.93 [[ 9.99972697e-01 5.17988183e-03 -5.27009863e-03 1.05486784e+02] [-5.17985097e-03 9.99986584e-01 1.95053235e-05 -3.32918574e-01] [ 5.27012896e-03 7.79353458e-06 9.99986113e-01 -1.92897466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16800114499998 meters 0.0649817042173767 Centerline is valid? [True, True] Translation: X:105.52, Y:-0.34, Z:-1.93 [[ 9.99972667e-01 4.40041657e-03 -5.94156441e-03 1.05515979e+02] [-4.40036687e-03 9.99990318e-01 2.14366969e-05 -3.37405769e-01] [ 5.94160121e-03 4.70895224e-06 9.99982349e-01 -1.92851731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19800114499998 meters 0.06511622418012471 Centerline is valid? [True, True] Translation: X:105.54, Y:-0.34, Z:-1.93 [[ 9.99964798e-01 5.00599414e-03 -6.73370709e-03 1.05543668e+02] [-5.00595206e-03 9.99987470e-01 2.31049101e-05 -3.38766976e-01] [ 6.73373837e-03 1.06045181e-05 9.99977328e-01 -1.92969759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22800114499998 meters 0.06524084575308328 Centerline is valid? [True, True] Translation: X:105.57, Y:-0.34, Z:-1.93 [[ 9.99960647e-01 5.62688484e-03 -6.85881152e-03 1.05572273e+02] [-5.62685398e-03 9.99984169e-01 2.37968709e-05 -3.39703912e-01] [ 6.85883684e-03 1.47975965e-05 9.99976478e-01 -1.93038534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25800114499998 meters 0.06541835132237928 Centerline is valid? [True, True] Translation: X:105.60, Y:-0.34, Z:-1.93 [[ 9.99944167e-01 6.14437138e-03 -8.59711272e-03 1.05601209e+02] [-6.14434457e-03 9.99981123e-01 2.95305918e-05 -3.41151113e-01] [ 8.59713188e-03 2.32946799e-05 9.99963044e-01 -1.93022066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28800114499998 meters 0.06569702602163963 Centerline is valid? [True, True] Translation: X:105.63, Y:-0.34, Z:-1.93 [[ 9.99935242e-01 6.26060351e-03 -9.50347519e-03 1.05629186e+02] [-6.26058429e-03 9.99980402e-01 3.17720089e-05 -3.42303570e-01] [ 9.50348785e-03 2.77273561e-05 9.99954840e-01 -1.93229502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31800114499998 meters 0.0658805278230045 Centerline is valid? [True, True] Translation: X:105.66, Y:-0.34, Z:-1.94 [[ 9.99925462e-01 6.19256939e-03 -1.05224408e-02 1.05656953e+02] [-6.19254887e-03 9.99980825e-01 3.45317474e-05 -3.43898867e-01] [ 1.05224529e-02 3.06315555e-05 9.99944637e-01 -1.93544214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34800114499998 meters 0.06580580280316185 Centerline is valid? [True, True] Translation: X:105.69, Y:-0.35, Z:-1.93 [[ 9.99921004e-01 6.40938120e-03 -1.08123192e-02 1.05685841e+02] [-6.40937672e-03 9.99979459e-01 3.50663161e-05 -3.46784435e-01] [ 1.08123219e-02 3.42366811e-05 9.99941545e-01 -1.93496122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37800114499998 meters 0.06564521137694625 Centerline is valid? [True, True] Translation: X:105.71, Y:-0.35, Z:-1.94 [[ 9.99924801e-01 5.89107148e-03 -1.07558338e-02 1.05713013e+02] [-5.89105764e-03 9.99982647e-01 3.29695887e-05 -3.50678220e-01] [ 1.07558414e-02 3.03961278e-05 9.99942154e-01 -1.93767464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40800114499999 meters 0.06568511379900843 Centerline is valid? [True, True] Translation: X:105.74, Y:-0.35, Z:-1.94 [[ 9.99933276e-01 4.31441160e-03 -1.07158679e-02 1.05741605e+02] [-4.31430615e-03 9.99990693e-01 3.29570287e-05 -3.52024481e-01] [ 1.07159103e-02 1.32767049e-05 9.99942583e-01 -1.93780195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43800114499999 meters 0.06575802804293723 Centerline is valid? [True, True] Translation: X:105.77, Y:-0.35, Z:-1.94 [[ 9.99923433e-01 2.02117617e-03 -1.22082776e-02 1.05768863e+02] [-2.02089436e-03 9.99997957e-01 3.54201124e-05 -3.54312488e-01] [ 1.22083243e-02 -1.07457611e-05 9.99925476e-01 -1.93997055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46800114499999 meters 0.06546225656780352 Centerline is valid? [True, True] Translation: X:105.80, Y:-0.36, Z:-1.94 [[ 9.99931511e-01 -2.10684162e-03 -1.15123345e-02 1.05798043e+02] [ 2.10736619e-03 9.99997779e-01 3.34352910e-05 -3.61465959e-01] [ 1.15122385e-02 -5.76937055e-05 9.99933730e-01 -1.93702911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49800114499999 meters 0.06542286756256899 Centerline is valid? [True, True] Translation: X:105.83, Y:-0.36, Z:-1.94 [[ 9.99936164e-01 -4.19895826e-03 -1.04898723e-02 1.05826716e+02] [ 4.19950113e-03 9.99991182e-01 2.97254791e-05 -3.64833642e-01] [ 1.04896549e-02 -7.37758118e-05 9.99944979e-01 -1.93668426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52800114499998 meters 0.06556952765897711 Centerline is valid? [True, True] Translation: X:105.86, Y:-0.37, Z:-1.94 [[ 9.99924402e-01 -6.04183541e-03 -1.07091765e-02 1.05855628e+02] [ 6.04250009e-03 9.99981743e-01 2.97105149e-05 -3.67934128e-01] [ 1.07088015e-02 -9.44184691e-05 9.99942655e-01 -1.93713688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55800114499998 meters 0.0656458923769593 Centerline is valid? [True, True] Translation: X:105.88, Y:-0.37, Z:-1.94 [[ 9.99909543e-01 -7.52141927e-03 -1.11504993e-02 1.05884043e+02] [ 7.52217751e-03 9.99971708e-01 2.60620656e-05 -3.70975518e-01] [ 1.11499878e-02 -1.09935743e-04 9.99937831e-01 -1.93794895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58800114499998 meters 0.06575452821434459 Centerline is valid? [True, True] Translation: X:105.91, Y:-0.38, Z:-1.94 [[ 9.99871987e-01 -9.43344332e-03 -1.29236009e-02 1.05912800e+02] [ 9.43459160e-03 9.99955493e-01 2.78858162e-05 -3.75699631e-01] [ 1.29227627e-02 -1.49811143e-04 9.99916486e-01 -1.93877962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61800114499998 meters 0.06565094585478275 Centerline is valid? [True, True] Translation: X:105.94, Y:-0.38, Z:-1.94 [[ 9.99864178e-01 -1.00116398e-02 -1.30917175e-02 1.05941862e+02] [ 1.00128307e-02 9.99949870e-01 2.54239799e-05 -3.76297048e-01] [ 1.30908067e-02 -1.56505678e-04 9.99914299e-01 -1.93912488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64800114499998 meters 0.06572547108010093 Centerline is valid? [True, True] Translation: X:105.97, Y:-0.38, Z:-1.94 [[ 9.99851092e-01 -1.03054349e-02 -1.38416834e-02 1.05970485e+02] [ 1.03067557e-02 9.99946884e-01 2.40864504e-05 -3.76280801e-01] [ 1.38407000e-02 -1.66745714e-04 9.99904199e-01 -1.93908582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67800114499998 meters 0.06591084970811874 Centerline is valid? [True, True] Translation: X:106.00, Y:-0.38, Z:-1.94 [[ 9.99835222e-01 -1.06156381e-02 -1.47253879e-02 1.05998470e+02] [ 1.06171868e-02 9.99943636e-01 2.70008540e-05 -3.77411020e-01] [ 1.47242713e-02 -1.83338599e-04 9.99891575e-01 -1.94052541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70800114499998 meters 0.06583327968927265 Centerline is valid? [True, True] Translation: X:106.03, Y:-0.38, Z:-1.94 [[ 9.99845925e-01 -1.02541162e-02 -1.42471081e-02 1.06027559e+02] [ 1.02554531e-02 9.99947411e-01 2.07825540e-05 -3.79478681e-01] [ 1.42461457e-02 -1.66889901e-04 9.99898505e-01 -1.94252797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73800114499998 meters 0.0658746283445707 Centerline is valid? [True, True] Translation: X:106.06, Y:-0.38, Z:-1.94 [[ 9.99837381e-01 -9.98826333e-03 -1.50148956e-02 1.06055587e+02] [ 9.98973765e-03 9.99950101e-01 2.31902721e-05 -3.80640581e-01] [ 1.50139148e-02 -1.73181369e-04 9.99887270e-01 -1.94403637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76800114499999 meters 0.06574156851930633 Centerline is valid? [True, True] Translation: X:106.08, Y:-0.38, Z:-1.94 [[ 9.99836759e-01 -9.87665490e-03 -1.51296491e-02 1.06083048e+02] [ 9.87804247e-03 9.99951211e-01 1.69828549e-05 -3.80830730e-01] [ 1.51287432e-02 -1.66431399e-04 9.99885540e-01 -1.94458218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79800114499999 meters 0.0658139295295712 Centerline is valid? [True, True] Translation: X:106.11, Y:-0.38, Z:-1.94 [[ 9.99859079e-01 -8.96532924e-03 -1.41931662e-02 1.06111666e+02] [ 8.96642035e-03 9.99959801e-01 1.32421625e-05 -3.78413979e-01] [ 1.41924769e-02 -1.40502190e-04 9.99899272e-01 -1.94496763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82800114499999 meters 0.06551467004772712 Centerline is valid? [True, True] Translation: X:106.14, Y:-0.38, Z:-1.94 [[ 9.99877590e-01 -8.12960074e-03 -1.33683846e-02 1.06140752e+02] [ 8.13045184e-03 9.99966947e-01 9.31743173e-06 -3.76688605e-01] [ 1.33678670e-02 -1.18007298e-04 9.99910639e-01 -1.94296333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85800114499999 meters 0.06553972789178866 Centerline is valid? [True, True] Translation: X:106.17, Y:-0.38, Z:-1.94 [[ 9.99890822e-01 -7.81214125e-03 -1.25424798e-02 1.06169531e+02] [ 7.81282919e-03 9.99969479e-01 5.85110315e-06 -3.75332396e-01] [ 1.25420513e-02 -1.03842716e-04 9.99921340e-01 -1.94271277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88800114499999 meters 0.0656929865148784 Centerline is valid? [True, True] Translation: X:106.20, Y:-0.37, Z:-1.94 [[ 9.99900470e-01 -7.40414536e-03 -1.20095254e-02 1.06197241e+02] [ 7.40476094e-03 9.99972584e-01 6.79231841e-06 -3.74087322e-01] [ 1.20091459e-02 -9.57193070e-05 9.99927883e-01 -1.94316941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91800114499998 meters 0.06585834976668126 Centerline is valid? [True, True] Translation: X:106.23, Y:-0.37, Z:-1.95 [[ 9.99880437e-01 -8.21752618e-03 -1.30989886e-02 1.06225377e+02] [ 8.21831727e-03 9.99966229e-01 6.56476256e-06 -3.74666075e-01] [ 1.30984923e-02 -1.14215622e-04 9.99914205e-01 -1.94550783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94800114499998 meters 0.06604544483839615 Centerline is valid? [True, True] Translation: X:106.25, Y:-0.38, Z:-1.95 [[ 9.99861138e-01 -9.10799319e-03 -1.39552220e-02 1.06254249e+02] [ 9.10890806e-03 9.99958513e-01 1.99611901e-06 -3.76022051e-01] [ 1.39546249e-02 -1.29112676e-04 9.99902621e-01 -1.94839724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97800114499998 meters 0.06615949676324714 Centerline is valid? [True, True] Translation: X:106.28, Y:-0.38, Z:-1.95 [[ 9.99851968e-01 -9.80653153e-03 -1.41376994e-02 1.06283181e+02] [ 9.80749955e-03 9.99951905e-01 -8.61027489e-07 -3.77482490e-01] [ 1.41370279e-02 -1.37794580e-04 9.99900058e-01 -1.94967272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00800114499998 meters 0.06587756174616421 Centerline is valid? [True, True] Translation: X:106.31, Y:-0.38, Z:-1.95 [[ 9.99844405e-01 -1.06428221e-02 -1.40675457e-02 1.06310744e+02] [ 1.06438048e-02 9.99943353e-01 -5.01315021e-06 -3.76694421e-01] [ 1.40668022e-02 -1.44719840e-04 9.99901047e-01 -1.94753115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03800114499998 meters 0.06613362899108535 Centerline is valid? [True, True] Translation: X:106.34, Y:-0.38, Z:-1.95 [[ 9.99852291e-01 -1.13290854e-02 -1.29246681e-02 1.06338911e+02] [ 1.13299390e-02 9.99935814e-01 -7.18062301e-06 -3.75421221e-01] [ 1.29239199e-02 -1.39256138e-04 9.99916473e-01 -1.94972675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06800114499998 meters 0.06619946017675125 Centerline is valid? [True, True] Translation: X:106.37, Y:-0.37, Z:-1.95 [[ 9.99860888e-01 -1.08507614e-02 -1.26674689e-02 1.06368975e+02] [ 1.08515757e-02 9.99941120e-01 -4.45541165e-06 -3.74022424e-01] [ 1.26667714e-02 -1.33007205e-04 9.99919764e-01 -1.95004637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09800114499998 meters 0.06603935354070173 Centerline is valid? [True, True] Translation: X:106.40, Y:-0.37, Z:-1.95 [[ 9.99854039e-01 -1.09482455e-02 -1.31162775e-02 1.06398643e+02] [ 1.09491218e-02 9.99940057e-01 -4.99363899e-06 -3.73231087e-01] [ 1.31155459e-02 -1.38618810e-04 9.99913978e-01 -1.94955213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12800114499998 meters 0.06632216757257484 Centerline is valid? [True, True] Translation: X:106.43, Y:-0.37, Z:-1.95 [[ 9.99844454e-01 -1.13177939e-02 -1.35268263e-02 1.06427588e+02] [ 1.13187488e-02 9.99935941e-01 -5.96591088e-06 -3.73665589e-01] [ 1.35260273e-02 -1.47141766e-04 9.99908508e-01 -1.95234630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15800114499999 meters 0.06617812264611819 Centerline is valid? [True, True] Translation: X:106.46, Y:-0.37, Z:-1.95 [[ 9.99839993e-01 -1.16102056e-02 -1.36085201e-02 1.06455850e+02] [ 1.16111236e-02 9.99932589e-01 -1.15540936e-05 -3.72206984e-01] [ 1.36077369e-02 -1.46457964e-04 9.99907400e-01 -1.95028087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18800114499999 meters 0.06642277827360302 Centerline is valid? [True, True] Translation: X:106.48, Y:-0.37, Z:-1.95 [[ 9.99826789e-01 -1.21635509e-02 -1.40868595e-02 1.06484496e+02] [ 1.21646201e-02 9.99926008e-01 -9.78284322e-06 -3.71712146e-01] [ 1.40859362e-02 -1.61580146e-04 9.99900775e-01 -1.95251213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21800114499999 meters 0.06644801868830609 Centerline is valid? [True, True] Translation: X:106.51, Y:-0.37, Z:-1.95 [[ 9.99826704e-01 -1.23537999e-02 -1.39264026e-02 1.06512776e+02] [ 1.23548548e-02 9.99923676e-01 -1.02867727e-05 -3.71212050e-01] [ 1.39254668e-02 -1.61773693e-04 9.99903023e-01 -1.95375737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24800114499999 meters 0.06617760806940297 Centerline is valid? [True, True] Translation: X:106.54, Y:-0.37, Z:-1.95 [[ 9.99825853e-01 -1.15942163e-02 -1.46231663e-02 1.06542880e+02] [ 1.15952952e-02 9.99932772e-01 -1.10028261e-05 -3.68602784e-01] [ 1.46223108e-02 -1.58559021e-04 9.99893076e-01 -1.95139012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27800114499998 meters 0.06638557568538338 Centerline is valid? [True, True] Translation: X:106.57, Y:-0.37, Z:-1.95 [[ 9.99827356e-01 -1.03009847e-02 -1.54644147e-02 1.06570981e+02] [ 1.03020147e-02 9.99946933e-01 -1.30550688e-05 -3.65328130e-01] [ 1.54637286e-02 -1.46261814e-04 9.99880419e-01 -1.95403581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30800114499998 meters 0.06639681872055472 Centerline is valid? [True, True] Translation: X:106.60, Y:-0.36, Z:-1.96 [[ 9.99820623e-01 -9.91154974e-03 -1.61394591e-02 1.06599428e+02] [ 9.91252662e-03 9.99950870e-01 -1.94704290e-05 -3.64179446e-01] [ 1.61388591e-02 -1.40515881e-04 9.99869750e-01 -1.95575075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33800114499998 meters 0.06697272684828308 Centerline is valid? [True, True] Translation: X:106.63, Y:-0.37, Z:-1.96 [[ 9.99816253e-01 -1.01987178e-02 -1.62310467e-02 1.06626864e+02] [ 1.01997603e-02 9.99947981e-01 -1.85563007e-05 -3.65254778e-01] [ 1.62303916e-02 -1.46999895e-04 9.99868268e-01 -1.96189349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36800114499998 meters 0.0673497798442159 Centerline is valid? [True, True] Translation: X:106.66, Y:-0.37, Z:-1.97 [[ 9.99780147e-01 -1.00009390e-02 -1.84292706e-02 1.06655070e+02] [ 1.00022387e-02 9.99949976e-01 -2.16568111e-05 -3.65004070e-01] [ 1.84285652e-02 -1.62681913e-04 9.99830166e-01 -1.96547378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39800114499998 meters 0.06700312590982387 Centerline is valid? [True, True] Translation: X:106.68, Y:-0.36, Z:-1.96 [[ 9.99748256e-01 -1.03010064e-02 -1.99327532e-02 1.06684006e+02] [ 1.03024542e-02 9.99946928e-01 -3.00587592e-05 -3.62780677e-01] [ 1.99320049e-02 -1.75305084e-04 9.99801322e-01 -1.96242916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42800114499998 meters 0.06776588086974633 Centerline is valid? [True, True] Translation: X:106.71, Y:-0.36, Z:-1.97 [[ 9.99730495e-01 -1.05281403e-02 -2.06904766e-02 1.06711789e+02] [ 1.05297653e-02 9.99944560e-01 -3.04053407e-05 -3.63217341e-01] [ 2.06896497e-02 -1.87468717e-04 9.99785929e-01 -1.96903405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45800114499998 meters 0.06790783389603666 Centerline is valid? [True, True] Translation: X:106.74, Y:-0.36, Z:-1.97 [[ 9.99713366e-01 -1.11912650e-02 -2.11646477e-02 1.06739836e+02] [ 1.11930850e-02 9.99937355e-01 -3.24704942e-05 -3.63045671e-01] [ 2.11636853e-02 -2.04436514e-04 9.99776003e-01 -1.97048223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48800114499998 meters 0.06790783389603666 Centerline is valid? [True, True] Translation: X:106.77, Y:-0.36, Z:-1.97 [[ 9.99710833e-01 -1.14152818e-02 -2.11646361e-02 1.06767210e+02] [ 1.14169986e-02 9.99934823e-01 -3.97168017e-05 -3.62863406e-01] [ 2.11637100e-02 -2.01931303e-04 9.99776003e-01 -1.97092755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51800114499999 meters 0.06707071684720493 Centerline is valid? [True, True] Translation: X:106.80, Y:-0.36, Z:-1.96 [[ 9.99677476e-01 -1.27902084e-02 -2.19397947e-02 1.06796398e+02] [ 1.27922860e-02 9.99918174e-01 -4.56552484e-05 -3.60379933e-01] [ 2.19385834e-02 -2.35019605e-04 9.99759293e-01 -1.96258385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54800114499999 meters 0.06727985156087994 Centerline is valid? [True, True] Translation: X:106.83, Y:-0.36, Z:-1.96 [[ 9.99621545e-01 -1.43687434e-02 -2.34586063e-02 1.06826133e+02] [ 1.43716128e-02 9.99896722e-01 -4.62792612e-05 -3.59752512e-01] [ 2.34568485e-02 -2.90876259e-04 9.99724808e-01 -1.96402845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57800114499999 meters 0.06783870651017296 Centerline is valid? [True, True] Translation: X:106.85, Y:-0.36, Z:-1.97 [[ 9.99588773e-01 -1.53005119e-02 -2.42524165e-02 1.06853898e+02] [ 1.53037907e-02 9.99882889e-01 -5.04155176e-05 -3.61837000e-01] [ 2.42503477e-02 -3.20759121e-04 9.99705866e-01 -1.96801597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60800114499999 meters 0.06716089140433529 Centerline is valid? [True, True] Translation: X:106.88, Y:-0.36, Z:-1.96 [[ 9.99611962e-01 -1.61613118e-02 -2.26878455e-02 1.06882943e+02] [ 1.61642340e-02 9.99869349e-01 -5.45959100e-05 -3.62130090e-01] [ 2.26857636e-02 -3.12156918e-04 9.99742596e-01 -1.96493786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63800114499999 meters 0.06748334837609311 Centerline is valid? [True, True] Translation: X:106.91, Y:-0.36, Z:-1.97 [[ 9.99609759e-01 -1.78396457e-02 -2.14959837e-02 1.06910775e+02] [ 1.78426665e-02 9.99840806e-01 -5.12768688e-05 -3.64413475e-01] [ 2.14934764e-02 -3.32288809e-04 9.99768933e-01 -1.96785396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66800114499998 meters 0.06715091273868137 Centerline is valid? [True, True] Translation: X:106.94, Y:-0.36, Z:-1.97 [[ 9.99595666e-01 -1.92336770e-02 -2.09420552e-02 1.06938965e+02] [ 1.92366825e-02 9.99814956e-01 -5.79418272e-05 -3.62644166e-01] [ 2.09392945e-02 -3.44937269e-04 9.99780689e-01 -1.96509490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69800114499998 meters 0.06736766863134379 Centerline is valid? [True, True] Translation: X:106.97, Y:-0.36, Z:-1.97 [[ 9.99563794e-01 -2.08081264e-02 -2.09581531e-02 1.06967214e+02] [ 2.08115311e-02 9.99783415e-01 -5.56677603e-05 -3.63082363e-01] [ 2.09547722e-02 -3.80527778e-04 9.99780352e-01 -1.96532108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72800114499998 meters 0.06843001344959079 Centerline is valid? [True, True] Translation: X:107.00, Y:-0.37, Z:-1.97 [[ 9.99540187e-01 -2.25360839e-02 -2.02864565e-02 1.06996211e+02] [ 2.25396328e-02 9.99745949e-01 -5.37183302e-05 -3.66906885e-01] [ 2.02825133e-02 -4.03555651e-04 9.99794207e-01 -1.97101832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75800114499998 meters 0.06826416827323331 Centerline is valid? [True, True] Translation: X:107.03, Y:-0.37, Z:-1.97 [[ 9.99458885e-01 -2.67693354e-02 -1.91138920e-02 1.07027153e+02] [ 2.67732639e-02 9.99641531e-01 -5.03800631e-05 -3.68711529e-01] [ 1.91083889e-02 -4.61388473e-04 9.99817312e-01 -1.96697106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78800114499998 meters 0.06862320342060128 Centerline is valid? [True, True] Translation: X:107.06, Y:-0.37, Z:-1.97 [[ 9.99412909e-01 -2.94986491e-02 -1.74260311e-02 1.07059288e+02] [ 2.95023642e-02 9.99564710e-01 -4.38997174e-05 -3.71510937e-01] [ 1.74197406e-02 -4.70235170e-04 9.99848154e-01 -1.96652721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81800114499998 meters 0.06908138291112624 Centerline is valid? [True, True] Translation: X:107.09, Y:-0.37, Z:-1.97 [[ 9.99371822e-01 -3.13975373e-02 -1.64364205e-02 1.07091441e+02] [ 3.14011158e-02 9.99506863e-01 -4.03761403e-05 -3.74542209e-01] [ 1.64295828e-02 -4.75771166e-04 9.99864912e-01 -1.96724687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84800114499998 meters 0.06952280284834526 Centerline is valid? [True, True] Translation: X:107.12, Y:-0.38, Z:-1.97 [[ 9.99360663e-01 -3.26721056e-02 -1.45188793e-02 1.07123477e+02] [ 3.26750464e-02 9.99466028e-01 -3.46823566e-05 -3.76453047e-01] [ 1.45122598e-02 -4.39744872e-04 9.99894595e-01 -1.96693506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87800114499998 meters 0.06996288998021505 Centerline is valid? [True, True] Translation: X:107.15, Y:-0.38, Z:-1.97 [[ 9.99294697e-01 -3.45621169e-02 -1.46822611e-02 1.07154137e+02] [ 3.45653611e-02 9.99402439e-01 -3.28216133e-05 -3.75294576e-01] [ 1.46746219e-02 -4.74699192e-04 9.99892209e-01 -1.96586067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90800114499999 meters 0.06995233623434087 Centerline is valid? [True, True] Translation: X:107.19, Y:-0.37, Z:-1.97 [[ 9.99297752e-01 -3.48111977e-02 -1.38630444e-02 1.07186242e+02] [ 3.48141166e-02 9.99393804e-01 -3.07910290e-05 -3.74283873e-01] [ 1.38557126e-02 -4.51860238e-04 9.99903903e-01 -1.96546059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93800114499999 meters 0.07021330701503302 Centerline is valid? [True, True] Translation: X:107.22, Y:-0.38, Z:-1.97 [[ 9.99316741e-01 -3.45459583e-02 -1.31388089e-02 1.07217260e+02] [ 3.45485624e-02 9.99403020e-01 -2.87904464e-05 -3.75393039e-01] [ 1.31319598e-02 -4.25156182e-04 9.99913682e-01 -1.96630711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96800114499999 meters 0.06988238630808229 Centerline is valid? [True, True] Translation: X:107.25, Y:-0.38, Z:-1.97 [[ 9.99351040e-01 -3.39331977e-02 -1.20845730e-02 1.07249277e+02] [ 3.39353682e-02 9.99424029e-01 -2.54646428e-05 -3.75711979e-01] [ 1.20784767e-02 -3.84646317e-04 9.99926979e-01 -1.96671070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99800114499999 meters 0.07006873161830302 Centerline is valid? [True, True] Translation: X:107.28, Y:-0.38, Z:-1.97 [[ 9.99384212e-01 -3.29730840e-02 -1.19988520e-02 1.07280091e+02] [ 3.29751581e-02 9.99456171e-01 -2.49938880e-05 -3.77209284e-01] [ 1.19931508e-02 -3.70685544e-04 9.99928011e-01 -1.96860326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02800114499998 meters 0.0680493094068718 Centerline is valid? [True, True] Translation: X:107.31, Y:-0.37, Z:-1.96 [[ 9.99383549e-01 -3.28309691e-02 -1.24357908e-02 1.07312132e+02] [ 3.28331996e-02 9.99460845e-01 -2.48184564e-05 -3.70122386e-01] [ 1.24299008e-02 -3.83503644e-04 9.99922672e-01 -1.96257991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05800114499998 meters 0.07012954486305852 Centerline is valid? [True, True] Translation: X:107.34, Y:-0.38, Z:-1.97 [[ 9.99393000e-01 -3.27164204e-02 -1.19694280e-02 1.07342962e+02] [ 3.27184826e-02 9.99464607e-01 -2.35436040e-05 -3.75092736e-01] [ 1.19637899e-02 -3.68092210e-04 9.99928364e-01 -1.96829121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08800114499998 meters 0.06976393108428451 Centerline is valid? [True, True] Translation: X:107.38, Y:-0.37, Z:-1.97 [[ 9.99386121e-01 -3.24952684e-02 -1.30934946e-02 1.07375003e+02] [ 3.24977287e-02 9.99471809e-01 -2.48799801e-05 -3.72395533e-01] [ 1.30873872e-02 -4.00644127e-04 9.99914276e-01 -1.96810603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11800114499998 meters 0.06798923423804648 Centerline is valid? [True, True] Translation: X:107.41, Y:-0.37, Z:-1.96 [[ 9.99446059e-01 -3.09204826e-02 -1.23085206e-02 1.07407570e+02] [ 3.09225485e-02 9.99521783e-01 -2.24778144e-05 -3.65467202e-01] [ 1.23033295e-02 -3.58145461e-04 9.99924247e-01 -1.96294836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14800114499998 meters 0.06756256871690962 Centerline is valid? [True, True] Translation: X:107.44, Y:-0.36, Z:-1.96 [[ 9.99491595e-01 -2.98299442e-02 -1.12572637e-02 1.07440175e+02] [ 2.98316170e-02 9.99554938e-01 -1.93192425e-05 -3.64768735e-01] [ 1.12528298e-02 -3.16512960e-04 9.99936635e-01 -1.96278313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17800114499998 meters 0.06731152501214914 Centerline is valid? [True, True] Translation: X:107.47, Y:-0.36, Z:-1.96 [[ 9.99562277e-01 -2.76476264e-02 -1.05291970e-02 1.07472073e+02] [ 2.76489743e-02 9.99617694e-01 -1.75610235e-05 -3.64496192e-01] [ 1.05256571e-02 -2.73568160e-04 9.99944566e-01 -1.96380914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20800114499998 meters 0.06721285758113507 Centerline is valid? [True, True] Translation: X:107.50, Y:-0.36, Z:-1.96 [[ 9.99590018e-01 -2.62896148e-02 -1.13424604e-02 1.07504721e+02] [ 2.62910984e-02 9.99654329e-01 -1.83132457e-05 -3.63411326e-01] [ 1.13390211e-02 -2.79900006e-04 9.99935672e-01 -1.96493376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23800114499998 meters 0.06664547578897878 Centerline is valid? [True, True] Translation: X:107.54, Y:-0.36, Z:-1.96 [[ 9.99641375e-01 -2.35772547e-02 -1.26978450e-02 1.07536553e+02] [ 2.35789038e-02 9.99721979e-01 -1.98333113e-05 -3.56836210e-01] [ 1.26947824e-02 -2.79575068e-04 9.99919379e-01 -1.96360120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26800114499999 meters 0.06647361965278073 Centerline is valid? [True, True] Translation: X:107.57, Y:-0.35, Z:-1.96 [[ 9.99647878e-01 -2.25948999e-02 -1.39136820e-02 1.07568614e+02] [ 2.25967954e-02 9.99744660e-01 -2.09803584e-05 -3.53857180e-01] [ 1.39106033e-02 -2.93431655e-04 9.99903200e-01 -1.96391298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29800114499999 meters 0.06689233219452485 Centerline is valid? [True, True] Translation: X:107.60, Y:-0.35, Z:-1.97 [[ 9.99669495e-01 -2.19629951e-02 -1.33614358e-02 1.07599832e+02] [ 2.19646980e-02 9.99758747e-01 -1.92999502e-05 -3.54457978e-01] [ 1.33586362e-02 -2.74186330e-04 9.99910732e-01 -1.96702544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32800114499999 meters 0.06663121084520546 Centerline is valid? [True, True] Translation: X:107.63, Y:-0.36, Z:-1.97 [[ 9.99712955e-01 -2.08266622e-02 -1.18430358e-02 1.07632210e+02] [ 2.08279296e-02 9.99783075e-01 -1.63284197e-05 -3.57507170e-01] [ 1.18408068e-02 -2.30342183e-04 9.99929869e-01 -1.96889728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35800114499999 meters 0.06668827212158163 Centerline is valid? [True, True] Translation: X:107.66, Y:-0.36, Z:-1.97 [[ 9.99711921e-01 -2.10449024e-02 -1.15406996e-02 1.07663127e+02] [ 2.10461240e-02 9.99778506e-01 -1.55990617e-05 -3.58945187e-01] [ 1.15384717e-02 -2.27292426e-04 9.99933404e-01 -1.96980657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38800114499998 meters 0.06604785346541674 Centerline is valid? [True, True] Translation: X:107.70, Y:-0.36, Z:-1.97 [[ 9.99712383e-01 -2.12733323e-02 -1.10723361e-02 1.07695556e+02] [ 2.12744820e-02 9.99773673e-01 -1.39573934e-05 -3.56527469e-01] [ 1.10701270e-02 -2.21604835e-04 9.99938700e-01 -1.96639582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41800114499998 meters 0.06622215747349695 Centerline is valid? [True, True] Translation: X:107.73, Y:-0.36, Z:-1.97 [[ 9.99707686e-01 -2.14081606e-02 -1.12353704e-02 1.07726728e+02] [ 2.14093556e-02 9.99770793e-01 -1.39163714e-05 -3.56741860e-01] [ 1.12330931e-02 -2.26629737e-04 9.99936881e-01 -1.96705934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44800114499998 meters 0.06669700361082072 Centerline is valid? [True, True] Translation: X:107.76, Y:-0.36, Z:-1.97 [[ 9.99702355e-01 -2.21567286e-02 -1.02117987e-02 1.07757949e+02] [ 2.21577601e-02 9.99754487e-01 -1.21335528e-05 -3.60146605e-01] [ 1.02095604e-02 -2.14140643e-04 9.99947858e-01 -1.96832287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47800114499998 meters 0.06584406046435227 Centerline is valid? [True, True] Translation: X:107.79, Y:-0.36, Z:-1.97 [[ 9.99696769e-01 -2.23507982e-02 -1.03349840e-02 1.07790100e+02] [ 2.23518746e-02 9.99750166e-01 -1.13575247e-05 -3.58990115e-01] [ 1.03326558e-02 -2.19652185e-04 9.99946593e-01 -1.96538089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50800114499998 meters 0.06566158479609042 Centerline is valid? [True, True] Translation: X:107.82, Y:-0.36, Z:-1.97 [[ 9.99692120e-01 -2.23001951e-02 -1.08796581e-02 1.07821841e+02] [ 2.23013922e-02 9.99751293e-01 -1.12941686e-05 -3.61404905e-01] [ 1.08772041e-02 -2.31340830e-04 9.99940815e-01 -1.96700690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53800114499998 meters 0.06603992289838542 Centerline is valid? [True, True] Translation: X:107.85, Y:-0.36, Z:-1.97 [[ 9.99670113e-01 -2.24334693e-02 -1.25061489e-02 1.07852690e+02] [ 2.24350637e-02 9.99748302e-01 -1.28068269e-05 -3.64664099e-01] [ 1.25032885e-02 -2.67773645e-04 9.99921795e-01 -1.97092903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56800114499998 meters 0.0654614076954307 Centerline is valid? [True, True] Translation: X:107.89, Y:-0.36, Z:-1.97 [[ 9.99693943e-01 -2.04388512e-02 -1.39381976e-02 1.07885116e+02] [ 2.04406524e-02 9.99791068e-01 -1.32345353e-05 -3.62237185e-01] [ 1.39355559e-02 -2.71675368e-04 9.99902859e-01 -1.96987612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59800114499998 meters 0.06520244628822769 Centerline is valid? [True, True] Translation: X:107.92, Y:-0.36, Z:-1.97 [[ 9.99725237e-01 -1.90729225e-02 -1.36262299e-02 1.07915872e+02] [ 1.90745225e-02 9.99818065e-01 -1.25427231e-05 -3.61135042e-01] [ 1.36239900e-02 -2.47374551e-04 9.99907159e-01 -1.97024264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62800114499998 meters 0.0647610348226064 Centerline is valid? [True, True] Translation: X:107.95, Y:-0.36, Z:-1.97 [[ 9.99768070e-01 -1.68055719e-02 -1.34677068e-02 1.07946924e+02] [ 1.68069314e-02 9.99858753e-01 -1.22351684e-05 -3.59164412e-01] [ 1.34660101e-02 -2.14118494e-04 9.99909306e-01 -1.96867394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65800114499999 meters 0.06423362884364496 Centerline is valid? [True, True] Translation: X:107.98, Y:-0.36, Z:-1.97 [[ 9.99826683e-01 -1.23082285e-02 -1.39682225e-02 1.07978270e+02] [ 1.23092582e-02 9.99924238e-01 -1.22601413e-05 -3.57155856e-01] [ 1.39673151e-02 -1.59680440e-04 9.99902440e-01 -1.96888962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68800114499999 meters 0.06409002320138382 Centerline is valid? [True, True] Translation: X:108.01, Y:-0.36, Z:-1.97 [[ 9.99859142e-01 -9.44893491e-03 -1.38713303e-02 1.08007358e+02] [ 9.44965511e-03 9.99955351e-01 -1.36234622e-05 -3.56519597e-01] [ 1.38708397e-02 -1.17457744e-04 9.99903788e-01 -1.97010402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71800114499999 meters 0.06399206882358321 Centerline is valid? [True, True] Translation: X:108.04, Y:-0.36, Z:-1.97 [[ 9.99854919e-01 -7.90917636e-03 -1.50859682e-02 1.08036494e+02] [ 7.90975848e-03 9.99968717e-01 -2.10802042e-05 -3.55761282e-01] [ 1.50856630e-02 -9.82492189e-05 9.99886200e-01 -1.97065022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74800114499999 meters 0.06407615621595067 Centerline is valid? [True, True] Translation: X:108.06, Y:-0.35, Z:-1.97 [[ 9.99866686e-01 -6.33833519e-03 -1.50478055e-02 1.08064250e+02] [ 6.33875326e-03 9.99979910e-01 -1.99121390e-05 -3.54465142e-01] [ 1.50476294e-02 -7.54748421e-05 9.99886775e-01 -1.97407793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77800114499998 meters 0.06377802230993308 Centerline is valid? [True, True] Translation: X:108.09, Y:-0.35, Z:-1.97 [[ 9.99869917e-01 -5.33600186e-03 -1.52209086e-02 1.08091865e+02] [ 5.33621249e-03 9.99985762e-01 -2.67747847e-05 -3.52749917e-01] [ 1.52208348e-02 -5.44507009e-05 9.99884155e-01 -1.97080557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80800114499998 meters 0.06383017596546019 Centerline is valid? [True, True] Translation: X:108.12, Y:-0.35, Z:-1.97 [[ 9.99886380e-01 -3.63223843e-03 -1.46298878e-02 1.08119401e+02] [ 3.63225542e-03 9.99993403e-01 -2.54102871e-05 -3.52156823e-01] [ 1.46298836e-02 -2.77320892e-05 9.99892977e-01 -1.97428450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83800114499998 meters 0.06339989256476013 Centerline is valid? [True, True] Translation: X:108.15, Y:-0.35, Z:-1.97 [[ 9.99896437e-01 -3.60361675e-03 -1.39330096e-02 1.08148500e+02] [ 3.60356271e-03 9.99993507e-01 -2.89841804e-05 -3.52022472e-01] [ 1.39330235e-02 -2.12272950e-05 9.99902930e-01 -1.96947688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86800114499998 meters 0.06329055467781336 Centerline is valid? [True, True] Translation: X:108.18, Y:-0.35, Z:-1.97 [[ 9.99907714e-01 -3.08162122e-03 -1.32313167e-02 1.08177215e+02] [ 3.08148584e-03 9.99995252e-01 -3.06190575e-05 -3.52010455e-01] [ 1.32313482e-02 -1.01558831e-05 9.99912462e-01 -1.96881967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89800114499998 meters 0.06324762876788095 Centerline is valid? [True, True] Translation: X:108.21, Y:-0.35, Z:-1.97 [[ 9.99912066e-01 -3.71510203e-03 -1.27301833e-02 1.08206391e+02] [ 3.71499710e-03 9.99993099e-01 -3.18898977e-05 -3.52492675e-01] [ 1.27302140e-02 -1.54055007e-05 9.99918967e-01 -1.96879455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92800114499998 meters 0.06309776176809337 Centerline is valid? [True, True] Translation: X:108.24, Y:-0.35, Z:-1.97 [[ 9.99916008e-01 -4.25262683e-03 -1.22430202e-02 1.08235268e+02] [ 4.25253304e-03 9.99990957e-01 -3.36935906e-05 -3.53631232e-01] [ 1.22430528e-02 -1.83730873e-05 9.99925051e-01 -1.96896598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95800114499998 meters 0.06319199271203503 Centerline is valid? [True, True] Translation: X:108.26, Y:-0.36, Z:-1.97 [[ 9.99910365e-01 -5.71526442e-03 -1.21077682e-02 1.08262469e+02] [ 5.71528521e-03 9.99983667e-01 -3.28842182e-05 -3.59134828e-01] [ 1.21077584e-02 -3.63180779e-05 9.99926698e-01 -1.97080296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98800114499998 meters 0.06329500387578071 Centerline is valid? [True, True] Translation: X:108.29, Y:-0.36, Z:-1.97 [[ 9.99893353e-01 -7.40004613e-03 -1.25905746e-02 1.08290822e+02] [ 7.40014740e-03 9.99972618e-01 -3.85446834e-05 -3.61446525e-01] [ 1.25905151e-02 -5.46315351e-05 9.99920735e-01 -1.97145549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01800114499999 meters 0.06313446013062343 Centerline is valid? [True, True] Translation: X:108.32, Y:-0.36, Z:-1.97 [[ 9.99889203e-01 -9.02068834e-03 -1.18410034e-02 1.08319878e+02] [ 9.02085830e-03 9.99959310e-01 -3.90573204e-05 -3.62982617e-01] [ 1.18408739e-02 -6.77630211e-05 9.99929892e-01 -1.97077848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04800114499999 meters 0.06278997283143892 Centerline is valid? [True, True] Translation: X:108.35, Y:-0.36, Z:-1.97 [[ 9.99893947e-01 -1.01607223e-02 -1.04333179e-02 1.08348379e+02] [ 1.01608873e-02 9.99948376e-01 -3.71969110e-05 -3.63586020e-01] [ 1.04331573e-02 -6.88188017e-05 9.99945571e-01 -1.96702800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07800114499999 meters 0.06273511098822213 Centerline is valid? [True, True] Translation: X:108.38, Y:-0.36, Z:-1.97 [[ 9.99895986e-01 -1.04691538e-02 -9.92038457e-03 1.08377970e+02] [ 1.04693478e-02 9.99945194e-01 -3.23745512e-05 -3.64327992e-01] [ 9.92017982e-03 -7.14887728e-05 9.99950791e-01 -1.96672151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10800114499999 meters 0.06241720346215992 Centerline is valid? [True, True] Translation: X:108.41, Y:-0.36, Z:-1.96 [[ 9.99922189e-01 -9.41943387e-03 -8.17863998e-03 1.08408147e+02] [ 9.41953233e-03 9.99955635e-01 -2.64815458e-05 -3.64108595e-01] [ 8.17852657e-03 -5.05594784e-05 9.99966554e-01 -1.96464186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13800114499998 meters 0.06216855010112128 Centerline is valid? [True, True] Translation: X:108.44, Y:-0.37, Z:-1.96 [[ 9.99946148e-01 -7.42555987e-03 -7.25004518e-03 1.08439669e+02] [ 7.42559032e-03 9.99972430e-01 -2.27184966e-05 -3.65175618e-01] [ 7.25001399e-03 -3.11185921e-05 9.99973718e-01 -1.96358914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16800114499998 meters 0.062100265024168315 Centerline is valid? [True, True] Translation: X:108.47, Y:-0.37, Z:-1.96 [[ 9.99957813e-01 -5.90898230e-03 -7.03254206e-03 1.08470169e+02] [ 5.90896988e-03 9.99982542e-01 -2.25441408e-05 -3.65583539e-01] [ 7.03255250e-03 -1.90118895e-05 9.99975271e-01 -1.96434541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19800114499998 meters 0.06209585416492611 Centerline is valid? [True, True] Translation: X:108.50, Y:-0.37, Z:-1.97 [[ 9.99968593e-01 -3.65713554e-03 -7.03119263e-03 1.08499989e+02] [ 3.65706225e-03 9.99993313e-01 -2.32808840e-05 -3.65398849e-01] [ 7.03123075e-03 -2.43335628e-06 9.99975281e-01 -1.96531219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22800114499998 meters 0.06207481872260776 Centerline is valid? [True, True] Translation: X:108.53, Y:-0.36, Z:-1.97 [[ 9.99975312e-01 -2.07011814e-03 -6.71496601e-03 1.08528719e+02] [ 2.06998466e-03 9.99997857e-01 -2.68283798e-05 -3.64483510e-01] [ 6.71500716e-03 1.29278409e-05 9.99977454e-01 -1.96601010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25800114499998 meters 0.06201396637443225 Centerline is valid? [True, True] Translation: X:108.56, Y:-0.36, Z:-1.97 [[ 9.99973568e-01 -5.82114712e-04 -7.24736506e-03 1.08557265e+02] [ 5.81910870e-04 9.99999830e-01 -3.02350432e-05 -3.63251761e-01] [ 7.24738142e-03 2.60169235e-05 9.99973737e-01 -1.96608604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28800114499998 meters 0.06209182998274083 Centerline is valid? [True, True] Translation: X:108.58, Y:-0.36, Z:-1.97 [[ 9.99972919e-01 4.68523771e-04 -7.34452832e-03 1.08584870e+02] [-4.68748370e-04 9.99999890e-01 -2.88591594e-05 -3.64624720e-01] [ 7.34451399e-03 3.23011135e-05 9.99973028e-01 -1.96718668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31800114499998 meters 0.062025614373624895 Centerline is valid? [True, True] Translation: X:108.61, Y:-0.37, Z:-1.97 [[ 9.99977049e-01 -1.67504707e-04 -6.77300324e-03 1.08613761e+02] [ 1.67326561e-04 9.99999986e-01 -2.68690020e-05 -3.67094051e-01] [ 6.77300765e-03 2.57350820e-05 9.99977063e-01 -1.96676337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34800114499998 meters 0.06198605588245196 Centerline is valid? [True, True] Translation: X:108.64, Y:-0.37, Z:-1.97 [[ 9.99973376e-01 -1.09636729e-03 -7.21429344e-03 1.08642896e+02] [ 1.09618666e-03 9.99999399e-01 -2.89911380e-05 -3.70021866e-01] [ 7.21432089e-03 2.10821539e-05 9.99973976e-01 -1.96789975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37800114499998 meters 0.06211856873932704 Centerline is valid? [True, True] Translation: X:108.67, Y:-0.37, Z:-1.97 [[ 9.99964415e-01 -2.21049324e-03 -8.14145878e-03 1.08671913e+02] [ 2.21029711e-03 9.99997557e-01 -3.30872953e-05 -3.73766693e-01] [ 8.14151203e-03 1.50910750e-05 9.99966857e-01 -1.96885096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40800114499999 meters 0.06211856873932704 Centerline is valid? [True, True] Translation: X:108.70, Y:-0.37, Z:-1.97 [[ 9.99963841e-01 -2.45624459e-03 -8.14143836e-03 1.08699265e+02] [ 2.45601594e-03 9.99996983e-01 -3.80832691e-05 -3.73549856e-01] [ 8.14150734e-03 1.80863898e-05 9.99966857e-01 -1.96929584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43800114499999 meters 0.06195197624867639 Centerline is valid? [True, True] Translation: X:108.73, Y:-0.38, Z:-1.97 [[ 9.99952998e-01 -4.23776464e-03 -8.72024431e-03 1.08728328e+02] [ 4.23759369e-03 9.99991021e-01 -3.80806703e-05 -3.82325128e-01] [ 8.72032738e-03 1.12602822e-06 9.99961977e-01 -1.97023987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46800114499999 meters 0.0620420044401158 Centerline is valid? [True, True] Translation: X:108.76, Y:-0.39, Z:-1.97 [[ 9.99939297e-01 -5.00588882e-03 -9.81546108e-03 1.08756582e+02] [ 5.00570039e-03 9.99987470e-01 -4.37653112e-05 -3.86289044e-01] [ 9.81555718e-03 -5.37060282e-06 9.99951826e-01 -1.97140786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49800114499999 meters 0.06204996154958873 Centerline is valid? [True, True] Translation: X:108.78, Y:-0.39, Z:-1.97 [[ 9.99940453e-01 -4.81841876e-03 -9.79146011e-03 1.08783918e+02] [ 4.81820474e-03 9.99988391e-01 -4.54468626e-05 -3.88426709e-01] [ 9.79156543e-03 -1.73310314e-06 9.99952061e-01 -1.97223732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52800114499998 meters 0.06191486004319606 Centerline is valid? [True, True] Translation: X:108.81, Y:-0.39, Z:-1.97 [[ 9.99941581e-01 -5.07759665e-03 -9.54211282e-03 1.08812186e+02] [ 5.07735972e-03 9.99987109e-01 -4.90538992e-05 -3.89913198e-01] [ 9.54223889e-03 6.02294219e-07 9.99954472e-01 -1.97086207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55800114499998 meters 0.062001901381873864 Centerline is valid? [True, True] Translation: X:108.84, Y:-0.39, Z:-1.97 [[ 9.99925816e-01 -4.18018163e-03 -1.14406214e-02 1.08840438e+02] [ 4.17981397e-03 9.99991263e-01 -5.60467597e-05 -3.93757824e-01] [ 1.14407557e-02 8.22293298e-06 9.99934552e-01 -1.97044190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58800114499998 meters 0.062121075223232555 Centerline is valid? [True, True] Translation: X:108.87, Y:-0.40, Z:-1.97 [[ 9.99903293e-01 -4.27229734e-03 -1.32345345e-02 1.08868424e+02] [ 4.27180224e-03 9.99990874e-01 -6.56791773e-05 -3.97074300e-01] [ 1.32346943e-02 9.13751157e-06 9.99912418e-01 -1.97231943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61800114499998 meters 0.06235283165439671 Centerline is valid? [True, True] Translation: X:108.90, Y:-0.40, Z:-1.98 [[ 9.99899085e-01 -4.89019308e-03 -1.33381009e-02 1.08896608e+02] [ 4.88973126e-03 9.99988043e-01 -6.72355700e-05 -4.01149380e-01] [ 1.33382702e-02 2.00905590e-06 9.99911041e-01 -1.97514425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64800114499998 meters 0.06247286783470401 Centerline is valid? [True, True] Translation: X:108.92, Y:-0.40, Z:-1.98 [[ 9.99873685e-01 -5.71371288e-03 -1.48313044e-02 1.08924983e+02] [ 5.71321774e-03 9.99983677e-01 -7.57540602e-05 -4.04637100e-01] [ 1.48314951e-02 -8.98998001e-06 9.99890007e-01 -1.97695682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67800114499998 meters 0.06267367785236769 Centerline is valid? [True, True] Translation: X:108.95, Y:-0.41, Z:-1.98 [[ 9.99819083e-01 -7.37134169e-03 -1.75346511e-02 1.08954524e+02] [ 7.37091242e-03 9.99972830e-01 -8.91102685e-05 -4.11246645e-01] [ 1.75348316e-02 -4.01522307e-05 9.99846252e-01 -1.97934792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70800114499998 meters 0.06250917964204146 Centerline is valid? [True, True] Translation: X:108.98, Y:-0.41, Z:-1.98 [[ 9.99803733e-01 -8.90617802e-03 -1.76967504e-02 1.08983589e+02] [ 8.90585750e-03 9.99960337e-01 -9.69215779e-05 -4.14443308e-01] [ 1.76969117e-02 -6.07021817e-05 9.99843396e-01 -1.97856900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73800114499998 meters 0.06269485474274353 Centerline is valid? [True, True] Translation: X:109.01, Y:-0.42, Z:-1.98 [[ 9.99799719e-01 -1.04990774e-02 -1.70379465e-02 1.09011538e+02] [ 1.04990067e-02 9.99944880e-01 -9.35974722e-05 -4.17691170e-01] [ 1.70379901e-02 -8.53027887e-05 9.99854839e-01 -1.97943576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76800114499999 meters 0.06239278435349825 Centerline is valid? [True, True] Translation: X:109.04, Y:-0.42, Z:-1.98 [[ 9.99786093e-01 -1.21667239e-02 -1.67254128e-02 1.09039952e+02] [ 1.21667760e-02 9.99925977e-01 -9.86439412e-05 -4.22896362e-01] [ 1.67253749e-02 -1.04871510e-04 9.99860116e-01 -1.97590079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79800114499999 meters 0.06244929652912211 Centerline is valid? [True, True] Translation: X:109.07, Y:-0.43, Z:-1.98 [[ 9.99795498e-01 -1.25097011e-02 -1.58893093e-02 1.09068090e+02] [ 1.25097937e-02 9.99921745e-01 -9.35727397e-05 -4.25676213e-01] [ 1.58892365e-02 -1.05218378e-04 9.99873753e-01 -1.97660869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82800114499999 meters 0.06232996459199512 Centerline is valid? [True, True] Translation: X:109.10, Y:-0.43, Z:-1.98 [[ 9.99813607e-01 -1.25337179e-02 -1.46852834e-02 1.09095934e+02] [ 1.25337900e-02 9.99921445e-01 -8.71344739e-05 -4.28194935e-01] [ 1.46852219e-02 -9.69440247e-05 9.99892162e-01 -1.97741877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85800114499999 meters 0.06226680136836494 Centerline is valid? [True, True] Translation: X:109.12, Y:-0.43, Z:-1.98 [[ 9.99811050e-01 -1.29113299e-02 -1.45314086e-02 1.09124933e+02] [ 1.29113592e-02 9.99916641e-01 -9.18019363e-05 -4.29499808e-01] [ 1.45313826e-02 -9.58356460e-05 9.99894409e-01 -1.97708939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88800114499998 meters 0.06268416826449491 Centerline is valid? [True, True] Translation: X:109.15, Y:-0.43, Z:-1.98 [[ 9.99798738e-01 -1.30314442e-02 -1.52533335e-02 1.09153778e+02] [ 1.30315203e-02 9.99915082e-01 -9.44092927e-05 -4.32677796e-01] [ 1.52532685e-02 -1.04383833e-04 9.99883657e-01 -1.98057124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91800114499998 meters 0.06265621531130836 Centerline is valid? [True, True] Translation: X:109.18, Y:-0.43, Z:-1.98 [[ 9.99767734e-01 -1.32401077e-02 -1.70052091e-02 1.09182865e+02] [ 1.32401269e-02 9.99912339e-01 -1.11458503e-04 -4.34169230e-01] [ 1.70051942e-02 -1.13718512e-04 9.99855395e-01 -1.98036373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94800114499998 meters 0.06267824015516019 Centerline is valid? [True, True] Translation: X:109.21, Y:-0.44, Z:-1.98 [[ 9.99719971e-01 -1.42236360e-02 -1.89120984e-02 1.09211824e+02] [ 1.42237635e-02 9.99898829e-01 -1.27776589e-04 -4.36372781e-01] [ 1.89120025e-02 -1.41260407e-04 9.99821142e-01 -1.98186975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97800114499998 meters 0.06279678242282927 Centerline is valid? [True, True] Translation: X:109.24, Y:-0.44, Z:-1.98 [[ 9.99694953e-01 -1.53054263e-02 -1.93841471e-02 1.09240739e+02] [ 1.53056811e-02 9.99882852e-01 -1.35222127e-04 -4.38684375e-01] [ 1.93839459e-02 -1.61506696e-04 9.99812101e-01 -1.98307170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00800114499998 meters 0.06276612686077082 Centerline is valid? [True, True] Translation: X:109.27, Y:-0.44, Z:-1.98 [[ 9.99671929e-01 -1.82242473e-02 -1.79975581e-02 1.09269975e+02] [ 1.82248736e-02 9.99833905e-01 -1.29228808e-04 -4.43279027e-01] [ 1.79969239e-02 -1.98816810e-04 9.99838022e-01 -1.98227374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03800114499998 meters 0.06279695842469586 Centerline is valid? [True, True] Translation: X:109.30, Y:-0.45, Z:-1.98 [[ 9.99644594e-01 -2.02259078e-02 -1.73665660e-02 1.09298247e+02] [ 2.02268161e-02 9.99795409e-01 -1.23366222e-04 -4.46127447e-01] [ 1.73655081e-02 -2.27947958e-04 9.99849182e-01 -1.98224302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06800114499998 meters 0.06264026991606063 Centerline is valid? [True, True] Translation: X:109.33, Y:-0.45, Z:-1.98 [[ 9.99584775e-01 -2.33073141e-02 -1.69424735e-02 1.09329044e+02] [ 2.33086360e-02 9.99728310e-01 -1.19463845e-04 -4.51934180e-01] [ 1.69406548e-02 -2.75491708e-04 9.99856459e-01 -1.98020071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09800114499998 meters 0.06242268608653969 Centerline is valid? [True, True] Translation: X:109.36, Y:-0.45, Z:-1.98 [[ 9.99547373e-01 -2.45568697e-02 -1.73784115e-02 1.09360719e+02] [ 2.45584686e-02 9.99698388e-01 -1.21431231e-04 -4.53277334e-01] [ 1.73761519e-02 -3.05410904e-04 9.99848977e-01 -1.97834302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12800114499998 meters 0.06286675517797695 Centerline is valid? [True, True] Translation: X:109.39, Y:-0.46, Z:-1.98 [[ 9.99532649e-01 -2.52402361e-02 -1.72456827e-02 1.09391161e+02] [ 2.52419344e-02 9.99681365e-01 -1.19226103e-04 -4.56738448e-01] [ 1.72431970e-02 -3.16144010e-04 9.99851275e-01 -1.98158328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15800114499999 meters 0.06278407158599009 Centerline is valid? [True, True] Translation: X:109.42, Y:-0.46, Z:-1.98 [[ 9.99513179e-01 -2.59463157e-02 -1.73260893e-02 1.09422876e+02] [ 2.59481393e-02 9.99663283e-01 -1.19584651e-04 -4.57219098e-01] [ 1.73233581e-02 -3.30053344e-04 9.99849885e-01 -1.98092285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18800114499999 meters 0.06261329153379275 Centerline is valid? [True, True] Translation: X:109.45, Y:-0.46, Z:-1.98 [[ 9.99484257e-01 -2.70788731e-02 -1.72613342e-02 1.09454297e+02] [ 2.70808619e-02 9.99633239e-01 -1.18558327e-04 -4.57312433e-01] [ 1.72582138e-02 -3.48954627e-04 9.99851005e-01 -1.97969614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21800114499999 meters 0.06308553950116082 Centerline is valid? [True, True] Translation: X:109.49, Y:-0.46, Z:-1.98 [[ 9.99477334e-01 -2.72658524e-02 -1.73675414e-02 1.09485275e+02] [ 2.72679132e-02 9.99628154e-01 -1.18176018e-04 -4.60422944e-01] [ 1.73643055e-02 -3.55462359e-04 9.99849166e-01 -1.98346016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24800114499999 meters 0.06280791387778625 Centerline is valid? [True, True] Translation: X:109.52, Y:-0.46, Z:-1.98 [[ 9.99445311e-01 -2.80841972e-02 -1.78982589e-02 1.09517187e+02] [ 2.80865422e-02 9.99605488e-01 -1.20386198e-04 -4.60788453e-01] [ 1.78945787e-02 -3.82380783e-04 9.99839806e-01 -1.98176035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27800114499998 meters 0.06292483882732264 Centerline is valid? [True, True] Translation: X:109.55, Y:-0.46, Z:-1.98 [[ 9.99415815e-01 -2.89623384e-02 -1.81441708e-02 1.09548589e+02] [ 2.89648939e-02 9.99580422e-01 -1.21986728e-04 -4.63930850e-01] [ 1.81400909e-02 -4.03628517e-04 9.99835374e-01 -1.98322755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30800114499998 meters 0.06291966363525177 Centerline is valid? [True, True] Translation: X:109.58, Y:-0.47, Z:-1.99 [[ 9.99412767e-01 -2.93132144e-02 -1.77442006e-02 1.09580100e+02] [ 2.93157341e-02 9.99570195e-01 -1.18153538e-04 -4.67113745e-01] [ 1.77400375e-02 -4.02100111e-04 9.99842552e-01 -1.98512245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33800114499998 meters 0.06319909707186057 Centerline is valid? [True, True] Translation: X:109.61, Y:-0.47, Z:-1.98 [[ 9.99354770e-01 -3.10932142e-02 -1.79793052e-02 1.09611355e+02] [ 3.10961296e-02 9.99516392e-01 -1.17456914e-04 -4.68262757e-01] [ 1.79742624e-02 -4.41705678e-04 9.99838352e-01 -1.98475449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36800114499998 meters 0.06332664235230487 Centerline is valid? [True, True] Translation: X:109.64, Y:-0.47, Z:-1.98 [[ 9.99329961e-01 -3.18064244e-02 -1.81102555e-02 1.09643866e+02] [ 3.18095127e-02 9.99493942e-01 -1.17584111e-04 -4.67432269e-01] [ 1.81048306e-02 -4.58573076e-04 9.99835989e-01 -1.98499216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39800114499998 meters 0.06327844238191412 Centerline is valid? [True, True] Translation: X:109.68, Y:-0.47, Z:-1.99 [[ 9.99329515e-01 -3.18783321e-02 -1.80081181e-02 1.09675950e+02] [ 3.18814179e-02 9.99491652e-01 -1.15776773e-04 -4.67213011e-01] [ 1.80026544e-02 -4.58425191e-04 9.99837834e-01 -1.98546992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42800114499998 meters 0.06330747133989104 Centerline is valid? [True, True] Translation: X:109.71, Y:-0.47, Z:-1.99 [[ 9.99342570e-01 -3.21795842e-02 -1.67003897e-02 1.09708001e+02] [ 3.21822995e-02 9.99482010e-01 -1.06202494e-04 -4.70060202e-01] [ 1.66951566e-02 -4.31324270e-04 9.99860533e-01 -1.98583449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45800114499998 meters 0.06300577336042353 Centerline is valid? [True, True] Translation: X:109.74, Y:-0.47, Z:-1.99 [[ 9.99314830e-01 -3.30089640e-02 -1.67415558e-02 1.09739743e+02] [ 3.30118452e-02 9.99454955e-01 -1.04304975e-04 -4.71041638e-01] [ 1.67358739e-02 -4.48436140e-04 9.99859845e-01 -1.98515290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48800114499998 meters 0.06362386382470964 Centerline is valid? [True, True] Translation: X:109.77, Y:-0.48, Z:-1.99 [[ 9.99287453e-01 -3.39820924e-02 -1.64256796e-02 1.09770682e+02] [ 3.39849983e-02 9.99422338e-01 -1.02270247e-04 -4.75458215e-01] [ 1.64196664e-02 -4.56029318e-04 9.99865084e-01 -1.98897229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51800114499999 meters 0.06397890528283819 Centerline is valid? [True, True] Translation: X:109.80, Y:-0.48, Z:-1.99 [[ 9.99234251e-01 -3.53861514e-02 -1.66952873e-02 1.09801921e+02] [ 3.53893618e-02 9.99373595e-01 -1.03197645e-04 -4.77183692e-01] [ 1.66884811e-02 -4.87716942e-04 9.99860619e-01 -1.99046289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54800114499999 meters 0.06411796202795805 Centerline is valid? [True, True] Translation: X:109.83, Y:-0.48, Z:-1.99 [[ 9.99187846e-01 -3.64582992e-02 -1.71592681e-02 1.09834131e+02] [ 3.64618710e-02 9.99335039e-01 -1.04753222e-04 -4.76787294e-01] [ 1.71516770e-02 -5.20990873e-04 9.99852763e-01 -1.99031347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57800114499999 meters 0.06393983932519398 Centerline is valid? [True, True] Translation: X:109.87, Y:-0.47, Z:-1.99 [[ 9.99079184e-01 -3.94281287e-02 -1.69176715e-02 1.09865789e+02] [ 3.94320362e-02 9.99222250e-01 -1.02670588e-04 -4.72820315e-01] [ 1.69085619e-02 -5.64522185e-04 9.99856881e-01 -1.98730488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60800114499999 meters 0.06406709523749733 Centerline is valid? [True, True] Translation: X:109.90, Y:-0.47, Z:-1.99 [[ 9.99011248e-01 -4.07723149e-02 -1.77241000e-02 1.09898339e+02] [ 4.07768398e-02 9.99168273e-01 -1.06173414e-04 -4.72343687e-01] [ 1.77136873e-02 -6.16664353e-04 9.99842910e-01 -1.98718207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63800114499998 meters 0.0661846612759889 Centerline is valid? [True, True] Translation: X:109.93, Y:-0.48, Z:-2.00 [[ 9.98983929e-01 -4.11428675e-02 -1.83949571e-02 1.09929108e+02] [ 4.11478457e-02 9.99153063e-01 -1.07934561e-04 -4.79185165e-01] [ 1.83838185e-02 -6.49087965e-04 9.99830793e-01 -1.99504271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66800114499998 meters 0.06512591244216875 Centerline is valid? [True, True] Translation: X:109.96, Y:-0.48, Z:-1.99 [[ 9.98948804e-01 -4.18703957e-02 -1.86589659e-02 1.09961297e+02] [ 4.18756562e-02 9.99122824e-01 -1.08866366e-04 -4.75933580e-01] [ 1.86471569e-02 -6.72604512e-04 9.99825900e-01 -1.99267894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69800114499998 meters 0.06716103575051337 Centerline is valid? [True, True] Translation: X:109.99, Y:-0.48, Z:-2.00 [[ 9.98936589e-01 -4.24083578e-02 -1.80892791e-02 1.09992426e+02] [ 4.24134012e-02 9.99100141e-01 -1.04916438e-04 -4.81422928e-01] [ 1.80774507e-02 -6.62422985e-04 9.99836370e-01 -1.99976929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72800114499998 meters 0.06520103093083097 Centerline is valid? [True, True] Translation: X:110.02, Y:-0.47, Z:-1.99 [[ 9.98957156e-01 -4.21605822e-02 -1.75238644e-02 1.10024459e+02] [ 4.21653012e-02 9.99110643e-01 -1.00262575e-04 -4.74019927e-01] [ 1.75125066e-02 -6.38741005e-04 9.99846440e-01 -1.99414924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75800114499998 meters 0.06434180048987799 Centerline is valid? [True, True] Translation: X:110.06, Y:-0.47, Z:-1.99 [[ 9.98941991e-01 -4.25929054e-02 -1.73419429e-02 1.10056483e+02] [ 4.25976124e-02 9.99092305e-01 -9.80460004e-05 -4.69234003e-01] [ 1.73303777e-02 -6.40783093e-04 9.99849612e-01 -1.99154102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78800114499998 meters 0.06471135888501754 Centerline is valid? [True, True] Translation: X:110.09, Y:-0.47, Z:-1.99 [[ 9.98952595e-01 -4.25350756e-02 -1.68665628e-02 1.10087740e+02] [ 4.25395295e-02 9.99094780e-01 -9.47795773e-05 -4.69125228e-01] [ 1.68553263e-02 -6.22815342e-04 9.99857745e-01 -1.99311227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81800114499998 meters 0.06515639137181523 Centerline is valid? [True, True] Translation: X:110.12, Y:-0.47, Z:-1.99 [[ 9.98923115e-01 -4.34807547e-02 -1.61874947e-02 1.10119116e+02] [ 4.34849940e-02 9.99054076e-01 -9.01714493e-05 -4.67881430e-01] [ 1.61761033e-02 -6.13838766e-04 9.99868970e-01 -1.99371370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84800114499998 meters 0.0641303237731407 Centerline is valid? [True, True] Translation: X:110.15, Y:-0.46, Z:-1.99 [[ 9.98923684e-01 -4.34907618e-02 -1.61253330e-02 1.10152186e+02] [ 4.34950093e-02 9.99053640e-01 -8.73793205e-05 -4.62709738e-01] [ 1.61138728e-02 -6.14086234e-04 9.99869975e-01 -1.99113028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87800114499998 meters 0.06419520364501219 Centerline is valid? [True, True] Translation: X:110.18, Y:-0.46, Z:-1.99 [[ 9.98929139e-01 -4.32949543e-02 -1.63132650e-02 1.10184777e+02] [ 4.32993012e-02 9.99062142e-01 -8.68089290e-05 -4.60960128e-01] [ 1.63017239e-02 -6.19637007e-04 9.99866926e-01 -1.99195829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90800114499999 meters 0.06469767435172345 Centerline is valid? [True, True] Translation: X:110.22, Y:-0.46, Z:-2.00 [[ 9.98989365e-01 -4.17064691e-02 -1.67576324e-02 1.10216208e+02] [ 4.17108774e-02 9.99129719e-01 -8.65153034e-05 -4.60587069e-01] [ 1.67466568e-02 -6.12547682e-04 9.99859577e-01 -1.99565469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93800114499999 meters 0.06464484562042654 Centerline is valid? [True, True] Translation: X:110.25, Y:-0.46, Z:-2.00 [[ 9.98992255e-01 -4.14221871e-02 -1.72822972e-02 1.10248169e+02] [ 4.14268323e-02 9.99141536e-01 -8.92831032e-05 -4.59233566e-01] [ 1.72711593e-02 -6.26757700e-04 9.99850646e-01 -1.99632373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96800114499999 meters 0.06560790676200151 Centerline is valid? [True, True] Translation: X:110.28, Y:-0.46, Z:-2.00 [[ 9.98988629e-01 -4.12594390e-02 -1.78711730e-02 1.10279042e+02] [ 4.12644297e-02 9.99148257e-01 -8.95560138e-05 -4.60193273e-01] [ 1.78596463e-02 -6.47978321e-04 9.99840294e-01 -2.00006406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99800114499999 meters 0.06487282326041884 Centerline is valid? [True, True] Translation: X:110.31, Y:-0.46, Z:-2.00 [[ 9.99045603e-01 -4.01876874e-02 -1.71123685e-02 1.10311794e+02] [ 4.01921208e-02 9.99191967e-01 -8.49016970e-05 -4.56001463e-01] [ 1.71019532e-02 -6.02961716e-04 9.99853569e-01 -1.99863114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02800114499998 meters 0.06441616975108028 Centerline is valid? [True, True] Translation: X:110.34, Y:-0.45, Z:-2.00 [[ 9.99094675e-01 -3.93460384e-02 -1.61777381e-02 1.10343947e+02] [ 3.93499040e-02 9.99225489e-01 -7.94225367e-05 -4.53115954e-01] [ 1.61683332e-02 -5.57241807e-04 9.99869129e-01 -1.99783628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05800114499998 meters 0.06391803987758866 Centerline is valid? [True, True] Translation: X:110.38, Y:-0.45, Z:-2.00 [[ 9.99148958e-01 -3.81723449e-02 -1.56279033e-02 1.10375946e+02] [ 3.81758253e-02 9.99271035e-01 -7.56647720e-05 -4.48791489e-01] [ 1.56193994e-02 -5.21007727e-04 9.99877874e-01 -1.99594824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08800114499998 meters 0.0639725611270461 Centerline is valid? [True, True] Translation: X:110.41, Y:-0.45, Z:-2.00 [[ 9.99202727e-01 -3.68303991e-02 -1.54088570e-02 1.10407394e+02] [ 3.68336307e-02 9.99321409e-01 -7.41224082e-05 -4.46729206e-01] [ 1.54011307e-02 -4.93500837e-04 9.99881274e-01 -1.99679774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11800114499998 meters 0.06329281791353591 Centerline is valid? [True, True] Translation: X:110.44, Y:-0.44, Z:-2.00 [[ 9.99274818e-01 -3.46579534e-02 -1.57690715e-02 1.10439464e+02] [ 3.46610879e-02 9.99399121e-01 -7.45654218e-05 -4.42654204e-01] [ 1.57621805e-02 -4.72061825e-04 9.99875658e-01 -1.99688808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14800114499998 meters 0.06301573567015233 Centerline is valid? [True, True] Translation: X:110.47, Y:-0.44, Z:-2.00 [[ 9.99288961e-01 -3.39711775e-02 -1.63563750e-02 1.10472361e+02] [ 3.39744928e-02 9.99422697e-01 -7.52133995e-05 -4.40733867e-01] [ 1.63494875e-02 -4.80539626e-04 9.99866223e-01 -1.99721158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17800114499998 meters 0.06342055616339884 Centerline is valid? [True, True] Translation: X:110.50, Y:-0.44, Z:-2.00 [[ 9.99309883e-01 -3.35929532e-02 -1.58515310e-02 1.10504030e+02] [ 3.35960280e-02 9.99435492e-01 -7.23543662e-05 -4.40168800e-01] [ 1.58450133e-02 -4.60244045e-04 9.99874354e-01 -1.99927598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20800114499998 meters 0.06352362089281556 Centerline is valid? [True, True] Translation: X:110.54, Y:-0.44, Z:-2.00 [[ 9.99321615e-01 -3.31469787e-02 -1.60495647e-02 1.10536424e+02] [ 3.31500891e-02 9.99450382e-01 -7.22769676e-05 -4.37511034e-01] [ 1.60431393e-02 -4.59816564e-04 9.99871195e-01 -1.99960940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23800114499998 meters 0.06374412797018152 Centerline is valid? [True, True] Translation: X:110.57, Y:-0.43, Z:-2.00 [[ 9.99289203e-01 -3.30214355e-02 -1.81844414e-02 1.10568443e+02] [ 3.30254263e-02 9.99454509e-01 -8.08802724e-05 -4.33684567e-01] [ 1.81771927e-02 -5.19726145e-04 9.99834646e-01 -2.00185169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26800114499999 meters 0.06428238930475406 Centerline is valid? [True, True] Translation: X:110.60, Y:-0.43, Z:-2.00 [[ 9.99258852e-01 -3.37879307e-02 -1.84424154e-02 1.10599309e+02] [ 3.37921768e-02 9.99428878e-01 -8.14339021e-05 -4.34065696e-01] [ 1.84346341e-02 -5.41835816e-04 9.99829921e-01 -2.00468827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29800114499999 meters 0.06428238930475406 Centerline is valid? [True, True] Translation: X:110.63, Y:-0.43, Z:-2.01 [[ 9.99260955e-01 -3.37256763e-02 -1.84424216e-02 1.10631038e+02] [ 3.37299375e-02 9.99430981e-01 -8.00402340e-05 -4.33993180e-01] [ 1.84346269e-02 -5.42080647e-04 9.99829921e-01 -2.00520333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32800114499999 meters 0.0643706495903334 Centerline is valid? [True, True] Translation: X:110.66, Y:-0.43, Z:-2.01 [[ 9.99232121e-01 -3.45641114e-02 -1.84524048e-02 1.10662836e+02] [ 3.45685414e-02 9.99402326e-01 -7.89304578e-05 -4.34274357e-01] [ 1.84441044e-02 -5.59002870e-04 9.99829737e-01 -2.00590277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35800114499999 meters 0.06411732861020597 Centerline is valid? [True, True] Translation: X:110.70, Y:-0.43, Z:-2.00 [[ 9.99178175e-01 -3.63964076e-02 -1.78402679e-02 1.10695037e+02] [ 3.64008618e-02 9.99337266e-01 -7.50985468e-05 -4.31894166e-01] [ 1.78311778e-02 -5.74364297e-04 9.99840847e-01 -2.00485674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38800114499998 meters 0.06520216309486149 Centerline is valid? [True, True] Translation: X:110.73, Y:-0.43, Z:-2.01 [[ 9.99168528e-01 -3.64974865e-02 -1.81710051e-02 1.10726401e+02] [ 3.65021348e-02 9.99333572e-01 -7.59048613e-05 -4.33746931e-01] [ 1.81616658e-02 -5.87438730e-04 9.99834891e-01 -2.00944625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41800114499998 meters 0.06432634639417684 Centerline is valid? [True, True] Translation: X:110.76, Y:-0.43, Z:-2.01 [[ 9.99178429e-01 -3.60287382e-02 -1.85579250e-02 1.10758492e+02] [ 3.60335320e-02 9.99350579e-01 -7.61114646e-05 -4.29601328e-01] [ 1.85486153e-02 -5.92658650e-04 9.99827784e-01 -2.00774088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44800114499998 meters 0.06496974460696381 Centerline is valid? [True, True] Translation: X:110.79, Y:-0.43, Z:-2.01 [[ 9.99212758e-01 -3.49524783e-02 -1.87666902e-02 1.10789551e+02] [ 3.49572024e-02 9.99388807e-01 -7.63557162e-05 -4.28780911e-01] [ 1.87578889e-02 -5.79735380e-04 9.99823887e-01 -2.01056887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47800114499998 meters 0.06509978565194165 Centerline is valid? [True, True] Translation: X:110.82, Y:-0.42, Z:-2.01 [[ 9.99271525e-01 -3.31295660e-02 -1.89433544e-02 1.10821067e+02] [ 3.31340681e-02 9.99450913e-01 -7.62407946e-05 -4.24856776e-01] [ 1.89354787e-02 -5.51485141e-04 9.99820556e-01 -2.01227611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50800114499998 meters 0.06427044814571563 Centerline is valid? [True, True] Translation: X:110.85, Y:-0.42, Z:-2.01 [[ 9.99284882e-01 -3.25980179e-02 -1.91597033e-02 1.10853401e+02] [ 3.26025534e-02 9.99468393e-01 -7.56681845e-05 -4.20961021e-01] [ 1.91519845e-02 -5.49041177e-04 9.99816433e-01 -2.01073411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53800114499998 meters 0.06509158522987196 Centerline is valid? [True, True] Translation: X:110.88, Y:-0.42, Z:-2.02 [[ 9.99297309e-01 -3.19010289e-02 -1.96777431e-02 1.10884276e+02] [ 3.19056904e-02 9.99490881e-01 -7.70872510e-05 -4.22394823e-01] [ 1.96701840e-02 -5.50798899e-04 9.99806371e-01 -2.01552244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56800114499998 meters 0.063810026529708 Centerline is valid? [True, True] Translation: X:110.92, Y:-0.42, Z:-2.01 [[ 9.99309447e-01 -3.08000041e-02 -2.07843244e-02 1.10916326e+02] [ 3.08049994e-02 9.99525410e-01 -7.98605019e-05 -4.16267754e-01] [ 2.07769201e-02 -5.60455747e-04 9.99783979e-01 -2.01131491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59800114499998 meters 0.06370992285629522 Centerline is valid? [True, True] Translation: X:110.95, Y:-0.41, Z:-2.01 [[ 9.99375772e-01 -2.83849501e-02 -2.10323883e-02 1.10946448e+02] [ 2.83895212e-02 9.99596933e-01 -8.12723946e-05 -4.13047337e-01] [ 2.10262177e-02 -5.15877771e-04 9.99778792e-01 -2.01366616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62800114499998 meters 0.06314581924244295 Centerline is valid? [True, True] Translation: X:110.98, Y:-0.41, Z:-2.01 [[ 9.99410154e-01 -2.70887399e-02 -2.11079252e-02 1.10978123e+02] [ 2.70930748e-02 9.99632912e-01 -8.06248041e-05 -4.09376037e-01] [ 2.11023608e-02 -4.91301350e-04 9.99777200e-01 -2.01225887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65800114499999 meters 0.06353354256448014 Centerline is valid? [True, True] Translation: X:111.01, Y:-0.41, Z:-2.01 [[ 9.99445030e-01 -2.55098000e-02 -2.14215286e-02 1.11008424e+02] [ 2.55139039e-02 9.99674464e-01 -8.17505725e-05 -4.07842247e-01] [ 2.14166405e-02 -4.64841617e-04 9.99770529e-01 -2.01487722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68800114499999 meters 0.0628343175152691 Centerline is valid? [True, True] Translation: X:111.04, Y:-0.40, Z:-2.01 [[ 9.99524640e-01 -2.14976867e-02 -2.20985010e-02 1.11039349e+02] [ 2.15010817e-02 9.99768821e-01 -8.39878921e-05 -3.99719951e-01] [ 2.20951979e-02 -3.91193708e-04 9.99755795e-01 -2.01236165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71800114499999 meters 0.06290943498161519 Centerline is valid? [True, True] Translation: X:111.07, Y:-0.40, Z:-2.01 [[ 9.99552015e-01 -2.00212025e-02 -2.22468291e-02 1.11068244e+02] [ 2.00242311e-02 9.99799491e-01 -8.66435945e-05 -3.96802868e-01] [ 2.22441032e-02 -3.58870869e-04 9.99752505e-01 -2.01360049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74800114499998 meters 0.06285582176269394 Centerline is valid? [True, True] Translation: X:111.10, Y:-0.39, Z:-2.01 [[ 9.99590054e-01 -1.76370639e-02 -2.25534673e-02 1.11096074e+02] [ 1.76394868e-02 9.99844408e-01 -9.15238821e-05 -3.93330593e-01] [ 2.25515724e-02 -3.06345226e-04 9.99745634e-01 -2.01398117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77800114499998 meters 0.06250899197242689 Centerline is valid? [True, True] Translation: X:111.12, Y:-0.39, Z:-2.01 [[ 9.99643546e-01 -1.50153513e-02 -2.20753114e-02 1.11124814e+02] [ 1.50168870e-02 9.99887236e-01 -9.62109411e-05 -3.89390576e-01] [ 2.20742667e-02 -2.35325811e-04 9.99756306e-01 -2.01302866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80800114499998 meters 0.06232383105227643 Centerline is valid? [True, True] Translation: X:111.15, Y:-0.38, Z:-2.01 [[ 9.99722859e-01 -9.91037954e-03 -2.13539023e-02 1.11152335e+02] [ 9.91066341e-03 9.99950884e-01 -9.25370336e-05 -3.83381469e-01] [ 2.13537706e-02 -1.19119950e-04 9.99771975e-01 -2.01395022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83800114499998 meters 0.06226526637481588 Centerline is valid? [True, True] Translation: X:111.18, Y:-0.38, Z:-2.01 [[ 9.99764504e-01 -7.46018643e-03 -2.03784733e-02 1.11180729e+02] [ 7.45979832e-03 9.99972171e-01 -9.50632889e-05 -3.80221379e-01] [ 2.03786154e-02 -5.69783990e-05 9.99792333e-01 -2.01422621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86800114499998 meters 0.06241056182969895 Centerline is valid? [True, True] Translation: X:111.21, Y:-0.38, Z:-2.01 [[ 9.99768864e-01 -4.94752611e-03 -2.09222448e-02 1.11209003e+02] [ 4.94647447e-03 9.99987761e-01 -1.02015454e-04 -3.76518408e-01] [ 2.09224935e-02 -1.49947572e-06 9.99781101e-01 -2.01472365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89800114499998 meters 0.06236156291817518 Centerline is valid? [True, True] Translation: X:111.24, Y:-0.37, Z:-2.02 [[ 9.99765284e-01 -2.87396947e-03 -2.14736542e-02 1.11237829e+02] [ 2.87228569e-03 9.99995869e-01 -1.09253813e-04 -3.72685469e-01] [ 2.14738795e-02 4.75497003e-05 9.99769409e-01 -2.01518980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92800114499998 meters 0.06253984206016293 Centerline is valid? [True, True] Translation: X:111.27, Y:-0.37, Z:-2.01 [[ 9.99728657e-01 -2.46025181e-04 -2.32927590e-02 1.11267128e+02] [ 2.43359790e-04 9.99999964e-01 -1.17264595e-04 -3.67917812e-01] [ 2.32927870e-02 1.11564255e-04 9.99728680e-01 -2.01451433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95800114499998 meters 0.06322814676784488 Centerline is valid? [True, True] Translation: X:111.29, Y:-0.37, Z:-2.02 [[ 9.99708571e-01 -1.39769325e-04 -2.41402810e-02 1.11294632e+02] [ 1.36787265e-04 9.99999983e-01 -1.25181713e-04 -3.67207000e-01] [ 2.41402981e-02 1.21843148e-04 9.99708573e-01 -2.01957967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98800114499998 meters 0.0634406003246443 Centerline is valid? [True, True] Translation: X:111.32, Y:-0.37, Z:-2.02 [[ 9.99719159e-01 -3.68980398e-04 -2.36952937e-02 1.11322088e+02] [ 3.66144544e-04 9.99999925e-01 -1.24018513e-04 -3.67647080e-01] [ 2.36953376e-02 1.15307781e-04 9.99719219e-01 -2.02208085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01800114499999 meters 0.063126237215574 Centerline is valid? [True, True] Translation: X:111.35, Y:-0.37, Z:-2.02 [[ 9.99707797e-01 -1.87135700e-03 -2.41001720e-02 1.11351216e+02] [ 1.86883156e-03 9.99998246e-01 -1.27311766e-04 -3.66196922e-01] [ 2.41003680e-02 8.22354029e-05 9.99709541e-01 -2.02008374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04800114499999 meters 0.06278101583479541 Centerline is valid? [True, True] Translation: X:111.38, Y:-0.37, Z:-2.02 [[ 9.99701289e-01 -3.06239466e-03 -2.42477698e-02 1.11379191e+02] [ 3.05996795e-03 9.99995309e-01 -1.37183310e-04 -3.65394454e-01] [ 2.42480762e-02 6.29449331e-05 9.99705970e-01 -2.01685249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07800114499999 meters 0.06286478864926738 Centerline is valid? [True, True] Translation: X:111.41, Y:-0.37, Z:-2.02 [[ 9.99701011e-01 -4.37488525e-03 -2.40572013e-02 1.11406529e+02] [ 4.37289813e-03 9.99990430e-01 -1.35206847e-04 -3.65256345e-01] [ 2.40575626e-02 2.99667312e-05 9.99710575e-01 -2.01763578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10800114499999 meters 0.06269328876371942 Centerline is valid? [True, True] Translation: X:111.44, Y:-0.37, Z:-2.02 [[ 9.99699111e-01 -6.81419384e-03 -2.35638243e-02 1.11435103e+02] [ 6.81293551e-03 9.99976783e-01 -1.33681902e-04 -3.67544385e-01] [ 2.35641882e-02 -2.68971367e-05 9.99722326e-01 -2.01702011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13800114499998 meters 0.06268609069315406 Centerline is valid? [True, True] Translation: X:111.46, Y:-0.37, Z:-2.02 [[ 9.99705337e-01 -8.37413920e-03 -2.27840545e-02 1.11463248e+02] [ 8.37328828e-03 9.99964935e-01 -1.32750013e-04 -3.69151201e-01] [ 2.27843672e-02 -5.80665603e-05 9.99740401e-01 -2.01867356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16800114499998 meters 0.06254469791116579 Centerline is valid? [True, True] Translation: X:111.49, Y:-0.37, Z:-2.02 [[ 9.99695101e-01 -1.02510701e-02 -2.24637649e-02 1.11490984e+02] [ 1.02505398e-02 9.99947452e-01 -1.38756301e-04 -3.70812577e-01] [ 2.24640069e-02 -9.15517216e-05 9.99747648e-01 -2.01689342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19800114499998 meters 0.06231804799907533 Centerline is valid? [True, True] Translation: X:111.52, Y:-0.37, Z:-2.02 [[ 9.99700014e-01 -1.20172234e-02 -2.13416922e-02 1.11519875e+02] [ 1.20170511e-02 9.99927783e-01 -1.36324815e-04 -3.72221892e-01] [ 2.13417892e-02 -1.20180287e-04 9.99772231e-01 -2.01559757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22800114499998 meters 0.0623938314336597 Centerline is valid? [True, True] Translation: X:111.55, Y:-0.38, Z:-2.02 [[ 9.99672318e-01 -1.50890374e-02 -2.06779493e-02 1.11547975e+02] [ 1.50894089e-02 9.99886139e-01 -1.38069662e-04 -3.75733091e-01] [ 2.06776782e-02 -1.73993612e-04 9.99786179e-01 -2.01577169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25800114499998 meters 0.0623938314336597 Centerline is valid? [True, True] Translation: X:111.58, Y:-0.38, Z:-2.02 [[ 9.99668406e-01 -1.53460813e-02 -2.06779136e-02 1.11575337e+02] [ 1.53463977e-02 9.99882227e-01 -1.43386356e-04 -3.75461528e-01] [ 2.06776788e-02 -1.73992677e-04 9.99786179e-01 -2.01621840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28800114499998 meters 0.062482405456224466 Centerline is valid? [True, True] Translation: X:111.60, Y:-0.38, Z:-2.02 [[ 9.99607044e-01 -1.86183608e-02 -2.09550304e-02 1.11602564e+02] [ 1.86193877e-02 9.99826634e-01 -1.46118864e-04 -3.78005429e-01] [ 2.09541180e-02 -2.44108391e-04 9.99780409e-01 -2.01718030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31800114499998 meters 0.06261368644646569 Centerline is valid? [True, True] Translation: X:111.63, Y:-0.38, Z:-2.02 [[ 9.99603682e-01 -1.94112778e-02 -2.03882503e-02 1.11631371e+02] [ 1.94122925e-02 9.99811553e-01 -1.48164721e-04 -3.78351480e-01] [ 2.03872842e-02 -2.47676676e-04 9.99792127e-01 -2.01663650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34800114499998 meters 0.06278490501496499 Centerline is valid? [True, True] Translation: X:111.66, Y:-0.38, Z:-2.02 [[ 9.99576012e-01 -2.13729062e-02 -1.97736049e-02 1.11660418e+02] [ 2.13742797e-02 9.99771534e-01 -1.41903273e-04 -3.80344232e-01] [ 1.97721202e-02 -2.80803455e-04 9.99804473e-01 -2.01769050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37800114499998 meters 0.06282483585567794 Centerline is valid? [True, True] Translation: X:111.69, Y:-0.38, Z:-2.02 [[ 9.99554417e-01 -2.30729142e-02 -1.89369435e-02 1.11690777e+02] [ 2.30744928e-02 9.99733739e-01 -1.35163537e-04 -3.83545389e-01] [ 1.89350199e-02 -3.01857056e-04 9.99820671e-01 -2.01820086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40800114499999 meters 0.0631074896540542 Centerline is valid? [True, True] Translation: X:111.72, Y:-0.39, Z:-2.02 [[ 9.99483016e-01 -2.66915787e-02 -1.79237313e-02 1.11721873e+02] [ 2.66936031e-02 9.99643654e-01 -1.26330577e-04 -3.89968410e-01] [ 1.79207162e-02 -3.52183702e-04 9.99839349e-01 -2.01883215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43800114499999 meters 0.06330429277724203 Centerline is valid? [True, True] Translation: X:111.75, Y:-0.39, Z:-2.02 [[ 9.99428678e-01 -2.87878717e-02 -1.77080666e-02 1.11753882e+02] [ 2.87902006e-02 9.99585469e-01 -1.23451165e-04 -3.91775287e-01] [ 1.77042799e-02 -3.86438155e-04 9.99843192e-01 -2.01875729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46800114499999 meters 0.06408761728808963 Centerline is valid? [True, True] Translation: X:111.79, Y:-0.40, Z:-2.02 [[ 9.99392956e-01 -2.99321411e-02 -1.78265758e-02 1.11785310e+02] [ 2.99347236e-02 9.99551848e-01 -1.22014173e-04 -3.95188798e-01] [ 1.78222389e-02 -4.11693513e-04 9.99841087e-01 -2.02167126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49800114499998 meters 0.06401409588602698 Centerline is valid? [True, True] Translation: X:111.82, Y:-0.40, Z:-2.02 [[ 9.99342362e-01 -3.13014596e-02 -1.83047263e-02 1.11817074e+02] [ 3.13044116e-02 9.99509889e-01 -1.25311358e-04 -3.96881809e-01] [ 1.82996774e-02 -4.47789738e-04 9.99832447e-01 -2.02077592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52800114499998 meters 0.06357563692694432 Centerline is valid? [True, True] Translation: X:111.85, Y:-0.40, Z:-2.02 [[ 9.99319472e-01 -3.18919586e-02 -1.85336397e-02 1.11849277e+02] [ 3.18951133e-02 9.99491214e-01 -1.25429131e-04 -3.97660292e-01] [ 1.85282102e-02 -4.65788765e-04 9.99828229e-01 -2.01995627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55800114499998 meters 0.06349897256445436 Centerline is valid? [True, True] Translation: X:111.88, Y:-0.40, Z:-2.02 [[ 9.99308287e-01 -3.23156696e-02 -1.84023150e-02 1.11881671e+02] [ 3.23188732e-02 9.99477601e-01 -1.23359612e-04 -4.00082567e-01] [ 1.83966881e-02 -4.71467803e-04 9.99830655e-01 -2.02012703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58800114499998 meters 0.06447429029283495 Centerline is valid? [True, True] Translation: X:111.91, Y:-0.40, Z:-2.03 [[ 9.99303191e-01 -3.25649577e-02 -1.82388830e-02 1.11913098e+02] [ 3.25681936e-02 9.99469509e-01 -1.19662920e-04 -4.04158454e-01] [ 1.82331043e-02 -4.74427936e-04 9.99833651e-01 -2.02517555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61800114499998 meters 0.06407030904687908 Centerline is valid? [True, True] Translation: X:111.95, Y:-0.40, Z:-2.02 [[ 9.99270723e-01 -3.22815679e-02 -2.03941997e-02 1.11945269e+02] [ 3.22855623e-02 9.99478676e-01 -1.33448068e-04 -4.02633484e-01] [ 2.03878756e-02 -5.25087456e-04 9.99792008e-01 -2.02315313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64800114499998 meters 0.06393855136155001 Centerline is valid? [True, True] Translation: X:111.98, Y:-0.40, Z:-2.02 [[ 9.99259957e-01 -3.25343734e-02 -2.05195652e-02 1.11977006e+02] [ 3.25384969e-02 9.99470474e-01 -1.32978173e-04 -4.03091736e-01] [ 2.05130260e-02 -5.34796045e-04 9.99789443e-01 -2.02357154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67800114499998 meters 0.06403069907836387 Centerline is valid? [True, True] Translation: X:112.01, Y:-0.40, Z:-2.02 [[ 9.99221655e-01 -3.31453637e-02 -2.13885228e-02 1.12009257e+02] [ 3.31500118e-02 9.99450378e-01 -1.37300959e-04 -4.04533081e-01] [ 2.13813181e-02 -5.71835691e-04 9.99771230e-01 -2.02412705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70800114499998 meters 0.06433699701452306 Centerline is valid? [True, True] Translation: X:112.04, Y:-0.41, Z:-2.03 [[ 9.99167278e-01 -3.40913052e-02 -2.24172476e-02 1.12041527e+02] [ 3.40966794e-02 9.99418529e-01 -1.42557166e-04 -4.06117494e-01] [ 2.24090726e-02 -6.21915249e-04 9.99748692e-01 -2.02598271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73800114499998 meters 0.06465531548595267 Centerline is valid? [True, True] Translation: X:112.07, Y:-0.41, Z:-2.03 [[ 9.99145472e-01 -3.43425708e-02 -2.29981074e-02 1.12073999e+02] [ 3.43483261e-02 9.99409912e-01 -1.44845201e-04 -4.09549129e-01] [ 2.29895108e-02 -6.45225066e-04 9.99735498e-01 -2.02797552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76800114499999 meters 0.06384664156962729 Centerline is valid? [True, True] Translation: X:112.11, Y:-0.41, Z:-2.03 [[ 9.99180806e-01 -3.36603424e-02 -2.24654881e-02 1.12105997e+02] [ 3.36656959e-02 9.99433140e-01 -1.39971973e-04 -4.08570483e-01] [ 2.24574648e-02 -6.16458980e-04 9.99747609e-01 -2.02591608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79800114499999 meters 0.06389156170895392 Centerline is valid? [True, True] Translation: X:112.14, Y:-0.41, Z:-2.03 [[ 9.99202569e-01 -3.31470955e-02 -2.22597349e-02 1.12137301e+02] [ 3.31522424e-02 9.99450304e-01 -1.37867252e-04 -4.08978673e-01] [ 2.22520687e-02 -6.00202815e-04 9.99752212e-01 -2.02661739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82800114499999 meters 0.06403053974437493 Centerline is valid? [True, True] Translation: X:112.17, Y:-0.41, Z:-2.03 [[ 9.99245380e-01 -3.16886915e-02 -2.24610052e-02 1.12168649e+02] [ 3.16936432e-02 9.99497621e-01 -1.35577679e-04 -4.05339945e-01] [ 2.24540175e-02 -5.76395715e-04 9.99747711e-01 -2.02723257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85800114499999 meters 0.06412601464816131 Centerline is valid? [True, True] Translation: X:112.20, Y:-0.40, Z:-2.03 [[ 9.99208689e-01 -3.16170956e-02 -2.41320553e-02 1.12200057e+02] [ 3.16227748e-02 9.99499864e-01 -1.46340056e-04 -4.04053629e-01] [ 2.41246128e-02 -6.16898293e-04 9.99708769e-01 -2.02811490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88800114499998 meters 0.06425870345667752 Centerline is valid? [True, True] Translation: X:112.23, Y:-0.40, Z:-2.03 [[ 9.99193931e-01 -3.18556484e-02 -2.44275694e-02 1.12231353e+02] [ 3.18615574e-02 9.99492281e-01 -1.47367776e-04 -4.04433191e-01] [ 2.44198616e-02 -6.31051419e-04 9.99701592e-01 -2.02986076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91800114499998 meters 0.06411012504277308 Centerline is valid? [True, True] Translation: X:112.26, Y:-0.40, Z:-2.03 [[ 9.99197773e-01 -3.22230927e-02 -2.37798870e-02 1.12262804e+02] [ 3.22288149e-02 9.99480507e-01 -1.42681145e-04 -4.04533854e-01] [ 2.37721312e-02 -6.23830896e-04 9.99717208e-01 -2.03002890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94800114499998 meters 0.06404771971278363 Centerline is valid? [True, True] Translation: X:112.29, Y:-0.40, Z:-2.03 [[ 9.99171560e-01 -3.30608345e-02 -2.37313247e-02 1.12294030e+02] [ 3.30667876e-02 9.99453134e-01 -1.41623421e-04 -4.03776461e-01] [ 2.37230291e-02 -6.43212579e-04 9.99718362e-01 -2.03007489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97800114499998 meters 0.06417113638982011 Centerline is valid? [True, True] Translation: X:112.33, Y:-0.40, Z:-2.03 [[ 9.99141659e-01 -3.42748988e-02 -2.32631873e-02 1.12326549e+02] [ 3.42809952e-02 9.99412225e-01 -1.36803188e-04 -4.03789421e-01] [ 2.32542027e-02 -6.60799448e-04 9.99729366e-01 -2.03075977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00800114499998 meters 0.06436745965232059 Centerline is valid? [True, True] Translation: X:112.36, Y:-0.40, Z:-2.03 [[ 9.99108389e-01 -3.59244392e-02 -2.21779467e-02 1.12357888e+02] [ 3.59304045e-02 9.99354286e-01 -1.29575663e-04 -4.04468089e-01] [ 2.21682810e-02 -6.67402464e-04 9.99754031e-01 -2.03203165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03800114499998 meters 0.06481050669458527 Centerline is valid? [True, True] Translation: X:112.39, Y:-0.41, Z:-2.03 [[ 9.99058609e-01 -3.80902200e-02 -2.07612719e-02 1.12390190e+02] [ 3.80959479e-02 9.99274079e-01 -1.19684030e-04 -4.05475788e-01] [ 2.07507596e-02 -6.71348972e-04 9.99784454e-01 -2.03205884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06800114499998 meters 0.06497354413936209 Centerline is valid? [True, True] Translation: X:112.42, Y:-0.41, Z:-2.03 [[ 9.98996705e-01 -3.95903594e-02 -2.09329334e-02 1.12422205e+02] [ 3.95965391e-02 9.99215742e-01 -1.19345181e-04 -4.05574935e-01] [ 2.09212415e-02 -7.09646274e-04 9.99780875e-01 -2.03227179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09800114499998 meters 0.06540822800375139 Centerline is valid? [True, True] Translation: X:112.45, Y:-0.41, Z:-2.03 [[ 9.98961275e-01 -4.06485543e-02 -2.05928865e-02 1.12454134e+02] [ 4.06547864e-02 9.99173246e-01 -1.16096107e-04 -4.05928902e-01] [ 2.05805804e-02 -7.21223889e-04 9.99787937e-01 -2.03328075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12800114499998 meters 0.06617539792406509 Centerline is valid? [True, True] Translation: X:112.48, Y:-0.41, Z:-2.04 [[ 9.98905126e-01 -4.20794663e-02 -2.04418035e-02 1.12484863e+02] [ 4.20859093e-02 9.99113989e-01 -1.15105377e-04 -4.07672596e-01] [ 2.04285354e-02 -7.45332536e-04 9.99791038e-01 -2.03536058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15800114499999 meters 0.06617393156867124 Centerline is valid? [True, True] Translation: X:112.52, Y:-0.41, Z:-2.03 [[ 9.98811119e-01 -4.43965293e-02 -2.01319952e-02 1.12517210e+02] [ 4.44032840e-02 9.99013682e-01 -1.11584617e-04 -4.05881176e-01] [ 2.01170926e-02 -7.82474743e-04 9.99797325e-01 -2.03487335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18800114499999 meters 0.06657130305133141 Centerline is valid? [True, True] Translation: X:112.55, Y:-0.41, Z:-2.04 [[ 9.98775339e-01 -4.51119220e-02 -2.03158995e-02 1.12549763e+02] [ 4.51189739e-02 9.98981614e-01 -1.11348178e-04 -4.05871721e-01] [ 2.03002332e-02 -8.05420727e-04 9.99793605e-01 -2.03614686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21800114499999 meters 0.06657130305133141 Centerline is valid? [True, True] Translation: X:112.58, Y:-0.41, Z:-2.04 [[ 9.98779570e-01 -4.50181572e-02 -2.03159127e-02 1.12582359e+02] [ 4.50252389e-02 9.98985844e-01 -1.08931449e-04 -4.05794994e-01] [ 2.03002131e-02 -8.05930318e-04 9.99793605e-01 -2.03667586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24800114499998 meters 0.0669097609857316 Centerline is valid? [True, True] Translation: X:112.61, Y:-0.41, Z:-2.04 [[ 9.98718360e-01 -4.62286709e-02 -2.06045542e-02 1.12614533e+02] [ 4.62362280e-02 9.98930528e-01 -1.09722539e-04 -4.05832375e-01] [ 2.05875905e-02 -8.43094953e-04 9.99787698e-01 -2.03777474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27800114499998 meters 0.06635460622939099 Centerline is valid? [True, True] Translation: X:112.65, Y:-0.40, Z:-2.04 [[ 9.98656547e-01 -4.74271816e-02 -2.08749708e-02 1.12646633e+02] [ 4.74352284e-02 9.98874310e-01 -1.09795104e-04 -4.03443909e-01] [ 2.08566793e-02 -8.80561407e-04 9.99782088e-01 -2.03703468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30800114499998 meters 0.06720518855472601 Centerline is valid? [True, True] Translation: X:112.68, Y:-0.41, Z:-2.04 [[ 9.98596036e-01 -4.86319034e-02 -2.09975096e-02 1.12677274e+02] [ 4.86403761e-02 9.98816351e-01 -1.07327286e-04 -4.05506051e-01] [ 2.09778755e-02 -9.14150162e-04 9.99779522e-01 -2.03929972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33800114499998 meters 0.06739058431510316 Centerline is valid? [True, True] Translation: X:112.71, Y:-0.40, Z:-2.04 [[ 9.98573819e-01 -4.91666054e-02 -2.08079811e-02 1.12709247e+02] [ 4.91750528e-02 9.98790170e-01 -1.05821383e-04 -4.04766874e-01] [ 2.07880098e-02 -9.17563105e-04 9.99783485e-01 -2.03997958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36800114499998 meters 0.06763250806983463 Centerline is valid? [True, True] Translation: X:112.74, Y:-0.40, Z:-2.04 [[ 9.98586630e-01 -5.00483814e-02 -1.78857993e-02 1.12741985e+02] [ 5.00548167e-02 9.98746468e-01 -8.79668708e-05 -4.01233772e-01] [ 1.78677815e-02 -8.07427865e-04 9.99840032e-01 -2.03826617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39800114499998 meters 0.06788564146419225 Centerline is valid? [True, True] Translation: X:112.77, Y:-0.40, Z:-2.04 [[ 9.98614303e-01 -4.97258812e-02 -1.72281859e-02 1.12774073e+02] [ 4.97318096e-02 9.98762604e-01 -8.44098966e-05 -4.00044051e-01] [ 1.72110651e-02 -7.72495929e-04 9.99851580e-01 -2.03874773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42800114499998 meters 0.06781861947292105 Centerline is valid? [True, True] Translation: X:112.80, Y:-0.40, Z:-2.04 [[ 9.98724283e-01 -4.75755301e-02 -1.69226566e-02 1.12804213e+02] [ 4.75809339e-02 9.98867382e-01 -8.33903272e-05 -3.96551280e-01] [ 1.69074570e-02 -7.21911860e-04 9.99856798e-01 -2.04013522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45800114499998 meters 0.06812377049101939 Centerline is valid? [True, True] Translation: X:112.84, Y:-0.40, Z:-2.04 [[ 9.98741817e-01 -4.69425873e-02 -1.76401862e-02 1.12836213e+02] [ 4.69484020e-02 9.98897312e-01 -8.45769358e-05 -3.95879502e-01] [ 1.76247049e-02 -7.43708031e-04 9.99844396e-01 -2.04228206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48800114499998 meters 0.0659546228530787 Centerline is valid? [True, True] Translation: X:112.87, Y:-0.39, Z:-2.04 [[ 9.98811312e-01 -4.56103498e-02 -1.71947570e-02 1.12868361e+02] [ 4.56156940e-02 9.98959059e-01 -8.14767486e-05 -3.88440714e-01] [ 1.71805745e-02 -7.02970876e-04 9.99852156e-01 -2.03894824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51800114499999 meters 0.06699691728934355 Centerline is valid? [True, True] Translation: X:112.90, Y:-0.39, Z:-2.04 [[ 9.98850603e-01 -4.47402249e-02 -1.71983844e-02 1.12899241e+02] [ 4.47454524e-02 9.98998417e-01 -8.09253697e-05 -3.90453411e-01] [ 1.71847794e-02 -6.88717135e-04 9.99852094e-01 -2.04298926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54800114499999 meters 0.06689070461325049 Centerline is valid? [True, True] Translation: X:112.93, Y:-0.39, Z:-2.04 [[ 9.98927346e-01 -4.35040119e-02 -1.58605624e-02 1.12929258e+02] [ 4.35082984e-02 9.99053063e-01 -7.48567334e-05 -3.86105854e-01] [ 1.58488001e-02 -6.15289645e-04 9.99874211e-01 -2.04344137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57800114499999 meters 0.06643451665181234 Centerline is valid? [True, True] Translation: X:112.96, Y:-0.38, Z:-2.04 [[ 9.98917570e-01 -4.36781513e-02 -1.59970768e-02 1.12961255e+02] [ 4.36825628e-02 9.99045459e-01 -7.37097496e-05 -3.82355535e-01] [ 1.59850264e-02 -6.25163347e-04 9.99872036e-01 -2.04169507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60800114499999 meters 0.06641923625064368 Centerline is valid? [True, True] Translation: X:112.99, Y:-0.38, Z:-2.04 [[ 9.98908115e-01 -4.37912085e-02 -1.62760197e-02 1.12993073e+02] [ 4.37958070e-02 9.99040501e-01 -7.39615523e-05 -3.79866557e-01] [ 1.62636417e-02 -6.38940622e-04 9.99867534e-01 -2.04180847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63800114499998 meters 0.06674369190780503 Centerline is valid? [True, True] Translation: X:113.03, Y:-0.38, Z:-2.04 [[ 9.98915613e-01 -4.35004937e-02 -1.65923225e-02 1.13025248e+02] [ 4.35053022e-02 9.99053194e-01 -7.12104936e-05 -3.79167312e-01] [ 1.65797105e-02 -6.50720730e-04 9.99862335e-01 -2.04328473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66800114499998 meters 0.06687652884441284 Centerline is valid? [True, True] Translation: X:113.06, Y:-0.38, Z:-2.04 [[ 9.98953066e-01 -4.27258059e-02 -1.63486338e-02 1.13057274e+02] [ 4.27303625e-02 9.99086638e-01 -7.06556406e-05 -3.77793756e-01] [ 1.63367205e-02 -6.28001382e-04 9.99866350e-01 -2.04380500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69800114499998 meters 0.0668608236480079 Centerline is valid? [True, True] Translation: X:113.09, Y:-0.38, Z:-2.04 [[ 9.98992793e-01 -4.25325201e-02 -1.42963292e-02 1.13089594e+02] [ 4.25359995e-02 9.99094933e-01 -6.07475353e-05 -3.75991202e-01] [ 1.42859738e-02 -5.47422302e-04 9.99897800e-01 -2.04399745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72800114499998 meters 0.06653609378287244 Centerline is valid? [True, True] Translation: X:113.12, Y:-0.37, Z:-2.04 [[ 9.99006294e-01 -4.23919501e-02 -1.37603340e-02 1.13121383e+02] [ 4.23951728e-02 9.99100919e-01 -5.75442568e-05 -3.72931700e-01] [ 1.37504018e-02 -5.25884665e-04 9.99905320e-01 -2.04297028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75800114499998 meters 0.0659162546792162 Centerline is valid? [True, True] Translation: X:113.15, Y:-0.37, Z:-2.04 [[ 9.99062594e-01 -4.08250957e-02 -1.43960244e-02 1.13153773e+02] [ 4.08284734e-02 9.99166168e-01 -5.93156120e-05 -3.65851358e-01] [ 1.43864421e-02 -5.28507692e-04 9.99896370e-01 -2.04086662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78800114499998 meters 0.06576802551040369 Centerline is valid? [True, True] Translation: X:113.19, Y:-0.36, Z:-2.04 [[ 9.99111366e-01 -3.96503866e-02 -1.42942320e-02 1.13186144e+02] [ 3.96536100e-02 9.99213485e-01 -5.79560293e-05 -3.63088337e-01] [ 1.42852873e-02 -5.08913374e-04 9.99897831e-01 -2.04136204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81800114499998 meters 0.0654243968834876 Centerline is valid? [True, True] Translation: X:113.22, Y:-0.36, Z:-2.04 [[ 9.99172490e-01 -3.81288830e-02 -1.41606075e-02 1.13218686e+02] [ 3.81319072e-02 9.99272713e-01 -5.64768659e-05 -3.61025036e-01] [ 1.41524620e-02 -4.83540838e-04 9.99899732e-01 -2.04195486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84800114499998 meters 0.06551396077278021 Centerline is valid? [True, True] Translation: X:113.25, Y:-0.36, Z:-2.04 [[ 9.99239524e-01 -3.66290241e-02 -1.33674380e-02 1.13249695e+02] [ 3.66315906e-02 9.99328837e-01 -5.28830817e-05 -3.60458380e-01] [ 1.33604033e-02 -4.36827651e-04 9.99910650e-01 -2.04368450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87800114499998 meters 0.06493017882083299 Centerline is valid? [True, True] Translation: X:113.28, Y:-0.36, Z:-2.04 [[ 9.99344103e-01 -3.35432576e-02 -1.36460070e-02 1.13281647e+02] [ 3.35456596e-02 9.99437185e-01 -5.28958703e-05 -3.55821207e-01] [ 1.36401011e-02 -4.04903129e-04 9.99906888e-01 -2.04306112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90800114499999 meters 0.06467825854784331 Centerline is valid? [True, True] Translation: X:113.31, Y:-0.35, Z:-2.04 [[ 9.99401782e-01 -3.16443320e-02 -1.39540389e-02 1.13313930e+02] [ 3.16466708e-02 9.99499117e-01 -5.32232197e-05 -3.52102155e-01] [ 1.39487337e-02 -3.88407494e-04 9.99902636e-01 -2.04237893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93800114499999 meters 0.06448611419753283 Centerline is valid? [True, True] Translation: X:113.35, Y:-0.35, Z:-2.04 [[ 9.99447615e-01 -3.01522450e-02 -1.39752432e-02 1.13346661e+02] [ 3.01544708e-02 9.99545249e-01 -5.14684553e-05 -3.49477916e-01] [ 1.39704398e-02 -3.69976037e-04 9.99902340e-01 -2.04243866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96800114499999 meters 0.06458396205514781 Centerline is valid? [True, True] Translation: X:113.38, Y:-0.35, Z:-2.04 [[ 9.99483267e-01 -2.86501108e-02 -1.45729005e-02 1.13377949e+02] [ 2.86523696e-02 9.99589435e-01 -5.38096837e-05 -3.48522018e-01] [ 1.45684591e-02 -3.63766253e-04 9.99893808e-01 -2.04401166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99800114499998 meters 0.06435045516001976 Centerline is valid? [True, True] Translation: X:113.41, Y:-0.35, Z:-2.05 [[ 9.99539603e-01 -2.60034461e-02 -1.56333806e-02 1.13409595e+02] [ 2.60057400e-02 9.99661792e-01 -5.65727758e-05 -3.48310930e-01] [ 1.56295643e-02 -3.50010901e-04 9.99877790e-01 -2.04700954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02800114499998 meters 0.06391643685325857 Centerline is valid? [True, True] Translation: X:113.44, Y:-0.35, Z:-2.05 [[ 9.99569046e-01 -2.46235156e-02 -1.59814183e-02 1.13441445e+02] [ 2.46257531e-02 9.99696739e-01 -5.67942183e-05 -3.46339413e-01] [ 1.59779702e-02 -3.36784719e-04 9.99872287e-01 -2.04661884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05800114499998 meters 0.0637669896533145 Centerline is valid? [True, True] Translation: X:113.47, Y:-0.35, Z:-2.05 [[ 9.99588859e-01 -2.37775221e-02 -1.60231925e-02 1.13472880e+02] [ 2.37796708e-02 9.99717222e-01 -5.64402989e-05 -3.45756236e-01] [ 1.60200035e-02 -3.24609149e-04 9.99871619e-01 -2.04699156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08800114499998 meters 0.0641445790048022 Centerline is valid? [True, True] Translation: X:113.50, Y:-0.35, Z:-2.05 [[ 9.99607970e-01 -2.26708902e-02 -1.64297328e-02 1.13504161e+02] [ 2.26730442e-02 9.99742932e-01 -5.51775119e-05 -3.45147390e-01] [ 1.64267602e-02 -3.17356178e-04 9.99865021e-01 -2.04944947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11800114499998 meters 0.06419359552891939 Centerline is valid? [True, True] Translation: X:113.54, Y:-0.34, Z:-2.05 [[ 9.99637217e-01 -2.07555707e-02 -1.71650803e-02 1.13535043e+02] [ 2.07576678e-02 9.99784535e-01 -5.60046201e-05 -3.43179182e-01] [ 1.71625442e-02 -3.00322731e-04 9.99852668e-01 -2.05093947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14800114499998 meters 0.06388072759268042 Centerline is valid? [True, True] Translation: X:113.57, Y:-0.34, Z:-2.05 [[ 9.99637301e-01 -2.03570318e-02 -1.76311413e-02 1.13566709e+02] [ 2.03591703e-02 9.99792729e-01 -5.82111656e-05 -3.42255535e-01] [ 1.76286719e-02 -3.00765356e-04 9.99844558e-01 -2.05007913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17800114499998 meters 0.06345111843336554 Centerline is valid? [True, True] Translation: X:113.60, Y:-0.34, Z:-2.05 [[ 9.99670657e-01 -1.94225480e-02 -1.67732656e-02 1.13597913e+02] [ 1.94243613e-02 9.99811328e-01 -5.48147141e-05 -3.41579753e-01] [ 1.67711656e-02 -2.71013311e-04 9.99859317e-01 -2.04832149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20800114499998 meters 0.06333156699000672 Centerline is valid? [True, True] Translation: X:113.63, Y:-0.34, Z:-2.05 [[ 9.99702039e-01 -1.78011340e-02 -1.67019067e-02 1.13628738e+02] [ 1.78027145e-02 9.99841518e-01 -5.40618599e-05 -3.42909517e-01] [ 1.67002222e-02 -2.43293525e-04 9.99860512e-01 -2.04976268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23800114499998 meters 0.06313730555313891 Centerline is valid? [True, True] Translation: X:113.66, Y:-0.34, Z:-2.05 [[ 9.99700200e-01 -1.73616372e-02 -1.72651155e-02 1.13659071e+02] [ 1.73632514e-02 9.99849246e-01 -5.64087189e-05 -3.42426133e-01] [ 1.72634920e-02 -2.43386734e-04 9.99850945e-01 -2.04941383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26800114499999 meters 0.06322145162500374 Centerline is valid? [True, True] Translation: X:113.69, Y:-0.34, Z:-2.05 [[ 9.99717717e-01 -1.63396736e-02 -1.72482079e-02 1.13688777e+02] [ 1.63411236e-02 9.99866473e-01 -5.68770742e-05 -3.42295048e-01] [ 1.72468341e-02 -2.24994078e-04 9.99851237e-01 -2.05056264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29800114499999 meters 0.06333552623902783 Centerline is valid? [True, True] Translation: X:113.72, Y:-0.34, Z:-2.05 [[ 9.99723614e-01 -1.57887961e-02 -1.74186412e-02 1.13718183e+02] [ 1.57901868e-02 9.99875326e-01 -5.76995293e-05 -3.42071311e-01] [ 1.74173805e-02 -2.17360016e-04 9.99848282e-01 -2.05125882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32800114499999 meters 0.06279753962219986 Centerline is valid? [True, True] Translation: X:113.75, Y:-0.34, Z:-2.05 [[ 9.99729677e-01 -1.56791684e-02 -1.71679107e-02 1.13748244e+02] [ 1.56804892e-02 9.99877052e-01 -5.76818735e-05 -3.41339579e-01] [ 1.71667043e-02 -2.11534957e-04 9.99852619e-01 -2.04820654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35800114499999 meters 0.0628733005063571 Centerline is valid? [True, True] Translation: X:113.78, Y:-0.34, Z:-2.05 [[ 9.99743931e-01 -1.47015573e-02 -1.72027921e-02 1.13777871e+02] [ 1.47027386e-02 9.99891907e-01 -5.78095661e-05 -3.42324852e-01] [ 1.72017825e-02 -1.95133394e-04 9.99852019e-01 -2.04854112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38800114499998 meters 0.06286787517007093 Centerline is valid? [True, True] Translation: X:113.81, Y:-0.34, Z:-2.05 [[ 9.99757229e-01 -1.44674705e-02 -1.66185159e-02 1.13806726e+02] [ 1.44685135e-02 9.99895324e-01 -5.74777075e-05 -3.42961418e-01] [ 1.66176079e-02 -1.82981467e-04 9.99861901e-01 -2.04966679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41800114499998 meters 0.06279885822142953 Centerline is valid? [True, True] Translation: X:113.84, Y:-0.34, Z:-2.05 [[ 9.99786196e-01 -1.29658995e-02 -1.61074031e-02 1.13835092e+02] [ 1.29666700e-02 9.99915928e-01 -5.66053056e-05 -3.44284927e-01] [ 1.61067828e-02 -1.52266178e-04 9.99870266e-01 -2.05111328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44800114499998 meters 0.06263349627594413 Centerline is valid? [True, True] Translation: X:113.86, Y:-0.34, Z:-2.05 [[ 9.99777124e-01 -1.31488945e-02 -1.65168995e-02 1.13863881e+02] [ 1.31496269e-02 9.99913538e-01 -6.42600356e-05 -3.44008604e-01] [ 1.65163163e-02 -1.52945353e-04 9.99863585e-01 -2.04957953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47800114499998 meters 0.06263865705640194 Centerline is valid? [True, True] Translation: X:113.89, Y:-0.34, Z:-2.05 [[ 9.99784319e-01 -1.28878169e-02 -1.62855841e-02 1.13892952e+02] [ 1.28885267e-02 9.99916938e-01 -6.13767715e-05 -3.44189401e-01] [ 1.62850224e-02 -1.48533651e-04 9.99867379e-01 -2.05068410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50800114499998 meters 0.062776309763585 Centerline is valid? [True, True] Translation: X:113.92, Y:-0.34, Z:-2.05 [[ 9.99765847e-01 -1.33260377e-02 -1.70490041e-02 1.13921883e+02] [ 1.33268598e-02 9.99911191e-01 -6.53996704e-05 -3.44554807e-01] [ 1.70483615e-02 -1.61825330e-04 9.99854653e-01 -2.05221985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53800114499998 meters 0.0628943187805289 Centerline is valid? [True, True] Translation: X:113.95, Y:-0.34, Z:-2.05 [[ 9.99723376e-01 -1.38035214e-02 -1.90429563e-02 1.13950703e+02] [ 1.38045088e-02 9.99904710e-01 -7.96039724e-05 -3.44943677e-01] [ 1.90422405e-02 -1.83296705e-04 9.99818663e-01 -2.05340131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56800114499998 meters 0.06299724534676975 Centerline is valid? [True, True] Translation: X:113.98, Y:-0.35, Z:-2.05 [[ 9.99673388e-01 -1.53654112e-02 -2.04211138e-02 1.13979328e+02] [ 1.53667841e-02 9.99881920e-01 -8.96985298e-05 -3.46907419e-01] [ 2.04200807e-02 -2.24137613e-04 9.99791463e-01 -2.05394177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59800114499998 meters 0.06307364992736643 Centerline is valid? [True, True] Translation: X:114.01, Y:-0.35, Z:-2.05 [[ 9.99654293e-01 -1.64988782e-02 -2.04714970e-02 1.14008455e+02] [ 1.65004019e-02 9.99863855e-01 -9.44889962e-05 -3.47723702e-01] [ 2.04702689e-02 -2.43331598e-04 9.99790432e-01 -2.05407302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62800114499998 meters 0.06299379767069796 Centerline is valid? [True, True] Translation: X:114.04, Y:-0.35, Z:-2.05 [[ 9.99652394e-01 -1.71142811e-02 -2.00547533e-02 1.14037264e+02] [ 1.71157754e-02 9.99853510e-01 -9.71467747e-05 -3.48607417e-01] [ 2.00534780e-02 -2.46139646e-04 9.99798878e-01 -2.05387492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65800114499999 meters 0.06329873115794718 Centerline is valid? [True, True] Translation: X:114.07, Y:-0.35, Z:-2.06 [[ 9.99654519e-01 -1.80474581e-02 -1.91084377e-02 1.14065845e+02] [ 1.80490190e-02 9.99837099e-01 -9.07849989e-05 -3.50664708e-01] [ 1.91069633e-02 -2.54134921e-04 9.99817413e-01 -2.05639364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68800114499999 meters 0.06323957793193909 Centerline is valid? [True, True] Translation: X:114.10, Y:-0.35, Z:-2.05 [[ 9.99628486e-01 -1.99135229e-02 -1.86102730e-02 1.14095553e+02] [ 1.99153203e-02 9.99801666e-01 -8.87614413e-05 -3.51782577e-01] [ 1.86083495e-02 -2.81901083e-04 9.99826810e-01 -2.05392952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71800114499999 meters 0.0632872576650959 Centerline is valid? [True, True] Translation: X:114.13, Y:-0.35, Z:-2.05 [[ 9.99603439e-01 -2.09334265e-02 -1.88349797e-02 1.14125683e+02] [ 2.09354583e-02 9.99780825e-01 -8.93166836e-05 -3.52204338e-01] [ 1.88327212e-02 -3.05037667e-04 9.99822602e-01 -2.05396464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74800114499998 meters 0.06349658191809983 Centerline is valid? [True, True] Translation: X:114.16, Y:-0.35, Z:-2.06 [[ 9.99570237e-01 -2.24043375e-02 -1.89046808e-02 1.14156330e+02] [ 2.24066578e-02 9.99748935e-01 -8.90951682e-05 -3.53209805e-01] [ 1.89019306e-02 -3.34533836e-04 9.99821287e-01 -2.05520327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77800114499998 meters 0.06377911463604793 Centerline is valid? [True, True] Translation: X:114.19, Y:-0.35, Z:-2.06 [[ 9.99509271e-01 -2.40944914e-02 -2.00168261e-02 1.14187250e+02] [ 2.40974523e-02 9.99709610e-01 -9.33030547e-05 -3.53807820e-01] [ 2.00132615e-02 -3.89097245e-04 9.99799639e-01 -2.05594884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80800114499998 meters 0.06399956834401024 Centerline is valid? [True, True] Translation: X:114.22, Y:-0.35, Z:-2.06 [[ 9.99475396e-01 -2.49191488e-02 -2.06874101e-02 1.14218848e+02] [ 2.49224997e-02 9.99689382e-01 -9.58638484e-05 -3.54086310e-01] [ 2.06833731e-02 -4.19768415e-04 9.99785988e-01 -2.05732119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83800114499998 meters 0.06409892795488746 Centerline is valid? [True, True] Translation: X:114.25, Y:-0.35, Z:-2.06 [[ 9.99464283e-01 -2.51998702e-02 -2.08833365e-02 1.14249988e+02] [ 2.52033598e-02 9.99682340e-01 -9.61204902e-05 -3.54910815e-01] [ 2.08791250e-02 -4.30261248e-04 9.99781915e-01 -2.05914132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86800114499998 meters 0.06431603593281446 Centerline is valid? [True, True] Translation: X:114.28, Y:-0.36, Z:-2.06 [[ 9.99453426e-01 -2.56096117e-02 -2.09044870e-02 1.14281243e+02] [ 2.56132116e-02 9.99671923e-01 -9.55608160e-05 -3.55888875e-01] [ 2.09000760e-02 -4.39922463e-04 9.99781473e-01 -2.06039592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89800114499998 meters 0.0642072868163854 Centerline is valid? [True, True] Translation: X:114.31, Y:-0.36, Z:-2.06 [[ 9.99437455e-01 -2.66960538e-02 -2.03000974e-02 1.14312279e+02] [ 2.66996860e-02 9.99643496e-01 -9.21325953e-05 -3.55576926e-01] [ 2.02953199e-02 -4.49925460e-04 9.99793928e-01 -2.05931070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92800114499998 meters 0.06464869394977207 Centerline is valid? [True, True] Translation: X:114.34, Y:-0.36, Z:-2.06 [[ 9.99431260e-01 -2.71470196e-02 -2.00049204e-02 1.14343534e+02] [ 2.71507039e-02 9.99631348e-01 -8.74606245e-05 -3.55982099e-01] [ 1.99999199e-02 -4.55736788e-04 9.99799878e-01 -2.06107259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95800114499998 meters 0.06488486880730224 Centerline is valid? [True, True] Translation: X:114.38, Y:-0.36, Z:-2.06 [[ 9.99426785e-01 -2.73818358e-02 -1.99081937e-02 1.14375858e+02] [ 2.73855414e-02 9.99624942e-01 -8.65171491e-05 -3.55679225e-01] [ 1.99030960e-02 -4.58729108e-04 9.99801809e-01 -2.06231216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98800114499998 meters 0.06456895127114949 Centerline is valid? [True, True] Translation: X:114.41, Y:-0.35, Z:-2.06 [[ 9.99447062e-01 -2.71486554e-02 -1.91968860e-02 1.14407806e+02] [ 2.71520820e-02 9.99631311e-01 -8.21700001e-05 -3.53192208e-01] [ 1.91920391e-02 -4.39110857e-04 9.99815719e-01 -2.06057660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01800114499999 meters 0.06460550901542211 Centerline is valid? [True, True] Translation: X:114.44, Y:-0.35, Z:-2.06 [[ 9.99465825e-01 -2.67118584e-02 -1.88292877e-02 1.14438703e+02] [ 2.67150896e-02 9.99643085e-01 -7.99541039e-05 -3.52369894e-01] [ 1.88247030e-02 -4.23114715e-04 9.99822710e-01 -2.06085392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04800114499999 meters 0.06469849637642042 Centerline is valid? [True, True] Translation: X:114.47, Y:-0.35, Z:-2.06 [[ 9.99495406e-01 -2.58285211e-02 -1.84884092e-02 1.14470337e+02] [ 2.58315112e-02 9.99666308e-01 -7.71061600e-05 -3.52015850e-01] [ 1.84842313e-02 -4.00516298e-04 9.99829072e-01 -2.06242195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07800114499999 meters 0.06424964809897503 Centerline is valid? [True, True] Translation: X:114.50, Y:-0.35, Z:-2.06 [[ 9.99532777e-01 -2.42739351e-02 -1.85742961e-02 1.14502860e+02] [ 2.42767069e-02 9.99705274e-01 -7.62729066e-05 -3.48957553e-01] [ 1.85706733e-02 -3.74685473e-04 9.99827480e-01 -2.06170531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10800114499999 meters 0.06424964809897503 Centerline is valid? [True, True] Translation: X:114.53, Y:-0.35, Z:-2.06 [[ 9.99534302e-01 -2.42110379e-02 -1.85743009e-02 1.14534587e+02] [ 2.42138204e-02 9.99706800e-01 -7.51088440e-05 -3.48893097e-01] [ 1.85706734e-02 -3.74680921e-04 9.99827480e-01 -2.06222012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13800114499998 meters 0.06454599011872413 Centerline is valid? [True, True] Translation: X:114.57, Y:-0.35, Z:-2.07 [[ 9.99556383e-01 -2.27600345e-02 -1.92098462e-02 1.14565693e+02] [ 2.27627546e-02 9.99740892e-01 -7.70718844e-05 -3.48912801e-01] [ 1.92066230e-02 -3.60231321e-04 9.99815471e-01 -2.06644191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16800114499998 meters 0.06402580702967475 Centerline is valid? [True, True] Translation: X:114.60, Y:-0.34, Z:-2.06 [[ 9.99582968e-01 -2.03971473e-02 -2.04412980e-02 1.14596676e+02] [ 2.03997406e-02 9.99791900e-01 -8.16668921e-05 -3.44075415e-01] [ 2.04387099e-02 -3.35364343e-04 9.99791052e-01 -2.06478961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19800114499998 meters 0.06395401104828004 Centerline is valid? [True, True] Translation: X:114.63, Y:-0.34, Z:-2.06 [[ 9.99595883e-01 -1.91324882e-02 -2.10242368e-02 1.14627187e+02] [ 1.91349409e-02 9.99816907e-01 -8.45221818e-05 -3.41739246e-01] [ 2.10220046e-02 -3.17809505e-04 9.99778963e-01 -2.06471227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22800114499998 meters 0.06439307768272086 Centerline is valid? [True, True] Translation: X:114.66, Y:-0.34, Z:-2.07 [[ 9.99649517e-01 -1.72101722e-02 -2.01160065e-02 1.14655548e+02] [ 1.72119942e-02 9.99851859e-01 -8.25741145e-05 -3.40834855e-01] [ 2.01144477e-02 -2.63691413e-04 9.99797649e-01 -2.06864670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25800114499998 meters 0.06378788713036022 Centerline is valid? [True, True] Translation: X:114.68, Y:-0.34, Z:-2.06 [[ 9.99669375e-01 -1.62110958e-02 -1.99584608e-02 1.14684058e+02] [ 1.62125477e-02 9.99868564e-01 -8.90652915e-05 -3.37386508e-01] [ 1.99572814e-02 -2.34541653e-04 9.99800806e-01 -2.06441726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28800114499998 meters 0.06379660969307398 Centerline is valid? [True, True] Translation: X:114.71, Y:-0.34, Z:-2.07 [[ 9.99714351e-01 -1.41185967e-02 -1.92842198e-02 1.14712301e+02] [ 1.41194807e-02 9.99900311e-01 -9.03208498e-05 -3.35150282e-01] [ 1.92835726e-02 -1.81988120e-04 9.99814038e-01 -2.06538595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31800114499998 meters 0.06369852956448056 Centerline is valid? [True, True] Translation: X:114.74, Y:-0.33, Z:-2.06 [[ 9.99707169e-01 -1.40196675e-02 -1.97237161e-02 1.14741422e+02] [ 1.40204863e-02 9.99901703e-01 -9.67710518e-05 -3.34338497e-01] [ 1.97231340e-02 -1.79793378e-04 9.99805464e-01 -2.06442594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34800114499998 meters 0.06466309186788954 Centerline is valid? [True, True] Translation: X:114.77, Y:-0.34, Z:-2.07 [[ 9.99696296e-01 -1.38600781e-02 -2.03768142e-02 1.14768840e+02] [ 1.38609056e-02 9.99903928e-01 -1.00634221e-04 -3.35745657e-01] [ 2.03762514e-02 -1.81837440e-04 9.99792366e-01 -2.07357797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37800114499998 meters 0.06473444858527255 Centerline is valid? [True, True] Translation: X:114.80, Y:-0.33, Z:-2.07 [[ 9.99679764e-01 -1.37432935e-02 -2.12483333e-02 1.14797903e+02] [ 1.37440498e-02 9.99905540e-01 -1.10451914e-04 -3.34943511e-01] [ 2.12478442e-02 -1.81621607e-04 9.99774223e-01 -2.07480924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40800114499999 meters 0.06420697228562505 Centerline is valid? [True, True] Translation: X:114.83, Y:-0.33, Z:-2.07 [[ 9.99651350e-01 -1.43878738e-02 -2.21397425e-02 1.14826586e+02] [ 1.43887437e-02 9.99896469e-01 -1.20020061e-04 -3.30674681e-01] [ 2.21391772e-02 -1.98584865e-04 9.99754879e-01 -2.06906373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43800114499999 meters 0.06444270125972616 Centerline is valid? [True, True] Translation: X:114.85, Y:-0.33, Z:-2.07 [[ 9.99652192e-01 -1.39960019e-02 -2.23518818e-02 1.14853994e+02] [ 1.39968037e-02 9.99902033e-01 -1.20579706e-04 -3.29809963e-01] [ 2.23513797e-02 -1.92317135e-04 9.99750158e-01 -2.07228847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46800114499999 meters 0.0641167447235518 Centerline is valid? [True, True] Translation: X:114.88, Y:-0.33, Z:-2.07 [[ 9.99667046e-01 -1.38710086e-02 -2.17575630e-02 1.14882457e+02] [ 1.38715835e-02 9.99903777e-01 -1.24508550e-04 -3.28898156e-01] [ 2.17571965e-02 -1.77344757e-04 9.99763268e-01 -2.06967941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49800114499998 meters 0.06413207333137337 Centerline is valid? [True, True] Translation: X:114.91, Y:-0.33, Z:-2.07 [[ 9.99692583e-01 -1.30217073e-02 -2.10991839e-02 1.14911520e+02] [ 1.30219586e-02 9.99915203e-01 -1.25484066e-04 -3.29543925e-01] [ 2.10990288e-02 -1.49307210e-04 9.99777380e-01 -2.07013473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52800114499998 meters 0.06400421006649218 Centerline is valid? [True, True] Translation: X:114.94, Y:-0.33, Z:-2.07 [[ 9.99687513e-01 -1.28661354e-02 -2.14321929e-02 1.14940557e+02] [ 1.28662588e-02 9.99917218e-01 -1.32139465e-04 -3.28145587e-01] [ 2.14321188e-02 -1.43653968e-04 9.99770295e-01 -2.06983074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55800114499998 meters 0.06417114337656847 Centerline is valid? [True, True] Translation: X:114.97, Y:-0.33, Z:-2.07 [[ 9.99703975e-01 -1.25227395e-02 -2.08600878e-02 1.14968603e+02] [ 1.25227940e-02 9.99921579e-01 -1.28022023e-04 -3.26792918e-01] [ 2.08600552e-02 -1.33242457e-04 9.99782396e-01 -2.07103559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58800114499998 meters 0.06421145963095401 Centerline is valid? [True, True] Translation: X:115.00, Y:-0.33, Z:-2.07 [[ 9.99733634e-01 -1.25438585e-02 -1.93730054e-02 1.14996650e+02] [ 1.25437834e-02 9.99921316e-01 -1.25399205e-04 -3.26702827e-01] [ 1.93730541e-02 -1.17644981e-04 9.99812318e-01 -2.07249933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61800114499998 meters 0.06398533702471079 Centerline is valid? [True, True] Translation: X:115.03, Y:-0.33, Z:-2.07 [[ 9.99787948e-01 -1.25338224e-02 -1.63389792e-02 1.15026562e+02] [ 1.25337999e-02 9.99921443e-01 -1.03784467e-04 -3.25274990e-01] [ 1.63389964e-02 -1.01027036e-04 9.99866505e-01 -2.06964130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64800114499998 meters 0.06391428998348385 Centerline is valid? [True, True] Translation: X:115.05, Y:-0.33, Z:-2.07 [[ 9.99788808e-01 -1.34557990e-02 -1.55332448e-02 1.15054866e+02] [ 1.34557932e-02 9.99909461e-01 -1.04890633e-04 -3.25885175e-01] [ 1.55332498e-02 -1.04143649e-04 9.99879346e-01 -2.06875922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67800114499998 meters 0.06395253398168166 Centerline is valid? [True, True] Translation: X:115.08, Y:-0.33, Z:-2.07 [[ 9.99780047e-01 -1.44715565e-02 -1.51799713e-02 1.15084182e+02] [ 1.44717045e-02 9.99895274e-01 -1.00103808e-04 -3.27358794e-01] [ 1.51798302e-02 -1.19598269e-04 9.99884773e-01 -2.06965222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70800114499998 meters 0.06382675871306027 Centerline is valid? [True, True] Translation: X:115.11, Y:-0.33, Z:-2.07 [[ 9.99753582e-01 -1.58105991e-02 -1.55820713e-02 1.15114442e+02] [ 1.58109254e-02 9.99874994e-01 -1.02257821e-04 -3.30806628e-01] [ 1.55817402e-02 -1.44134343e-04 9.99878587e-01 -2.06946049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73800114499998 meters 0.06423874152404642 Centerline is valid? [True, True] Translation: X:115.14, Y:-0.33, Z:-2.07 [[ 9.99737706e-01 -1.61995843e-02 -1.61892603e-02 1.15144984e+02] [ 1.61999956e-02 9.99868766e-01 -1.05747326e-04 -3.32472660e-01] [ 1.61888488e-02 -1.56546356e-04 9.99868940e-01 -2.07350864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76800114499999 meters 0.06382698794667253 Centerline is valid? [True, True] Translation: X:115.18, Y:-0.33, Z:-2.07 [[ 9.99743056e-01 -1.61437479e-02 -1.59122925e-02 1.15175776e+02] [ 1.61441343e-02 9.99869670e-01 -1.04181878e-04 -3.31367286e-01] [ 1.59119005e-02 -1.52735077e-04 9.99873386e-01 -2.07049270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79800114499999 meters 0.063740860192985 Centerline is valid? [True, True] Translation: X:115.21, Y:-0.33, Z:-2.07 [[ 9.99763472e-01 -1.47290628e-02 -1.60017373e-02 1.15206625e+02] [ 1.47292723e-02 9.99891513e-01 -1.04767497e-04 -3.29321291e-01] [ 1.60015444e-02 -1.30951230e-04 9.99871959e-01 -2.07042215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82800114499999 meters 0.0636437859873123 Centerline is valid? [True, True] Translation: X:115.24, Y:-0.33, Z:-2.07 [[ 9.99777898e-01 -1.39969929e-02 -1.57555859e-02 1.15236222e+02] [ 1.39970897e-02 9.99902031e-01 -1.04136092e-04 -3.29508711e-01] [ 1.57554999e-02 -1.16419386e-04 9.99875868e-01 -2.07151175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85800114499997 meters 0.06352965800935238 Centerline is valid? [True, True] Translation: X:115.27, Y:-0.33, Z:-2.07 [[ 9.99790669e-01 -1.30183644e-02 -1.57841970e-02 1.15265538e+02] [ 1.30183313e-02 9.99915252e-01 -1.04846215e-04 -3.30460248e-01] [ 1.57842242e-02 -1.00659639e-04 9.99875416e-01 -2.07019588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88800114499998 meters 0.06358669155305682 Centerline is valid? [True, True] Translation: X:115.29, Y:-0.33, Z:-2.07 [[ 9.99814913e-01 -1.22486958e-02 -1.48361105e-02 1.15293898e+02] [ 1.22485672e-02 9.99924979e-01 -9.95316995e-05 -3.32418489e-01] [ 1.48362166e-02 -8.22078199e-05 9.99889934e-01 -2.07482965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91800114499998 meters 0.06336387513506861 Centerline is valid? [True, True] Translation: X:115.32, Y:-0.33, Z:-2.07 [[ 9.99827827e-01 -1.16972878e-02 -1.44044776e-02 1.15323370e+02] [ 1.16971062e-02 9.99931582e-01 -9.68568621e-05 -3.33216258e-01] [ 1.44046250e-02 -7.16505179e-05 9.99896245e-01 -2.07224564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94800114499998 meters 0.06314963588691688 Centerline is valid? [True, True] Translation: X:115.35, Y:-0.33, Z:-2.07 [[ 9.99840767e-01 -1.10243120e-02 -1.40322745e-02 1.15352815e+02] [ 1.10240669e-02 9.99939229e-01 -9.48131895e-05 -3.32532355e-01] [ 1.40324670e-02 -5.98946413e-05 9.99901538e-01 -2.07037119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97800114499998 meters 0.0632304364973992 Centerline is valid? [True, True] Translation: X:115.38, Y:-0.33, Z:-2.07 [[ 9.99839990e-01 -1.07491974e-02 -1.42985621e-02 1.15381503e+02] [ 1.07489018e-02 9.99942224e-01 -9.75273250e-05 -3.31985516e-01] [ 1.42987844e-02 -5.61821206e-05 9.99897766e-01 -2.07072299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00800114499998 meters 0.06335486260906444 Centerline is valid? [True, True] Translation: X:115.41, Y:-0.33, Z:-2.07 [[ 9.99858839e-01 -9.24999163e-03 -1.40264254e-02 1.15409672e+02] [ 9.24955044e-03 9.99957217e-01 -9.63272500e-05 -3.33608886e-01] [ 1.40267163e-02 -3.34244768e-05 9.99901620e-01 -2.07278643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03800114499998 meters 0.06327414976992642 Centerline is valid? [True, True] Translation: X:115.44, Y:-0.34, Z:-2.07 [[ 9.99861331e-01 -9.35624324e-03 -1.37760234e-02 1.15437575e+02] [ 9.35573514e-03 9.99956229e-01 -1.01329548e-04 -3.36560765e-01] [ 1.37763685e-02 -2.75693292e-05 9.99905101e-01 -2.07399327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06800114499998 meters 0.06332172641936747 Centerline is valid? [True, True] Translation: X:115.47, Y:-0.34, Z:-2.07 [[ 9.99845164e-01 -1.07083278e-02 -1.39635103e-02 1.15466003e+02] [ 1.07079022e-02 9.99942663e-01 -1.05240591e-04 -3.40143641e-01] [ 1.39638366e-02 -4.42956066e-05 9.99902500e-01 -2.07472555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09800114499998 meters 0.06329707812667631 Centerline is valid? [True, True] Translation: X:115.49, Y:-0.34, Z:-2.08 [[ 9.99836199e-01 -1.16046573e-02 -1.38891078e-02 1.15494691e+02] [ 1.16043525e-02 9.99932662e-01 -1.02537128e-04 -3.42735797e-01] [ 1.38893624e-02 -5.86537710e-05 9.99903536e-01 -2.07544835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12800114499998 meters 0.06338864993025531 Centerline is valid? [True, True] Translation: X:115.52, Y:-0.35, Z:-2.07 [[ 9.99783958e-01 -1.42025502e-02 -1.51764392e-02 1.15524531e+02] [ 1.42024832e-02 9.99899133e-01 -1.12196873e-04 -3.45412911e-01] [ 1.51765019e-02 -1.03370489e-04 9.99884825e-01 -2.07459692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15800114499999 meters 0.06379718837189012 Centerline is valid? [True, True] Translation: X:115.55, Y:-0.35, Z:-2.08 [[ 9.99762608e-01 -1.47336086e-02 -1.60514172e-02 1.15553465e+02] [ 1.47336308e-02 9.99891447e-01 -1.16878037e-04 -3.49144363e-01] [ 1.60513968e-02 -1.19645364e-04 9.99871161e-01 -2.07999893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18800114499999 meters 0.06360825653847275 Centerline is valid? [True, True] Translation: X:115.58, Y:-0.35, Z:-2.08 [[ 9.99756407e-01 -1.47844122e-02 -1.63874480e-02 1.15582873e+02] [ 1.47844149e-02 9.99890697e-01 -1.20987243e-04 -3.51114951e-01] [ 1.63874455e-02 -1.21321059e-04 9.99865709e-01 -2.07833795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21800114499999 meters 0.06348132730867849 Centerline is valid? [True, True] Translation: X:115.61, Y:-0.35, Z:-2.08 [[ 9.99772874e-01 -1.41183582e-02 -1.59647302e-02 1.15612725e+02] [ 1.41182676e-02 9.99900325e-01 -1.18381449e-04 -3.52913833e-01] [ 1.59648102e-02 -1.07039772e-04 9.99872549e-01 -2.07881801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24800114499998 meters 0.06344361485261914 Centerline is valid? [True, True] Translation: X:115.64, Y:-0.35, Z:-2.08 [[ 9.99773808e-01 -1.33157452e-02 -1.65838161e-02 1.15641743e+02] [ 1.33155712e-02 9.99911337e-01 -1.20918708e-04 -3.54466400e-01] [ 1.65839558e-02 -9.99316272e-05 9.99862472e-01 -2.08042032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27800114499998 meters 0.06321628696994933 Centerline is valid? [True, True] Translation: X:115.67, Y:-0.35, Z:-2.08 [[ 9.99806323e-01 -1.07207962e-02 -1.65039907e-02 1.15670301e+02] [ 1.07201394e-02 9.99942529e-01 -1.28269736e-04 -3.53835441e-01] [ 1.65044174e-02 -4.86801871e-05 9.99863792e-01 -2.07868467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30800114499998 meters 0.06330141017650255 Centerline is valid? [True, True] Translation: X:115.70, Y:-0.35, Z:-2.08 [[ 9.99817884e-01 -9.49639460e-03 -1.65534632e-02 1.15697303e+02] [ 9.49553100e-03 9.99954908e-01 -1.30768517e-04 -3.53437908e-01] [ 1.65539586e-02 -2.64392212e-05 9.99862973e-01 -2.07944233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33800114499998 meters 0.06317428627431881 Centerline is valid? [True, True] Translation: X:115.73, Y:-0.35, Z:-2.08 [[ 9.99837910e-01 -8.02841978e-03 -1.61151459e-02 1.15725787e+02] [ 8.02734140e-03 9.99967772e-01 -1.31601922e-04 -3.52731750e-01] [ 1.61156831e-02 2.21881304e-06 9.99870134e-01 -2.07859170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36800114499998 meters 0.06314050626924016 Centerline is valid? [True, True] Translation: X:115.75, Y:-0.35, Z:-2.08 [[ 9.99846782e-01 -6.88629840e-03 -1.60932191e-02 1.15753394e+02] [ 6.88500099e-03 9.99976289e-01 -1.36022173e-04 -3.52398305e-01] [ 1.60937742e-02 2.51995026e-05 9.99870487e-01 -2.07770592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39800114499998 meters 0.06333731172023438 Centerline is valid? [True, True] Translation: X:115.78, Y:-0.35, Z:-2.08 [[ 9.99858553e-01 -3.85677362e-03 -1.63707114e-02 1.15781513e+02] [ 3.85505145e-03 9.99992560e-01 -1.36754400e-04 -3.54113888e-01] [ 1.63711170e-02 7.36251217e-05 9.99865982e-01 -2.08001578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42800114499998 meters 0.06352167993380381 Centerline is valid? [True, True] Translation: X:115.81, Y:-0.35, Z:-2.08 [[ 9.99852359e-01 -3.37548235e-03 -1.68483442e-02 1.15809501e+02] [ 3.37356903e-03 9.99994299e-01 -1.41981486e-04 -3.54774247e-01] [ 1.68487274e-02 8.51214713e-05 9.99858046e-01 -2.08210152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45800114499998 meters 0.06344095664535496 Centerline is valid? [True, True] Translation: X:115.84, Y:-0.35, Z:-2.08 [[ 9.99847851e-01 -3.08847187e-03 -1.71678743e-02 1.15838695e+02] [ 3.08634028e-03 9.99995226e-01 -1.50655502e-04 -3.54867711e-01] [ 1.71682576e-02 9.76466779e-05 9.99852610e-01 -2.08084719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48800114499998 meters 0.06314125527175879 Centerline is valid? [True, True] Translation: X:115.87, Y:-0.36, Z:-2.08 [[ 9.99838681e-01 -3.84854068e-03 -1.75442246e-02 1.15867864e+02] [ 3.84636124e-03 9.99992590e-01 -1.57966995e-04 -3.57679737e-01] [ 1.75447026e-02 9.04600860e-05 9.99846076e-01 -2.07797667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51800114499999 meters 0.06371650156101498 Centerline is valid? [True, True] Translation: X:115.90, Y:-0.36, Z:-2.08 [[ 9.99849984e-01 -4.02716600e-03 -1.68461039e-02 1.15895710e+02] [ 4.02519666e-03 9.99991887e-01 -1.50807054e-04 -3.59952501e-01] [ 1.68465746e-02 8.29755496e-05 9.99858083e-01 -2.08455245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54800114499999 meters 0.06384527915061142 Centerline is valid? [True, True] Translation: X:115.92, Y:-0.36, Z:-2.09 [[ 9.99854836e-01 -5.06451324e-03 -1.62682923e-02 1.15923252e+02] [ 5.06279526e-03 9.99987173e-01 -1.46785853e-04 -3.63380890e-01] [ 1.62688271e-02 6.44015112e-05 9.99867652e-01 -2.08721298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57800114499999 meters 0.06308148272508718 Centerline is valid? [True, True] Translation: X:115.95, Y:-0.37, Z:-2.08 [[ 9.99852236e-01 -7.25428051e-03 -1.55846836e-02 1.15952575e+02] [ 7.25295614e-03 9.99973687e-01 -1.41498984e-04 -3.69335280e-01] [ 1.55853000e-02 2.84430490e-05 9.99878541e-01 -2.08146342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60800114499997 meters 0.0630827798644078 Centerline is valid? [True, True] Translation: X:115.98, Y:-0.37, Z:-2.08 [[ 9.99835714e-01 -8.60569363e-03 -1.59526708e-02 1.15981358e+02] [ 8.60438074e-03 9.99962970e-01 -1.50934410e-04 -3.70748015e-01] [ 1.59533790e-02 1.36467601e-05 9.99872737e-01 -2.08205354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63800114499998 meters 0.06320689882178775 Centerline is valid? [True, True] Translation: X:116.01, Y:-0.37, Z:-2.08 [[ 9.99805759e-01 -1.01143358e-02 -1.69158039e-02 1.16009342e+02] [ 1.01130961e-02 9.99948849e-01 -1.58831615e-04 -3.72554914e-01] [ 1.69165451e-02 -1.22703867e-05 9.99856905e-01 -2.08399254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66800114499998 meters 0.06335058539360819 Centerline is valid? [True, True] Translation: X:116.04, Y:-0.38, Z:-2.09 [[ 9.99759398e-01 -1.29841587e-02 -1.76793020e-02 1.16038484e+02] [ 1.29831449e-02 9.99915701e-01 -1.72125543e-04 -3.78386890e-01] [ 1.76800466e-02 -5.74488112e-05 9.99843694e-01 -2.08561976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69800114499998 meters 0.06342882480746644 Centerline is valid? [True, True] Translation: X:116.07, Y:-0.38, Z:-2.09 [[ 9.99732503e-01 -1.45812804e-02 -1.79529800e-02 1.16066307e+02] [ 1.45805098e-02 9.99893684e-01 -1.73825127e-04 -3.81593016e-01] [ 1.79536059e-02 -8.79849708e-05 9.99838817e-01 -2.08798696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72800114499998 meters 0.06357268008472282 Centerline is valid? [True, True] Translation: X:116.09, Y:-0.38, Z:-2.09 [[ 9.99694748e-01 -1.60455130e-02 -1.87870090e-02 1.16093940e+02] [ 1.60449017e-02 9.99871255e-01 -1.83276589e-04 -3.84848467e-01] [ 1.87875311e-02 -1.18215071e-04 9.99823492e-01 -2.08970148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75800114499998 meters 0.06350635965131612 Centerline is valid? [True, True] Translation: X:116.12, Y:-0.39, Z:-2.09 [[ 9.99668774e-01 -1.80373640e-02 -1.83574296e-02 1.16121552e+02] [ 1.80369814e-02 9.99837303e-01 -1.86426655e-04 -3.88435127e-01] [ 1.83578055e-02 -1.44747710e-04 9.99831471e-01 -2.09022522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78800114499998 meters 0.06335775059105427 Centerline is valid? [True, True] Translation: X:116.15, Y:-0.40, Z:-2.09 [[ 9.99592175e-01 -2.27350229e-02 -1.72801316e-02 1.16150616e+02] [ 2.27353219e-02 9.99741503e-01 -1.79175919e-04 -3.95159725e-01] [ 1.72797383e-02 -2.13766507e-04 9.99850671e-01 -2.08829633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81800114499998 meters 0.06336816372449092 Centerline is valid? [True, True] Translation: X:116.18, Y:-0.40, Z:-2.09 [[ 9.99549257e-01 -2.46875199e-02 -1.70824138e-02 1.16181611e+02] [ 2.46881764e-02 9.99695186e-01 -1.72481052e-04 -3.97384280e-01] [ 1.70814649e-02 -2.49330337e-04 9.99854070e-01 -2.08718308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84800114499998 meters 0.06350775547683805 Centerline is valid? [True, True] Translation: X:116.21, Y:-0.40, Z:-2.09 [[ 9.99543078e-01 -2.52915303e-02 -1.65521640e-02 1.16212363e+02] [ 2.52922472e-02 9.99680086e-01 -1.66060162e-04 -3.99185149e-01] [ 1.65510687e-02 -2.52657137e-04 9.99862990e-01 -2.08875327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87800114499998 meters 0.06356031631328636 Centerline is valid? [True, True] Translation: X:116.24, Y:-0.40, Z:-2.09 [[ 9.99514858e-01 -2.61027426e-02 -1.69910457e-02 1.16244583e+02] [ 2.61036376e-02 9.99659228e-01 -1.69140274e-04 -4.02150744e-01] [ 1.69896707e-02 -2.74469884e-04 9.99855627e-01 -2.08924908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90800114499999 meters 0.06352961374030755 Centerline is valid? [True, True] Translation: X:116.28, Y:-0.40, Z:-2.09 [[ 9.99548221e-01 -2.54028285e-02 -1.60639106e-02 1.16276028e+02] [ 2.54035387e-02 9.99677265e-01 -1.59868673e-04 -4.04828280e-01] [ 1.60627874e-02 -2.48283729e-04 9.99870954e-01 -2.09125309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93800114499999 meters 0.06355545701874502 Centerline is valid? [True, True] Translation: X:116.31, Y:-0.41, Z:-2.09 [[ 9.99534777e-01 -2.58305075e-02 -1.62177012e-02 1.16308536e+02] [ 2.58313126e-02 9.99666303e-01 -1.59868436e-04 -4.07337407e-01] [ 1.62164189e-02 -2.59130448e-04 9.99868472e-01 -2.09247676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96800114499999 meters 0.06354184421058443 Centerline is valid? [True, True] Translation: X:116.34, Y:-0.41, Z:-2.09 [[ 9.99536454e-01 -2.58622272e-02 -1.60630793e-02 1.16340464e+02] [ 2.58630373e-02 9.99665483e-01 -1.57332394e-04 -4.07864035e-01] [ 1.60617749e-02 -2.58180557e-04 9.99870968e-01 -2.09297203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99800114499998 meters 0.06357243310766839 Centerline is valid? [True, True] Translation: X:116.37, Y:-0.41, Z:-2.09 [[ 9.99528854e-01 -2.57100823e-02 -1.67648910e-02 1.16372555e+02] [ 2.57109601e-02 9.99669405e-01 -1.63207724e-04 -4.06436633e-01] [ 1.67635447e-02 -2.67910614e-04 9.99859446e-01 -2.09365040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02800114499998 meters 0.06357243310766839 Centerline is valid? [True, True] Translation: X:116.40, Y:-0.41, Z:-2.09 [[ 9.99530459e-01 -2.56476147e-02 -1.67649012e-02 1.16404272e+02] [ 2.56485013e-02 9.99671010e-01 -1.62160116e-04 -4.06194049e-01] [ 1.67635447e-02 -2.67910614e-04 9.99859446e-01 -2.09416515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05800114499998 meters 0.06369144442713777 Centerline is valid? [True, True] Translation: X:116.44, Y:-0.41, Z:-2.09 [[ 9.99535607e-01 -2.50972405e-02 -1.72829148e-02 1.16436369e+02] [ 2.50981185e-02 9.99684979e-01 -1.66134923e-04 -4.06022678e-01] [ 1.72816398e-02 -2.67710872e-04 9.99850625e-01 -2.09468736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08800114499998 meters 0.06366683238186294 Centerline is valid? [True, True] Translation: X:116.47, Y:-0.41, Z:-2.10 [[ 9.99536595e-01 -2.49838556e-02 -1.73897003e-02 1.16468091e+02] [ 2.49847276e-02 9.99687819e-01 -1.67139269e-04 -4.06243275e-01] [ 1.73884473e-02 -2.67415109e-04 9.99848774e-01 -2.09551083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11800114499998 meters 0.0636883102405672 Centerline is valid? [True, True] Translation: X:116.50, Y:-0.41, Z:-2.10 [[ 9.99554231e-01 -2.48406272e-02 -1.65614795e-02 1.16498194e+02] [ 2.48413989e-02 9.99691392e-01 -1.59153472e-04 -4.06845648e-01] [ 1.65603219e-02 -2.52327792e-04 9.99862837e-01 -2.09653771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14800114499998 meters 0.06324474678080627 Centerline is valid? [True, True] Translation: X:116.53, Y:-0.41, Z:-2.09 [[ 9.99538436e-01 -2.55900375e-02 -1.63726789e-02 1.16529856e+02] [ 2.55909056e-02 9.99672487e-01 -1.56522155e-04 -4.06576629e-01] [ 1.63713220e-02 -2.62541770e-04 9.99865946e-01 -2.09254459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17800114499998 meters 0.06353658976857351 Centerline is valid? [True, True] Translation: X:116.56, Y:-0.41, Z:-2.10 [[ 9.99543934e-01 -2.59254767e-02 -1.54852568e-02 1.16561392e+02] [ 2.59263096e-02 9.99663846e-01 -1.46992854e-04 -4.08867925e-01] [ 1.54838622e-02 -2.54549747e-04 9.99880085e-01 -2.09536269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20800114499998 meters 0.06342920732121766 Centerline is valid? [True, True] Translation: X:116.59, Y:-0.41, Z:-2.10 [[ 9.99539453e-01 -2.60915830e-02 -1.54954996e-02 1.16593267e+02] [ 2.60924560e-02 9.99659523e-01 -1.45860356e-04 -4.09108278e-01] [ 1.54940295e-02 -2.58522462e-04 9.99879927e-01 -2.09526096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23800114499998 meters 0.06345589800629721 Centerline is valid? [True, True] Translation: X:116.63, Y:-0.41, Z:-2.10 [[ 9.99533244e-01 -2.64812144e-02 -1.52328573e-02 1.16625348e+02] [ 2.64821183e-02 9.99649277e-01 -1.42405477e-04 -4.09777249e-01] [ 1.52312859e-02 -2.61059321e-04 9.99883963e-01 -2.09595096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26800114499999 meters 0.06336941151815549 Centerline is valid? [True, True] Translation: X:116.66, Y:-0.41, Z:-2.10 [[ 9.99519318e-01 -2.67320974e-02 -1.57012224e-02 1.16657682e+02] [ 2.67331046e-02 9.99642596e-01 -1.45769457e-04 -4.08905759e-01] [ 1.56995074e-02 -2.74043031e-04 9.99876718e-01 -2.09534517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29800114499999 meters 0.06383170674020092 Centerline is valid? [True, True] Translation: X:116.69, Y:-0.41, Z:-2.10 [[ 9.99516338e-01 -2.65493768e-02 -1.61932021e-02 1.16688735e+02] [ 2.65504321e-02 9.99647464e-01 -1.49851827e-04 -4.10401830e-01] [ 1.61914719e-02 -2.80157163e-04 9.99868870e-01 -2.10007089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32800114499999 meters 0.06357862808470667 Centerline is valid? [True, True] Translation: X:116.72, Y:-0.41, Z:-2.10 [[ 9.99534697e-01 -2.57832147e-02 -1.62976884e-02 1.16721161e+02] [ 2.57842028e-02 9.99667521e-01 -1.49529336e-04 -4.09490335e-01] [ 1.62961251e-02 -2.70763142e-04 9.99867173e-01 -2.09859541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35800114499997 meters 0.06357023554882782 Centerline is valid? [True, True] Translation: X:116.75, Y:-0.41, Z:-2.10 [[ 9.99541191e-01 -2.55387342e-02 -1.62843526e-02 1.16753635e+02] [ 2.55397052e-02 9.99673798e-01 -1.48368661e-04 -4.10635172e-01] [ 1.62828298e-02 -2.67596978e-04 9.99867390e-01 -2.09948646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38800114499998 meters 0.0635350164307273 Centerline is valid? [True, True] Translation: X:116.79, Y:-0.41, Z:-2.10 [[ 9.99545441e-01 -2.53749046e-02 -1.62796252e-02 1.16785923e+02] [ 2.53758699e-02 9.99677970e-01 -1.47299705e-04 -4.10729024e-01] [ 1.62781204e-02 -2.65876903e-04 9.99867467e-01 -2.10031036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41800114499998 meters 0.06351604873755175 Centerline is valid? [True, True] Translation: X:116.82, Y:-0.41, Z:-2.10 [[ 9.99549352e-01 -2.59567777e-02 -1.50777432e-02 1.16817908e+02] [ 2.59576875e-02 9.99663033e-01 -1.35394905e-04 -4.10531306e-01] [ 1.50761769e-02 -2.56049457e-04 9.99886315e-01 -2.09998017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44800114499998 meters 0.06367878761892182 Centerline is valid? [True, True] Translation: X:116.85, Y:-0.41, Z:-2.10 [[ 9.99541729e-01 -2.63684518e-02 -1.48672946e-02 1.16849419e+02] [ 2.63694154e-02 9.99652258e-01 -1.31244810e-04 -4.11698924e-01] [ 1.48655853e-02 -2.60857204e-04 9.99889467e-01 -2.10161526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47800114499998 meters 0.06351772239321636 Centerline is valid? [True, True] Translation: X:116.88, Y:-0.41, Z:-2.10 [[ 9.99530766e-01 -2.70052649e-02 -1.44555569e-02 1.16881276e+02] [ 2.70062467e-02 9.99635257e-01 -1.27319787e-04 -4.11570373e-01] [ 1.44537226e-02 -2.63130290e-04 9.99895505e-01 -2.10063827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50800114499998 meters 0.06352288203233265 Centerline is valid? [True, True] Translation: X:116.91, Y:-0.41, Z:-2.10 [[ 9.99528424e-01 -2.73895337e-02 -1.38831660e-02 1.16913468e+02] [ 2.73904892e-02 9.99624803e-01 -1.21354182e-04 -4.13267346e-01] [ 1.38812809e-02 -2.58969754e-04 9.99903617e-01 -2.10149942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53800114499998 meters 0.06376135283823753 Centerline is valid? [True, True] Translation: X:116.94, Y:-0.42, Z:-2.10 [[ 9.99465484e-01 -2.96986152e-02 -1.36651974e-02 1.16944409e+02] [ 2.96997621e-02 9.99558858e-01 -1.19047537e-04 -4.16617909e-01] [ 1.36627047e-02 -2.86869207e-04 9.99906620e-01 -2.10302311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56800114499998 meters 0.06390512154578755 Centerline is valid? [True, True] Translation: X:116.98, Y:-0.42, Z:-2.10 [[ 9.99421001e-01 -3.08809850e-02 -1.42838309e-02 1.16976660e+02] [ 3.08823745e-02 9.99523018e-01 -1.23335158e-04 -4.16223582e-01] [ 1.42808265e-02 -3.17854869e-04 9.99897973e-01 -2.10354738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59800114499998 meters 0.06414022772301108 Centerline is valid? [True, True] Translation: X:117.01, Y:-0.42, Z:-2.10 [[ 9.99365823e-01 -3.26225175e-02 -1.42731849e-02 1.17009190e+02] [ 3.26240951e-02 9.99467685e-01 -1.22354495e-04 -4.15895879e-01] [ 1.42695786e-02 -3.43372841e-04 9.99898125e-01 -2.10409672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62800114499998 meters 0.06372505163732414 Centerline is valid? [True, True] Translation: X:117.04, Y:-0.41, Z:-2.10 [[ 9.99322683e-01 -3.38564560e-02 -1.44192725e-02 1.17041091e+02] [ 3.38582086e-02 9.99426639e-01 -1.22621016e-04 -4.13648095e-01] [ 1.44151566e-02 -3.65672775e-04 9.99896029e-01 -2.10187045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65800114499999 meters 0.06493690866690097 Centerline is valid? [True, True] Translation: X:117.07, Y:-0.42, Z:-2.11 [[ 9.99234130e-01 -3.66529238e-02 -1.37009929e-02 1.17071969e+02] [ 3.66547975e-02 9.99327981e-01 -1.14413220e-04 -4.18987285e-01] [ 1.36959792e-02 -3.87881527e-04 9.99906130e-01 -2.10778356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68800114499999 meters 0.06513898444932266 Centerline is valid? [True, True] Translation: X:117.10, Y:-0.42, Z:-2.11 [[ 9.99204751e-01 -3.76834024e-02 -1.30317257e-02 1.17104583e+02] [ 3.76851875e-02 9.99289655e-01 -1.08641562e-04 -4.18774260e-01] [ 1.30265626e-02 -3.82547860e-04 9.99915078e-01 -2.10793661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71800114499999 meters 0.06548645615552094 Centerline is valid? [True, True] Translation: X:117.14, Y:-0.42, Z:-2.11 [[ 9.99141149e-01 -3.94534854e-02 -1.26643955e-02 1.17135514e+02] [ 3.94553410e-02 9.99221330e-01 -1.03392567e-04 -4.19383484e-01] [ 1.26586133e-02 -3.96374274e-04 9.99919798e-01 -2.10846986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74800114499998 meters 0.06542181414838484 Centerline is valid? [True, True] Translation: X:117.17, Y:-0.42, Z:-2.11 [[ 9.98981686e-01 -4.37281577e-02 -1.11103178e-02 1.17167916e+02] [ 4.37298518e-02 9.99043388e-01 -9.05256318e-05 -4.18407590e-01] [ 1.11036481e-02 -3.95419103e-04 9.99938274e-01 -2.10705936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77800114499998 meters 0.06577382387466893 Centerline is valid? [True, True] Translation: X:117.20, Y:-0.42, Z:-2.11 [[ 9.98888920e-01 -4.60036324e-02 -1.02269925e-02 1.17200067e+02] [ 4.60051944e-02 9.98941197e-01 -8.25936682e-05 -4.19103335e-01] [ 1.02199637e-02 -3.87992876e-04 9.99947700e-01 -2.10691462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80800114499998 meters 0.0669375992631011 Centerline is valid? [True, True] Translation: X:117.23, Y:-0.42, Z:-2.11 [[ 9.98813676e-01 -4.75965941e-02 -1.02861287e-02 1.17231147e+02] [ 4.75982607e-02 9.98866557e-01 -8.28595865e-05 -4.21475665e-01] [ 1.02784137e-02 -4.06840545e-04 9.99947093e-01 -2.10850683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83800114499998 meters 0.0666789418694994 Centerline is valid? [True, True] Translation: X:117.26, Y:-0.42, Z:-2.11 [[ 9.98748443e-01 -4.89596523e-02 -1.02225751e-02 1.17263326e+02] [ 4.89613788e-02 9.98800669e-01 -8.14539625e-05 -4.19050950e-01] [ 1.02143028e-02 -4.19159354e-04 9.99947745e-01 -2.10777511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86800114499998 meters 0.06697885660904063 Centerline is valid? [True, True] Translation: X:117.29, Y:-0.42, Z:-2.11 [[ 9.98570931e-01 -5.21973936e-02 -1.14685810e-02 1.17294079e+02] [ 5.21997718e-02 9.98636658e-01 -9.20789519e-05 -4.18266256e-01] [ 1.14577517e-02 -5.06709948e-04 9.99934229e-01 -2.10873778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89800114499998 meters 0.07040766299336564 Centerline is valid? [True, True] Translation: X:117.33, Y:-0.43, Z:-2.12 [[ 9.98520679e-01 -5.30464649e-02 -1.19384127e-02 1.17325519e+02] [ 5.30491153e-02 9.98591900e-01 -9.47769299e-05 -4.27255695e-01] [ 1.19266298e-02 -5.38685511e-04 9.99928730e-01 -2.11526963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92800114499998 meters 0.06879728454672135 Centerline is valid? [True, True] Translation: X:117.36, Y:-0.42, Z:-2.11 [[ 9.98477230e-01 -5.39086746e-02 -1.17079211e-02 1.17357303e+02] [ 5.39113392e-02 9.98545722e-01 -8.81292512e-05 -4.21387871e-01] [ 1.16956455e-02 -5.43194654e-04 9.99931456e-01 -2.11234777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95800114499998 meters 0.06928655939752378 Centerline is valid? [True, True] Translation: X:117.39, Y:-0.42, Z:-2.11 [[ 9.98447023e-01 -5.44919380e-02 -1.15832614e-02 1.17388622e+02] [ 5.44946120e-02 9.98514061e-01 -8.48813089e-05 -4.20894065e-01] [ 1.15706747e-02 -5.46475845e-04 9.99932908e-01 -2.11313995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98800114499998 meters 0.06854819231632213 Centerline is valid? [True, True] Translation: X:117.42, Y:-0.42, Z:-2.11 [[ 9.98460795e-01 -5.43482374e-02 -1.10593991e-02 1.17421133e+02] [ 5.43506509e-02 9.98521908e-01 -8.24214605e-05 -4.17453955e-01] [ 1.10475317e-02 -5.18790941e-04 9.99938840e-01 -2.11162360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01800114499999 meters 0.06690582872392696 Centerline is valid? [True, True] Translation: X:117.45, Y:-0.41, Z:-2.11 [[ 9.98544917e-01 -5.28773877e-02 -1.05844111e-02 1.17452785e+02] [ 5.28795196e-02 9.98600896e-01 -7.85344938e-05 -4.11072104e-01] [ 1.05737551e-02 -4.81278354e-04 9.99943980e-01 -2.11094004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04800114499999 meters 0.06705703946342702 Centerline is valid? [True, True] Translation: X:117.48, Y:-0.41, Z:-2.11 [[ 9.98611056e-01 -5.13779291e-02 -1.16733692e-02 1.17483715e+02] [ 5.13804521e-02 9.98679149e-01 -8.38672811e-05 -4.11045229e-01] [ 1.16622593e-02 -5.16032192e-04 9.99931860e-01 -2.11351433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07800114499999 meters 0.06661674122277329 Centerline is valid? [True, True] Translation: X:117.52, Y:-0.41, Z:-2.11 [[ 9.98654146e-01 -5.01712133e-02 -1.31433075e-02 1.17515749e+02] [ 5.01743013e-02 9.98740472e-01 -9.49015685e-05 -4.07891664e-01] [ 1.31315144e-02 -5.64682424e-04 9.99913619e-01 -2.11418927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10800114499997 meters 0.06536767388483163 Centerline is valid? [True, True] Translation: X:117.55, Y:-0.40, Z:-2.11 [[ 9.98799526e-01 -4.71056881e-02 -1.34372924e-02 1.17547256e+02] [ 4.71086376e-02 9.98889767e-01 -9.71092955e-05 -3.98800950e-01] [ 1.34269483e-02 -5.36019820e-04 9.99909711e-01 -2.11240383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13800114499998 meters 0.06601234506964043 Centerline is valid? [True, True] Translation: X:117.58, Y:-0.40, Z:-2.11 [[ 9.98833710e-01 -4.61961985e-02 -1.40403390e-02 1.17578737e+02] [ 4.61993765e-02 9.98932234e-01 -9.80821318e-05 -3.97620604e-01] [ 1.40298783e-02 -5.50687170e-04 9.99901425e-01 -2.11408035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16800114499998 meters 0.06524771507849626 Centerline is valid? [True, True] Translation: X:117.61, Y:-0.39, Z:-2.11 [[ 9.98912646e-01 -4.46801793e-02 -1.33118974e-02 1.17610085e+02] [ 4.46828879e-02 9.99001217e-01 -9.40280250e-05 -3.91399972e-01] [ 1.33028029e-02 -5.00888236e-04 9.99911388e-01 -2.11293560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19800114499998 meters 0.06542541554441841 Centerline is valid? [True, True] Translation: X:117.64, Y:-0.39, Z:-2.11 [[ 9.98961393e-01 -4.36294218e-02 -1.31380784e-02 1.17641481e+02] [ 4.36319813e-02 9.99047667e-01 -9.18915374e-05 -3.90014262e-01] [ 1.31295758e-02 -4.81444294e-04 9.99913688e-01 -2.11428094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22800114499998 meters 0.06564068848715274 Centerline is valid? [True, True] Translation: X:117.67, Y:-0.39, Z:-2.12 [[ 9.98981279e-01 -4.30606505e-02 -1.34975473e-02 1.17672248e+02] [ 4.30633085e-02 9.99072341e-01 -9.37803915e-05 -3.88672928e-01] [ 1.34890645e-02 -4.87564190e-04 9.99908900e-01 -2.11806103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25800114499998 meters 0.0653368088379961 Centerline is valid? [True, True] Translation: X:117.71, Y:-0.39, Z:-2.12 [[ 9.98989666e-01 -4.28096108e-02 -1.36742312e-02 1.17705581e+02] [ 4.28123441e-02 9.99083127e-01 -9.29125295e-05 -3.85903154e-01] [ 1.36656712e-02 -4.92607234e-04 9.99906499e-01 -2.11806176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28800114499998 meters 0.06561291774862427 Centerline is valid? [True, True] Translation: X:117.74, Y:-0.38, Z:-2.12 [[ 9.98995815e-01 -4.26594386e-02 -1.36943137e-02 1.17737528e+02] [ 4.26621771e-02 9.99089551e-01 -9.22254112e-05 -3.84188287e-01] [ 1.36857800e-02 -4.92096435e-04 9.99906224e-01 -2.11942416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31800114499998 meters 0.06522541167215523 Centerline is valid? [True, True] Translation: X:117.77, Y:-0.38, Z:-2.12 [[ 9.99008718e-01 -4.23877649e-02 -1.35962675e-02 1.17769390e+02] [ 4.23904477e-02 9.99101117e-01 -9.09369209e-05 -3.76937757e-01] [ 1.35879006e-02 -4.85505088e-04 9.99907562e-01 -2.11787220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34800114499998 meters 0.06533706685188807 Centerline is valid? [True, True] Translation: X:117.80, Y:-0.37, Z:-2.12 [[ 9.98998030e-01 -4.23780226e-02 -1.43888389e-02 1.17801825e+02] [ 4.23810387e-02 9.99101516e-01 -9.53863430e-05 -3.74876297e-01] [ 1.43799531e-02 -5.14523170e-04 9.99896471e-01 -2.11883753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37800114499998 meters 0.06550374257340295 Centerline is valid? [True, True] Translation: X:117.83, Y:-0.37, Z:-2.12 [[ 9.99039919e-01 -4.15535585e-02 -1.38759518e-02 1.17832697e+02] [ 4.15562899e-02 9.99136160e-01 -9.15523693e-05 -3.73492266e-01] [ 1.38677695e-02 -4.85168603e-04 9.99903720e-01 -2.12062488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40800114499999 meters 0.06552625392745891 Centerline is valid? [True, True] Translation: X:117.87, Y:-0.37, Z:-2.12 [[ 9.99078930e-01 -4.06180755e-02 -1.38370624e-02 1.17865072e+02] [ 4.06207173e-02 9.99174634e-01 -9.01854510e-05 -3.71943279e-01] [ 1.38293049e-02 -4.71969017e-04 9.99904259e-01 -2.12224823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43800114499999 meters 0.06450349171438392 Centerline is valid? [True, True] Translation: X:117.90, Y:-0.36, Z:-2.12 [[ 9.99178213e-01 -3.83968755e-02 -1.29837634e-02 1.17896215e+02] [ 3.83990141e-02 9.99262482e-01 -8.46304160e-05 -3.64083630e-01] [ 1.29774372e-02 -4.14002847e-04 9.99915704e-01 -2.12020246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46800114499999 meters 0.06413074488555028 Centerline is valid? [True, True] Translation: X:117.93, Y:-0.36, Z:-2.12 [[ 9.99230230e-01 -3.69727353e-02 -1.31135203e-02 1.17928245e+02] [ 3.69748127e-02 9.99316194e-01 -8.40790567e-05 -3.60163253e-01] [ 1.31076619e-02 -4.00855623e-04 9.99914011e-01 -2.11932634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49800114499998 meters 0.06397294136605221 Centerline is valid? [True, True] Translation: X:117.96, Y:-0.36, Z:-2.12 [[ 9.99274916e-01 -3.57160291e-02 -1.31911761e-02 1.17959325e+02] [ 3.57180582e-02 9.99361903e-01 -8.18112882e-05 -3.57324610e-01] [ 1.31856809e-02 -3.89411229e-04 9.99912989e-01 -2.12011063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52800114499998 meters 0.06402584000439485 Centerline is valid? [True, True] Translation: X:117.99, Y:-0.35, Z:-2.12 [[ 9.99345196e-01 -3.39801747e-02 -1.24308518e-02 1.17990577e+02] [ 3.39818348e-02 9.99422448e-01 -7.77065234e-05 -3.54765026e-01] [ 1.24263128e-02 -3.44767512e-04 9.99922731e-01 -2.12155553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55800114499998 meters 0.06367138680581319 Centerline is valid? [True, True] Translation: X:118.02, Y:-0.35, Z:-2.12 [[ 9.99437486e-01 -3.05338365e-02 -1.38706893e-02 1.18023052e+02] [ 3.05355864e-02 9.99533677e-01 -8.56596163e-05 -3.45438166e-01] [ 1.38668366e-02 -3.37938199e-04 9.99903794e-01 -2.12113761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58800114499998 meters 0.06334263633828255 Centerline is valid? [True, True] Translation: X:118.06, Y:-0.34, Z:-2.12 [[ 9.99494212e-01 -2.85893174e-02 -1.39273194e-02 1.18055761e+02] [ 2.85909197e-02 9.99591193e-01 -8.40819097e-05 -3.41628288e-01] [ 1.39240297e-02 -3.14155489e-04 9.99903007e-01 -2.12076538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61800114499998 meters 0.06347135966965142 Centerline is valid? [True, True] Translation: X:118.09, Y:-0.34, Z:-2.12 [[ 9.99541155e-01 -2.69380703e-02 -1.38498746e-02 1.18086515e+02] [ 2.69395217e-02 9.99637062e-01 -8.17878180e-05 -3.40911948e-01] [ 1.38470512e-02 -2.91358707e-04 9.99904083e-01 -2.12348924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64800114499998 meters 0.06342537394929686 Centerline is valid? [True, True] Translation: X:118.12, Y:-0.34, Z:-2.12 [[ 9.99564635e-01 -2.56396247e-02 -1.45996420e-02 1.18118630e+02] [ 2.56410992e-02 9.99671209e-01 -8.62112823e-05 -3.39002365e-01] [ 1.45970522e-02 -2.88177120e-04 9.99893416e-01 -2.12470040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67800114499998 meters 0.06407387702210243 Centerline is valid? [True, True] Translation: X:118.15, Y:-0.34, Z:-2.13 [[ 9.99574783e-01 -2.42425362e-02 -1.62034764e-02 1.18149672e+02] [ 2.42441754e-02 9.99706062e-01 -9.52931871e-05 -3.35423905e-01] [ 1.62010238e-02 -2.97587258e-04 9.99868711e-01 -2.12943825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70800114499998 meters 0.06366783468075733 Centerline is valid? [True, True] Translation: X:118.18, Y:-0.33, Z:-2.13 [[ 9.99559091e-01 -2.44193338e-02 -1.68913875e-02 1.18181732e+02] [ 2.44211622e-02 9.99701754e-01 -9.80451009e-05 -3.32044189e-01] [ 1.68887439e-02 -3.14505441e-04 9.99857326e-01 -2.12637341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73800114499998 meters 0.06366921310788437 Centerline is valid? [True, True] Translation: X:118.21, Y:-0.33, Z:-2.13 [[ 9.99559691e-01 -2.48560130e-02 -1.62050368e-02 1.18214322e+02] [ 2.48577704e-02 9.99690994e-01 -9.30029257e-05 -3.32021248e-01] [ 1.62023410e-02 -3.09859108e-04 9.99868685e-01 -2.12765203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76800114499999 meters 0.06395306112613458 Centerline is valid? [True, True] Translation: X:118.25, Y:-0.33, Z:-2.13 [[ 9.99543567e-01 -2.57333721e-02 -1.58256289e-02 1.18245269e+02] [ 2.57351660e-02 9.99668792e-01 -9.03184731e-05 -3.33891046e-01] [ 1.58227115e-02 -3.16997937e-04 9.99874763e-01 -2.13071118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79800114499999 meters 0.06377099965653776 Centerline is valid? [True, True] Translation: X:118.28, Y:-0.33, Z:-2.13 [[ 9.99492780e-01 -2.73754845e-02 -1.62716382e-02 1.18276931e+02] [ 2.73776110e-02 9.99625159e-01 -9.20932315e-05 -3.33181664e-01] [ 1.62680600e-02 -3.53432060e-04 9.99867604e-01 -2.12940403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82800114499999 meters 0.0639132321313604 Centerline is valid? [True, True] Translation: X:118.31, Y:-0.33, Z:-2.13 [[ 9.99470157e-01 -2.77774667e-02 -1.69651763e-02 1.18307758e+02] [ 2.77798493e-02 9.99614061e-01 -9.52533676e-05 -3.32501252e-01] [ 1.69612747e-02 -3.76087142e-04 9.99856077e-01 -2.13056208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85800114499997 meters 0.0635798011098709 Centerline is valid? [True, True] Translation: X:118.34, Y:-0.33, Z:-2.13 [[ 9.99472664e-01 -2.80248938e-02 -1.64012006e-02 1.18340398e+02] [ 2.80271763e-02 9.99607157e-01 -9.07159570e-05 -3.28695561e-01] [ 1.63972998e-02 -3.69011221e-04 9.99865487e-01 -2.12730099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88800114499998 meters 0.06391853794310297 Centerline is valid? [True, True] Translation: X:118.37, Y:-0.33, Z:-2.13 [[ 9.99478897e-01 -2.79372452e-02 -1.61692326e-02 1.18372016e+02] [ 2.79394606e-02 9.99609613e-01 -8.89052888e-05 -3.28868198e-01] [ 1.61654041e-02 -3.62900677e-04 9.99869265e-01 -2.12967120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91800114499998 meters 0.06391853794310297 Centerline is valid? [True, True] Translation: X:118.40, Y:-0.33, Z:-2.13 [[ 9.99480648e-01 -2.78745317e-02 -1.61692394e-02 1.18403741e+02] [ 2.78767592e-02 9.99611364e-01 -8.76562393e-05 -3.28760370e-01] [ 1.61653988e-02 -3.63135278e-04 9.99869265e-01 -2.13018613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94800114499998 meters 0.06358027018182624 Centerline is valid? [True, True] Translation: X:118.44, Y:-0.33, Z:-2.13 [[ 9.99471819e-01 -2.75462304e-02 -1.72420306e-02 1.18435767e+02] [ 2.75487330e-02 9.99620457e-01 -9.23966550e-05 -3.26157049e-01] [ 1.72380317e-02 -3.82648245e-04 9.99851341e-01 -2.12799884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97800114499998 meters 0.06375613272194272 Centerline is valid? [True, True] Translation: X:118.47, Y:-0.33, Z:-2.13 [[ 9.99494670e-01 -2.65933371e-02 -1.74126017e-02 1.18466976e+02] [ 2.65957547e-02 9.99646266e-01 -9.27515738e-05 -3.26853443e-01] [ 1.74089088e-02 -3.70396580e-04 9.99848385e-01 -2.13087507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00800114499998 meters 0.06357515661113047 Centerline is valid? [True, True] Translation: X:118.50, Y:-0.33, Z:-2.13 [[ 9.99501223e-01 -2.58829432e-02 -1.80936162e-02 1.18499583e+02] [ 2.58854625e-02 9.99664911e-01 -9.49889169e-05 -3.26605845e-01] [ 1.80900118e-02 -3.73420085e-04 9.99836293e-01 -2.13108028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03800114499998 meters 0.063826606487923 Centerline is valid? [True, True] Translation: X:118.53, Y:-0.33, Z:-2.13 [[ 9.99497221e-01 -2.61107513e-02 -1.79870410e-02 1.18531216e+02] [ 2.61133247e-02 9.99658985e-01 -9.18228636e-05 -3.27007264e-01] [ 1.79833047e-02 -3.77924746e-04 9.99838216e-01 -2.13253926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06800114499998 meters 0.06390747593031772 Centerline is valid? [True, True] Translation: X:118.56, Y:-0.33, Z:-2.13 [[ 9.99508278e-01 -2.60846378e-02 -1.74009518e-02 1.18562365e+02] [ 2.60870406e-02 9.99659671e-01 -8.89285478e-05 -3.26330660e-01] [ 1.73973495e-02 -3.65054517e-04 9.99848588e-01 -2.13269876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09800114499998 meters 0.06348969092886537 Centerline is valid? [True, True] Translation: X:118.60, Y:-0.32, Z:-2.13 [[ 9.99523971e-01 -2.60638663e-02 -1.65077885e-02 1.18595062e+02] [ 2.60660574e-02 9.99660219e-01 -8.24513046e-05 -3.24992849e-01] [ 1.65043285e-02 -3.47880908e-04 9.99863734e-01 -2.13025187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12800114499998 meters 0.06342637323907863 Centerline is valid? [True, True] Translation: X:118.63, Y:-0.33, Z:-2.13 [[ 9.99555653e-01 -2.52318906e-02 -1.58697173e-02 1.18626628e+02] [ 2.52338154e-02 9.99681573e-01 -7.89720625e-05 -3.25389577e-01] [ 1.58666566e-02 -3.21516546e-04 9.99874065e-01 -2.13145103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15800114499999 meters 0.06358967753811105 Centerline is valid? [True, True] Translation: X:118.66, Y:-0.33, Z:-2.13 [[ 9.99587559e-01 -2.40214454e-02 -1.57379182e-02 1.18657877e+02] [ 2.40231999e-02 9.99711398e-01 -7.75826497e-05 -3.25457213e-01] [ 1.57352398e-02 -3.00524503e-04 9.99876148e-01 -2.13356956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18800114499999 meters 0.0634663472034087 Centerline is valid? [True, True] Translation: X:118.69, Y:-0.33, Z:-2.13 [[ 9.99600125e-01 -2.34879268e-02 -1.57451002e-02 1.18689740e+02] [ 2.34896360e-02 9.99724078e-01 -7.63950790e-05 -3.25196556e-01] [ 1.57425501e-02 -2.93482141e-04 9.99876035e-01 -2.13437397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21800114499997 meters 0.06309462531978492 Centerline is valid? [True, True] Translation: X:118.72, Y:-0.32, Z:-2.13 [[ 9.99610128e-01 -2.27108302e-02 -1.62422570e-02 1.18721705e+02] [ 2.27125638e-02 9.99742033e-01 -7.77451030e-05 -3.23820120e-01] [ 1.62398327e-02 -2.91188506e-04 9.99868083e-01 -2.13257538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24800114499998 meters 0.06319313126206387 Centerline is valid? [True, True] Translation: X:118.75, Y:-0.32, Z:-2.13 [[ 9.99606072e-01 -2.26451854e-02 -1.65800240e-02 1.18752652e+02] [ 2.26469913e-02 9.99743521e-01 -7.88522046e-05 -3.23936048e-01] [ 1.65775572e-02 -2.96666517e-04 9.99862539e-01 -2.13403332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27800114499998 meters 0.06358095946732117 Centerline is valid? [True, True] Translation: X:118.78, Y:-0.32, Z:-2.14 [[ 9.99572888e-01 -2.34085404e-02 -1.74951717e-02 1.18783605e+02] [ 2.34106819e-02 9.99725929e-01 -8.24161050e-05 -3.24738018e-01] [ 1.74923060e-02 -3.27192995e-04 9.99846944e-01 -2.13645170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30800114499998 meters 0.0633993940944072 Centerline is valid? [True, True] Translation: X:118.82, Y:-0.32, Z:-2.13 [[ 9.99563287e-01 -2.39147390e-02 -1.73585884e-02 1.18816013e+02] [ 2.39169470e-02 9.99713946e-01 -8.04191971e-05 -3.24694326e-01] [ 1.73555461e-02 -3.34780362e-04 9.99849325e-01 -2.13470777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33800114499998 meters 0.06361181072949544 Centerline is valid? [True, True] Translation: X:118.85, Y:-0.33, Z:-2.14 [[ 9.99497556e-01 -2.60420661e-02 -1.80678501e-02 1.18846640e+02] [ 2.60448059e-02 9.99660773e-01 -8.36934801e-05 -3.28629102e-01] [ 1.80639005e-02 -3.86922219e-04 9.99836760e-01 -2.13650394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36800114499998 meters 0.06389626984759039 Centerline is valid? [True, True] Translation: X:118.88, Y:-0.33, Z:-2.14 [[ 9.99440951e-01 -2.73812203e-02 -1.91847452e-02 1.18878789e+02] [ 2.73845881e-02 9.99624968e-01 -8.71894679e-05 -3.30275648e-01] [ 1.91799377e-02 -4.38225620e-04 9.99815952e-01 -2.13809283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39800114499998 meters 0.06391549190998416 Centerline is valid? [True, True] Translation: X:118.91, Y:-0.33, Z:-2.14 [[ 9.99431117e-01 -2.75345064e-02 -1.94754804e-02 1.18910836e+02] [ 2.75380296e-02 9.99620753e-01 -8.73080487e-05 -3.31879696e-01] [ 1.94704983e-02 -4.49057974e-04 9.99810331e-01 -2.13887784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42800114499998 meters 0.06384161441096206 Centerline is valid? [True, True] Translation: X:118.94, Y:-0.33, Z:-2.14 [[ 9.99398005e-01 -2.78669815e-02 -2.06654099e-02 1.18943093e+02] [ 2.78710454e-02 9.99611523e-01 -9.13909062e-05 -3.32286649e-01] [ 2.06599286e-02 -4.84630687e-04 9.99786443e-01 -2.13978521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45800114499998 meters 0.06390689876163924 Centerline is valid? [True, True] Translation: X:118.97, Y:-0.33, Z:-2.14 [[ 9.99392020e-01 -2.67172390e-02 -2.24004329e-02 1.18973804e+02] [ 2.67217957e-02 9.99642904e-01 -9.59356442e-05 -3.33115187e-01] [ 2.23949970e-02 -5.02702475e-04 9.99749074e-01 -2.14312048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48800114499998 meters 0.06370830820422065 Centerline is valid? [True, True] Translation: X:119.00, Y:-0.33, Z:-2.14 [[ 9.99395426e-01 -2.60889500e-02 -2.29815039e-02 1.19004932e+02] [ 2.60935664e-02 9.99659500e-01 -9.90269210e-05 -3.30584907e-01] [ 2.29762622e-02 -5.00702347e-04 9.99735885e-01 -2.14220621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51800114499999 meters 0.06379245133876897 Centerline is valid? [True, True] Translation: X:119.04, Y:-0.33, Z:-2.14 [[ 9.99403666e-01 -2.51114223e-02 -2.37008254e-02 1.19035210e+02] [ 2.51160600e-02 9.99684537e-01 -1.02029732e-04 -3.27909009e-01] [ 2.36959108e-02 -4.93302465e-04 9.99719091e-01 -2.14256657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54800114499999 meters 0.06366261759403223 Centerline is valid? [True, True] Translation: X:119.07, Y:-0.33, Z:-2.14 [[ 9.99396262e-01 -2.47383914e-02 -2.43951496e-02 1.19066034e+02] [ 2.47431875e-02 9.99693835e-01 -1.05277876e-04 -3.25773660e-01] [ 2.43902850e-02 -4.98399445e-04 9.99702389e-01 -2.14130611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57800114499999 meters 0.06373918997963424 Centerline is valid? [True, True] Translation: X:119.10, Y:-0.33, Z:-2.14 [[ 9.99414769e-01 -2.39013008e-02 -2.44713702e-02 1.19095491e+02] [ 2.39058607e-02 9.99714208e-01 -1.06235556e-04 -3.25797711e-01] [ 2.44669157e-02 -4.78835784e-04 9.99700526e-01 -2.14284147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60800114499997 meters 0.06364652351948905 Centerline is valid? [True, True] Translation: X:119.12, Y:-0.33, Z:-2.14 [[ 9.99421439e-01 -2.43795791e-02 -2.37154756e-02 1.19124404e+02] [ 2.43839583e-02 9.99702662e-01 -1.04545671e-04 -3.28446471e-01] [ 2.37109728e-02 -4.73791983e-04 9.99718743e-01 -2.14434650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63800114499998 meters 0.06298757702823454 Centerline is valid? [True, True] Translation: X:119.16, Y:-0.33, Z:-2.14 [[ 9.99404539e-01 -2.50643521e-02 -2.37138283e-02 1.19155169e+02] [ 2.50689411e-02 9.99685719e-01 -1.03793090e-04 -3.26613809e-01] [ 2.37089770e-02 -4.90749280e-04 9.99718782e-01 -2.14086068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66800114499998 meters 0.0635821707355644 Centerline is valid? [True, True] Translation: X:119.18, Y:-0.33, Z:-2.14 [[ 9.99395475e-01 -2.55433650e-02 -2.35843322e-02 1.19184254e+02] [ 2.55480224e-02 9.99673591e-01 -1.03857217e-04 -3.28793769e-01] [ 2.35792869e-02 -4.98738613e-04 9.99721846e-01 -2.14415727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69800114499998 meters 0.06299900715051529 Centerline is valid? [True, True] Translation: X:119.21, Y:-0.33, Z:-2.14 [[ 9.99385187e-01 -2.64473476e-02 -2.30170829e-02 1.19214922e+02] [ 2.64520289e-02 9.99650079e-01 -1.01108253e-04 -3.27354112e-01] [ 2.30117028e-02 -5.07802454e-04 9.99735067e-01 -2.14106041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72800114499998 meters 0.06296834260478662 Centerline is valid? [True, True] Translation: X:119.25, Y:-0.33, Z:-2.14 [[ 9.99375460e-01 -2.72864908e-02 -2.24529817e-02 1.19246490e+02] [ 2.72911842e-02 9.99627522e-01 -9.74193232e-05 -3.27964839e-01] [ 2.24472767e-02 -5.15409979e-04 9.99747895e-01 -2.14100462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75800114499998 meters 0.06312956152661278 Centerline is valid? [True, True] Translation: X:119.28, Y:-0.33, Z:-2.14 [[ 9.99359195e-01 -2.73844189e-02 -2.30497971e-02 1.19277543e+02] [ 2.73894076e-02 9.99624835e-01 -9.93012952e-05 -3.27098018e-01] [ 2.30438689e-02 -5.32082625e-04 9.99734313e-01 -2.14201878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78800114499998 meters 0.06287247074322125 Centerline is valid? [True, True] Translation: X:119.31, Y:-0.33, Z:-2.14 [[ 9.99360385e-01 -2.74676506e-02 -2.28986495e-02 1.19309301e+02] [ 2.74726127e-02 9.99622552e-01 -9.79169690e-05 -3.26702186e-01] [ 2.28926960e-02 -5.31231391e-04 9.99737787e-01 -2.14195024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81800114499998 meters 0.0625675638102007 Centerline is valid? [True, True] Translation: X:119.34, Y:-0.33, Z:-2.14 [[ 9.99394954e-01 -2.78331647e-02 -2.08576118e-02 1.19340912e+02] [ 2.78373760e-02 9.99612461e-01 -8.84646644e-05 -3.28965229e-01] [ 2.08519909e-02 -4.92210043e-04 9.99782452e-01 -2.14194080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84800114499998 meters 0.06254662905308417 Centerline is valid? [True, True] Translation: X:119.37, Y:-0.33, Z:-2.14 [[ 9.99396186e-01 -2.78398364e-02 -2.07896079e-02 1.19372388e+02] [ 2.78440929e-02 9.99612274e-01 -8.47504300e-05 -3.29274598e-01] [ 2.07839067e-02 -4.94168518e-04 9.99783869e-01 -2.14195271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87800114499998 meters 0.06256862494612346 Centerline is valid? [True, True] Translation: X:119.40, Y:-0.33, Z:-2.14 [[ 9.99403239e-01 -2.79064644e-02 -2.03566828e-02 1.19403986e+02] [ 2.79105599e-02 9.99610421e-01 -8.29508521e-05 -3.28273557e-01] [ 2.03510671e-02 -4.85265064e-04 9.99792778e-01 -2.14192696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90800114499999 meters 0.061821646556432845 Centerline is valid? [True, True] Translation: X:119.44, Y:-0.32, Z:-2.14 [[ 9.99401510e-01 -2.76740510e-02 -2.07549915e-02 1.19435853e+02] [ 2.76782930e-02 9.99616879e-01 -8.29041376e-05 -3.24491124e-01] [ 2.07493341e-02 -4.91608215e-04 9.99784589e-01 -2.13737299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93800114499999 meters 0.06289566965022597 Centerline is valid? [True, True] Translation: X:119.47, Y:-0.33, Z:-2.14 [[ 9.99359594e-01 -2.87158242e-02 -2.13495543e-02 1.19467371e+02] [ 2.87205665e-02 9.99587476e-01 -8.45265971e-05 -3.31096214e-01] [ 2.13431743e-02 -5.28698827e-04 9.99772069e-01 -2.14425501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96800114499997 meters 0.06340594880423234 Centerline is valid? [True, True] Translation: X:119.50, Y:-0.33, Z:-2.15 [[ 9.99285898e-01 -3.06014297e-02 -2.21641011e-02 1.19498843e+02] [ 3.06070251e-02 9.99531491e-01 -8.68108410e-05 -3.33982057e-01] [ 2.21563736e-02 -5.91628351e-04 9.99754342e-01 -2.14688026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99800114499998 meters 0.06258933073822427 Centerline is valid? [True, True] Translation: X:119.53, Y:-0.33, Z:-2.14 [[ 9.99207417e-01 -3.21735787e-02 -2.34392550e-02 1.19531358e+02] [ 3.21803111e-02 9.99482076e-01 -9.00058386e-05 -3.31883746e-01] [ 2.34300111e-02 -6.64348017e-04 9.99725259e-01 -2.14304329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02800114499998 meters 0.06293032736993433 Centerline is valid? [True, True] Translation: X:119.56, Y:-0.33, Z:-2.14 [[ 9.99148694e-01 -3.35312216e-02 -2.40321505e-02 1.19562623e+02] [ 3.35387124e-02 9.99437415e-01 -9.14064202e-05 -3.32187790e-01] [ 2.40216953e-02 -7.14678778e-04 9.99711182e-01 -2.14380786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05800114499998 meters 0.06471555138566884 Centerline is valid? [True, True] Translation: X:119.59, Y:-0.34, Z:-2.15 [[ 9.99110530e-01 -3.48532343e-02 -2.37360739e-02 1.19593585e+02] [ 3.48609415e-02 9.99392169e-01 -8.91311124e-05 -3.36930377e-01] [ 2.37247529e-02 -7.38410052e-04 9.99718256e-01 -2.15073148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08800114499998 meters 0.06365771969200637 Centerline is valid? [True, True] Translation: X:119.63, Y:-0.33, Z:-2.15 [[ 9.99141907e-01 -3.41716975e-02 -2.34039555e-02 1.19626097e+02] [ 3.41790444e-02 9.99415722e-01 -8.61451969e-05 -3.33905636e-01] [ 2.33932249e-02 -7.13853558e-04 9.99726086e-01 -2.14787007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11800114499998 meters 0.06358494561356343 Centerline is valid? [True, True] Translation: X:119.66, Y:-0.33, Z:-2.15 [[ 9.99139007e-01 -3.43368680e-02 -2.32857124e-02 1.19658398e+02] [ 3.43442208e-02 9.99410060e-01 -8.42006420e-05 -3.33240929e-01] [ 2.32748664e-02 -7.15601502e-04 9.99728847e-01 -2.14847447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14800114499998 meters 0.06477331468075954 Centerline is valid? [True, True] Translation: X:119.69, Y:-0.34, Z:-2.15 [[ 9.99157384e-01 -3.40632232e-02 -2.28958252e-02 1.19689589e+02] [ 3.40702791e-02 9.99419436e-01 -8.19523127e-05 -3.36813952e-01] [ 2.28853243e-02 -6.98183899e-04 9.99737853e-01 -2.15453630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17800114499998 meters 0.06384746028986542 Centerline is valid? [True, True] Translation: X:119.72, Y:-0.33, Z:-2.15 [[ 9.99162428e-01 -3.40196801e-02 -2.27399380e-02 1.19721912e+02] [ 3.40266668e-02 9.99420922e-01 -7.97306772e-05 -3.33587831e-01] [ 2.27294822e-02 -6.94100396e-04 9.99741411e-01 -2.15118737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20800114499998 meters 0.06427380938461742 Centerline is valid? [True, True] Translation: X:119.75, Y:-0.33, Z:-2.15 [[ 9.99127330e-01 -3.48122359e-02 -2.30800157e-02 1.19754067e+02] [ 3.48196771e-02 9.99393608e-01 -7.95094698e-05 -3.33772969e-01] [ 2.30687880e-02 -7.24198609e-04 9.99733618e-01 -2.15214770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23800114499998 meters 0.06438879819707188 Centerline is valid? [True, True] Translation: X:119.79, Y:-0.33, Z:-2.15 [[ 9.99139733e-01 -3.48516199e-02 -2.24757119e-02 1.19785904e+02] [ 3.48587183e-02 9.99392247e-01 -7.60025412e-05 -3.34336753e-01] [ 2.24647010e-02 -7.07537350e-04 9.99747386e-01 -2.15183282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26800114499999 meters 0.0650507196638753 Centerline is valid? [True, True] Translation: X:119.82, Y:-0.34, Z:-2.15 [[ 9.99073214e-01 -3.73931544e-02 -2.13181904e-02 1.19817895e+02] [ 3.74001471e-02 9.99300367e-01 -7.07246364e-05 -3.39279391e-01] [ 2.13059201e-02 -7.26644367e-04 9.99772739e-01 -2.15421167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29800114499999 meters 0.0655535474478941 Centerline is valid? [True, True] Translation: X:119.85, Y:-0.34, Z:-2.16 [[ 9.99009369e-01 -3.90120350e-02 -2.14089033e-02 1.19849265e+02] [ 3.90194744e-02 9.99238448e-01 -7.02917475e-05 -3.42491286e-01] [ 2.13953415e-02 -7.65142038e-04 9.99770801e-01 -2.15563796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32800114499999 meters 0.06456893441980674 Centerline is valid? [True, True] Translation: X:119.88, Y:-0.34, Z:-2.15 [[ 9.98985736e-01 -3.97893592e-02 -2.10785819e-02 1.19881166e+02] [ 3.97967777e-02 9.99207792e-01 -6.75809666e-05 -3.40975281e-01] [ 2.10645723e-02 -7.71347216e-04 9.99777820e-01 -2.15274006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35800114499997 meters 0.06365889431942358 Centerline is valid? [True, True] Translation: X:119.91, Y:-0.34, Z:-2.15 [[ 9.98983037e-01 -4.06923655e-02 -1.94170621e-02 1.19913592e+02] [ 4.06988576e-02 9.99171456e-01 -6.08602702e-05 -3.38504578e-01] [ 1.94034508e-02 -7.29453868e-04 9.99811469e-01 -2.14910259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38800114499998 meters 0.06534212110543205 Centerline is valid? [True, True] Translation: X:119.94, Y:-0.34, Z:-2.15 [[ 9.99010402e-01 -4.14631524e-02 -1.60942119e-02 1.19944350e+02] [ 4.14677148e-02 9.99139843e-01 -5.02698696e-05 -3.43801972e-01] [ 1.60824527e-02 -6.17170069e-04 9.99870479e-01 -2.15061611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41800114499998 meters 0.06455140224491286 Centerline is valid? [True, True] Translation: X:119.98, Y:-0.34, Z:-2.15 [[ 9.99024418e-01 -4.11727296e-02 -1.59692967e-02 1.19976903e+02] [ 4.11772085e-02 9.99151858e-01 -4.83732219e-05 -3.41293804e-01] [ 1.59577441e-02 -6.09245031e-04 9.99872481e-01 -2.14882894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44800114499998 meters 0.06426123622689969 Centerline is valid? [True, True] Translation: X:120.01, Y:-0.34, Z:-2.15 [[ 9.99112094e-01 -3.96789237e-02 -1.41635880e-02 1.20008684e+02] [ 3.96823129e-02 9.99212346e-01 -4.17773910e-05 -3.41338895e-01] [ 1.41540896e-02 -5.20303633e-04 9.99899690e-01 -2.14914419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47800114499998 meters 0.06366812966857821 Centerline is valid? [True, True] Translation: X:120.04, Y:-0.34, Z:-2.15 [[ 9.99228885e-01 -3.64246406e-02 -1.46587937e-02 1.20040410e+02] [ 3.64279262e-02 9.99336282e-01 -4.28969973e-05 -3.40551562e-01] [ 1.46506269e-02 -4.91125536e-04 9.99892553e-01 -2.15106012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50800114499998 meters 0.0637817586240859 Centerline is valid? [True, True] Translation: X:120.07, Y:-0.34, Z:-2.15 [[ 9.99271724e-01 -3.47705537e-02 -1.57171796e-02 1.20071948e+02] [ 3.47741373e-02 9.99395196e-01 -4.53113140e-05 -3.40664557e-01] [ 1.57092493e-02 -5.01273047e-04 9.99876476e-01 -2.15423913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53800114499998 meters 0.06299961443271217 Centerline is valid? [True, True] Translation: X:120.10, Y:-0.34, Z:-2.15 [[ 9.99337139e-01 -3.26613409e-02 -1.60785184e-02 1.20104114e+02] [ 3.26648390e-02 9.99466361e-01 -4.50721508e-05 -3.37247838e-01] [ 1.60714104e-02 -4.80159942e-04 9.99870731e-01 -2.15308423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56800114499998 meters 0.06342519429742836 Centerline is valid? [True, True] Translation: X:120.13, Y:-0.34, Z:-2.16 [[ 9.99375948e-01 -3.12727650e-02 -1.64234374e-02 1.20134893e+02] [ 3.12762676e-02 9.99510777e-01 -4.36000820e-05 -3.36726896e-01] [ 1.64167662e-02 -4.70090950e-04 9.99865125e-01 -2.15644140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59800114499998 meters 0.06238448887689846 Centerline is valid? [True, True] Translation: X:120.17, Y:-0.33, Z:-2.15 [[ 9.99468641e-01 -2.87631520e-02 -1.53334903e-02 1.20166186e+02] [ 2.87659005e-02 9.99586175e-01 -4.13165708e-05 -3.30945493e-01] [ 1.53283333e-02 -3.99787039e-04 9.99882434e-01 -2.15241082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62800114499998 meters 0.062244377834304906 Centerline is valid? [True, True] Translation: X:120.20, Y:-0.33, Z:-2.15 [[ 9.99515818e-01 -2.75198654e-02 -1.45184864e-02 1.20198254e+02] [ 2.75222194e-02 9.99621191e-01 -3.76792965e-05 -3.32610583e-01] [ 1.45140236e-02 -3.61919913e-04 9.99894601e-01 -2.15275845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65800114499999 meters 0.06247348674147712 Centerline is valid? [True, True] Translation: X:120.23, Y:-0.34, Z:-2.15 [[ 9.99519873e-01 -2.75077549e-02 -1.42599412e-02 1.20230892e+02] [ 2.75100374e-02 9.99621527e-01 -3.61043841e-05 -3.35263170e-01] [ 1.42555374e-02 -3.56204467e-04 9.99898321e-01 -2.15470857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68800114499999 meters 0.06247838643499718 Centerline is valid? [True, True] Translation: X:120.26, Y:-0.34, Z:-2.16 [[ 9.99539554e-01 -2.66356400e-02 -1.45334770e-02 1.20263285e+02] [ 2.66379317e-02 9.99645147e-01 -3.59090891e-05 -3.37232507e-01] [ 1.45292762e-02 -3.51249212e-04 9.99894383e-01 -2.15553541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71800114499997 meters 0.06255467536881568 Centerline is valid? [True, True] Translation: X:120.29, Y:-0.34, Z:-2.16 [[ 9.99549421e-01 -2.53981245e-02 -1.59965401e-02 1.20294255e+02] [ 2.54007765e-02 9.99677348e-01 -3.74009962e-05 -3.37208964e-01] [ 1.59923287e-02 -3.68940396e-04 9.99872046e-01 -2.15755253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74800114499998 meters 0.062124660581619286 Centerline is valid? [True, True] Translation: X:120.33, Y:-0.34, Z:-2.16 [[ 9.99563463e-01 -2.43394675e-02 -1.67473315e-02 1.20326706e+02] [ 2.43422317e-02 9.99703683e-01 -3.88018882e-05 -3.35230661e-01] [ 1.67433134e-02 -3.68882475e-04 9.99859753e-01 -2.15648655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77800114499998 meters 0.062030955507285525 Centerline is valid? [True, True] Translation: X:120.36, Y:-0.33, Z:-2.16 [[ 9.99602062e-01 -2.25736389e-02 -1.69158991e-02 1.20357787e+02] [ 2.25762065e-02 9.99745124e-01 -3.91864341e-05 -3.33895229e-01] [ 1.69124722e-02 -3.42725991e-04 9.99856915e-01 -2.15689433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80800114499998 meters 0.06187029052599049 Centerline is valid? [True, True] Translation: X:120.39, Y:-0.33, Z:-2.16 [[ 9.99649070e-01 -2.05536729e-02 -1.67117690e-02 1.20388797e+02] [ 2.05559054e-02 9.99788704e-01 -3.81886262e-05 -3.32046372e-01] [ 1.67090227e-02 -3.05350318e-04 9.99860348e-01 -2.15753408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83800114499998 meters 0.06187029052599049 Centerline is valid? [True, True] Translation: X:120.42, Y:-0.33, Z:-2.16 [[ 9.99649708e-01 -2.05226005e-02 -1.67117701e-02 1.20419667e+02] [ 2.05248374e-02 9.99789343e-01 -3.76692872e-05 -3.32009054e-01] [ 1.67090228e-02 -3.05350273e-04 9.99860348e-01 -2.15803527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86800114499998 meters 0.06175525994265993 Centerline is valid? [True, True] Translation: X:120.45, Y:-0.33, Z:-2.16 [[ 9.99672492e-01 -1.87643575e-02 -1.74013424e-02 1.20449971e+02] [ 1.87665382e-02 9.99823892e-01 -3.79803167e-05 -3.31095883e-01] [ 1.73989905e-02 -2.88595078e-04 9.99848584e-01 -2.15889504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89800114499998 meters 0.061353264651927204 Centerline is valid? [True, True] Translation: X:120.48, Y:-0.33, Z:-2.16 [[ 9.99739998e-01 -1.52590862e-02 -1.69439370e-02 1.20480999e+02] [ 1.52606451e-02 9.99883549e-01 -3.72990348e-05 -3.30834184e-01] [ 1.69425330e-02 -2.21286072e-04 9.99856440e-01 -2.15809012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92800114499998 meters 0.061357485778645 Centerline is valid? [True, True] Translation: X:120.51, Y:-0.33, Z:-2.16 [[ 9.99746723e-01 -1.52066604e-02 -1.65905901e-02 1.20511016e+02] [ 1.52081267e-02 9.99884349e-01 -3.77872141e-05 -3.32233975e-01] [ 1.65892460e-02 -2.14534151e-04 9.99862366e-01 -2.15842460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95800114499998 meters 0.06135141266897095 Centerline is valid? [True, True] Translation: X:120.54, Y:-0.33, Z:-2.16 [[ 9.99762462e-01 -1.50323864e-02 -1.57812354e-02 1.20539286e+02] [ 1.50336756e-02 9.99886987e-01 -3.69460700e-05 -3.33449890e-01] [ 1.57800073e-02 -2.00312679e-04 9.99875468e-01 -2.15867264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98800114499998 meters 0.061072196239446985 Centerline is valid? [True, True] Translation: X:120.57, Y:-0.33, Z:-2.16 [[ 9.99764784e-01 -1.53836408e-02 -1.52879431e-02 1.20569278e+02] [ 1.53848874e-02 9.99881645e-01 -3.60695903e-05 -3.33218424e-01] [ 1.52866886e-02 -1.99142178e-04 9.99883132e-01 -2.15632569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01800114499999 meters 0.06149219106015724 Centerline is valid? [True, True] Translation: X:120.60, Y:-0.34, Z:-2.16 [[ 9.99737436e-01 -1.72852753e-02 -1.50425566e-02 1.20598900e+02] [ 1.72866976e-02 9.99850573e-01 -3.54763075e-05 -3.36679144e-01] [ 1.50409220e-02 -2.24569134e-04 9.99886854e-01 -2.15817298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04800114499999 meters 0.06200957781544102 Centerline is valid? [True, True] Translation: X:120.63, Y:-0.34, Z:-2.16 [[ 9.99733110e-01 -1.79565043e-02 -1.45352463e-02 1.20629197e+02] [ 1.79579138e-02 9.99838743e-01 -3.35569301e-05 -3.40377351e-01] [ 1.45335050e-02 -2.27474726e-04 9.99894357e-01 -2.16088367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07800114499999 meters 0.06158907959588919 Centerline is valid? [True, True] Translation: X:120.66, Y:-0.34, Z:-2.16 [[ 9.99719637e-01 -1.88548339e-02 -1.43228237e-02 1.20660140e+02] [ 1.88563046e-02 9.99822204e-01 -3.23649157e-05 -3.41420763e-01] [ 1.43208874e-02 -2.37719685e-04 9.99897423e-01 -2.15864064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10800114499997 meters 0.0617229980859842 Centerline is valid? [True, True] Translation: X:120.69, Y:-0.35, Z:-2.16 [[ 9.99702168e-01 -2.03174519e-02 -1.35194752e-02 1.20692393e+02] [ 2.03189147e-02 9.99793549e-01 -2.91671769e-05 -3.45523893e-01] [ 1.35172767e-02 -2.45542573e-04 9.99908607e-01 -2.15902130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13800114499998 meters 0.06150899992792428 Centerline is valid? [True, True] Translation: X:120.72, Y:-0.35, Z:-2.16 [[ 9.99705092e-01 -2.04596548e-02 -1.30817306e-02 1.20724596e+02] [ 2.04610479e-02 9.99790650e-01 -2.73509882e-05 -3.46766912e-01] [ 1.30795515e-02 -2.40322993e-04 9.99914430e-01 -2.15799727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16800114499998 meters 0.06155862499473551 Centerline is valid? [True, True] Translation: X:120.76, Y:-0.35, Z:-2.16 [[ 9.99711737e-01 -2.02187202e-02 -1.29478222e-02 1.20755798e+02] [ 2.02200694e-02 9.99795553e-01 -2.67103825e-05 -3.47880128e-01] [ 1.29457151e-02 -2.35103180e-04 9.99916173e-01 -2.15900787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19800114499998 meters 0.06189134332545877 Centerline is valid? [True, True] Translation: X:120.79, Y:-0.35, Z:-2.16 [[ 9.99724094e-01 -1.93372789e-02 -1.33344059e-02 1.20786714e+02] [ 1.93386630e-02 9.99812990e-01 -2.51475314e-05 -3.49301962e-01] [ 1.33323986e-02 -2.32728989e-04 9.99911093e-01 -2.16046260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22800114499998 meters 0.06148338914175658 Centerline is valid? [True, True] Translation: X:120.82, Y:-0.35, Z:-2.16 [[ 9.99774810e-01 -1.63816426e-02 -1.34896870e-02 1.20817895e+02] [ 1.63827789e-02 9.99865793e-01 -2.62744705e-05 -3.48170862e-01] [ 1.34883070e-02 -1.94730006e-04 9.99909010e-01 -2.15876843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25800114499998 meters 0.061403018324117334 Centerline is valid? [True, True] Translation: X:120.85, Y:-0.35, Z:-2.16 [[ 9.99822878e-01 -1.38068244e-02 -1.27899739e-02 1.20848727e+02] [ 1.38076405e-02 9.99904670e-01 -2.44976441e-05 -3.47637107e-01] [ 1.27890928e-02 -1.52106056e-04 9.99918205e-01 -2.15890628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28800114499998 meters 0.061281148828791224 Centerline is valid? [True, True] Translation: X:120.88, Y:-0.35, Z:-2.16 [[ 9.99860087e-01 -1.14670341e-02 -1.21783987e-02 1.20878374e+02] [ 1.14675986e-02 9.99934245e-01 -2.34770893e-05 -3.47129710e-01] [ 1.21778671e-02 -1.16183183e-04 9.99925840e-01 -2.15944647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31800114499998 meters 0.06119554711291278 Centerline is valid? [True, True] Translation: X:120.91, Y:-0.35, Z:-2.16 [[ 9.99879635e-01 -9.75046382e-03 -1.20683156e-02 1.20908556e+02] [ 9.75088575e-03 9.99952459e-01 -2.38790377e-05 -3.46727274e-01] [ 1.20679747e-02 -9.38006030e-05 9.99927175e-01 -2.15875695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34800114499998 meters 0.06140812989045664 Centerline is valid? [True, True] Translation: X:120.94, Y:-0.35, Z:-2.16 [[ 9.99893007e-01 -6.28475618e-03 -1.32089790e-02 1.20936942e+02] [ 6.28494514e-03 9.99980249e-01 -2.72052355e-05 -3.45702343e-01] [ 1.32088890e-02 -5.58153834e-05 9.99912757e-01 -2.16078458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37800114499998 meters 0.061481569193427385 Centerline is valid? [True, True] Translation: X:120.97, Y:-0.35, Z:-2.16 [[ 9.99895508e-01 -5.38187768e-03 -1.34166979e-02 1.20965054e+02] [ 5.38190718e-03 9.99985517e-01 -3.39070235e-05 -3.45650023e-01] [ 1.34166860e-02 -3.83039420e-05 9.99909991e-01 -2.16192900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40800114499999 meters 0.06176579058146486 Centerline is valid? [True, True] Translation: X:120.99, Y:-0.35, Z:-2.16 [[ 9.99894676e-01 -4.72142461e-03 -1.37239113e-02 1.20992498e+02] [ 4.72139970e-03 9.99988854e-01 -3.42141775e-05 -3.46240825e-01] [ 1.37239199e-02 -3.05854970e-05 9.99905822e-01 -2.16336318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43800114499999 meters 0.06198111351627447 Centerline is valid? [True, True] Translation: X:121.02, Y:-0.35, Z:-2.17 [[ 9.99882895e-01 -3.79718672e-03 -1.48249031e-02 1.21020629e+02] [ 3.79705261e-03 9.99992790e-01 -3.71935613e-05 -3.49413036e-01] [ 1.48249375e-02 -1.91017313e-05 9.99890104e-01 -2.16696156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46800114499997 meters 0.06211534200664254 Centerline is valid? [True, True] Translation: X:121.05, Y:-0.35, Z:-2.17 [[ 9.99866270e-01 -3.98676854e-03 -1.58602681e-02 1.21049171e+02] [ 3.98655603e-03 9.99992053e-01 -4.50152730e-05 -3.50972476e-01] [ 1.58603215e-02 -1.82185944e-05 9.99874217e-01 -2.16822001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49800114499998 meters 0.0615929493349569 Centerline is valid? [True, True] Translation: X:121.08, Y:-0.35, Z:-2.16 [[ 9.99885510e-01 -4.09406414e-03 -1.45672587e-02 1.21077871e+02] [ 4.09384502e-03 9.99991619e-01 -4.48613297e-05 -3.52125386e-01] [ 1.45673203e-02 -1.47799060e-05 9.99893891e-01 -2.16487933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52800114499998 meters 0.06148361349312203 Centerline is valid? [True, True] Translation: X:121.11, Y:-0.35, Z:-2.16 [[ 9.99896718e-01 -4.09846922e-03 -1.37751761e-02 1.21106148e+02] [ 4.09823099e-03 9.99991601e-01 -4.55226697e-05 -3.53230308e-01] [ 1.37752470e-02 -1.09358856e-05 9.99905117e-01 -2.16412340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55800114499998 meters 0.061007183066346574 Centerline is valid? [True, True] Translation: X:121.13, Y:-0.35, Z:-2.16 [[ 9.99894697e-01 -4.74241516e-03 -1.37151175e-02 1.21133589e+02] [ 4.74218032e-03 9.99988755e-01 -4.96443630e-05 -3.53911963e-01] [ 1.37151987e-02 -1.54004249e-05 9.99905942e-01 -2.15935467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58800114499998 meters 0.06116588325435056 Centerline is valid? [True, True] Translation: X:121.16, Y:-0.36, Z:-2.16 [[ 9.99920641e-01 -4.85713305e-03 -1.16241467e-02 1.21161606e+02] [ 4.85698755e-03 9.99988204e-01 -4.07474845e-05 -3.57534051e-01] [ 1.16242075e-02 -1.57140849e-05 9.99932436e-01 -2.16029508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61800114499998 meters 0.061072983407334434 Centerline is valid? [True, True] Translation: X:121.19, Y:-0.36, Z:-2.16 [[ 9.99912347e-01 -5.91769943e-03 -1.18439850e-02 1.21190814e+02] [ 5.91756379e-03 9.99982490e-01 -4.64968982e-05 -3.61011225e-01] [ 1.18440528e-02 -2.35947144e-05 9.99929856e-01 -2.15959688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64800114499998 meters 0.06114025898362363 Centerline is valid? [True, True] Translation: X:121.22, Y:-0.36, Z:-2.16 [[ 9.99895702e-01 -7.28703697e-03 -1.24693328e-02 1.21219847e+02] [ 7.28696050e-03 9.99973448e-01 -5.15673813e-05 -3.64970201e-01] [ 1.24693775e-02 -3.93015330e-05 9.99922254e-01 -2.16113432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67800114499998 meters 0.06123213359082792 Centerline is valid? [True, True] Translation: X:121.25, Y:-0.37, Z:-2.16 [[ 9.99853218e-01 -9.12249691e-03 -1.45024980e-02 1.21248649e+02] [ 9.12254691e-03 9.99958387e-01 -6.27071595e-05 -3.68540407e-01] [ 1.45024666e-02 -6.96017632e-05 9.99894831e-01 -2.16158497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70800114499998 meters 0.06159975138372523 Centerline is valid? [True, True] Translation: X:121.28, Y:-0.38, Z:-2.16 [[ 9.99786047e-01 -1.32303660e-02 -1.59002491e-02 1.21276896e+02] [ 1.32309769e-02 9.99912465e-01 -6.67732312e-05 -3.75158378e-01] [ 1.58997407e-02 -1.43616884e-04 9.99873581e-01 -2.16459638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73800114499998 meters 0.06159480041672809 Centerline is valid? [True, True] Translation: X:121.31, Y:-0.38, Z:-2.17 [[ 9.99743156e-01 -1.55672163e-02 -1.64706733e-02 1.21305782e+02] [ 1.55680880e-02 9.99878807e-01 -7.53050335e-05 -3.78810265e-01] [ 1.64698495e-02 -1.81131199e-04 9.99864346e-01 -2.16544444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76800114499999 meters 0.06178516255276934 Centerline is valid? [True, True] Translation: X:121.33, Y:-0.38, Z:-2.17 [[ 9.99687240e-01 -1.81322214e-02 -1.72233720e-02 1.21334886e+02] [ 1.81334918e-02 9.99835571e-01 -8.24212662e-05 -3.82983629e-01] [ 1.72220345e-02 -2.29924387e-04 9.99851663e-01 -2.16581152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79800114499999 meters 0.06158061904491884 Centerline is valid? [True, True] Translation: X:121.36, Y:-0.39, Z:-2.16 [[ 9.99650117e-01 -2.03801878e-02 -1.68609532e-02 1.21364978e+02] [ 2.03817661e-02 9.99792267e-01 -7.82459146e-05 -3.85944397e-01] [ 1.68590453e-02 -2.65437467e-04 9.99857841e-01 -2.16429245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82800114499999 meters 0.06229754825869416 Centerline is valid? [True, True] Translation: X:121.39, Y:-0.39, Z:-2.17 [[ 9.99576193e-01 -2.35863956e-02 -1.70621343e-02 1.21394746e+02] [ 2.35884879e-02 9.99721750e-01 -7.86417673e-05 -3.94026352e-01] [ 1.70592416e-02 -3.23861509e-04 9.99854428e-01 -2.16803135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85800114499997 meters 0.0624658842603143 Centerline is valid? [True, True] Translation: X:121.43, Y:-0.40, Z:-2.17 [[ 9.99557682e-01 -2.40941010e-02 -1.74331426e-02 1.21425932e+02] [ 2.40963807e-02 9.99709637e-01 -7.93008694e-05 -3.96516386e-01] [ 1.74299914e-02 -3.40809849e-04 9.99848028e-01 -2.16922707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88800114499998 meters 0.0621804134093635 Centerline is valid? [True, True] Translation: X:121.46, Y:-0.40, Z:-2.17 [[ 9.99541182e-01 -2.45455766e-02 -1.77465579e-02 1.21456942e+02] [ 2.45480204e-02 9.99698649e-01 -8.01526010e-05 -3.96739404e-01] [ 1.77431773e-02 -3.55527039e-04 9.99842514e-01 -2.16710138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91800114499998 meters 0.06214760423590498 Centerline is valid? [True, True] Translation: X:121.49, Y:-0.40, Z:-2.17 [[ 9.99523332e-01 -2.50111306e-02 -1.80984144e-02 1.21488324e+02] [ 2.50137588e-02 9.99687104e-01 -8.11770074e-05 -3.97281639e-01] [ 1.80947818e-02 -3.71571058e-04 9.99836207e-01 -2.16642071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94800114499998 meters 0.06224309042022927 Centerline is valid? [True, True] Translation: X:121.52, Y:-0.40, Z:-2.17 [[ 9.99516019e-01 -2.50506130e-02 -1.84443502e-02 1.21519296e+02] [ 2.50533600e-02 9.99686112e-01 -8.21565838e-05 -3.98686236e-01] [ 1.84406188e-02 -3.79976123e-04 9.99829885e-01 -2.16712752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97800114499998 meters 0.06250181550763009 Centerline is valid? [True, True] Translation: X:121.55, Y:-0.40, Z:-2.17 [[ 9.99484513e-01 -2.56843666e-02 -1.92619209e-02 1.21549638e+02] [ 2.56874806e-02 9.99670019e-01 -8.57765792e-05 -4.00630001e-01] [ 1.92577680e-02 -4.09057857e-04 9.99814468e-01 -2.16983242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00800114499998 meters 0.06281598098047564 Centerline is valid? [True, True] Translation: X:121.58, Y:-0.40, Z:-2.17 [[ 9.99430345e-01 -2.64557040e-02 -2.09542806e-02 1.21580732e+02] [ 2.64595775e-02 9.99649880e-01 -9.24267523e-05 -4.03049080e-01] [ 2.09493893e-02 -4.62067310e-04 9.99780431e-01 -2.17188510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03800114499998 meters 0.06319125587849826 Centerline is valid? [True, True] Translation: X:121.61, Y:-0.41, Z:-2.17 [[ 9.99346358e-01 -2.89583401e-02 -2.16395894e-02 1.21610848e+02] [ 2.89630333e-02 9.99580479e-01 -9.65648735e-05 -4.08553796e-01] [ 2.16333075e-02 -5.30246392e-04 9.99765832e-01 -2.17460316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06800114499998 meters 0.0632734982265152 Centerline is valid? [True, True] Translation: X:121.64, Y:-0.41, Z:-2.17 [[ 9.99304407e-01 -3.02532414e-02 -2.18046621e-02 1.21642236e+02] [ 3.02583462e-02 9.99542107e-01 -9.58511156e-05 -4.10266646e-01] [ 2.17975777e-02 -5.63988571e-04 9.99762245e-01 -2.17483994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09800114499998 meters 0.06368250525969715 Centerline is valid? [True, True] Translation: X:121.67, Y:-0.41, Z:-2.18 [[ 9.99275878e-01 -3.09965746e-02 -2.20665548e-02 1.21672206e+02] [ 3.10020118e-02 9.99519318e-01 -9.57344023e-05 -4.11769969e-01] [ 2.20589152e-02 -5.88442515e-04 9.99756499e-01 -2.17614485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12800114499998 meters 0.06375983221794243 Centerline is valid? [True, True] Translation: X:121.70, Y:-0.41, Z:-2.18 [[ 9.99263387e-01 -3.14220267e-02 -2.20304221e-02 1.21703759e+02] [ 3.14275588e-02 9.99506028e-01 -9.51508777e-05 -4.11455888e-01] [ 2.20225295e-02 -5.97281597e-04 9.99757296e-01 -2.17619250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15800114499999 meters 0.06366127234507955 Centerline is valid? [True, True] Translation: X:121.74, Y:-0.41, Z:-2.18 [[ 9.99303294e-01 -3.02912270e-02 -2.18029245e-02 1.21735028e+02] [ 3.02963913e-02 9.99540955e-01 -9.34911236e-05 -4.09734511e-01] [ 2.17957479e-02 -5.67123944e-04 9.99762284e-01 -2.17590021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18800114499999 meters 0.06386843814615399 Centerline is valid? [True, True] Translation: X:121.77, Y:-0.41, Z:-2.18 [[ 9.99325122e-01 -2.95241744e-02 -2.18545879e-02 1.21765512e+02] [ 2.95291817e-02 9.99563914e-01 -9.36308215e-05 -4.09962681e-01] [ 2.18478218e-02 -5.51780465e-04 9.99761156e-01 -2.17764252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21800114499997 meters 0.06374333083153598 Centerline is valid? [True, True] Translation: X:121.80, Y:-0.41, Z:-2.18 [[ 9.99347567e-01 -2.85880408e-02 -2.20717911e-02 1.21796389e+02] [ 2.85929144e-02 9.99591135e-01 -9.48125998e-05 -4.09238110e-01] [ 2.20654773e-02 -5.36346094e-04 9.99756384e-01 -2.17797073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24800114499998 meters 0.06398563235414355 Centerline is valid? [True, True] Translation: X:121.83, Y:-0.41, Z:-2.18 [[ 9.99356671e-01 -2.80330272e-02 -2.23694731e-02 1.21825547e+02] [ 2.80378812e-02 9.99606857e-01 -9.66767931e-05 -4.09102125e-01] [ 2.23633888e-02 -5.30578029e-04 9.99749767e-01 -2.18005395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27800114499998 meters 0.06288507943479485 Centerline is valid? [True, True] Translation: X:121.86, Y:-0.40, Z:-2.17 [[ 9.99379467e-01 -2.74048908e-02 -2.21281145e-02 1.21856657e+02] [ 2.74095056e-02 9.99624284e-01 -9.47760927e-05 -4.03993120e-01] [ 2.21223979e-02 -5.11803397e-04 9.99755139e-01 -2.17437060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30800114499998 meters 0.06297029895831101 Centerline is valid? [True, True] Translation: X:121.89, Y:-0.40, Z:-2.18 [[ 9.99403600e-01 -2.72216518e-02 -2.12467963e-02 1.21886566e+02] [ 2.72258722e-02 9.99629303e-01 -9.06550868e-05 -4.01960880e-01] [ 2.12413879e-02 -4.87861539e-04 9.99774257e-01 -2.17526425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33800114499998 meters 0.06406550766735215 Centerline is valid? [True, True] Translation: X:121.92, Y:-0.40, Z:-2.18 [[ 9.99378532e-01 -2.78062043e-02 -2.16648274e-02 1.21916965e+02] [ 2.78107369e-02 9.99613202e-01 -9.21068680e-05 -4.04659212e-01] [ 2.16590086e-02 -5.10465189e-04 9.99765286e-01 -2.18103869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36800114499998 meters 0.06431654801254919 Centerline is valid? [True, True] Translation: X:121.95, Y:-0.41, Z:-2.18 [[ 9.99331695e-01 -2.93021647e-02 -2.18528168e-02 1.21947214e+02] [ 2.93071282e-02 9.99570450e-01 -9.31631164e-05 -4.05204249e-01] [ 2.18461598e-02 -5.47342448e-04 9.99761194e-01 -2.18258471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39800114499998 meters 0.06466438834367984 Centerline is valid? [True, True] Translation: X:121.98, Y:-0.41, Z:-2.18 [[ 9.99276007e-01 -3.15635779e-02 -2.12415205e-02 1.21978344e+02] [ 3.15688016e-02 9.99501577e-01 -8.94430755e-05 -4.06248391e-01] [ 2.12337564e-02 -5.81191027e-04 9.99774369e-01 -2.18352027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42800114499998 meters 0.06338108081248206 Centerline is valid? [True, True] Translation: X:122.01, Y:-0.40, Z:-2.18 [[ 9.99138535e-01 -3.62289712e-02 -2.02398211e-02 1.22010050e+02] [ 3.62346848e-02 9.99343305e-01 -8.44844210e-05 -4.04820535e-01] [ 2.02295905e-02 -6.48971896e-04 9.99795150e-01 -2.17685832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45800114499998 meters 0.06391736534760792 Centerline is valid? [True, True] Translation: X:122.04, Y:-0.41, Z:-2.18 [[ 9.99061123e-01 -3.86477232e-02 -1.95761659e-02 1.22041188e+02] [ 3.86535561e-02 9.99252669e-01 -8.04713985e-05 -4.08220914e-01] [ 1.95646461e-02 -6.76292583e-04 9.99808365e-01 -2.17900529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48800114499998 meters 0.06516437066900403 Centerline is valid? [True, True] Translation: X:122.07, Y:-0.41, Z:-2.18 [[ 9.98966956e-01 -4.10360846e-02 -1.95207584e-02 1.22072676e+02] [ 4.10423581e-02 9.99157404e-01 -7.93096111e-05 -4.12980570e-01] [ 1.95075648e-02 -7.21950276e-04 9.99809449e-01 -2.18205706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51800114499999 meters 0.06464662426118213 Centerline is valid? [True, True] Translation: X:122.10, Y:-0.41, Z:-2.18 [[ 9.98898116e-01 -4.28339653e-02 -1.91782496e-02 1.22104978e+02] [ 4.28403803e-02 9.99081927e-01 -7.64086209e-05 -4.10671618e-01] [ 1.91639154e-02 -7.45279079e-04 9.99816078e-01 -2.17972765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54800114499999 meters 0.06563314704720576 Centerline is valid? [True, True] Translation: X:122.13, Y:-0.41, Z:-2.18 [[ 9.98747039e-01 -4.57663553e-02 -2.02433337e-02 1.22134913e+02] [ 4.57741339e-02 9.98951812e-01 -7.91788767e-05 -4.10791123e-01] [ 2.02257386e-02 -8.47541399e-04 9.99795080e-01 -2.18036879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57800114499999 meters 0.06516169626873321 Centerline is valid? [True, True] Translation: X:122.17, Y:-0.41, Z:-2.18 [[ 9.98669107e-01 -4.70624175e-02 -2.10984309e-02 1.22167199e+02] [ 4.70711822e-02 9.98891534e-01 -8.12851438e-05 -4.08185934e-01] [ 2.10788694e-02 -9.11951121e-04 9.99777400e-01 -2.17912970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60800114499997 meters 0.06566814088177088 Centerline is valid? [True, True] Translation: X:122.20, Y:-0.41, Z:-2.18 [[ 9.98649219e-01 -4.74915475e-02 -2.10781756e-02 1.22197852e+02] [ 4.75003940e-02 9.98871216e-01 -8.10526804e-05 -4.09738002e-01] [ 2.10582322e-02 -9.20278449e-04 9.99777827e-01 -2.18127825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63800114499998 meters 0.06508071701745022 Centerline is valid? [True, True] Translation: X:122.23, Y:-0.41, Z:-2.18 [[ 9.98636468e-01 -4.79708174e-02 -2.05913924e-02 1.22230255e+02] [ 4.79794007e-02 9.98848322e-01 -7.72732779e-05 -4.07499281e-01] [ 2.05713846e-02 -9.10794755e-04 9.99787972e-01 -2.18023218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66800114499998 meters 0.0652973387423819 Centerline is valid? [True, True] Translation: X:122.26, Y:-0.41, Z:-2.18 [[ 9.98625670e-01 -4.83476086e-02 -2.02306507e-02 1.22262787e+02] [ 4.83559979e-02 9.98830162e-01 -7.45846407e-05 -4.05110903e-01] [ 2.02105901e-02 -9.03791165e-04 9.99795337e-01 -2.18107210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69800114499998 meters 0.0660768538727733 Centerline is valid? [True, True] Translation: X:122.29, Y:-0.41, Z:-2.18 [[ 9.98603269e-01 -4.88692496e-02 -2.00825182e-02 1.22293856e+02] [ 4.88776361e-02 9.98804771e-01 -7.33222032e-05 -4.05752233e-01] [ 2.00620982e-02 -9.08366225e-04 9.99798323e-01 -2.18295681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72800114499998 meters 0.0660768538727733 Centerline is valid? [True, True] Translation: X:122.33, Y:-0.41, Z:-2.18 [[ 9.98607965e-01 -4.87731837e-02 -2.00825280e-02 1.22326457e+02] [ 4.87816051e-02 9.98809466e-01 -7.06200925e-05 -4.05733897e-01] [ 2.00620634e-02 -9.09136163e-04 9.99798323e-01 -2.18348603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75800114499998 meters 0.06564270787807923 Centerline is valid? [True, True] Translation: X:122.36, Y:-0.40, Z:-2.18 [[ 9.98561977e-01 -4.97716461e-02 -1.99188583e-02 1.22358888e+02] [ 4.97801448e-02 9.98760198e-01 -6.92422514e-05 -4.03252128e-01] [ 1.98976091e-02 -9.22420971e-04 9.99801597e-01 -2.18228390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78800114499998 meters 0.06729298990707482 Centerline is valid? [True, True] Translation: X:122.39, Y:-0.41, Z:-2.19 [[ 9.98464562e-01 -5.19208908e-02 -1.93064481e-02 1.22389630e+02] [ 5.19292781e-02 9.98650763e-01 -6.69849545e-05 -4.06225549e-01] [ 1.92838770e-02 -9.35687810e-04 9.99813611e-01 -2.18607439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81800114499998 meters 0.0673935200918279 Centerline is valid? [True, True] Translation: X:122.42, Y:-0.40, Z:-2.19 [[ 9.98371075e-01 -5.34414227e-02 -1.99802840e-02 1.22422030e+02] [ 5.34507442e-02 9.98570485e-01 -6.75908170e-05 -4.04875377e-01] [ 1.99553340e-02 -1.00048033e-03 9.99800372e-01 -2.18665591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84800114499998 meters 0.06662499032954225 Centerline is valid? [True, True] Translation: X:122.45, Y:-0.40, Z:-2.19 [[ 9.98325992e-01 -5.38401699e-02 -2.11293493e-02 1.22454099e+02] [ 5.38507123e-02 9.98548995e-01 -7.01285483e-05 -4.00898551e-01] [ 2.11024662e-02 -1.06781936e-03 9.99776748e-01 -2.18625561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87800114499998 meters 0.06720535189761083 Centerline is valid? [True, True] Translation: X:122.49, Y:-0.40, Z:-2.19 [[ 9.98261460e-01 -5.46967205e-02 -2.19619055e-02 1.22485706e+02] [ 5.47083337e-02 9.98502375e-01 -7.21362787e-05 -4.01527159e-01] [ 2.19329605e-02 -1.12948839e-03 9.99758806e-01 -2.18862252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90800114499999 meters 0.07082220554785763 Centerline is valid? [True, True] Translation: X:122.52, Y:-0.41, Z:-2.20 [[ 9.98175109e-01 -5.58447171e-02 -2.29743015e-02 1.22516571e+02] [ 5.58577535e-02 9.98438734e-01 -7.44059338e-05 -4.09294508e-01] [ 2.29425877e-02 -1.20902272e-03 9.99736053e-01 -2.19700655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93800114499999 meters 0.07018916487129026 Centerline is valid? [True, True] Translation: X:122.55, Y:-0.40, Z:-2.20 [[ 9.98028477e-01 -5.72312626e-02 -2.57631864e-02 1.22547805e+02] [ 5.72481126e-02 9.98359978e-01 -8.36644267e-05 -4.02778215e-01] [ 2.57257225e-02 -1.39139432e-03 9.99668071e-01 -2.19633844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96800114499997 meters 0.06820999132777447 Centerline is valid? [True, True] Translation: X:122.58, Y:-0.39, Z:-2.19 [[ 9.98023109e-01 -5.72081206e-02 -2.60212542e-02 1.22580353e+02] [ 5.72253662e-02 9.98361283e-01 -8.20377641e-05 -3.94292612e-01] [ 2.59833059e-02 -1.40720021e-03 9.99661386e-01 -2.19245604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99800114499998 meters 0.06880029443715789 Centerline is valid? [True, True] Translation: X:122.61, Y:-0.39, Z:-2.19 [[ 9.98055689e-01 -5.66746579e-02 -2.59388837e-02 1.22611584e+02] [ 5.66917275e-02 9.98391728e-01 -7.74318015e-05 -3.92739617e-01] [ 2.59015553e-02 -1.39323888e-03 9.99663528e-01 -2.19346000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02800114499998 meters 0.06896207570405288 Centerline is valid? [True, True] Translation: X:122.64, Y:-0.39, Z:-2.19 [[ 9.98110252e-01 -5.59409220e-02 -2.54271268e-02 1.22643533e+02] [ 5.59571020e-02 9.98433171e-01 -7.53110537e-05 -3.91698692e-01] [ 2.53914999e-02 -1.34765960e-03 9.99676676e-01 -2.19444860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05800114499998 meters 0.06934513054241996 Centerline is valid? [True, True] Translation: X:122.67, Y:-0.39, Z:-2.20 [[ 9.98179195e-01 -5.51099555e-02 -2.45191176e-02 1.22673929e+02] [ 5.51248164e-02 9.98479469e-01 -6.99123754e-05 -3.91385588e-01] [ 2.44856884e-02 -1.28182678e-03 9.99699359e-01 -2.19675956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08800114499998 meters 0.07029050835123207 Centerline is valid? [True, True] Translation: X:122.70, Y:-0.39, Z:-2.20 [[ 9.98235181e-01 -5.47852037e-02 -2.29151602e-02 1.22704284e+02] [ 5.47980802e-02 9.98497454e-01 -6.61110478e-05 -3.91767613e-01] [ 2.28843510e-02 -1.18971241e-03 9.99737411e-01 -2.19814573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11800114499998 meters 0.0692924750576803 Centerline is valid? [True, True] Translation: X:122.74, Y:-0.39, Z:-2.20 [[ 9.98241315e-01 -5.45779875e-02 -2.31413256e-02 1.22737394e+02] [ 5.45911432e-02 9.98508790e-01 -6.33384289e-05 -3.86033218e-01] [ 2.31102739e-02 -1.20008438e-03 9.99732202e-01 -2.19630786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14800114499998 meters 0.06861815921302285 Centerline is valid? [True, True] Translation: X:122.77, Y:-0.38, Z:-2.20 [[ 9.98273442e-01 -5.38296151e-02 -2.35054664e-02 1.22769685e+02] [ 5.38430039e-02 9.98549411e-01 -6.33750453e-05 -3.80354730e-01] [ 2.34747811e-02 -1.20233930e-03 9.99723706e-01 -2.19545253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17800114499998 meters 0.06770572488804692 Centerline is valid? [True, True] Translation: X:122.80, Y:-0.37, Z:-2.19 [[ 9.98336253e-01 -5.26503796e-02 -2.35087907e-02 1.22801621e+02] [ 5.26634818e-02 9.98612314e-01 -6.18622958e-05 -3.70812653e-01] [ 2.34794250e-02 -1.17629540e-03 9.99723628e-01 -2.19408207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20800114499998 meters 0.06841365525942848 Centerline is valid? [True, True] Translation: X:122.83, Y:-0.37, Z:-2.20 [[ 9.98366063e-01 -5.21191544e-02 -2.34264270e-02 1.22832528e+02] [ 5.21320390e-02 9.98640199e-01 -6.07900640e-05 -3.69689557e-01] [ 2.33977401e-02 -1.16057667e-03 9.99725562e-01 -2.19596460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23800114499998 meters 0.06837521341005559 Centerline is valid? [True, True] Translation: X:122.86, Y:-0.37, Z:-2.20 [[ 9.98420239e-01 -5.15211645e-02 -2.24186652e-02 1.22864651e+02] [ 5.15328517e-02 9.98671298e-01 -5.64799201e-05 -3.68296288e-01] [ 2.23917874e-02 -1.09890706e-03 9.99748669e-01 -2.19710977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26800114499999 meters 0.06818793166749054 Centerline is valid? [True, True] Translation: X:122.90, Y:-0.37, Z:-2.20 [[ 9.98545321e-01 -5.00807096e-02 -1.99790821e-02 1.22895012e+02] [ 5.00896850e-02 9.98744723e-01 -5.12452559e-05 -3.65421019e-01] [ 1.99565692e-02 -9.49575218e-04 9.99800397e-01 -2.19762297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29800114499999 meters 0.06765889321547738 Centerline is valid? [True, True] Translation: X:122.93, Y:-0.36, Z:-2.20 [[ 9.98581707e-01 -4.98530553e-02 -1.86881806e-02 1.22927563e+02] [ 4.98609099e-02 9.98756170e-01 -4.57039203e-05 -3.61070541e-01] [ 1.86672142e-02 -8.86170591e-04 9.99825360e-01 -2.19603773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32800114499997 meters 0.06845023398967588 Centerline is valid? [True, True] Translation: X:122.96, Y:-0.36, Z:-2.20 [[ 9.98597345e-01 -5.01092290e-02 -1.70999501e-02 1.22958479e+02] [ 5.01158533e-02 9.98743410e-01 -4.11787317e-05 -3.59595617e-01] [ 1.70805259e-02 -8.15857617e-04 9.99853784e-01 -2.19606035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35800114499997 meters 0.06903493841824275 Centerline is valid? [True, True] Translation: X:122.99, Y:-0.35, Z:-2.19 [[ 9.98457699e-01 -5.30363076e-02 -1.64125746e-02 1.22989990e+02] [ 5.30428093e-02 9.98592239e-01 -3.92271759e-05 -3.54425692e-01] [ 1.63915501e-02 -8.31402388e-04 9.99865304e-01 -2.19398376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38800114499998 meters 0.07143640040602427 Centerline is valid? [True, True] Translation: X:123.02, Y:-0.36, Z:-2.20 [[ 9.98394898e-01 -5.45278254e-02 -1.53083073e-02 1.23021462e+02] [ 5.45337485e-02 9.98511927e-01 -3.05610357e-05 -3.59276319e-01] [ 1.52871939e-02 -8.04307398e-04 9.99882821e-01 -2.19700651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41800114499998 meters 0.06992690658687943 Centerline is valid? [True, True] Translation: X:123.05, Y:-0.36, Z:-2.20 [[ 9.98257026e-01 -5.70126472e-02 -1.52468853e-02 1.23052727e+02] [ 5.70187767e-02 9.98373106e-01 -3.27416245e-05 -3.55442397e-01] [ 1.52239469e-02 -8.36674192e-04 9.99883759e-01 -2.19578210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44800114499998 meters 0.07214917563393354 Centerline is valid? [True, True] Translation: X:123.08, Y:-0.36, Z:-2.20 [[ 9.98156865e-01 -5.86589756e-02 -1.55562660e-02 1.23083792e+02] [ 5.86656519e-02 9.98277687e-01 -2.72112495e-05 -3.60491743e-01] [ 1.55310694e-02 -8.85457392e-04 9.99878994e-01 -2.19918843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47800114499998 meters 0.0723588258642649 Centerline is valid? [True, True] Translation: X:123.11, Y:-0.36, Z:-2.20 [[ 9.98029968e-01 -6.08044109e-02 -1.54598455e-02 1.23114415e+02] [ 6.08112164e-02 9.98149285e-01 -2.99480659e-05 -3.59540073e-01] [ 1.54330547e-02 -9.10242941e-04 9.99880489e-01 -2.20030309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50800114499998 meters 0.07261248903691198 Centerline is valid? [True, True] Translation: X:123.15, Y:-0.36, Z:-2.20 [[ 9.97997121e-01 -6.10146793e-02 -1.67019489e-02 1.23146470e+02] [ 6.10227722e-02 9.98136374e-01 -2.51353070e-05 -3.57638139e-01] [ 1.66723563e-02 -9.94114257e-04 9.99860512e-01 -2.20065436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53800114499998 meters 0.07381044070737283 Centerline is valid? [True, True] Translation: X:123.18, Y:-0.36, Z:-2.20 [[ 9.98010271e-01 -6.08923448e-02 -1.63591099e-02 1.23178169e+02] [ 6.09000679e-02 9.98143868e-01 -2.61222362e-05 -3.56690693e-01] [ 1.63303359e-02 -9.70200642e-04 9.99866180e-01 -2.20215858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56800114499998 meters 0.07294772249177045 Centerline is valid? [True, True] Translation: X:123.21, Y:-0.35, Z:-2.20 [[ 9.98057821e-01 -5.99583506e-02 -1.68991519e-02 1.23210298e+02] [ 5.99664767e-02 9.98200391e-01 -2.59179965e-05 -3.51564097e-01] [ 1.68702940e-02 -9.87514938e-04 9.99857199e-01 -2.20196580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59800114499998 meters 0.0729529394815499 Centerline is valid? [True, True] Translation: X:123.24, Y:-0.35, Z:-2.20 [[ 9.98138392e-01 -5.84990192e-02 -1.72514997e-02 1.23242714e+02] [ 5.85072892e-02 9.98286981e-01 -2.53696934e-05 -3.49468273e-01] [ 1.72234316e-02 -9.84016016e-04 9.99851181e-01 -2.20403060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62800114499998 meters 0.07185547992815547 Centerline is valid? [True, True] Translation: X:123.27, Y:-0.34, Z:-2.21 [[ 9.98376479e-01 -5.42746985e-02 -1.72818915e-02 1.23273022e+02] [ 5.42823523e-02 9.98525626e-01 -2.62454790e-05 -3.44036644e-01] [ 1.72578360e-02 -9.11898853e-04 9.99850657e-01 -2.20631192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65800114499999 meters 0.07107970750913889 Centerline is valid? [True, True] Translation: X:123.30, Y:-0.34, Z:-2.21 [[ 9.98516384e-01 -5.18947083e-02 -1.64915274e-02 1.23303897e+02] [ 5.19013615e-02 9.98652216e-01 -2.45922463e-05 -3.40552872e-01] [ 1.64705766e-02 -8.31376966e-04 9.99864005e-01 -2.20745012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68800114499999 meters 0.0700871056597888 Centerline is valid? [True, True] Translation: X:123.33, Y:-0.34, Z:-2.21 [[ 9.98677508e-01 -4.90139876e-02 -1.55198218e-02 1.23334584e+02] [ 4.90195365e-02 9.98797820e-01 -2.28978960e-05 -3.35818582e-01] [ 1.55022865e-02 -7.37906859e-04 9.99879560e-01 -2.20741223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71800114499997 meters 0.06837696058011468 Centerline is valid? [True, True] Translation: X:123.36, Y:-0.32, Z:-2.21 [[ 9.98944927e-01 -4.31926082e-02 -1.56023056e-02 1.23364892e+02] [ 4.31975041e-02 9.99066552e-01 -2.32384651e-05 -3.24158876e-01] [ 1.55887454e-02 -6.50766715e-04 9.99878276e-01 -2.20626097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74800114499998 meters 0.06721982126411999 Centerline is valid? [True, True] Translation: X:123.40, Y:-0.32, Z:-2.21 [[ 9.99059949e-01 -4.04396079e-02 -1.56158990e-02 1.23396695e+02] [ 4.04442005e-02 9.99181798e-01 -2.17226136e-05 -3.16829374e-01] [ 1.56040005e-02 -6.09870356e-04 9.99878064e-01 -2.20538131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77800114499998 meters 0.06661098650201466 Centerline is valid? [True, True] Translation: X:123.43, Y:-0.31, Z:-2.21 [[ 9.99170216e-01 -3.73675826e-02 -1.62031683e-02 1.23427623e+02] [ 3.73721276e-02 9.99301418e-01 -2.23077352e-05 -3.11698773e-01] [ 1.61926827e-02 -5.83257649e-04 9.99868720e-01 -2.20634743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80800114499998 meters 0.06631442352265715 Centerline is valid? [True, True] Translation: X:123.46, Y:-0.31, Z:-2.21 [[ 9.99243490e-01 -3.52252846e-02 -1.64811156e-02 1.23459991e+02] [ 3.52297216e-02 9.99379240e-01 -2.11253387e-05 -3.08375889e-01] [ 1.64716289e-02 -5.59515756e-04 9.99864177e-01 -2.20756895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83800114499998 meters 0.06578151372435306 Centerline is valid? [True, True] Translation: X:123.49, Y:-0.30, Z:-2.21 [[ 9.99404197e-01 -3.11365255e-02 -1.48918530e-02 1.23489595e+02] [ 3.11396804e-02 9.99515042e-01 -2.00307801e-05 -3.03249492e-01] [ 1.48852548e-02 -4.43708699e-04 9.99889110e-01 -2.20846942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86800114499998 meters 0.06544967082272589 Centerline is valid? [True, True] Translation: X:123.52, Y:-0.30, Z:-2.21 [[ 9.99438440e-01 -3.03391373e-02 -1.42246462e-02 1.23522096e+02] [ 3.03419629e-02 9.99539577e-01 -1.71784762e-05 -3.00499278e-01] [ 1.42186180e-02 -4.14434856e-04 9.99898824e-01 -2.20815604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89800114499998 meters 0.06579991110297177 Centerline is valid? [True, True] Translation: X:123.55, Y:-0.30, Z:-2.21 [[ 9.99473922e-01 -2.96498210e-02 -1.31441259e-02 1.23553821e+02] [ 2.96521860e-02 9.99560277e-01 -1.49654622e-05 -2.99963498e-01] [ 1.31387899e-02 -3.74794477e-04 9.99913612e-01 -2.20951129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92800114499998 meters 0.06525123053844192 Centerline is valid? [True, True] Translation: X:123.59, Y:-0.30, Z:-2.21 [[ 9.99503703e-01 -2.87439821e-02 -1.28891577e-02 1.23586022e+02] [ 2.87461920e-02 9.99586743e-01 -1.38153806e-05 -2.95726225e-01] [ 1.28842283e-02 -3.56705679e-04 9.99916931e-01 -2.20758090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95800114499998 meters 0.06526576186940107 Centerline is valid? [True, True] Translation: X:123.62, Y:-0.29, Z:-2.21 [[ 9.99530377e-01 -2.79700009e-02 -1.25181936e-02 1.23616791e+02] [ 2.79720294e-02 9.99608706e-01 -1.30474731e-05 -2.92818899e-01] [ 1.25136602e-02 -3.37117932e-04 9.99921644e-01 -2.20819139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98800114499998 meters 0.06572274317219114 Centerline is valid? [True, True] Translation: X:123.65, Y:-0.29, Z:-2.21 [[ 9.99524241e-01 -2.77373564e-02 -1.34881996e-02 1.23647763e+02] [ 2.77396981e-02 9.99615180e-01 -1.34824098e-05 -2.90990720e-01] [ 1.34833830e-02 -3.60682589e-04 9.99909030e-01 -2.21048623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01800114499999 meters 0.06579627633199173 Centerline is valid? [True, True] Translation: X:123.68, Y:-0.29, Z:-2.21 [[ 9.99549089e-01 -2.72634473e-02 -1.25826237e-02 1.23679390e+02] [ 2.72654778e-02 9.99628228e-01 -1.01699381e-05 -2.91523948e-01] [ 1.25782231e-02 -3.32905894e-04 9.99920836e-01 -2.21212134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04800114499999 meters 0.06536172275302257 Centerline is valid? [True, True] Translation: X:123.71, Y:-0.29, Z:-2.21 [[ 9.99565230e-01 -2.69816965e-02 -1.18886437e-02 1.23712007e+02] [ 2.69834909e-02 9.99635879e-01 -9.47305572e-06 -2.88967328e-01] [ 1.18845704e-02 -3.11328172e-04 9.99929328e-01 -2.21083498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07800114499997 meters 0.06550435717979267 Centerline is valid? [True, True] Translation: X:123.74, Y:-0.29, Z:-2.21 [[ 9.99570277e-01 -2.68633873e-02 -1.17311499e-02 1.23742785e+02] [ 2.68651300e-02 9.99639067e-01 -9.04253701e-06 -2.88335821e-01] [ 1.17271587e-02 -3.06120217e-04 9.99931188e-01 -2.21143873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10800114499997 meters 0.06506580178837518 Centerline is valid? [True, True] Translation: X:123.77, Y:-0.28, Z:-2.21 [[ 9.99583654e-01 -2.64212509e-02 -1.15946512e-02 1.23774583e+02] [ 2.64229355e-02 9.99650853e-01 -7.89322451e-06 -2.84984382e-01] [ 1.15908115e-02 -2.98474782e-04 9.99932780e-01 -2.21015107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13800114499998 meters 0.06513876270423437 Centerline is valid? [True, True] Translation: X:123.81, Y:-0.28, Z:-2.21 [[ 9.99616404e-01 -2.52153853e-02 -1.14555219e-02 1.23806107e+02] [ 2.52169540e-02 9.99682002e-01 -7.50175466e-06 -2.83573376e-01] [ 1.14520682e-02 -2.81374493e-04 9.99934383e-01 -2.21147922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16800114499998 meters 0.06495821143241833 Centerline is valid? [True, True] Translation: X:123.84, Y:-0.28, Z:-2.21 [[ 9.99651400e-01 -2.37717746e-02 -1.14882976e-02 1.23838563e+02] [ 2.37732684e-02 9.99717376e-01 -6.53636898e-06 -2.81573951e-01] [ 1.14852061e-02 -2.66580291e-04 9.99934007e-01 -2.21175330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19800114499998 meters 0.06462614308138448 Centerline is valid? [True, True] Translation: X:123.87, Y:-0.28, Z:-2.21 [[ 9.99706770e-01 -2.12546617e-02 -1.16022838e-02 1.23870376e+02] [ 2.12560245e-02 9.99774065e-01 -5.84772527e-06 -2.78189638e-01] [ 1.15997867e-02 -2.40772418e-04 9.99932691e-01 -2.21308226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22800114499998 meters 0.0646327057586248 Centerline is valid? [True, True] Translation: X:123.90, Y:-0.28, Z:-2.22 [[ 9.99733909e-01 -1.98177503e-02 -1.18054404e-02 1.23901370e+02] [ 1.98190646e-02 9.99803583e-01 -5.66243830e-06 -2.77778866e-01] [ 1.18032338e-02 -2.28311853e-04 9.99930313e-01 -2.21542071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25800114499998 meters 0.06495308351089925 Centerline is valid? [True, True] Translation: X:123.93, Y:-0.28, Z:-2.22 [[ 9.99749073e-01 -1.89965421e-02 -1.18710875e-02 1.23932759e+02] [ 1.89978404e-02 9.99819525e-01 -3.39789355e-06 -2.78052240e-01] [ 1.18690096e-02 -2.22127985e-04 9.99929536e-01 -2.21770411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28800114499998 meters 0.06478946606055858 Centerline is valid? [True, True] Translation: X:123.97, Y:-0.28, Z:-2.22 [[ 9.99770828e-01 -1.81425718e-02 -1.13639452e-02 1.23965257e+02] [ 1.81437061e-02 9.99835389e-01 -3.27418366e-06 -2.77017088e-01] [ 1.13621340e-02 -2.02910649e-04 9.99935428e-01 -2.21776403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31800114499998 meters 0.06424505257403847 Centerline is valid? [True, True] Translation: X:124.00, Y:-0.27, Z:-2.21 [[ 9.99776558e-01 -1.80290582e-02 -1.10357261e-02 1.23997114e+02] [ 1.80301301e-02 9.99837444e-01 -2.36439273e-06 -2.74027872e-01] [ 1.10339748e-02 -1.96611713e-04 9.99939105e-01 -2.21401533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34800114499998 meters 0.06450017199718518 Centerline is valid? [True, True] Translation: X:124.03, Y:-0.27, Z:-2.22 [[ 9.99780729e-01 -1.75859271e-02 -1.13678954e-02 1.24028030e+02] [ 1.75870387e-02 9.99845336e-01 -2.18460723e-06 -2.74900130e-01] [ 1.13661756e-02 -1.97743488e-04 9.99935383e-01 -2.21667940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37800114499998 meters 0.06446464643715928 Centerline is valid? [True, True] Translation: X:124.06, Y:-0.27, Z:-2.22 [[ 9.99755794e-01 -1.80422761e-02 -1.27604551e-02 1.24059801e+02] [ 1.80437206e-02 9.99837199e-01 -1.92007985e-06 -2.73841751e-01] [ 1.27584124e-02 -2.28326477e-04 9.99918582e-01 -2.21583969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40800114499999 meters 0.06453174492908165 Centerline is valid? [True, True] Translation: X:124.09, Y:-0.27, Z:-2.22 [[ 9.99750396e-01 -1.79365643e-02 -1.33200940e-02 1.24092017e+02] [ 1.79381435e-02 9.99839099e-01 -9.20390627e-07 -2.74710947e-01] [ 1.33179673e-02 -2.38017597e-04 9.99911284e-01 -2.21749454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43800114499999 meters 0.06488021731392762 Centerline is valid? [True, True] Translation: X:124.12, Y:-0.28, Z:-2.22 [[ 9.99738434e-01 -1.82814733e-02 -1.37423153e-02 1.24122895e+02] [ 1.82832126e-02 9.99832848e-01 9.37100992e-07 -2.76565497e-01] [ 1.37400011e-02 -2.52190528e-04 9.99905570e-01 -2.21980908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46800114499997 meters 0.06515353165696394 Centerline is valid? [True, True] Translation: X:124.16, Y:-0.28, Z:-2.22 [[ 9.99690738e-01 -2.08054359e-02 -1.36221211e-02 1.24155496e+02] [ 2.08073835e-02 9.99783503e-01 1.24572376e-06 -2.80186509e-01] [ 1.36191460e-02 -2.84686036e-04 9.99907215e-01 -2.22085830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49800114499998 meters 0.06546496933515959 Centerline is valid? [True, True] Translation: X:124.19, Y:-0.28, Z:-2.22 [[ 9.99654779e-01 -2.24101155e-02 -1.37153066e-02 1.24187751e+02] [ 2.24122526e-02 9.99748814e-01 2.12197400e-06 -2.82363109e-01] [ 1.37118139e-02 -3.09512157e-04 9.99905941e-01 -2.22155583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52800114499998 meters 0.06574511119168626 Centerline is valid? [True, True] Translation: X:124.22, Y:-0.28, Z:-2.22 [[ 9.99624755e-01 -2.37200918e-02 -1.37005885e-02 1.24219856e+02] [ 2.37223592e-02 9.99718585e-01 2.98967143e-06 -2.84710050e-01] [ 1.36966621e-02 -3.27998832e-04 9.99906143e-01 -2.22268443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55800114499998 meters 0.0660079969936479 Centerline is valid? [True, True] Translation: X:124.25, Y:-0.29, Z:-2.22 [[ 9.99595459e-01 -2.56345226e-02 -1.23202844e-02 1.24252524e+02] [ 2.56365123e-02 9.99671331e-01 3.56414363e-06 -2.88046265e-01] [ 1.23161437e-02 -3.19411824e-04 9.99924102e-01 -2.22186194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58800114499998 meters 0.06597559832679817 Centerline is valid? [True, True] Translation: X:124.28, Y:-0.29, Z:-2.22 [[ 9.99587433e-01 -2.59407334e-02 -1.23305566e-02 1.24284472e+02] [ 2.59427593e-02 9.99663430e-01 4.35158402e-06 -2.88212924e-01] [ 1.23262936e-02 -3.24238451e-04 9.99923976e-01 -2.22211267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61800114499998 meters 0.06634949020580148 Centerline is valid? [True, True] Translation: X:124.32, Y:-0.29, Z:-2.22 [[ 9.99572878e-01 -2.61874656e-02 -1.29722015e-02 1.24316110e+02] [ 2.61897325e-02 9.99656990e-01 4.88080111e-06 -2.90173419e-01] [ 1.29676241e-02 -3.44617204e-04 9.99915857e-01 -2.22323714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64800114499998 meters 0.06634949020580148 Centerline is valid? [True, True] Translation: X:124.35, Y:-0.29, Z:-2.22 [[ 9.99575334e-01 -2.60935385e-02 -1.29722007e-02 1.24348692e+02] [ 2.60958232e-02 9.99659446e-01 6.85498388e-06 -2.90295455e-01] [ 1.29676041e-02 -3.45372329e-04 9.99915857e-01 -2.22376596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67800114499998 meters 0.06613368576379558 Centerline is valid? [True, True] Translation: X:124.38, Y:-0.29, Z:-2.22 [[ 9.99566727e-01 -2.65636284e-02 -1.26779902e-02 1.24381189e+02] [ 2.65658530e-02 9.99647065e-01 7.06183055e-06 -2.91075740e-01] [ 1.26733281e-02 -3.43860393e-04 9.99919631e-01 -2.22340487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70800114499998 meters 0.06715101999007364 Centerline is valid? [True, True] Translation: X:124.41, Y:-0.30, Z:-2.23 [[ 9.99514850e-01 -2.84029248e-02 -1.27803771e-02 1.24412312e+02] [ 2.84053401e-02 9.99596487e-01 7.46190974e-06 -2.98377473e-01] [ 1.27750081e-02 -3.70489247e-04 9.99918328e-01 -2.22698057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73800114499998 meters 0.06615302799674304 Centerline is valid? [True, True] Translation: X:124.44, Y:-0.29, Z:-2.22 [[ 9.99484389e-01 -2.95087318e-02 -1.26566407e-02 1.24444734e+02] [ 2.95112034e-02 9.99564450e-01 8.51819109e-06 -2.94869145e-01] [ 1.26508767e-02 -3.82026496e-04 9.99919901e-01 -2.22270660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76800114499999 meters 0.06645432683262627 Centerline is valid? [True, True] Translation: X:124.48, Y:-0.30, Z:-2.22 [[ 9.99447380e-01 -3.04112557e-02 -1.34197395e-02 1.24475789e+02] [ 3.04141201e-02 9.99537384e-01 9.36370930e-06 -2.95494016e-01] [ 1.34132465e-02 -4.17508103e-04 9.99909951e-01 -2.22341841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79800114499999 meters 0.06696517511703398 Centerline is valid? [True, True] Translation: X:124.51, Y:-0.30, Z:-2.23 [[ 9.99405099e-01 -3.12235526e-02 -1.46471094e-02 1.24507466e+02] [ 3.12270907e-02 9.99512315e-01 1.28566118e-05 -2.97374444e-01] [ 1.46395648e-02 -4.70235578e-04 9.99892725e-01 -2.22519715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82800114499997 meters 0.06737044990088849 Centerline is valid? [True, True] Translation: X:124.54, Y:-0.30, Z:-2.23 [[ 9.99403098e-01 -3.13075210e-02 -1.46043202e-02 1.24539479e+02] [ 3.13110571e-02 9.99509689e-01 1.34862835e-05 -2.99864235e-01] [ 1.45967373e-02 -4.70754936e-04 9.99893351e-01 -2.22721681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85800114499997 meters 0.06761770313950166 Centerline is valid? [True, True] Translation: X:124.57, Y:-0.30, Z:-2.23 [[ 9.99422072e-01 -3.08831920e-02 -1.42038552e-02 1.24570323e+02] [ 3.08864963e-02 9.99522898e-01 1.32746592e-05 -3.01411691e-01] [ 1.41966685e-02 -4.51974307e-04 9.99899120e-01 -2.22867890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88800114499998 meters 0.0677363189801628 Centerline is valid? [True, True] Translation: X:124.60, Y:-0.30, Z:-2.23 [[ 9.99434811e-01 -3.02043899e-02 -1.47564952e-02 1.24602320e+02] [ 3.02079401e-02 9.99543636e-01 1.77015295e-05 -3.01241703e-01] [ 1.47492262e-02 -4.63454847e-04 9.99891117e-01 -2.22953188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91800114499998 meters 0.06722358059510886 Centerline is valid? [True, True] Translation: X:124.64, Y:-0.30, Z:-2.23 [[ 9.99439007e-01 -3.00027526e-02 -1.48830715e-02 1.24635684e+02] [ 3.00063495e-02 9.99549708e-01 1.83857901e-05 -2.97400821e-01] [ 1.48758182e-02 -4.64962122e-04 9.99889241e-01 -2.22760538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94800114499998 meters 0.06744575974331633 Centerline is valid? [True, True] Translation: X:124.67, Y:-0.30, Z:-2.23 [[ 9.99409023e-01 -3.05407930e-02 -1.57754242e-02 1.24667722e+02] [ 3.05449075e-02 9.99533395e-01 1.98847798e-05 -2.97483945e-01] [ 1.57674560e-02 -5.01731902e-04 9.99875560e-01 -2.22848540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97800114499998 meters 0.06776776895937821 Centerline is valid? [True, True] Translation: X:124.70, Y:-0.30, Z:-2.23 [[ 9.99375174e-01 -3.16883160e-02 -1.56560428e-02 1.24698728e+02] [ 3.16925168e-02 9.99497666e-01 2.02283136e-05 -2.98293153e-01] [ 1.56475372e-02 -5.16395075e-04 9.99877436e-01 -2.22979463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00800114499998 meters 0.0689490043030013 Centerline is valid? [True, True] Translation: X:124.73, Y:-0.30, Z:-2.23 [[ 9.99258761e-01 -3.49431340e-02 -1.61525535e-02 1.24729421e+02] [ 3.49480255e-02 9.99389131e-01 2.05777618e-05 -3.01242627e-01] [ 1.61419673e-02 -5.85062359e-04 9.99869539e-01 -2.23118195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03800114499998 meters 0.0694216807301963 Centerline is valid? [True, True] Translation: X:124.76, Y:-0.30, Z:-2.23 [[ 9.99174071e-01 -3.72019177e-02 -1.63460189e-02 1.24761190e+02] [ 3.72072809e-02 9.99307569e-01 2.40067704e-05 -3.03195460e-01] [ 1.63338073e-02 -6.32177860e-04 9.99866395e-01 -2.23191215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06800114499998 meters 0.06943576552219602 Centerline is valid? [True, True] Translation: X:124.79, Y:-0.30, Z:-2.23 [[ 9.99089596e-01 -3.91982089e-02 -1.68368404e-02 1.24793556e+02] [ 3.92041890e-02 9.99231220e-01 2.51406388e-05 -3.04413868e-01] [ 1.68229111e-02 -6.85192424e-04 9.99858250e-01 -2.23165284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09800114499998 meters 0.07062549909424119 Centerline is valid? [True, True] Translation: X:124.82, Y:-0.31, Z:-2.23 [[ 9.99016962e-01 -4.11040051e-02 -1.66003276e-02 1.24824835e+02] [ 4.11100901e-02 9.99154623e-01 2.53376812e-05 -3.08411522e-01] [ 1.65852526e-02 -7.07753739e-04 9.99862205e-01 -2.23417993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12800114499998 meters 0.0719665337652962 Centerline is valid? [True, True] Translation: X:124.86, Y:-0.31, Z:-2.24 [[ 9.98841820e-01 -4.47872508e-02 -1.75818237e-02 1.24856058e+02] [ 4.47946506e-02 9.98996215e-01 2.70934985e-05 -3.11464007e-01] [ 1.75629619e-02 -8.14633771e-04 9.99845427e-01 -2.23579943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15800114499999 meters 0.07298478775808377 Centerline is valid? [True, True] Translation: X:124.89, Y:-0.31, Z:-2.24 [[ 9.98784414e-01 -4.57950320e-02 -1.82348187e-02 1.24887390e+02] [ 4.58031802e-02 9.98950483e-01 2.92402373e-05 -3.13063354e-01] [ 1.82143419e-02 -8.64417379e-04 9.99833731e-01 -2.23779047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18800114499999 meters 0.07418702442269857 Centerline is valid? [True, True] Translation: X:124.92, Y:-0.32, Z:-2.24 [[ 9.98780078e-01 -4.57116392e-02 -1.86762160e-02 1.24918757e+02] [ 4.57201883e-02 9.98954285e-01 3.08117070e-05 -3.15028678e-01] [ 1.86552775e-02 -8.84654230e-04 9.99825584e-01 -2.24085335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21800114499997 meters 0.07297165225995088 Centerline is valid? [True, True] Translation: X:124.95, Y:-0.31, Z:-2.24 [[ 9.98816174e-01 -4.50044580e-02 -1.84620984e-02 1.24951226e+02] [ 4.50127187e-02 9.98986413e-01 3.19247675e-05 -3.11819093e-01] [ 1.84419487e-02 -8.62916217e-04 9.99829560e-01 -2.23969119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24800114499998 meters 0.07141858697620942 Centerline is valid? [True, True] Translation: X:124.98, Y:-0.31, Z:-2.24 [[ 9.98836185e-01 -4.41964348e-02 -1.93119450e-02 1.24984044e+02] [ 4.42053712e-02 9.99022464e-01 3.58934916e-05 -3.06595102e-01] [ 1.92914805e-02 -8.89543416e-04 9.99813506e-01 -2.23858097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27800114499998 meters 0.07182966615626268 Centerline is valid? [True, True] Translation: X:125.02, Y:-0.31, Z:-2.24 [[ 9.98861777e-01 -4.39085609e-02 -1.86330259e-02 1.25015079e+02] [ 4.39168329e-02 9.99035190e-01 3.47895382e-05 -3.07164449e-01] [ 1.86135210e-02 -8.53053425e-04 9.99826389e-01 -2.23998452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30800114499998 meters 0.07170526311558878 Centerline is valid? [True, True] Translation: X:125.05, Y:-0.31, Z:-2.24 [[ 9.98839286e-01 -4.43548296e-02 -1.87811034e-02 1.25047069e+02] [ 4.43633405e-02 9.99015462e-01 3.65669170e-05 -3.05629867e-01] [ 1.87609908e-02 -8.69716959e-04 9.99823619e-01 -2.23877685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33800114499998 meters 0.07260011590490695 Centerline is valid? [True, True] Translation: X:125.08, Y:-0.31, Z:-2.24 [[ 9.98841501e-01 -4.47665244e-02 -1.76525906e-02 1.25078687e+02] [ 4.47741187e-02 9.98997136e-01 3.50288211e-05 -3.05136163e-01] [ 1.76333193e-02 -8.25367426e-04 9.99844180e-01 -2.23859758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36800114499998 meters 0.07257713674475581 Centerline is valid? [True, True] Translation: X:125.11, Y:-0.30, Z:-2.24 [[ 9.98815290e-01 -4.51382428e-02 -1.81812061e-02 1.25110907e+02] [ 4.51463865e-02 9.98980381e-01 3.75135244e-05 -3.03804445e-01] [ 1.81609749e-02 -8.58284840e-04 9.99834708e-01 -2.23864053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39800114499998 meters 0.07317770995356822 Centerline is valid? [True, True] Translation: X:125.14, Y:-0.31, Z:-2.24 [[ 9.98814280e-01 -4.53925796e-02 -1.75939573e-02 1.25142946e+02] [ 4.54003232e-02 9.98968873e-01 4.07530513e-05 -3.05175238e-01] [ 1.75739658e-02 -8.39476077e-04 9.99845214e-01 -2.24046255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42800114499998 meters 0.072442174950101 Centerline is valid? [True, True] Translation: X:125.18, Y:-0.30, Z:-2.24 [[ 9.98823255e-01 -4.54883680e-02 -1.68200266e-02 1.25175093e+02] [ 4.54954532e-02 9.98964545e-01 3.86308107e-05 -3.03895325e-01] [ 1.68008530e-02 -8.03820085e-04 9.99858533e-01 -2.23990680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45800114499998 meters 0.07457604341220235 Centerline is valid? [True, True] Translation: X:125.21, Y:-0.31, Z:-2.24 [[ 9.98839700e-01 -4.53027929e-02 -1.63374246e-02 1.25206342e+02] [ 4.53095487e-02 9.98972994e-01 4.34150727e-05 -3.07950265e-01] [ 1.63186792e-02 -7.83606035e-04 9.99866534e-01 -2.24409872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48800114499998 meters 0.07472950991875367 Centerline is valid? [True, True] Translation: X:125.24, Y:-0.31, Z:-2.24 [[ 9.98854740e-01 -4.49222328e-02 -1.64682077e-02 1.25238694e+02] [ 4.49290224e-02 9.98990181e-01 4.23542470e-05 -3.06567112e-01] [ 1.64496752e-02 -7.82206214e-04 9.99864389e-01 -2.24448117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51800114499999 meters 0.07451011995389938 Centerline is valid? [True, True] Translation: X:125.27, Y:-0.30, Z:-2.24 [[ 9.98869372e-01 -4.44675681e-02 -1.68111222e-02 1.25271320e+02] [ 4.44745968e-02 9.99010515e-01 4.42826535e-05 -3.03845669e-01] [ 1.67925187e-02 -7.91900466e-04 9.99858682e-01 -2.24469485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54800114499999 meters 0.07382100929618614 Centerline is valid? [True, True] Translation: X:125.30, Y:-0.30, Z:-2.24 [[ 9.98917372e-01 -4.35165939e-02 -1.64435610e-02 1.25303833e+02] [ 4.35232077e-02 9.99052415e-01 4.43964276e-05 -3.00124897e-01] [ 1.64260473e-02 -7.60024882e-04 9.99864795e-01 -2.24408617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57800114499997 meters 0.07355044580581008 Centerline is valid? [True, True] Translation: X:125.34, Y:-0.30, Z:-2.24 [[ 9.98946560e-01 -4.31811391e-02 -1.55293405e-02 1.25336091e+02] [ 4.31870138e-02 9.99067005e-01 4.29851911e-05 -2.97185798e-01] [ 1.55129956e-02 -7.13605752e-04 9.99879412e-01 -2.24283034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60800114499997 meters 0.07357027590710814 Centerline is valid? [True, True] Translation: X:125.37, Y:-0.30, Z:-2.24 [[ 9.98941937e-01 -4.35406670e-02 -1.48059912e-02 1.25368752e+02] [ 4.35460765e-02 9.99051419e-01 4.30128816e-05 -2.96181238e-01] [ 1.47900738e-02 -6.87710199e-04 9.99890384e-01 -2.24206644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63800114499998 meters 0.07333394358106407 Centerline is valid? [True, True] Translation: X:125.40, Y:-0.29, Z:-2.24 [[ 9.98929522e-01 -4.41110646e-02 -1.39292217e-02 1.25402231e+02] [ 4.41159283e-02 9.99026418e-01 4.19540537e-05 -2.94981722e-01] [ 1.39138098e-02 -6.56409689e-04 9.99902983e-01 -2.24160523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66800114499998 meters 0.0756012543558716 Centerline is valid? [True, True] Translation: X:125.43, Y:-0.30, Z:-2.24 [[ 9.98882116e-01 -4.51411262e-02 -1.40284323e-02 1.25433560e+02] [ 4.51462278e-02 9.98980388e-01 4.70266430e-05 -2.99488366e-01] [ 1.40120059e-02 -6.80304872e-04 9.99901596e-01 -2.24475110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69800114499998 meters 0.07514972904509384 Centerline is valid? [True, True] Translation: X:125.46, Y:-0.30, Z:-2.25 [[ 9.98778534e-01 -4.72165751e-02 -1.45614119e-02 1.25464388e+02] [ 4.72222611e-02 9.98884406e-01 4.67071167e-05 -2.98415704e-01] [ 1.45429619e-02 -7.34272861e-04 9.99893976e-01 -2.24539194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72800114499998 meters 0.07403533469946601 Centerline is valid? [True, True] Translation: X:125.50, Y:-0.30, Z:-2.24 [[ 9.98686196e-01 -4.89405678e-02 -1.51888954e-02 1.25496457e+02] [ 4.89469732e-02 9.98801377e-01 5.00284047e-05 -2.95318044e-01] [ 1.51682412e-02 -7.93413132e-04 9.99884641e-01 -2.24452081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75800114499998 meters 0.0754394027715094 Centerline is valid? [True, True] Translation: X:125.53, Y:-0.30, Z:-2.25 [[ 9.98650579e-01 -4.96544078e-02 -1.52138256e-02 1.25527393e+02] [ 4.96609325e-02 9.98766133e-01 5.11420396e-05 -2.97818890e-01] [ 1.51925143e-02 -8.06605793e-04 9.99884262e-01 -2.24632014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78800114499998 meters 0.0797433355333108 Centerline is valid? [True, True] Translation: X:125.56, Y:-0.31, Z:-2.25 [[ 9.98605764e-01 -5.03901180e-02 -1.57278349e-02 1.25558292e+02] [ 5.03972735e-02 9.98729248e-01 5.86899480e-05 -3.06627347e-01] [ 1.57048913e-02 -8.51248118e-04 9.99876308e-01 -2.25188476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81800114499998 meters 0.08022430069114378 Centerline is valid? [True, True] Translation: X:125.59, Y:-0.31, Z:-2.25 [[ 9.98521348e-01 -5.19906296e-02 -1.58773852e-02 1.25590617e+02] [ 5.19980992e-02 9.98647182e-01 5.77136184e-05 -3.07238256e-01] [ 1.58529054e-02 -8.83222129e-04 9.99873945e-01 -2.25252475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84800114499998 meters 0.07697401742387204 Centerline is valid? [True, True] Translation: X:125.62, Y:-0.30, Z:-2.25 [[ 9.98435008e-01 -5.34198273e-02 -1.65486363e-02 1.25622726e+02] [ 5.34281567e-02 9.98571694e-01 6.13120532e-05 -3.00154980e-01] [ 1.65217245e-02 -9.45379233e-04 9.99863060e-01 -2.24860049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87800114499998 meters 0.07741189429537872 Centerline is valid? [True, True] Translation: X:125.65, Y:-0.30, Z:-2.25 [[ 9.98392784e-01 -5.41174716e-02 -1.68270082e-02 1.25654639e+02] [ 5.41262855e-02 9.98534096e-01 6.84774356e-05 -3.00616504e-01] [ 1.67986356e-02 -9.79150829e-04 9.99858414e-01 -2.24892839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90800114499999 meters 0.0796213339354453 Centerline is valid? [True, True] Translation: X:125.69, Y:-0.30, Z:-2.25 [[ 9.98318746e-01 -5.56454003e-02 -1.62256152e-02 1.25686217e+02] [ 5.56538557e-02 9.98450121e-01 6.96926098e-05 -3.02953641e-01] [ 1.61965893e-02 -9.72593483e-04 9.99868354e-01 -2.24898746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93800114499999 meters 0.08086589323625232 Centerline is valid? [True, True] Translation: X:125.72, Y:-0.31, Z:-2.25 [[ 9.98274725e-01 -5.65211742e-02 -1.59037735e-02 1.25718111e+02] [ 5.65293949e-02 9.98400933e-01 6.74737215e-05 -3.05217781e-01] [ 1.58745286e-02 -9.66388005e-04 9.99873525e-01 -2.25001000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96800114499997 meters 0.07876650651926735 Centerline is valid? [True, True] Translation: X:125.75, Y:-0.30, Z:-2.25 [[ 9.98275832e-01 -5.68616559e-02 -1.45641840e-02 1.25750746e+02] [ 5.68685988e-02 9.98381670e-01 6.26742998e-05 -3.02136416e-01] [ 1.45370506e-02 -8.90810975e-04 9.99893935e-01 -2.24823241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99800114499998 meters 0.08026411083651677 Centerline is valid? [True, True] Translation: X:125.78, Y:-0.31, Z:-2.25 [[ 9.98238508e-01 -5.75986363e-02 -1.42224419e-02 1.25781860e+02] [ 5.76054105e-02 9.98339427e-01 6.67539969e-05 -3.07171770e-01] [ 1.41949795e-02 -8.85926013e-04 9.99898854e-01 -2.25106786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.028001145 meters 0.0843716813346424 Centerline is valid? [True, True] Translation: X:125.81, Y:-0.32, Z:-2.25 [[ 9.98200856e-01 -5.85083380e-02 -1.31081889e-02 1.25812829e+02] [ 5.85142102e-02 9.98286574e-01 6.45760330e-05 -3.16353650e-01] [ 1.30819508e-02 -8.31475173e-04 9.99914082e-01 -2.25475659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.058001145 meters 0.08073801238664263 Centerline is valid? [True, True] Translation: X:125.84, Y:-0.31, Z:-2.25 [[ 9.98061100e-01 -6.07225790e-02 -1.36678384e-02 1.25844381e+02] [ 6.07291342e-02 9.98154281e-01 6.47005517e-05 -3.09610855e-01] [ 1.36386826e-02 -8.94611096e-04 9.99906589e-01 -2.25083789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.088001145 meters 0.08846199066230523 Centerline is valid? [True, True] Translation: X:125.87, Y:-0.32, Z:-2.26 [[ 9.98018542e-01 -6.14817050e-02 -1.33787138e-02 1.25874842e+02] [ 6.14880599e-02 9.98107817e-01 6.37943253e-05 -3.23985416e-01] [ 1.33494766e-02 -8.86299072e-04 9.99910499e-01 -2.25679010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.118001145 meters 0.0819154726471911 Centerline is valid? [True, True] Translation: X:125.91, Y:-0.31, Z:-2.25 [[ 9.97990978e-01 -6.18659476e-02 -1.36606447e-02 1.25907071e+02] [ 6.18726986e-02 9.98084047e-01 7.17161316e-05 -3.12040574e-01] [ 1.36300348e-02 -9.16793008e-04 9.99906686e-01 -2.25119980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14800114499997 meters 0.08635357439401553 Centerline is valid? [True, True] Translation: X:125.94, Y:-0.32, Z:-2.26 [[ 9.97896739e-01 -6.31021129e-02 -1.48398800e-02 1.25936687e+02] [ 6.31101926e-02 9.98006562e-01 7.63236543e-05 -3.21165448e-01] [ 1.48054814e-02 -1.01271081e-03 9.99889880e-01 -2.25519310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17800114499997 meters 0.08481162225964373 Centerline is valid? [True, True] Translation: X:125.97, Y:-0.32, Z:-2.25 [[ 9.97850623e-01 -6.37611837e-02 -1.51210501e-02 1.25969389e+02] [ 6.37697326e-02 9.97964636e-01 8.33907782e-05 -3.19535319e-01] [ 1.50849562e-02 -1.04747686e-03 9.99885667e-01 -2.25465737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20800114499997 meters 0.08368764480430861 Centerline is valid? [True, True] Translation: X:126.00, Y:-0.32, Z:-2.25 [[ 9.97843304e-01 -6.39264575e-02 -1.49046642e-02 1.26001273e+02] [ 6.39348377e-02 9.97954072e-01 8.59606987e-05 -3.18782484e-01] [ 1.48686752e-02 -1.03870260e-03 9.99888916e-01 -2.25420251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23800114499997 meters 0.0842394320734104 Centerline is valid? [True, True] Translation: X:126.03, Y:-0.32, Z:-2.25 [[ 9.97850907e-01 -6.38934207e-02 -1.45326331e-02 1.26034429e+02] [ 6.39014507e-02 9.97956210e-01 8.83964741e-05 -3.20356625e-01] [ 1.44972835e-02 -1.01686284e-03 9.99894392e-01 -2.25480785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26800114499997 meters 0.08199836154374626 Centerline is valid? [True, True] Translation: X:126.07, Y:-0.32, Z:-2.25 [[ 9.97891713e-01 -6.30601914e-02 -1.53473766e-02 1.26066316e+02] [ 6.30690956e-02 9.98009158e-01 9.63856199e-05 -3.16936059e-01] [ 1.53107443e-02 -1.06412757e-03 9.99882217e-01 -2.25399940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29800114499997 meters 0.08599612864374363 Centerline is valid? [True, True] Translation: X:126.10, Y:-0.33, Z:-2.26 [[ 9.98005407e-01 -6.13053565e-02 -1.50618736e-02 1.26097174e+02] [ 6.13136916e-02 9.98118541e-01 9.18074134e-05 -3.25464598e-01] [ 1.50279070e-02 -1.01512337e-03 9.99886559e-01 -2.25956963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32800114499997 meters 0.08168451273172261 Centerline is valid? [True, True] Translation: X:126.13, Y:-0.32, Z:-2.26 [[ 9.98075225e-01 -5.98756702e-02 -1.61477270e-02 1.26129990e+02] [ 5.98850989e-02 9.98205272e-01 1.00566312e-04 -3.17981093e-01] [ 1.61127248e-02 -1.06738097e-03 9.99869612e-01 -2.25784482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35800114499997 meters 0.08717401091674992 Centerline is valid? [True, True] Translation: X:126.16, Y:-0.33, Z:-2.27 [[ 9.98191293e-01 -5.76247431e-02 -1.71327606e-02 1.26160596e+02] [ 5.76350216e-02 9.98337715e-01 1.06372668e-04 -3.28228033e-01] [ 1.70981514e-02 -1.09362730e-03 9.99853218e-01 -2.26505634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38800114499998 meters 0.07823978031504623 Centerline is valid? [True, True] Translation: X:126.19, Y:-0.31, Z:-2.26 [[ 9.98497649e-01 -5.22066880e-02 -1.66405232e-02 1.26191844e+02] [ 5.22156293e-02 9.98635828e-01 1.02996614e-04 -3.09602541e-01] [ 1.66124456e-02 -9.71737269e-04 9.99861532e-01 -2.25833796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41800114499998 meters 0.07695201206006312 Centerline is valid? [True, True] Translation: X:126.22, Y:-0.31, Z:-2.26 [[ 9.98647994e-01 -4.93113124e-02 -1.64492988e-02 1.26222361e+02] [ 4.93196560e-02 9.98783040e-01 1.01708459e-04 -3.05286346e-01] [ 1.64242653e-02 -9.12844708e-04 9.99864696e-01 -2.25738752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44800114499998 meters 0.08036682792327583 Centerline is valid? [True, True] Translation: X:126.25, Y:-0.31, Z:-2.26 [[ 9.98836030e-01 -4.54484330e-02 -1.61562577e-02 1.26251904e+02] [ 4.54559780e-02 9.98966338e-01 9.98959993e-05 -3.10939848e-01] [ 1.61350175e-02 -8.34178217e-04 9.99869474e-01 -2.26316826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47800114499998 meters 0.07283086032825754 Centerline is valid? [True, True] Translation: X:126.28, Y:-0.29, Z:-2.26 [[ 9.99113088e-01 -3.91108734e-02 -1.56005344e-02 1.26282529e+02] [ 3.91171405e-02 9.99234627e-01 9.66651069e-05 -2.92548847e-01] [ 1.55848135e-02 -7.06827670e-04 9.99878300e-01 -2.25501340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50800114499998 meters 0.07243526933337507 Centerline is valid? [True, True] Translation: X:126.31, Y:-0.29, Z:-2.26 [[ 9.99242430e-01 -3.58511861e-02 -1.51412537e-02 1.26312007e+02] [ 3.58567067e-02 9.99356937e-01 9.32048774e-05 -2.92454959e-01] [ 1.51281754e-02 -6.36049760e-04 9.99885360e-01 -2.25737693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53800114499998 meters 0.07243526933337507 Centerline is valid? [True, True] Translation: X:126.34, Y:-0.29, Z:-2.26 [[ 9.99245942e-01 -3.57531908e-02 -1.51412329e-02 1.26344610e+02] [ 3.57587507e-02 9.99360447e-01 9.65478166e-05 -2.92775784e-01] [ 1.51280974e-02 -6.37906586e-04 9.99885360e-01 -2.25790672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56800114499998 meters 0.07076183490648011 Centerline is valid? [True, True] Translation: X:126.38, Y:-0.29, Z:-2.26 [[ 9.99350494e-01 -3.29686520e-02 -1.45484738e-02 1.26376717e+02] [ 3.29734906e-02 9.99456222e-01 9.27771499e-05 -2.89217564e-01] [ 1.45375039e-02 -5.72430854e-04 9.99894161e-01 -2.25697375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59800114499998 meters 0.07096840147563666 Centerline is valid? [True, True] Translation: X:126.41, Y:-0.29, Z:-2.26 [[ 9.99405259e-01 -3.11899881e-02 -1.47075570e-02 1.26407660e+02] [ 3.11947511e-02 9.99513321e-01 9.44928573e-05 -2.89914781e-01] [ 1.46974519e-02 -5.53235238e-04 9.99891834e-01 -2.25895151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62800114499998 meters 0.07007248971786458 Centerline is valid? [True, True] Translation: X:126.44, Y:-0.29, Z:-2.26 [[ 9.99529900e-01 -2.64618086e-02 -1.54839381e-02 1.26438335e+02] [ 2.64665238e-02 9.99649695e-01 9.96469262e-05 -2.86289506e-01] [ 1.54758772e-02 -5.09406099e-04 9.99880112e-01 -2.26029717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.658001145 meters 0.06899921345645783 Centerline is valid? [True, True] Translation: X:126.47, Y:-0.28, Z:-2.26 [[ 9.99595670e-01 -2.41525903e-02 -1.50049948e-02 1.26470334e+02] [ 2.41567735e-02 9.99708178e-01 9.75756226e-05 -2.84184218e-01] [ 1.49982593e-02 -4.60008430e-04 9.99887414e-01 -2.26002569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.688001145 meters 0.06866716481322903 Centerline is valid? [True, True] Translation: X:126.50, Y:-0.28, Z:-2.26 [[ 9.99647445e-01 -2.18987732e-02 -1.50143306e-02 1.26501676e+02] [ 2.19027183e-02 9.99760102e-01 9.83496666e-05 -2.84073486e-01] [ 1.50085750e-02 -4.27169647e-04 9.99887274e-01 -2.26106941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.718001145 meters 0.06772032442543122 Centerline is valid? [True, True] Translation: X:126.53, Y:-0.28, Z:-2.26 [[ 9.99751576e-01 -1.70217214e-02 -1.43891082e-02 1.26531505e+02] [ 1.70248292e-02 9.99855063e-01 9.35080838e-05 -2.81048692e-01] [ 1.43854310e-02 -3.38456963e-04 9.99896467e-01 -2.26051733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.748001145 meters 0.0673015757199746 Centerline is valid? [True, True] Translation: X:126.56, Y:-0.28, Z:-2.26 [[ 9.99799573e-01 -1.47014936e-02 -1.35896987e-02 1.26562287e+02] [ 1.47040641e-02 9.99891885e-01 8.92446370e-05 -2.79302619e-01] [ 1.35869174e-02 -2.89050551e-04 9.99907652e-01 -2.26039087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.778001145 meters 0.06683095507202316 Centerline is valid? [True, True] Translation: X:126.59, Y:-0.28, Z:-2.26 [[ 9.99837336e-01 -1.24728542e-02 -1.30280199e-02 1.26593695e+02] [ 1.24750329e-02 9.99922180e-01 8.59762783e-05 -2.77329994e-01] [ 1.30259337e-02 -2.48487270e-04 9.99915128e-01 -2.26008129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.808001145 meters 0.06641025598594845 Centerline is valid? [True, True] Translation: X:126.62, Y:-0.28, Z:-2.26 [[ 9.99873670e-01 -9.96833939e-03 -1.23804590e-02 1.26623843e+02] [ 9.97010902e-03 9.99950294e-01 8.12249626e-05 -2.75893149e-01] [ 1.23790339e-02 -2.04649227e-04 9.99923356e-01 -2.26012717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.838001145 meters 0.06573365077682208 Centerline is valid? [True, True] Translation: X:126.65, Y:-0.27, Z:-2.26 [[ 9.99908938e-01 -6.07984349e-03 -1.20478480e-02 1.26653161e+02] [ 6.08122647e-03 9.99981506e-01 7.81592719e-05 -2.73496538e-01] [ 1.20471500e-02 -1.51417846e-04 9.99927419e-01 -2.25916741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.868001145 meters 0.06571713044950996 Centerline is valid? [True, True] Translation: X:126.68, Y:-0.27, Z:-2.26 [[ 9.99909460e-01 -4.82170763e-03 -1.25627211e-02 1.26679638e+02] [ 4.82307963e-03 9.99988366e-01 7.89175557e-05 -2.73927942e-01] [ 1.25621944e-02 -1.39501415e-04 9.99921083e-01 -2.26125228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89800114499997 meters 0.06513860279630464 Centerline is valid? [True, True] Translation: X:126.71, Y:-0.27, Z:-2.26 [[ 9.99911239e-01 -4.11011749e-03 -1.26736192e-02 1.26707292e+02] [ 4.11138539e-03 9.99991545e-01 7.39894153e-05 -2.73039523e-01] [ 1.26732079e-02 -1.26088981e-04 9.99919684e-01 -2.25856905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92800114499997 meters 0.06505876881203981 Centerline is valid? [True, True] Translation: X:126.73, Y:-0.27, Z:-2.26 [[ 9.99909353e-01 -2.84703032e-03 -1.31597672e-02 1.26734353e+02] [ 2.84827674e-03 9.99995941e-01 7.59729006e-05 -2.73685178e-01] [ 1.31594975e-02 -1.13448673e-04 9.99913404e-01 -2.25947420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95800114499997 meters 0.06493328897323523 Centerline is valid? [True, True] Translation: X:126.76, Y:-0.27, Z:-2.26 [[ 9.99909691e-01 -2.41408154e-03 -1.32205516e-02 1.26761736e+02] [ 2.41523877e-03 9.99997081e-01 7.15669828e-05 -2.74135514e-01] [ 1.32203402e-02 -1.03491308e-04 9.99912602e-01 -2.25949017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98800114499997 meters 0.06549210507038294 Centerline is valid? [True, True] Translation: X:126.79, Y:-0.28, Z:-2.27 [[ 9.99901809e-01 -2.99956766e-03 -1.36884890e-02 1.26789644e+02] [ 3.00088981e-03 9.99995494e-01 7.60493785e-05 -2.77700137e-01] [ 1.36881992e-02 -1.17119558e-04 9.99906305e-01 -2.26562294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01800114499997 meters 0.06513858658831614 Centerline is valid? [True, True] Translation: X:126.82, Y:-0.28, Z:-2.26 [[ 9.99891981e-01 -3.62743026e-03 -1.42431694e-02 1.26817974e+02] [ 3.62884869e-03 9.99993413e-01 7.37434701e-05 -2.79090876e-01] [ 1.42428081e-02 -1.25421811e-04 9.99898558e-01 -2.26353583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04800114499997 meters 0.065399462572353 Centerline is valid? [True, True] Translation: X:126.85, Y:-0.28, Z:-2.27 [[ 9.99875058e-01 -4.97544093e-03 -1.50037533e-02 1.26845735e+02] [ 4.97718680e-03 9.99987611e-01 7.90241312e-05 -2.83283856e-01] [ 1.50031742e-02 -1.53690740e-04 9.99887434e-01 -2.26558750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07800114499997 meters 0.06513395136370097 Centerline is valid? [True, True] Translation: X:126.87, Y:-0.28, Z:-2.26 [[ 9.99856566e-01 -5.99779732e-03 -1.58389823e-02 1.26874384e+02] [ 5.99977953e-03 9.99981998e-01 7.76319422e-05 -2.84069787e-01] [ 1.58382315e-02 -1.72651209e-04 9.99874552e-01 -2.26361336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10800114499997 meters 0.06546666240646545 Centerline is valid? [True, True] Translation: X:126.90, Y:-0.29, Z:-2.27 [[ 9.99862530e-01 -7.17659090e-03 -1.49471851e-02 1.26901830e+02] [ 7.17850199e-03 9.99974231e-01 7.42068889e-05 -2.86822053e-01] [ 1.49462673e-02 -1.81495085e-04 9.99888282e-01 -2.26532700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13800114499998 meters 0.06523697097747282 Centerline is valid? [True, True] Translation: X:126.93, Y:-0.29, Z:-2.26 [[ 9.99868984e-01 -7.93634385e-03 -1.41077823e-02 1.26930097e+02] [ 7.93804444e-03 9.99968491e-01 6.45486975e-05 -2.88922859e-01] [ 1.41068255e-02 -1.76528444e-04 9.99900478e-01 -2.26373035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16800114499998 meters 0.06505066617842996 Centerline is valid? [True, True] Translation: X:126.96, Y:-0.29, Z:-2.26 [[ 9.99885676e-01 -8.62945486e-03 -1.24163932e-02 1.26958367e+02] [ 8.63078600e-03 9.99962753e-01 5.36282350e-05 -2.94684681e-01] [ 1.24154679e-02 -1.60785337e-04 9.99922912e-01 -2.26337475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19800114499998 meters 0.06504006172900066 Centerline is valid? [True, True] Translation: X:126.99, Y:-0.30, Z:-2.27 [[ 9.99890532e-01 -8.80919943e-03 -1.18878676e-02 1.26986981e+02] [ 8.81045385e-03 9.99961186e-01 5.31536923e-05 -2.96945965e-01] [ 1.18869379e-02 -1.57885382e-04 9.99929335e-01 -2.26518195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22800114499998 meters 0.06453400437537456 Centerline is valid? [True, True] Translation: X:127.02, Y:-0.30, Z:-2.26 [[ 9.99892705e-01 -8.43249226e-03 -1.19779917e-02 1.27016245e+02] [ 8.43367809e-03 9.99964435e-01 4.84924394e-05 -2.96745476e-01] [ 1.19771568e-02 -1.49505763e-04 9.99928260e-01 -2.26164662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25800114499998 meters 0.06433847691746382 Centerline is valid? [True, True] Translation: X:127.04, Y:-0.30, Z:-2.26 [[ 9.99901034e-01 -7.79706794e-03 -1.17101455e-02 1.27044697e+02] [ 7.79812268e-03 9.99969593e-01 4.44123867e-05 -2.97024688e-01] [ 1.17094432e-02 -1.35725143e-04 9.99931433e-01 -2.26123451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28800114499998 meters 0.06431992075467019 Centerline is valid? [True, True] Translation: X:127.07, Y:-0.30, Z:-2.26 [[ 9.99911420e-01 -6.98599494e-03 -1.13290760e-02 1.27073005e+02] [ 6.98690027e-03 9.99975591e-01 4.03344959e-05 -2.98103199e-01] [ 1.13285177e-02 -1.19486048e-04 9.99935823e-01 -2.26212850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31800114499998 meters 0.06432419553642109 Centerline is valid? [True, True] Translation: X:127.10, Y:-0.30, Z:-2.26 [[ 9.99924377e-01 -6.00416549e-03 -1.07326670e-02 1.27101642e+02] [ 6.00489354e-03 9.99981970e-01 3.56111567e-05 -2.99876950e-01] [ 1.07322597e-02 -1.00056987e-04 9.99942403e-01 -2.26285903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34800114499998 meters 0.06420999961996525 Centerline is valid? [True, True] Translation: X:127.13, Y:-0.31, Z:-2.27 [[ 9.99922542e-01 -4.90864352e-03 -1.14374539e-02 1.27129074e+02] [ 4.90940662e-03 9.99987948e-01 3.86439339e-05 -3.05255879e-01] [ 1.14371264e-02 -9.47920525e-05 9.99934589e-01 -2.26561919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37800114499998 meters 0.06414278448907562 Centerline is valid? [True, True] Translation: X:127.16, Y:-0.31, Z:-2.27 [[ 9.99909502e-01 -5.67027569e-03 -1.21998382e-02 1.27158014e+02] [ 5.67114874e-03 9.99983918e-01 3.69687104e-05 -3.06914196e-01] [ 1.21994324e-02 -1.06152462e-04 9.99925579e-01 -2.26660820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.408001145 meters 0.06404980990379988 Centerline is valid? [True, True] Translation: X:127.19, Y:-0.31, Z:-2.27 [[ 9.99892322e-01 -6.31310995e-03 -1.32472628e-02 1.27186846e+02] [ 6.31416157e-03 9.99980065e-01 3.75605785e-05 -3.08482679e-01] [ 1.32467616e-02 -1.21201891e-04 9.99912250e-01 -2.26639353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.438001145 meters 0.0640874295430102 Centerline is valid? [True, True] Translation: X:127.22, Y:-0.31, Z:-2.27 [[ 9.99875906e-01 -7.34639270e-03 -1.39356504e-02 1.27215152e+02] [ 7.34767627e-03 9.99973005e-01 4.09089197e-05 -3.10227342e-01] [ 1.39349736e-02 -1.43298491e-04 9.99902893e-01 -2.26717067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.468001145 meters 0.06440900354491991 Centerline is valid? [True, True] Translation: X:127.24, Y:-0.32, Z:-2.27 [[ 9.99833616e-01 -9.68035539e-03 -1.54606429e-02 1.27243577e+02] [ 9.68221323e-03 9.99953125e-01 4.53173077e-05 -3.16860241e-01] [ 1.54594795e-02 -1.95003009e-04 9.99880476e-01 -2.27037407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.498001145 meters 0.06427049786792126 Centerline is valid? [True, True] Translation: X:127.27, Y:-0.32, Z:-2.27 [[ 9.99819601e-01 -1.06669204e-02 -1.57156449e-02 1.27271893e+02] [ 1.06688635e-02 9.99943085e-01 3.98072252e-05 -3.21225915e-01] [ 1.57143258e-02 -2.07468115e-04 9.99876501e-01 -2.26967493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.528001145 meters 0.06430762636838615 Centerline is valid? [True, True] Translation: X:127.30, Y:-0.33, Z:-2.27 [[ 9.99783197e-01 -1.25199444e-02 -1.66376215e-02 1.27300136e+02] [ 1.25223758e-02 9.99921591e-01 4.19662128e-05 -3.26770161e-01] [ 1.66357916e-02 -2.50299663e-04 9.99861584e-01 -2.27124530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.558001145 meters 0.06447343697815937 Centerline is valid? [True, True] Translation: X:127.33, Y:-0.34, Z:-2.27 [[ 9.99715701e-01 -1.54781829e-02 -1.81367854e-02 1.27329114e+02] [ 1.54815681e-02 9.99880152e-01 4.62453641e-05 -3.35607144e-01] [ 1.81338960e-02 -3.27018095e-04 9.99835514e-01 -2.27211934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.588001145 meters 0.06436109897314288 Centerline is valid? [True, True] Translation: X:127.36, Y:-0.34, Z:-2.27 [[ 9.99664934e-01 -1.74384629e-02 -1.91290297e-02 1.27357755e+02] [ 1.74424489e-02 9.99847868e-01 4.15342356e-05 -3.37250092e-01] [ 1.91253953e-02 -3.75177441e-04 9.99817023e-01 -2.27040100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.618001145 meters 0.06501870485557584 Centerline is valid? [True, True] Translation: X:127.39, Y:-0.34, Z:-2.27 [[ 9.99623280e-01 -1.90757983e-02 -1.97335182e-02 1.27386595e+02] [ 1.90803998e-02 9.99817952e-01 4.49103741e-05 -3.40729730e-01] [ 1.97290691e-02 -4.21416873e-04 9.99805274e-01 -2.27346466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64800114499997 meters 0.0647911827910864 Centerline is valid? [True, True] Translation: X:127.42, Y:-0.34, Z:-2.27 [[ 9.99567985e-01 -2.07043260e-02 -2.08608222e-02 1.27416521e+02] [ 2.07098154e-02 9.99785528e-01 4.71198860e-05 -3.42525777e-01] [ 2.08553726e-02 -4.79123307e-04 9.99782388e-01 -2.27138290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67800114499997 meters 0.0654768055663865 Centerline is valid? [True, True] Translation: X:127.45, Y:-0.35, Z:-2.27 [[ 9.99486158e-01 -2.38691625e-02 -2.13935146e-02 1.27445292e+02] [ 2.38756462e-02 9.99714935e-01 4.76608148e-05 -3.52068929e-01] [ 2.13862784e-02 -5.58420309e-04 9.99771131e-01 -2.27443103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70800114499997 meters 0.0655780788272895 Centerline is valid? [True, True] Translation: X:127.48, Y:-0.36, Z:-2.27 [[ 9.99432964e-01 -2.56061547e-02 -2.18649481e-02 1.27475948e+02] [ 2.56133542e-02 9.99671923e-01 4.92387332e-05 -3.56805217e-01] [ 2.18565139e-02 -6.09245472e-04 9.99760932e-01 -2.27490087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73800114499997 meters 0.06568492355720905 Centerline is valid? [True, True] Translation: X:127.51, Y:-0.36, Z:-2.27 [[ 9.99394149e-01 -2.82528555e-02 -2.03251312e-02 1.27507386e+02] [ 2.82596468e-02 9.99600615e-01 4.69302495e-05 -3.61333329e-01] [ 2.03156878e-02 -6.21282846e-04 9.99793422e-01 -2.27417258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76800114499997 meters 0.06641634487170393 Centerline is valid? [True, True] Translation: X:127.54, Y:-0.37, Z:-2.28 [[ 9.99302838e-01 -3.14756539e-02 -2.00778936e-02 1.27537927e+02] [ 3.14829427e-02 9.99504288e-01 4.69646917e-05 -3.67225648e-01] [ 2.00664625e-02 -6.79043125e-04 9.99798418e-01 -2.27564024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79800114499997 meters 0.06689967135284548 Centerline is valid? [True, True] Translation: X:127.57, Y:-0.37, Z:-2.27 [[ 9.99069730e-01 -3.82879040e-02 -1.98421706e-02 1.27568792e+02] [ 3.82963561e-02 9.99266424e-01 4.60243960e-05 -3.74266315e-01] [ 1.98258527e-02 -8.05864412e-04 9.99803124e-01 -2.27255341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82800114499997 meters 0.06758338412406889 Centerline is valid? [True, True] Translation: X:127.60, Y:-0.38, Z:-2.27 [[ 9.98946433e-01 -4.12554327e-02 -2.01000691e-02 1.27599129e+02] [ 4.12647346e-02 9.99148247e-01 4.80694354e-05 -3.78890199e-01] [ 2.00809657e-02 -8.77442809e-04 9.99797972e-01 -2.27354893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85800114499997 meters 0.06903230320931902 Centerline is valid? [True, True] Translation: X:127.63, Y:-0.39, Z:-2.28 [[ 9.98796781e-01 -4.43597672e-02 -2.09093359e-02 1.27629375e+02] [ 4.43705099e-02 9.99015143e-01 4.98969283e-05 -3.85753457e-01] [ 2.08865298e-02 -9.77594789e-04 9.99781375e-01 -2.27559194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88800114499998 meters 0.06955148763346386 Centerline is valid? [True, True] Translation: X:127.66, Y:-0.39, Z:-2.27 [[ 9.98562188e-01 -4.92490327e-02 -2.11681064e-02 1.27659511e+02] [ 4.92611352e-02 9.98785932e-01 5.03551671e-05 -3.93808007e-01] [ 2.11399270e-02 -1.09304772e-03 9.99775929e-01 -2.27450477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91800114499998 meters 0.07043861254426859 Centerline is valid? [True, True] Translation: X:127.69, Y:-0.40, Z:-2.28 [[ 9.98456762e-01 -5.12646468e-02 -2.13548677e-02 1.27690999e+02] [ 5.12774479e-02 9.98684445e-01 5.19425699e-05 -3.98696231e-01] [ 2.13241114e-02 -1.14688553e-03 9.99771957e-01 -2.27556243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94800114499998 meters 0.07064475644571538 Centerline is valid? [True, True] Translation: X:127.72, Y:-0.40, Z:-2.28 [[ 9.98382990e-01 -5.30466345e-02 -2.04318404e-02 1.27723463e+02] [ 5.30587622e-02 9.98591390e-01 5.15428618e-05 -4.01564824e-01] [ 2.04003257e-02 -1.13554768e-03 9.99791247e-01 -2.27560344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97800114499998 meters 0.07209664537200165 Centerline is valid? [True, True] Translation: X:127.75, Y:-0.41, Z:-2.28 [[ 9.98149118e-01 -5.63562266e-02 -2.28541821e-02 1.27752888e+02] [ 5.63722276e-02 9.98409820e-01 5.59739729e-05 -4.07710932e-01] [ 2.28146853e-02 -1.34421153e-03 9.99738808e-01 -2.27697112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00800114499998 meters 0.07307221588699074 Centerline is valid? [True, True] Translation: X:127.78, Y:-0.41, Z:-2.28 [[ 9.98024881e-01 -5.82603379e-02 -2.34961884e-02 1.27783752e+02] [ 5.82777964e-02 9.98300403e-01 5.83907684e-05 -4.11216453e-01] [ 2.34528525e-02 -1.42758152e-03 9.99723925e-01 -2.27814860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03800114499998 meters 0.07390140977728724 Centerline is valid? [True, True] Translation: X:127.81, Y:-0.41, Z:-2.28 [[ 9.97892534e-01 -6.02529491e-02 -2.40847015e-02 1.27814568e+02] [ 6.02718804e-02 9.98181996e-01 6.02232859e-05 -4.14697538e-01] [ 2.40372868e-02 -1.51172661e-03 9.99709920e-01 -2.27882847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06800114499998 meters 0.07522441519818122 Centerline is valid? [True, True] Translation: X:127.85, Y:-0.42, Z:-2.28 [[ 9.97724056e-01 -6.27011171e-02 -2.48047842e-02 1.27845218e+02] [ 6.27219761e-02 9.98031036e-01 6.30331285e-05 -4.18827409e-01] [ 2.47519922e-02 -1.61869475e-03 9.99692312e-01 -2.28017154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09800114499998 meters 0.07781810660291769 Centerline is valid? [True, True] Translation: X:127.87, Y:-0.43, Z:-2.28 [[ 9.97498311e-01 -6.62395879e-02 -2.46867665e-02 1.27874402e+02] [ 6.62613019e-02 9.97802303e-01 6.17104297e-05 -4.25989025e-01] [ 2.46284248e-02 -1.69733334e-03 9.99695233e-01 -2.28260125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12800114499998 meters 0.0782820829006187 Centerline is valid? [True, True] Translation: X:127.91, Y:-0.43, Z:-2.28 [[ 9.97403921e-01 -6.74168797e-02 -2.53057781e-02 1.27905315e+02] [ 6.74400954e-02 9.97723323e-01 6.41093447e-05 -4.27950336e-01] [ 2.52438430e-02 -1.77056700e-03 9.99679755e-01 -2.28358432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.158001145 meters 0.07887731182743885 Centerline is valid? [True, True] Translation: X:127.94, Y:-0.43, Z:-2.28 [[ 9.97307436e-01 -6.86533515e-02 -2.57797445e-02 1.27936090e+02] [ 6.86778665e-02 9.97638886e-01 6.57038028e-05 -4.29894800e-01] [ 2.57143648e-02 -1.83602474e-03 9.99667645e-01 -2.28412585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.188001145 meters 0.07846845978716213 Centerline is valid? [True, True] Translation: X:127.97, Y:-0.43, Z:-2.28 [[ 9.97203559e-01 -6.99449059e-02 -2.63205740e-02 1.27967622e+02] [ 6.99709367e-02 9.97549028e-01 6.81675484e-05 -4.29760769e-01] [ 2.62512950e-02 -1.90965214e-03 9.99653551e-01 -2.28400998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.218001145 meters 0.08113157079247212 Centerline is valid? [True, True] Translation: X:128.00, Y:-0.43, Z:-2.29 [[ 9.97034030e-01 -7.19538744e-02 -2.73090296e-02 1.27997556e+02] [ 7.19826330e-02 9.97405883e-01 7.01969083e-05 -4.34834441e-01] [ 2.72331358e-02 -2.03576456e-03 9.99627036e-01 -2.28692810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.248001145 meters 0.08188086461255392 Centerline is valid? [True, True] Translation: X:128.03, Y:-0.44, Z:-2.29 [[ 9.97026625e-01 -7.21119760e-02 -2.71619536e-02 1.28029459e+02] [ 7.21405554e-02 9.97394473e-01 7.24638755e-05 -4.35903396e-01] [ 2.70859569e-02 -2.03172684e-03 9.99631043e-01 -2.28731073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.278001145 meters 0.08178711788911452 Centerline is valid? [True, True] Translation: X:128.06, Y:-0.43, Z:-2.29 [[ 9.96984384e-01 -7.30372894e-02 -2.62238950e-02 1.28061155e+02] [ 7.30642725e-02 9.97327232e-01 7.09655176e-05 -4.34582379e-01] [ 2.61486215e-02 -1.98678132e-03 9.99656092e-01 -2.28624345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.308001145 meters 0.07649765278615914 Centerline is valid? [True, True] Translation: X:128.09, Y:-0.43, Z:-2.28 [[ 9.97054710e-01 -7.27222122e-02 -2.43595056e-02 1.28092331e+02] [ 7.27454153e-02 9.97350540e-01 6.65603819e-05 -4.25471387e-01] [ 2.42901257e-02 -1.83840670e-03 9.99703261e-01 -2.27991724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.338001145 meters 0.07698896897041689 Centerline is valid? [True, True] Translation: X:128.12, Y:-0.43, Z:-2.28 [[ 9.97047937e-01 -7.29333598e-02 -2.40028459e-02 1.28124074e+02] [ 7.29559995e-02 9.97335158e-01 6.76965360e-05 -4.28279681e-01] [ 2.39339448e-02 -1.81864831e-03 9.99711888e-01 -2.28084338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36800114499997 meters 0.09030487856295488 Centerline is valid? [True, True] Translation: X:128.16, Y:-0.45, Z:-2.29 [[ 9.97022371e-01 -7.35050275e-02 -2.33110053e-02 1.28155140e+02] [ 7.35265568e-02 9.97293257e-01 6.66488554e-05 -4.53316691e-01] [ 2.32430094e-02 -1.78042836e-03 9.99728259e-01 -2.29334785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39800114499997 meters 0.0785346925779341 Centerline is valid? [True, True] Translation: X:128.19, Y:-0.43, Z:-2.28 [[ 9.96951223e-01 -7.41139105e-02 -2.44005543e-02 1.28187544e+02] [ 7.41377249e-02 9.97248010e-01 7.15479131e-05 -4.33059733e-01] [ 2.43281015e-02 -1.88033136e-03 9.99702260e-01 -2.28387126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42800114499997 meters 0.08056470611174613 Centerline is valid? [True, True] Translation: X:128.22, Y:-0.44, Z:-2.29 [[ 9.96805801e-01 -7.54402007e-02 -2.62101538e-02 1.28217652e+02] [ 7.54681725e-02 9.97148208e-01 7.82558035e-05 -4.37288661e-01] [ 2.61295043e-02 -2.05603825e-03 9.99656452e-01 -2.28754982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45800114499997 meters 0.08056470611174613 Centerline is valid? [True, True] Translation: X:128.25, Y:-0.44, Z:-2.29 [[ 9.96813011e-01 -7.53448652e-02 -2.62101445e-02 1.28250326e+02] [ 7.53728850e-02 9.97155415e-01 8.13483979e-05 -4.37495525e-01] [ 2.61294583e-02 -2.05662335e-03 9.99656452e-01 -2.28808017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48800114499997 meters 0.07723707724674894 Centerline is valid? [True, True] Translation: X:128.28, Y:-0.43, Z:-2.29 [[ 9.96756308e-01 -7.57443335e-02 -2.71966547e-02 1.28282793e+02] [ 7.57746850e-02 9.97124962e-01 8.56604351e-05 -4.31392400e-01] [ 2.71119750e-02 -2.14620052e-03 9.99630099e-01 -2.28547727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51800114499997 meters 0.08464729514844338 Centerline is valid? [True, True] Translation: X:128.31, Y:-0.44, Z:-2.29 [[ 9.96672270e-01 -7.66149176e-02 -2.78305578e-02 1.28313312e+02] [ 7.66470480e-02 9.97058284e-01 8.79986314e-05 -4.44773596e-01] [ 2.77419462e-02 -2.22083590e-03 9.99612651e-01 -2.29281239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54800114499997 meters 0.08923705149992532 Centerline is valid? [True, True] Translation: X:128.34, Y:-0.45, Z:-2.30 [[ 9.96538846e-01 -7.79660065e-02 -2.88379975e-02 1.28343526e+02] [ 7.80010723e-02 9.96953271e-01 9.13168535e-05 -4.52390980e-01] [ 2.87430163e-02 -2.34039552e-03 9.99584094e-01 -2.29792378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57800114499997 meters 0.07916992082550992 Centerline is valid? [True, True] Translation: X:128.38, Y:-0.44, Z:-2.29 [[ 9.96468965e-01 -7.87620992e-02 -2.90883886e-02 1.28376004e+02] [ 7.87981934e-02 9.96890584e-01 9.48537025e-05 -4.36837755e-01] [ 2.89904698e-02 -2.38663124e-03 9.99576839e-01 -2.28776210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60800114499997 meters 0.0824407988186087 Centerline is valid? [True, True] Translation: X:128.41, Y:-0.44, Z:-2.29 [[ 9.96465721e-01 -7.90940861e-02 -2.82876591e-02 1.28408025e+02] [ 7.91284256e-02 9.96864426e-01 9.48448294e-05 -4.43550713e-01] [ 2.81914594e-02 -2.33286755e-03 9.99599820e-01 -2.29021367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63800114499998 meters 0.08242574114804407 Centerline is valid? [True, True] Translation: X:128.44, Y:-0.44, Z:-2.29 [[ 9.96452653e-01 -7.93856023e-02 -2.79291499e-02 1.28440388e+02] [ 7.94192317e-02 9.96841300e-01 9.51401508e-05 -4.43136170e-01] [ 2.78333774e-02 -2.31291429e-03 9.99609901e-01 -2.28951145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66800114499998 meters 0.08157820106793576 Centerline is valid? [True, True] Translation: X:128.47, Y:-0.44, Z:-2.29 [[ 9.96473050e-01 -7.95322402e-02 -2.67597392e-02 1.28472958e+02] [ 7.95632107e-02 9.96829818e-01 9.29265266e-05 -4.40955672e-01] [ 2.66675153e-02 -2.22168955e-03 9.99641890e-01 -2.28822519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69800114499998 meters 0.08185634707561483 Centerline is valid? [True, True] Translation: X:128.50, Y:-0.44, Z:-2.29 [[ 9.96481709e-01 -7.95650162e-02 -2.63364966e-02 1.28504842e+02] [ 7.95950704e-02 9.96827275e-01 9.31622398e-05 -4.40913411e-01] [ 2.62455257e-02 -2.18908977e-03 9.99653130e-01 -2.28797326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72800114499998 meters 0.08218542153092813 Centerline is valid? [True, True] Translation: X:128.54, Y:-0.44, Z:-2.29 [[ 9.96483973e-01 -7.93757621e-02 -2.68175181e-02 1.28536909e+02] [ 7.94069023e-02 9.96842282e-01 9.65650970e-05 -4.41704145e-01] [ 2.67251710e-02 -2.22572161e-03 9.99640341e-01 -2.28958001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75800114499998 meters 0.08038914187792254 Centerline is valid? [True, True] Translation: X:128.57, Y:-0.44, Z:-2.29 [[ 9.96423487e-01 -8.00953463e-02 -2.69252569e-02 1.28568756e+02] [ 8.01270272e-02 9.96784656e-01 9.80398415e-05 -4.38991020e-01] [ 2.68308304e-02 -2.25512999e-03 9.99637445e-01 -2.28889889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78800114499998 meters 0.08024359029128432 Centerline is valid? [True, True] Translation: X:128.60, Y:-0.44, Z:-2.29 [[ 9.96328749e-01 -8.08805480e-02 -2.80599547e-02 1.28600175e+02] [ 8.09152839e-02 9.96720977e-01 1.02804797e-04 -4.39615124e-01] [ 2.79596306e-02 -2.37290658e-03 9.99606237e-01 -2.29010162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81800114499998 meters 0.08540063005774677 Centerline is valid? [True, True] Translation: X:128.63, Y:-0.45, Z:-2.30 [[ 9.96270384e-01 -8.15993197e-02 -2.80512575e-02 1.28630992e+02] [ 8.16343632e-02 9.96662340e-01 1.04431832e-04 -4.48117957e-01] [ 2.79491104e-02 -2.39398889e-03 9.99606481e-01 -2.29519071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84800114499998 meters 0.08373699745561884 Centerline is valid? [True, True] Translation: X:128.66, Y:-0.44, Z:-2.29 [[ 9.96223599e-01 -8.19929947e-02 -2.85602637e-02 1.28663318e+02] [ 8.20295415e-02 9.96629892e-01 1.08388272e-04 -4.44414137e-01] [ 2.84551255e-02 -2.45076429e-03 9.99592067e-01 -2.29334340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87800114499998 meters 0.08404934273764166 Centerline is valid? [True, True] Translation: X:128.70, Y:-0.44, Z:-2.29 [[ 9.96137282e-01 -8.31043239e-02 -2.83581810e-02 1.28695759e+02] [ 8.31408543e-02 9.96537800e-01 1.09475755e-04 -4.44773624e-01] [ 2.82509014e-02 -2.46677628e-03 9.99597820e-01 -2.29349656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.908001145 meters 0.08922924057285014 Centerline is valid? [True, True] Translation: X:128.73, Y:-0.45, Z:-2.30 [[ 9.96112142e-01 -8.35979305e-02 -2.77846405e-02 1.28726534e+02] [ 8.36332182e-02 9.96496600e-01 1.08357031e-04 -4.53842823e-01] [ 2.76782414e-02 -2.43165466e-03 9.99613926e-01 -2.29827655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.938001145 meters 0.08935123113990462 Centerline is valid? [True, True] Translation: X:128.76, Y:-0.45, Z:-2.30 [[ 9.96075890e-01 -8.47063375e-02 -2.56448219e-02 1.28759114e+02] [ 8.47368090e-02 9.96403364e-01 1.01889743e-04 -4.53750764e-01] [ 2.55439561e-02 -2.27455029e-03 9.99671112e-01 -2.29562760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.968001145 meters 0.08819498307052413 Centerline is valid? [True, True] Translation: X:128.79, Y:-0.45, Z:-2.29 [[ 9.96095316e-01 -8.51035941e-02 -2.34840448e-02 1.28791868e+02] [ 8.51293061e-02 9.96369907e-01 9.55073499e-05 -4.52244805e-01] [ 2.33906675e-02 -2.09431486e-03 9.99724207e-01 -2.29325801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.998001145 meters 0.08261854583354887 Centerline is valid? [True, True] Translation: X:128.82, Y:-0.44, Z:-2.29 [[ 9.96123051e-01 -8.54691182e-02 -2.08301903e-02 1.28824284e+02] [ 8.54894527e-02 9.96339072e-01 8.60592150e-05 -4.43592914e-01] [ 2.07465771e-02 -1.86648714e-03 9.99783024e-01 -2.28850408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.028001145 meters 0.08438656123862123 Centerline is valid? [True, True] Translation: X:128.85, Y:-0.45, Z:-2.29 [[ 9.96104242e-01 -8.58002773e-02 -2.03629989e-02 1.28854979e+02] [ 8.58198927e-02 9.96310663e-01 8.97704730e-05 -4.47419870e-01] [ 2.02801706e-02 -1.83697113e-03 9.99792649e-01 -2.28953392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.058001145 meters 0.08620844525102557 Centerline is valid? [True, True] Translation: X:128.89, Y:-0.45, Z:-2.29 [[ 9.96119267e-01 -8.54657703e-02 -2.10240023e-02 1.28885799e+02] [ 8.54867066e-02 9.96339306e-01 9.74663225e-05 -4.51035951e-01] [ 2.09387099e-02 -1.89436080e-03 9.99778966e-01 -2.29232589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.088001145 meters 0.0853839177036867 Centerline is valid? [True, True] Translation: X:128.92, Y:-0.45, Z:-2.29 [[ 9.96137589e-01 -8.50389189e-02 -2.18697628e-02 1.28919216e+02] [ 8.50614766e-02 9.96375700e-01 1.01594613e-04 -4.50288852e-01] [ 2.17818607e-02 -1.96147653e-03 9.99760823e-01 -2.29324815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11800114499997 meters 0.08468992655199473 Centerline is valid? [True, True] Translation: X:128.95, Y:-0.45, Z:-2.29 [[ 9.96183285e-01 -8.44977132e-02 -2.18860665e-02 1.28951325e+02] [ 8.45201946e-02 9.96421761e-01 1.02571937e-04 -4.49778141e-01] [ 2.17990858e-02 -1.95199505e-03 9.99760466e-01 -2.29351706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14800114499997 meters 0.08590362073960063 Centerline is valid? [True, True] Translation: X:128.98, Y:-0.45, Z:-2.30 [[ 9.96092620e-01 -8.55000036e-02 -2.21188112e-02 1.28982192e+02] [ 8.55232143e-02 9.96336173e-01 1.03815918e-04 -4.53160489e-01] [ 2.20288954e-02 -1.99508210e-03 9.99755344e-01 -2.29576583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17800114499997 meters 0.08633537277214107 Centerline is valid? [True, True] Translation: X:129.01, Y:-0.46, Z:-2.30 [[ 9.96026419e-01 -8.61491487e-02 -2.25764494e-02 1.29014317e+02] [ 8.61735398e-02 9.96280136e-01 1.07931242e-04 -4.55686866e-01] [ 2.24831699e-02 -2.05299493e-03 9.99745114e-01 -2.29774568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20800114499997 meters 0.0863056178204766 Centerline is valid? [True, True] Translation: X:129.05, Y:-0.46, Z:-2.30 [[ 9.95915493e-01 -8.71704048e-02 -2.35297996e-02 1.29045335e+02] [ 8.71971722e-02 9.96191066e-01 1.12039730e-04 -4.57491618e-01] [ 2.34304096e-02 -2.16331409e-03 9.99723130e-01 -2.29904308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23800114499997 meters 0.08787011103300957 Centerline is valid? [True, True] Translation: X:129.08, Y:-0.46, Z:-2.30 [[ 9.95890420e-01 -8.76906648e-02 -2.26411052e-02 1.29076827e+02] [ 8.77157578e-02 9.96145538e-01 1.15648095e-04 -4.62180863e-01] [ 2.25436946e-02 -2.10115453e-03 9.99743651e-01 -2.29976749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26800114499997 meters 0.08863311055367327 Centerline is valid? [True, True] Translation: X:129.11, Y:-0.47, Z:-2.30 [[ 9.95820194e-01 -8.88288526e-02 -2.12503106e-02 1.29108076e+02] [ 8.88512358e-02 9.96044902e-01 1.09604015e-04 -4.67363474e-01] [ 2.11565276e-02 -1.99726225e-03 9.99774181e-01 -2.30021416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29800114499997 meters 0.08723856759487728 Centerline is valid? [True, True] Translation: X:129.14, Y:-0.47, Z:-2.30 [[ 9.95781513e-01 -8.93693486e-02 -2.07917867e-02 1.29140260e+02] [ 8.93909049e-02 9.95996614e-01 1.07824649e-04 -4.66948590e-01] [ 2.06989130e-02 -1.96596642e-03 9.99783822e-01 -2.29914156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32800114499997 meters 0.08975185174466056 Centerline is valid? [True, True] Translation: X:129.17, Y:-0.47, Z:-2.30 [[ 9.95807930e-01 -8.90910856e-02 -2.07206337e-02 1.29172586e+02] [ 8.91125950e-02 9.96021552e-01 1.15217148e-04 -4.73058560e-01] [ 2.06279329e-02 -1.96120358e-03 9.99785298e-01 -2.30129701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35800114499997 meters 0.08930647509068572 Centerline is valid? [True, True] Translation: X:129.20, Y:-0.47, Z:-2.30 [[ 9.95784012e-01 -8.91525807e-02 -2.15874731e-02 1.29204754e+02] [ 8.91759070e-02 9.96015885e-01 1.18395020e-04 -4.73406370e-01] [ 2.14909109e-02 -2.04297837e-03 9.99766956e-01 -2.30161115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38800114499998 meters 0.08944056324616412 Centerline is valid? [True, True] Translation: X:129.24, Y:-0.48, Z:-2.30 [[ 9.95903430e-01 -8.75600497e-02 -2.25742289e-02 1.29235770e+02] [ 8.75851558e-02 9.96157028e-01 1.23953758e-04 -4.75963567e-01] [ 2.24766234e-02 -2.10061333e-03 9.99745162e-01 -2.30369531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41800114499998 meters 0.08234163128331672 Centerline is valid? [True, True] Translation: X:129.27, Y:-0.47, Z:-2.30 [[ 9.96008762e-01 -8.62848925e-02 -2.28355781e-02 1.29266996e+02] [ 8.63102692e-02 9.96268298e-01 1.26180883e-04 -4.65240843e-01] [ 2.27394750e-02 -2.09662216e-03 9.99739226e-01 -2.30008265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44800114499998 meters 0.08293696517554437 Centerline is valid? [True, True] Translation: X:129.30, Y:-0.47, Z:-2.30 [[ 9.96118386e-01 -8.50826622e-02 -2.25632932e-02 1.29297360e+02] [ 8.51071338e-02 9.96371798e-01 1.24787619e-04 -4.67324606e-01] [ 2.24708118e-02 -2.04460046e-03 9.99745409e-01 -2.30191880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47800114499998 meters 0.08882886171378719 Centerline is valid? [True, True] Translation: X:129.33, Y:-0.48, Z:-2.31 [[ 9.96340762e-01 -8.25004577e-02 -2.23329495e-02 1.29326508e+02] [ 8.25237716e-02 9.96589089e-01 1.22755282e-04 -4.78325655e-01] [ 2.22466464e-02 -1.96530531e-03 9.99750581e-01 -2.30627134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50800114499998 meters 0.08145959162744316 Centerline is valid? [True, True] Translation: X:129.36, Y:-0.47, Z:-2.30 [[ 9.96469728e-01 -8.12650442e-02 -2.10730614e-02 1.29356995e+02] [ 8.12855310e-02 9.96690849e-01 1.16024827e-04 -4.66394968e-01] [ 2.09938987e-02 -1.82855022e-03 9.99777932e-01 -2.30011041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53800114499998 meters 0.0768285121576899 Centerline is valid? [True, True] Translation: X:129.39, Y:-0.46, Z:-2.30 [[ 9.96584746e-01 -8.01440151e-02 -1.98942461e-02 1.29388237e+02] [ 8.01620758e-02 9.96781836e-01 1.10756069e-04 -4.59065720e-01] [ 1.98213468e-02 -1.70514188e-03 9.99802084e-01 -2.29661593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56800114499998 meters 0.07898776317728502 Centerline is valid? [True, True] Translation: X:129.42, Y:-0.47, Z:-2.30 [[ 9.96823536e-01 -7.77433517e-02 -1.72861183e-02 1.29417965e+02] [ 7.77566101e-02 9.96972367e-01 9.52019615e-05 -4.65046787e-01] [ 1.72263810e-02 -1.43900952e-03 9.99850579e-01 -2.29802595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59800114499998 meters 0.07752858692589319 Centerline is valid? [True, True] Translation: X:129.45, Y:-0.46, Z:-2.30 [[ 9.96913365e-01 -7.67125824e-02 -1.67009607e-02 1.29449034e+02] [ 7.67248367e-02 9.97052301e-01 9.33104397e-05 -4.62964445e-01] [ 1.66445732e-02 -1.37440090e-03 9.99860525e-01 -2.29717671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62800114499998 meters 0.07767096688457509 Centerline is valid? [True, True] Translation: X:129.48, Y:-0.46, Z:-2.30 [[ 9.96976134e-01 -7.58797009e-02 -1.67588813e-02 1.29481803e+02] [ 7.58919591e-02 9.97116042e-01 9.57621045e-05 -4.63534480e-01] [ 1.67032830e-02 -1.36733687e-03 9.99859556e-01 -2.29726432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.658001145 meters 0.07760947815205109 Centerline is valid? [True, True] Translation: X:129.51, Y:-0.46, Z:-2.30 [[ 9.97062894e-01 -7.49031755e-02 -1.59718581e-02 1.29513515e+02] [ 7.49141896e-02 9.97189980e-01 9.15724347e-05 -4.63890172e-01] [ 1.59201178e-02 -1.28782228e-03 9.99872438e-01 -2.29797574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.688001145 meters 0.07802461674245904 Centerline is valid? [True, True] Translation: X:129.54, Y:-0.47, Z:-2.30 [[ 9.97180933e-01 -7.33835303e-02 -1.56539093e-02 1.29543815e+02] [ 7.33939202e-02 9.97303025e-01 8.94963289e-05 -4.66367465e-01] [ 1.56051235e-02 -1.23814580e-03 9.99877466e-01 -2.30016238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.718001145 meters 0.07849893467019413 Centerline is valid? [True, True] Translation: X:129.58, Y:-0.47, Z:-2.30 [[ 9.97214717e-01 -7.28928030e-02 -1.57938936e-02 1.29576037e+02] [ 7.29033463e-02 9.97339006e-01 9.20678601e-05 -4.69578621e-01] [ 1.57451551e-02 -1.24323912e-03 9.99875264e-01 -2.30226484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.748001145 meters 0.07635376271314571 Centerline is valid? [True, True] Translation: X:129.61, Y:-0.47, Z:-2.30 [[ 9.97202807e-01 -7.28307157e-02 -1.68002762e-02 1.29608417e+02] [ 7.28426545e-02 9.97343440e-01 9.89850515e-05 -4.67002716e-01] [ 1.67484361e-02 -1.32248489e-03 9.99858860e-01 -2.30157001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.778001145 meters 0.07566035373156006 Centerline is valid? [True, True] Translation: X:129.64, Y:-0.47, Z:-2.30 [[ 9.97161123e-01 -7.34105552e-02 -1.67506596e-02 1.29640522e+02] [ 7.34225234e-02 9.97300919e-01 9.98003586e-05 -4.65600767e-01] [ 1.66981218e-02 -1.32939274e-03 9.99859693e-01 -2.30094572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.808001145 meters 0.07871045724594108 Centerline is valid? [True, True] Translation: X:129.67, Y:-0.47, Z:-2.30 [[ 9.97175280e-01 -7.32037747e-02 -1.68127635e-02 1.29672467e+02] [ 7.32158747e-02 9.97316111e-01 1.04472691e-04 -4.71724893e-01] [ 1.67599921e-02 -1.33513877e-03 9.99858650e-01 -2.30326433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.838001145 meters 0.07590644088763983 Centerline is valid? [True, True] Translation: X:129.70, Y:-0.47, Z:-2.30 [[ 9.97112310e-01 -7.38279095e-02 -1.77898914e-02 1.29704733e+02] [ 7.38415559e-02 9.97269980e-01 1.10549183e-04 -4.66775320e-01] [ 1.77331631e-02 -1.42386322e-03 9.99841741e-01 -2.30196184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86800114499997 meters 0.07528244612837158 Centerline is valid? [True, True] Translation: X:129.74, Y:-0.47, Z:-2.30 [[ 9.97069823e-01 -7.44590877e-02 -1.75388588e-02 1.29736665e+02] [ 7.44724650e-02 9.97223064e-01 1.09924256e-04 -4.67466587e-01] [ 1.74819697e-02 -1.41576421e-03 9.99846176e-01 -2.30204904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89800114499997 meters 0.08063694982167614 Centerline is valid? [True, True] Translation: X:129.77, Y:-0.48, Z:-2.31 [[ 9.97045240e-01 -7.50381215e-02 -1.64338281e-02 1.29767873e+02] [ 7.50499539e-02 9.97179770e-01 1.03596463e-04 -4.81873354e-01] [ 1.63797072e-02 -1.33664840e-03 9.99864950e-01 -2.30653100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92800114499997 meters 0.08583096578227252 Centerline is valid? [True, True] Translation: X:129.80, Y:-0.49, Z:-2.31 [[ 9.97004148e-01 -7.56289390e-02 -1.62170141e-02 1.29798826e+02] [ 7.56405504e-02 9.97135145e-01 1.02948625e-04 -4.92174055e-01] [ 1.61627688e-02 -1.32930408e-03 9.99868490e-01 -2.31055950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95800114499997 meters 0.07806402549448051 Centerline is valid? [True, True] Translation: X:129.83, Y:-0.48, Z:-2.30 [[ 9.97000925e-01 -7.56356808e-02 -1.63828834e-02 1.29831276e+02] [ 7.56475539e-02 9.97134613e-01 1.05347621e-04 -4.77407297e-01] [ 1.63279720e-02 -1.34435673e-03 9.99865786e-01 -2.30499615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98800114499997 meters 0.08535328642277105 Centerline is valid? [True, True] Translation: X:129.86, Y:-0.49, Z:-2.31 [[ 9.97042165e-01 -7.49529290e-02 -1.69993869e-02 1.29862059e+02] [ 7.49657121e-02 9.97186105e-01 1.15093018e-04 -4.88435464e-01] [ 1.69429259e-02 -1.38912374e-03 9.99855493e-01 -2.31014895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01800114499997 meters 0.07843369177026877 Centerline is valid? [True, True] Translation: X:129.89, Y:-0.48, Z:-2.30 [[ 9.97073431e-01 -7.46539895e-02 -1.64728325e-02 1.29894914e+02] [ 7.46659419e-02 9.97208596e-01 1.10897804e-04 -4.76051692e-01] [ 1.64185712e-02 -1.34053281e-03 9.99864308e-01 -2.30481096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04800114499997 meters 0.08002550957143732 Centerline is valid? [True, True] Translation: X:129.93, Y:-0.48, Z:-2.31 [[ 9.97106363e-01 -7.44640091e-02 -1.52974557e-02 1.29926651e+02] [ 7.44743062e-02 9.97222927e-01 1.03775101e-04 -4.80454495e-01] [ 1.52472460e-02 -1.24274221e-03 9.99882982e-01 -2.30612379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07800114499997 meters 0.07502250302589408 Centerline is valid? [True, True] Translation: X:129.96, Y:-0.47, Z:-2.30 [[ 9.97163658e-01 -7.39224452e-02 -1.41460496e-02 1.29959565e+02] [ 7.39312186e-02 9.97263338e-01 9.75494834e-05 -4.72447772e-01] [ 1.41001255e-02 -1.14310748e-03 9.99899935e-01 -2.30260412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10800114499997 meters 0.07629485090725562 Centerline is valid? [True, True] Translation: X:129.99, Y:-0.48, Z:-2.30 [[ 9.97191179e-01 -7.36285006e-02 -1.37330636e-02 1.29990777e+02] [ 7.36368117e-02 9.97285120e-01 9.98287925e-05 -4.75253377e-01] [ 1.36884297e-02 -1.11080741e-03 9.99905692e-01 -2.30354203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13800114499998 meters 0.07931959903636299 Centerline is valid? [True, True] Translation: X:130.02, Y:-0.48, Z:-2.31 [[ 9.97185175e-01 -7.37245843e-02 -1.36533060e-02 1.30021749e+02] [ 7.37328113e-02 9.97278027e-01 9.94928858e-05 -4.81067126e-01] [ 1.36088070e-02 -1.10590947e-03 9.99906784e-01 -2.30559443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16800114499998 meters 0.07878323393443341 Centerline is valid? [True, True] Translation: X:130.05, Y:-0.48, Z:-2.30 [[ 9.97154103e-01 -7.42605379e-02 -1.30026060e-02 1.30053603e+02] [ 7.42680439e-02 9.97238311e-01 9.46986610e-05 -4.80461280e-01] [ 1.29596644e-02 -1.06010727e-03 9.99915458e-01 -2.30493927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19800114499998 meters 0.07934955362754484 Centerline is valid? [True, True] Translation: X:130.08, Y:-0.48, Z:-2.31 [[ 9.97059210e-01 -7.52081293e-02 -1.47196707e-02 1.30084236e+02] [ 7.52178533e-02 9.97167119e-01 1.07321148e-04 -4.81772217e-01] [ 1.46699002e-02 -1.21418757e-03 9.99891654e-01 -2.30551772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22800114499998 meters 0.08070977587500354 Centerline is valid? [True, True] Translation: X:130.12, Y:-0.48, Z:-2.31 [[ 9.97014850e-01 -7.55716117e-02 -1.58215102e-02 1.30115269e+02] [ 7.55829838e-02 9.97139508e-01 1.21201597e-04 -4.84905302e-01] [ 1.57670935e-02 -1.31667674e-03 9.99874825e-01 -2.30767588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25800114499998 meters 0.08028260539735495 Centerline is valid? [True, True] Translation: X:130.15, Y:-0.49, Z:-2.31 [[ 9.97007936e-01 -7.54996206e-02 -1.65826283e-02 1.30147211e+02] [ 7.55120804e-02 9.97144879e-01 1.25636357e-04 -4.85185983e-01] [ 1.65257974e-02 -1.37744921e-03 9.99862491e-01 -2.30920919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28800114499998 meters 0.07931541438167292 Centerline is valid? [True, True] Translation: X:130.18, Y:-0.49, Z:-2.31 [[ 9.96999395e-01 -7.54180394e-02 -1.74449123e-02 1.30179611e+02] [ 7.54318353e-02 9.97150952e-01 1.33245571e-04 -4.85114789e-01] [ 1.73851618e-02 -1.44874751e-03 9.99847817e-01 -2.31037998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31800114499998 meters 0.07944957793596989 Centerline is valid? [True, True] Translation: X:130.21, Y:-0.49, Z:-2.31 [[ 9.97016364e-01 -7.52638059e-02 -1.71385399e-02 1.30211795e+02] [ 7.52771178e-02 9.97162644e-01 1.32016214e-04 -4.86461020e-01] [ 1.70799757e-02 -1.42176221e-03 9.99853116e-01 -2.31024112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34800114499998 meters 0.07944957793596989 Centerline is valid? [True, True] Translation: X:130.24, Y:-0.49, Z:-2.31 [[ 9.97023591e-01 -7.51680111e-02 -1.71385231e-02 1.30244465e+02] [ 7.51813459e-02 9.97169869e-01 1.34183214e-04 -4.86815532e-01] [ 1.70799326e-02 -1.42228107e-03 9.99853116e-01 -2.31077143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37800114499998 meters 0.07874226171336415 Centerline is valid? [True, True] Translation: X:130.28, Y:-0.49, Z:-2.31 [[ 9.97021257e-01 -7.50171060e-02 -1.79177898e-02 1.30277137e+02] [ 7.50316675e-02 9.97181142e-01 1.40863767e-04 -4.86543398e-01] [ 1.78567149e-02 -1.48484582e-03 9.99839454e-01 -2.31071025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.408001145 meters 0.07948493511231643 Centerline is valid? [True, True] Translation: X:130.31, Y:-0.49, Z:-2.31 [[ 9.97027920e-01 -7.45502223e-02 -1.94317174e-02 1.30308777e+02] [ 7.45672725e-02 9.97215974e-01 1.53358087e-04 -4.88394813e-01] [ 1.93661861e-02 -1.60187246e-03 9.99811175e-01 -2.31128365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.438001145 meters 0.08072701287295157 Centerline is valid? [True, True] Translation: X:130.34, Y:-0.49, Z:-2.31 [[ 9.97073737e-01 -7.35980542e-02 -2.06709796e-02 1.30340200e+02] [ 7.36171650e-02 9.97286562e-01 1.64061557e-04 -4.89811804e-01] [ 2.06028156e-02 -1.68532039e-03 9.99786319e-01 -2.31287928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.468001145 meters 0.07571696000842294 Centerline is valid? [True, True] Translation: X:130.37, Y:-0.48, Z:-2.31 [[ 9.97148035e-01 -7.25408302e-02 -2.08236700e-02 1.30372495e+02] [ 7.25600299e-02 9.97364033e-01 1.66934799e-04 -4.78887404e-01] [ 2.07566699e-02 -1.67742483e-03 9.99783150e-01 -2.30870926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.498001145 meters 0.0781308490953171 Centerline is valid? [True, True] Translation: X:130.40, Y:-0.48, Z:-2.31 [[ 9.97230738e-01 -7.13122124e-02 -2.11050433e-02 1.30403368e+02] [ 7.13316643e-02 9.97452638e-01 1.69340319e-04 -4.83549836e-01] [ 2.10392051e-02 -1.67432924e-03 9.99777249e-01 -2.31153324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.528001145 meters 0.07639904376742689 Centerline is valid? [True, True] Translation: X:130.44, Y:-0.48, Z:-2.31 [[ 9.97335859e-01 -6.99841411e-02 -2.05768102e-02 1.30435368e+02] [ 7.00023763e-02 9.97546811e-01 1.66369249e-04 -4.81235829e-01] [ 2.05146882e-02 -1.60635163e-03 9.99788261e-01 -2.31126043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.558001145 meters 0.07480006602027438 Centerline is valid? [True, True] Translation: X:130.47, Y:-0.48, Z:-2.31 [[ 9.97339051e-01 -7.00388314e-02 -2.02331154e-02 1.30468619e+02] [ 7.00565310e-02 9.97543009e-01 1.66441890e-04 -4.78787728e-01] [ 2.01717454e-02 -1.58346087e-03 9.99795276e-01 -2.31002723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.588001145 meters 0.07534173799359832 Centerline is valid? [True, True] Translation: X:130.50, Y:-0.48, Z:-2.31 [[ 9.97323548e-01 -7.03564769e-02 -1.98923770e-02 1.30501018e+02] [ 7.03736638e-02 9.97520687e-01 1.64429932e-04 -4.80250082e-01] [ 1.98314889e-02 -1.56388930e-03 9.99802114e-01 -2.30959757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61800114499997 meters 0.07728115609800332 Centerline is valid? [True, True] Translation: X:130.53, Y:-0.48, Z:-2.31 [[ 9.97297065e-01 -7.08222695e-02 -1.95645114e-02 1.30531995e+02] [ 7.08389973e-02 9.97487749e-01 1.62430588e-04 -4.82693388e-01] [ 1.95038568e-02 -1.54792192e-03 9.99808583e-01 -2.30931932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64800114499997 meters 0.07668233733584538 Centerline is valid? [True, True] Translation: X:130.56, Y:-0.48, Z:-2.31 [[ 9.97232631e-01 -7.16645800e-02 -1.97804741e-02 1.30564265e+02] [ 7.16818741e-02 9.97427532e-01 1.65753846e-04 -4.80989511e-01] [ 1.97177107e-02 -1.58319659e-03 9.99804334e-01 -2.30897198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67800114499997 meters 0.07867464363514928 Centerline is valid? [True, True] Translation: X:130.59, Y:-0.48, Z:-2.31 [[ 9.97130925e-01 -7.27541943e-02 -2.08984575e-02 1.30594740e+02] [ 7.27737465e-02 9.97348460e-01 1.75590833e-04 -4.84740032e-01] [ 2.08302695e-02 -1.69594610e-03 9.99781588e-01 -2.31090797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70800114499997 meters 0.08021430999754672 Centerline is valid? [True, True] Translation: X:130.62, Y:-0.49, Z:-2.31 [[ 9.97033346e-01 -7.39631419e-02 -2.13063468e-02 1.30624520e+02] [ 7.39837866e-02 9.97259428e-01 1.81249838e-04 -4.88338032e-01] [ 2.12345494e-02 -1.75703635e-03 9.99772978e-01 -2.31268828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73800114499997 meters 0.08314174720545828 Centerline is valid? [True, True] Translation: X:130.65, Y:-0.50, Z:-2.31 [[ 9.96743546e-01 -7.75071372e-02 -2.22474107e-02 1.30653986e+02] [ 7.75304876e-02 9.96989964e-01 1.87670268e-04 -4.95517826e-01] [ 2.21658994e-02 -1.91191173e-03 9.99752478e-01 -2.31425596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76800114499997 meters 0.08325476211273786 Centerline is valid? [True, True] Translation: X:130.69, Y:-0.50, Z:-2.31 [[ 9.96631795e-01 -7.88972253e-02 -2.23672521e-02 1.30685613e+02] [ 7.89212048e-02 9.96880839e-01 1.89999863e-04 -4.96119084e-01] [ 2.22824946e-02 -1.95461039e-03 9.99749804e-01 -2.31386159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79800114499997 meters 0.08457967264132388 Centerline is valid? [True, True] Translation: X:130.72, Y:-0.50, Z:-2.31 [[ 9.96543582e-01 -7.98351489e-02 -2.29616611e-02 1.30717050e+02] [ 7.98606832e-02 9.96806016e-01 1.95743518e-04 -4.98578079e-01] [ 2.28726947e-02 -2.02880089e-03 9.99736327e-01 -2.31362311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82800114499997 meters 0.07944078698511467 Centerline is valid? [True, True] Translation: X:130.75, Y:-0.49, Z:-2.31 [[ 9.96451702e-01 -8.09604369e-02 -2.30089802e-02 1.30749354e+02] [ 8.09864366e-02 9.96715184e-01 1.98873395e-04 -4.89052814e-01] [ 2.29172990e-02 -2.06158305e-03 9.99735239e-01 -2.30906249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85800114499997 meters 0.08101451750549526 Centerline is valid? [True, True] Translation: X:130.78, Y:-0.49, Z:-2.31 [[ 9.96425027e-01 -8.09436033e-02 -2.41929290e-02 1.30780090e+02] [ 8.09724232e-02 9.96716320e-01 2.12402064e-04 -4.92251935e-01] [ 2.40962946e-02 -2.17060282e-03 9.99707286e-01 -2.31125284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88800114499998 meters 0.08037708270232012 Centerline is valid? [True, True] Translation: X:130.81, Y:-0.49, Z:-2.31 [[ 9.96349437e-01 -8.13374595e-02 -2.59232992e-02 1.30811258e+02] [ 8.13706674e-02 9.96683883e-01 2.26960508e-04 -4.90722116e-01] [ 2.58188741e-02 -2.33552813e-03 9.99663909e-01 -2.31178558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91800114499998 meters 0.09008954738770367 Centerline is valid? [True, True] Translation: X:130.84, Y:-0.51, Z:-2.32 [[ 9.96307432e-01 -8.11256741e-02 -2.81091721e-02 1.30842370e+02] [ 8.11647031e-02 9.96700672e-01 2.48428018e-04 -5.07201882e-01] [ 2.79962768e-02 -2.52898329e-03 9.99604828e-01 -2.32155255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94800114499998 meters 0.08374603294762097 Centerline is valid? [True, True] Translation: X:130.88, Y:-0.50, Z:-2.32 [[ 9.96316820e-01 -8.09678746e-02 -2.82311537e-02 1.30875138e+02] [ 8.10072731e-02 9.96713478e-01 2.52798778e-04 -4.96569505e-01] [ 2.81179028e-02 -2.53879645e-03 9.99601390e-01 -2.31693899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97800114499998 meters 0.0827119361538604 Centerline is valid? [True, True] Translation: X:130.91, Y:-0.49, Z:-2.32 [[ 9.96357162e-01 -8.05715165e-02 -2.79398899e-02 1.30907465e+02] [ 8.06099878e-02 9.96745688e-01 2.51502784e-04 -4.94985564e-01] [ 2.78287008e-02 -2.50282079e-03 9.99609573e-01 -2.31664716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00800114499998 meters 0.08145960585025726 Centerline is valid? [True, True] Translation: X:130.94, Y:-0.49, Z:-2.32 [[ 9.96445250e-01 -7.96831926e-02 -2.73395934e-02 1.30938847e+02] [ 7.97197065e-02 9.96817289e-01 2.46485896e-04 -4.92335793e-01] [ 2.72329386e-02 -2.42511406e-03 9.99626173e-01 -2.31506399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03800114499998 meters 0.08334932436724889 Centerline is valid? [True, True] Translation: X:130.97, Y:-0.49, Z:-2.32 [[ 9.96676269e-01 -7.72112802e-02 -2.59775484e-02 1.30968700e+02] [ 7.72433814e-02 9.97012240e-01 2.33040560e-04 -4.94631159e-01] [ 2.58819403e-02 -2.23885967e-03 9.99662499e-01 -2.31503659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06800114499998 meters 0.08142949027964054 Centerline is valid? [True, True] Translation: X:131.00, Y:-0.49, Z:-2.31 [[ 9.96766567e-01 -7.62959160e-02 -2.52060169e-02 1.31000558e+02] [ 7.63259033e-02 9.97082897e-01 2.28344722e-04 -4.91035394e-01] [ 2.51150666e-02 -2.15147839e-03 9.99682252e-01 -2.31291266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09800114499998 meters 0.08266938903311997 Centerline is valid? [True, True] Translation: X:131.03, Y:-0.49, Z:-2.31 [[ 9.96889333e-01 -7.51173616e-02 -2.38545552e-02 1.31030671e+02] [ 7.51438658e-02 9.97172680e-01 2.15368217e-04 -4.93363659e-01] [ 2.37709328e-02 -2.00722177e-03 9.99715416e-01 -2.31297584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12800114499998 meters 0.08149744384674167 Centerline is valid? [True, True] Translation: X:131.06, Y:-0.49, Z:-2.31 [[ 9.96989991e-01 -7.41267843e-02 -2.27195510e-02 1.31062056e+02] [ 7.41505979e-02 9.97247034e-01 2.06350413e-04 -4.91009062e-01] [ 2.26417087e-02 -1.89039758e-03 9.99741856e-01 -2.31119774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.158001145 meters 0.07745113126297466 Centerline is valid? [True, True] Translation: X:131.09, Y:-0.48, Z:-2.31 [[ 9.97130762e-01 -7.23436770e-02 -2.22853138e-02 1.31093373e+02] [ 7.23661492e-02 9.97378113e-01 2.02530484e-04 -4.82633315e-01] [ 2.22122324e-02 -1.81465172e-03 9.99751631e-01 -2.30708867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.188001145 meters 0.07759077678314781 Centerline is valid? [True, True] Translation: X:131.13, Y:-0.48, Z:-2.31 [[ 9.97156397e-01 -7.19940930e-02 -2.22704054e-02 1.31125187e+02] [ 7.20164983e-02 9.97403420e-01 2.04635072e-04 -4.82991960e-01] [ 2.21978459e-02 -1.80788978e-03 9.99751963e-01 -2.30826987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.218001145 meters 0.07609833150182596 Centerline is valid? [True, True] Translation: X:131.16, Y:-0.48, Z:-2.31 [[ 9.97089485e-01 -7.25710675e-02 -2.33666397e-02 1.31157506e+02] [ 7.25959265e-02 9.97361411e-01 2.16234305e-04 -4.80299643e-01] [ 2.32892924e-02 -1.91192781e-03 9.99726939e-01 -2.30757601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.248001145 meters 0.07703138916328685 Centerline is valid? [True, True] Translation: X:131.19, Y:-0.48, Z:-2.31 [[ 9.96952042e-01 -7.39914508e-02 -2.47364367e-02 1.31188546e+02] [ 7.40197543e-02 9.97256749e-01 2.29280104e-04 -4.83390640e-01] [ 2.46516137e-02 -2.05956624e-03 9.99693981e-01 -2.30956309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.278001145 meters 0.08187864690383195 Centerline is valid? [True, True] Translation: X:131.22, Y:-0.49, Z:-2.31 [[ 9.96882352e-01 -7.46110519e-02 -2.56664448e-02 1.31219323e+02] [ 7.46417654e-02 9.97210384e-01 2.39339119e-04 -4.92797594e-01] [ 2.55769879e-02 -2.15438170e-03 9.99670534e-01 -2.31471444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.308001145 meters 0.08233453457716874 Centerline is valid? [True, True] Translation: X:131.25, Y:-0.49, Z:-2.31 [[ 9.96824318e-01 -7.53194718e-02 -2.58506374e-02 1.31251026e+02] [ 7.53508953e-02 9.97157051e-01 2.42254015e-04 -4.93331429e-01] [ 2.57588989e-02 -2.18935336e-03 9.99665787e-01 -2.31487319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.338001145 meters 0.07644832428052926 Centerline is valid? [True, True] Translation: X:131.28, Y:-0.48, Z:-2.31 [[ 9.96804821e-01 -7.56311885e-02 -2.56918795e-02 1.31283609e+02] [ 7.56623829e-02 9.97133464e-01 2.42838374e-04 -4.81614537e-01] [ 2.55998666e-02 -2.18597129e-03 9.99669880e-01 -2.30968144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36800114499997 meters 0.07899592982092508 Centerline is valid? [True, True] Translation: X:131.31, Y:-0.49, Z:-2.31 [[ 9.96700841e-01 -7.62605947e-02 -2.77804934e-02 1.31313997e+02] [ 7.62973001e-02 9.97085078e-01 2.62130883e-04 -4.85840891e-01] [ 2.76795252e-02 -2.38084272e-03 9.99614013e-01 -2.31305669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39800114499997 meters 0.07810870056762408 Centerline is valid? [True, True] Translation: X:131.35, Y:-0.48, Z:-2.31 [[ 9.96658883e-01 -7.62984022e-02 -2.91483221e-02 1.31346023e+02] [ 7.63389090e-02 9.97081889e-01 2.77778348e-04 -4.83872445e-01] [ 2.90420700e-02 -2.50200137e-03 9.99575059e-01 -2.31304732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42800114499997 meters 0.08071601809582428 Centerline is valid? [True, True] Translation: X:131.38, Y:-0.49, Z:-2.32 [[ 9.96645281e-01 -7.62854088e-02 -2.96432273e-02 1.31376819e+02] [ 7.63274339e-02 9.97082765e-01 2.87093165e-04 -4.87930480e-01] [ 2.95348500e-02 -2.54872152e-03 9.99560502e-01 -2.31621307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45800114499997 meters 0.08704929016600745 Centerline is valid? [True, True] Translation: X:131.41, Y:-0.50, Z:-2.32 [[ 9.96611822e-01 -7.64445324e-02 -3.03497894e-02 1.31407509e+02] [ 7.64886645e-02 9.97070408e-01 2.94112435e-04 -4.98203595e-01] [ 3.02383936e-02 -2.61453079e-03 9.99539296e-01 -2.32272491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48800114499997 meters 0.08052038067309292 Centerline is valid? [True, True] Translation: X:131.44, Y:-0.49, Z:-2.32 [[ 9.96558193e-01 -7.71796773e-02 -3.02500563e-02 1.31439701e+02] [ 7.72239241e-02 9.97013730e-01 2.95413370e-04 -4.87147035e-01] [ 3.01369216e-02 -2.63042467e-03 9.99542319e-01 -2.31690938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51800114499997 meters 0.08268356941502294 Centerline is valid? [True, True] Translation: X:131.47, Y:-0.49, Z:-2.32 [[ 9.96635550e-01 -7.68656897e-02 -2.84472393e-02 1.31469722e+02] [ 7.69047856e-02 9.97038402e-01 2.81183954e-04 -4.91770127e-01] [ 2.83413766e-02 -2.46796676e-03 9.99595256e-01 -2.31851744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54800114499997 meters 0.07827212907789635 Centerline is valid? [True, True] Translation: X:131.50, Y:-0.48, Z:-2.31 [[ 9.96641027e-01 -7.75636797e-02 -2.62781145e-02 1.31502526e+02] [ 7.75973152e-02 9.96984748e-01 2.61140084e-04 -4.84060058e-01] [ 2.61786244e-02 -2.29937406e-03 9.99654637e-01 -2.31163766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57800114499997 meters 0.08436833574197306 Centerline is valid? [True, True] Translation: X:131.53, Y:-0.49, Z:-2.32 [[ 9.96632690e-01 -7.79970852e-02 -2.52929863e-02 1.31534133e+02] [ 7.80284450e-02 9.96951101e-01 2.53788332e-04 -4.94788232e-01] [ 2.51960758e-02 -2.22650614e-03 9.99680049e-01 -2.31626643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60800114499997 meters 0.08478083231364653 Centerline is valid? [True, True] Translation: X:131.57, Y:-0.50, Z:-2.32 [[ 9.96623848e-01 -7.83666021e-02 -2.44863455e-02 1.31565459e+02] [ 7.83961933e-02 9.96922251e-01 2.49380291e-04 -4.95482384e-01] [ 2.43914396e-02 -2.16817462e-03 9.99700133e-01 -2.31545649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63800114499998 meters 0.08024566099057935 Centerline is valid? [True, True] Translation: X:131.60, Y:-0.49, Z:-2.31 [[ 9.96561743e-01 -7.93021627e-02 -2.39970821e-02 1.31598175e+02] [ 7.93309142e-02 9.96848306e-01 2.47011534e-04 -4.87719894e-01] [ 2.39018620e-02 -2.14987270e-03 9.99711998e-01 -2.31148551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66800114499998 meters 0.08580906767572863 Centerline is valid? [True, True] Translation: X:131.63, Y:-0.50, Z:-2.32 [[ 9.96455109e-01 -8.05834227e-02 -2.41563137e-02 1.31628337e+02] [ 8.06129317e-02 9.96745451e-01 2.48700503e-04 -5.00750750e-01] [ 2.40576546e-02 -2.19513015e-03 9.99708163e-01 -2.31555786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69800114499998 meters 0.08399278790664406 Centerline is valid? [True, True] Translation: X:131.66, Y:-0.50, Z:-2.32 [[ 9.96427074e-01 -8.07630745e-02 -2.47065277e-02 1.31660841e+02] [ 8.07940446e-02 9.96730784e-01 2.56244257e-04 -4.99834508e-01] [ 2.46050617e-02 -2.25146902e-03 9.99694714e-01 -2.31500969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72800114499998 meters 0.08356058335091257 Centerline is valid? [True, True] Translation: X:131.69, Y:-0.50, Z:-2.32 [[ 9.96457091e-01 -8.05383064e-02 -2.42249115e-02 1.31693103e+02] [ 8.05680532e-02 9.96749078e-01 2.52849588e-04 -4.99956106e-01] [ 2.41257941e-02 -2.20370772e-03 9.99706502e-01 -2.31576343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75800114499998 meters 0.08524014116428559 Centerline is valid? [True, True] Translation: X:131.72, Y:-0.50, Z:-2.32 [[ 9.96556225e-01 -7.91879755e-02 -2.45958244e-02 1.31723581e+02] [ 7.92183025e-02 9.96857258e-01 2.59573368e-04 -5.02636134e-01] [ 2.44979710e-02 -2.20711892e-03 9.99697443e-01 -2.31698223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78800114499998 meters 0.08045209068905902 Centerline is valid? [True, True] Translation: X:131.76, Y:-0.49, Z:-2.31 [[ 9.96658209e-01 -7.75789537e-02 -2.55718585e-02 1.31755128e+02] [ 7.76112055e-02 9.96983665e-01 2.69652475e-04 -4.94384920e-01] [ 2.54738058e-02 -2.25341412e-03 9.99672950e-01 -2.31403015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81800114499998 meters 0.07996668821298779 Centerline is valid? [True, True] Translation: X:131.79, Y:-0.49, Z:-2.32 [[ 9.96772295e-01 -7.62822672e-02 -2.50201316e-02 1.31786119e+02] [ 7.63127573e-02 9.97083895e-01 2.64674490e-04 -4.93682556e-01] [ 2.49269803e-02 -2.17317543e-03 9.99686912e-01 -2.31507099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84800114499998 meters 0.08157801812468204 Centerline is valid? [True, True] Translation: X:131.82, Y:-0.50, Z:-2.32 [[ 9.96894728e-01 -7.45412373e-02 -2.53871037e-02 1.31816186e+02] [ 7.45720718e-02 9.97215590e-01 2.68690766e-04 -4.97515371e-01] [ 2.52963871e-02 -2.16102533e-03 9.99677659e-01 -2.31804926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87800114499998 meters 0.08005482715162208 Centerline is valid? [True, True] Translation: X:131.85, Y:-0.50, Z:-2.32 [[ 9.97069338e-01 -7.19686859e-02 -2.59469221e-02 1.31847051e+02] [ 7.20000414e-02 9.97404591e-01 2.75018292e-04 -4.95655894e-01] [ 2.58597866e-02 -2.14239177e-03 9.99663284e-01 -2.31831099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.908001145 meters 0.07919909926486927 Centerline is valid? [True, True] Translation: X:131.88, Y:-0.49, Z:-2.32 [[ 9.97137135e-01 -7.10425832e-02 -2.58937341e-02 1.31879034e+02] [ 7.10735633e-02 9.97471038e-01 2.76903541e-04 -4.93986228e-01] [ 2.58085779e-02 -2.11647075e-03 9.99664663e-01 -2.31813899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.938001145 meters 0.07887729918242202 Centerline is valid? [True, True] Translation: X:131.91, Y:-0.49, Z:-2.32 [[ 9.97160034e-01 -7.03341145e-02 -2.69254473e-02 1.31911613e+02] [ 7.03674028e-02 9.97521100e-01 2.89633803e-04 -4.93407429e-01] [ 2.68383306e-02 -2.18348505e-03 9.99637402e-01 -2.31805281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.968001145 meters 0.07956351625032586 Centerline is valid? [True, True] Translation: X:131.94, Y:-0.50, Z:-2.32 [[ 9.97278795e-01 -6.89257545e-02 -2.61580937e-02 1.31942389e+02] [ 6.89566986e-02 9.97619614e-01 2.81696839e-04 -4.95046480e-01] [ 2.60764112e-02 -2.08470607e-03 9.99657779e-01 -2.31869084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.998001145 meters 0.08029794754892215 Centerline is valid? [True, True] Translation: X:131.97, Y:-0.50, Z:-2.32 [[ 9.97365624e-01 -6.78789756e-02 -2.55784402e-02 1.31972889e+02] [ 6.79082250e-02 9.97691534e-01 2.75619593e-04 -4.97090294e-01] [ 2.55006844e-02 -2.01187998e-03 9.99672780e-01 -2.31978868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.028001145 meters 0.07916742688960939 Centerline is valid? [True, True] Translation: X:132.01, Y:-0.50, Z:-2.32 [[ 9.97373214e-01 -6.78264236e-02 -2.54214107e-02 1.32005097e+02] [ 6.78553584e-02 9.97695131e-01 2.76317334e-04 -4.95276103e-01] [ 2.53440761e-02 -2.00057044e-03 9.99676786e-01 -2.31870187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.058001145 meters 0.08020256910195364 Centerline is valid? [True, True] Translation: X:132.04, Y:-0.50, Z:-2.32 [[ 9.97404830e-01 -6.78477910e-02 -2.40890465e-02 1.32035899e+02] [ 6.78737998e-02 9.97693880e-01 2.62771871e-04 -4.98286723e-01] [ 2.40156658e-02 -1.89710506e-03 9.99709782e-01 -2.32012028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.088001145 meters 0.0779368146941159 Centerline is valid? [True, True] Translation: X:132.07, Y:-0.50, Z:-2.32 [[ 9.97393493e-01 -6.85155790e-02 -2.26237722e-02 1.32069396e+02] [ 6.85387578e-02 9.97648423e-01 2.49813536e-04 -4.96625575e-01] [ 2.25534546e-02 -1.79976764e-03 9.99744018e-01 -2.31700228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11800114499997 meters 0.08190540205601497 Centerline is valid? [True, True] Translation: X:132.10, Y:-0.50, Z:-2.32 [[ 9.97392793e-01 -6.88295004e-02 -2.16821597e-02 1.32100473e+02] [ 6.88508697e-02 9.97626934e-01 2.39728016e-04 -5.04157626e-01] [ 2.16142062e-02 -1.73193855e-03 9.99764886e-01 -2.31958367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14800114499997 meters 0.07769499852973763 Centerline is valid? [True, True] Translation: X:132.13, Y:-0.50, Z:-2.32 [[ 9.97335697e-01 -7.00799546e-02 -2.02560647e-02 1.32132673e+02] [ 7.00988940e-02 9.97540021e-01 2.25604533e-04 -4.98715120e-01] [ 2.01904249e-02 -1.64493119e-03 9.99794799e-01 -2.31553599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17800114499997 meters 0.07763913499472677 Centerline is valid? [True, True] Translation: X:132.16, Y:-0.50, Z:-2.32 [[ 9.97274423e-01 -7.09504603e-02 -2.02424412e-02 1.32164558e+02] [ 7.09695790e-02 9.97478455e-01 2.26771650e-04 -5.00967698e-01] [ 2.01753094e-02 -1.66275110e-03 9.99795075e-01 -2.31596662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20800114499997 meters 0.07876632931883142 Centerline is valid? [True, True] Translation: X:132.19, Y:-0.50, Z:-2.32 [[ 9.97172017e-01 -7.22719311e-02 -2.06091460e-02 1.32194555e+02] [ 7.22920071e-02 9.97383483e-01 2.29805131e-04 -5.04804897e-01] [ 2.05386134e-02 -1.71903178e-03 9.99787583e-01 -2.31819563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23800114499997 meters 0.08042652907863937 Centerline is valid? [True, True] Translation: X:132.22, Y:-0.51, Z:-2.32 [[ 9.97019582e-01 -7.38973434e-02 -2.21615782e-02 1.32224701e+02] [ 7.39210036e-02 9.97264069e-01 2.49201452e-04 -5.08945049e-01] [ 2.20825303e-02 -1.88666483e-03 9.99754371e-01 -2.32152715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26800114499997 meters 0.08042652907863937 Centerline is valid? [True, True] Translation: X:132.26, Y:-0.51, Z:-2.32 [[ 9.97026671e-01 -7.38016488e-02 -2.21615466e-02 1.32257382e+02] [ 7.38253473e-02 9.97271154e-01 2.52004132e-04 -5.09416380e-01] [ 2.20824729e-02 -1.88733872e-03 9.99754371e-01 -2.32205772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29800114499997 meters 0.08128910300122655 Centerline is valid? [True, True] Translation: X:132.29, Y:-0.51, Z:-2.32 [[ 9.96960763e-01 -7.45172936e-02 -2.27246749e-02 1.32288960e+02] [ 7.45424535e-02 9.97217807e-01 2.60913957e-04 -5.11449933e-01] [ 2.26420079e-02 -1.95407400e-03 9.99741727e-01 -2.32272509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32800114499997 meters 0.08233188142511828 Centerline is valid? [True, True] Translation: X:132.32, Y:-0.51, Z:-2.32 [[ 9.96966347e-01 -7.45838639e-02 -2.22564618e-02 1.32321483e+02] [ 7.46080306e-02 9.97212904e-01 2.56292353e-04 -5.14251760e-01] [ 2.21753157e-02 -1.91602563e-03 9.99752261e-01 -2.32381511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35800114499997 meters 0.07762966801715994 Centerline is valid? [True, True] Translation: X:132.35, Y:-0.51, Z:-2.32 [[ 9.96988978e-01 -7.45821739e-02 -2.12244331e-02 1.32353942e+02] [ 7.46041821e-02 9.97213195e-01 2.45911559e-04 -5.07126345e-01] [ 2.11469441e-02 -1.82860258e-03 9.99774706e-01 -2.31982612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38800114499998 meters 0.07712552249097084 Centerline is valid? [True, True] Translation: X:132.38, Y:-0.51, Z:-2.32 [[ 9.97177125e-01 -7.24710665e-02 -1.96398850e-02 1.32383800e+02] [ 7.24894758e-02 9.97369152e-01 2.26123346e-04 -5.09889760e-01] [ 1.95718280e-02 -1.64916999e-03 9.99807093e-01 -2.32308064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41800114499998 meters 0.07663228580304957 Centerline is valid? [True, True] Translation: X:132.42, Y:-0.51, Z:-2.32 [[ 9.97250668e-01 -7.13250218e-02 -2.00959552e-02 1.32416531e+02] [ 7.13441283e-02 9.97451733e-01 2.34523800e-04 -5.09768910e-01] [ 2.00280179e-02 -1.66760742e-03 9.99798028e-01 -2.32450855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44800114499998 meters 0.0767600836544719 Centerline is valid? [True, True] Translation: X:132.45, Y:-0.51, Z:-2.33 [[ 9.97362967e-01 -6.97495244e-02 -2.00528252e-02 1.32447071e+02] [ 6.97682299e-02 9.97563201e-01 2.33881508e-04 -5.09472882e-01] [ 1.99876474e-02 -1.63231487e-03 9.99798895e-01 -2.32611987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47800114499998 meters 0.07647934266719297 Centerline is valid? [True, True] Translation: X:132.48, Y:-0.51, Z:-2.33 [[ 9.97485496e-01 -6.82669344e-02 -1.90344664e-02 1.32476431e+02] [ 6.82834995e-02 9.97665934e-01 2.20943800e-04 -5.07764423e-01] [ 1.89749555e-02 -1.52012821e-03 9.99818804e-01 -2.32732380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50800114499998 meters 0.0752794607750275 Centerline is valid? [True, True] Translation: X:132.51, Y:-0.51, Z:-2.33 [[ 9.97636579e-01 -6.60481068e-02 -1.89447317e-02 1.32506888e+02] [ 6.60641233e-02 9.97815355e-01 2.20159278e-04 -5.06088173e-01] [ 1.88888031e-02 -1.47120604e-03 9.99820508e-01 -2.32833375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53800114499998 meters 0.07483554345179878 Centerline is valid? [True, True] Translation: X:132.54, Y:-0.51, Z:-2.33 [[ 9.97701940e-01 -6.51673793e-02 -1.85486087e-02 1.32538822e+02] [ 6.51826125e-02 9.97873329e-01 2.17224914e-04 -5.07353299e-01] [ 1.84950059e-02 -1.42577249e-03 9.99827936e-01 -2.32916523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56800114499998 meters 0.0761787697685288 Centerline is valid? [True, True] Translation: X:132.57, Y:-0.51, Z:-2.33 [[ 9.97687421e-01 -6.56665924e-02 -1.75416518e-02 1.32569692e+02] [ 6.56803081e-02 9.97840696e-01 2.06305147e-04 -5.11890531e-01] [ 1.74902267e-02 -1.35796915e-03 9.99846112e-01 -2.33089690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59800114499998 meters 0.07779729284908253 Centerline is valid? [True, True] Translation: X:132.60, Y:-0.52, Z:-2.33 [[ 9.97674683e-01 -6.62847309e-02 -1.58606977e-02 1.32601804e+02] [ 6.62960503e-02 9.97799979e-01 1.88377857e-04 -5.16605989e-01] [ 1.58133173e-02 -1.23944143e-03 9.99874193e-01 -2.33216380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62800114499998 meters 0.07768685041330872 Centerline is valid? [True, True] Translation: X:132.63, Y:-0.52, Z:-2.33 [[ 9.97662238e-01 -6.68169798e-02 -1.43370433e-02 1.32634859e+02] [ 6.68263075e-02 9.97764609e-01 1.71985645e-04 -5.16641378e-01] [ 1.42935028e-02 -1.12967525e-03 9.99897205e-01 -2.33146299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.658001145 meters 0.0766569538857069 Centerline is valid? [True, True] Translation: X:132.67, Y:-0.51, Z:-2.33 [[ 9.97661697e-01 -6.70175213e-02 -1.34086044e-02 1.32666733e+02] [ 6.70257039e-02 9.97751236e-01 1.61297565e-04 -5.14526900e-01] [ 1.33676419e-02 -1.05964155e-03 9.99910088e-01 -2.33013458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.688001145 meters 0.07594011437414708 Centerline is valid? [True, True] Translation: X:132.70, Y:-0.51, Z:-2.33 [[ 9.97640641e-01 -6.73803231e-02 -1.31545643e-02 1.32698608e+02] [ 6.73882414e-02 9.97726816e-01 1.59114856e-04 -5.13033120e-01] [ 1.31139403e-02 -1.04520240e-03 9.99913462e-01 -2.32967000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.718001145 meters 0.0733650919730243 Centerline is valid? [True, True] Translation: X:132.73, Y:-0.51, Z:-2.33 [[ 9.97565251e-01 -6.83726315e-02 -1.37387463e-02 1.32730368e+02] [ 6.83813917e-02 9.97659239e-01 1.68333154e-04 -5.09487385e-01] [ 1.36950778e-02 -1.10739790e-03 9.99905605e-01 -2.32945301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.748001145 meters 0.08051227082324998 Centerline is valid? [True, True] Translation: X:132.76, Y:-0.52, Z:-2.34 [[ 9.97520938e-01 -6.88584687e-02 -1.45082761e-02 1.32761570e+02] [ 6.88683569e-02 9.97625740e-01 1.82462999e-04 -5.23404074e-01] [ 1.44612655e-02 -1.18117180e-03 9.99894733e-01 -2.33602941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.778001145 meters 0.07357597935345682 Centerline is valid? [True, True] Translation: X:132.79, Y:-0.51, Z:-2.33 [[ 9.97520313e-01 -6.87394029e-02 -1.51036337e-02 1.32794365e+02] [ 6.87500829e-02 9.97633896e-01 1.88425966e-04 -5.10572070e-01] [ 1.50549446e-02 -1.22633480e-03 9.99885916e-01 -2.33228461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.808001145 meters 0.07561532622642753 Centerline is valid? [True, True] Translation: X:132.83, Y:-0.51, Z:-2.33 [[ 9.97476522e-01 -6.93546162e-02 -1.51830501e-02 1.32825349e+02] [ 6.93655649e-02 9.97591289e-01 1.95046553e-04 -5.14067800e-01] [ 1.51329511e-02 -1.24773520e-03 9.99884712e-01 -2.33324026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.838001145 meters 0.07692535322940608 Centerline is valid? [True, True] Translation: X:132.86, Y:-0.52, Z:-2.33 [[ 9.97484126e-01 -6.96325712e-02 -1.32937266e-02 1.32856391e+02] [ 6.96410304e-02 9.97572101e-01 1.73918045e-04 -5.17425574e-01] [ 1.32493404e-02 -1.09926931e-03 9.99911619e-01 -2.33354424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86800114499997 meters 0.07761206764740332 Centerline is valid? [True, True] Translation: X:132.89, Y:-0.52, Z:-2.33 [[ 9.97431776e-01 -7.04448915e-02 -1.29371422e-02 1.32888324e+02] [ 7.04529523e-02 9.97515089e-01 1.67817072e-04 -5.19840720e-01] [ 1.28931727e-02 -1.07884594e-03 9.99916298e-01 -2.33434557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89800114499997 meters 0.07876449142384756 Centerline is valid? [True, True] Translation: X:132.92, Y:-0.52, Z:-2.34 [[ 9.97339657e-01 -7.15848931e-02 -1.37554483e-02 1.32918826e+02] [ 7.15941049e-02 9.97433834e-01 1.77799887e-04 -5.24409318e-01] [ 1.37074217e-02 -1.16213589e-03 9.99905374e-01 -2.33609591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92800114499997 meters 0.0802302992555205 Centerline is valid? [True, True] Translation: X:132.95, Y:-0.53, Z:-2.34 [[ 9.97244587e-01 -7.27252771e-02 -1.46379053e-02 1.32949091e+02] [ 7.27358341e-02 9.97351223e-01 1.89418330e-04 -5.27791890e-01] [ 1.45853572e-02 -1.25359665e-03 9.99892842e-01 -2.33826450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95800114499997 meters 0.08011002734975357 Centerline is valid? [True, True] Translation: X:132.98, Y:-0.53, Z:-2.34 [[ 9.97158058e-01 -7.36307612e-02 -1.59473634e-02 1.32980303e+02] [ 7.36434184e-02 9.97284615e-01 2.07100993e-04 -5.27060931e-01] [ 1.58888112e-02 -1.38093078e-03 9.99872811e-01 -2.33843140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98800114499997 meters 0.07680640809689626 Centerline is valid? [True, True] Translation: X:133.01, Y:-0.52, Z:-2.34 [[ 9.97136787e-01 -7.39835263e-02 -1.56418150e-02 1.33012951e+02] [ 7.39957708e-02 9.97258534e-01 2.04716254e-04 -5.20083667e-01] [ 1.55837879e-02 -1.36155827e-03 9.99877638e-01 -2.33642969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01800114499997 meters 0.0825964784965939 Centerline is valid? [True, True] Translation: X:133.04, Y:-0.53, Z:-2.34 [[ 9.97206510e-01 -7.29903224e-02 -1.58615610e-02 1.33044616e+02] [ 7.30028045e-02 9.97331714e-01 2.08590471e-04 -5.29082595e-01] [ 1.58040128e-02 -1.36594621e-03 9.99874176e-01 -2.33913436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04800114499997 meters 0.08017087376304462 Centerline is valid? [True, True] Translation: X:133.08, Y:-0.53, Z:-2.34 [[ 9.97200077e-01 -7.33024828e-02 -1.47902772e-02 1.33077500e+02] [ 7.33133987e-02 9.97308933e-01 1.96475725e-04 -5.25393610e-01] [ 1.47360734e-02 -1.28025110e-03 9.99890599e-01 -2.33870853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07800114499997 meters 0.07858832127632842 Centerline is valid? [True, True] Translation: X:133.11, Y:-0.52, Z:-2.34 [[ 9.97203988e-01 -7.33481206e-02 -1.42919074e-02 1.33109658e+02] [ 7.33583246e-02 9.97305630e-01 1.90333942e-04 -5.23000992e-01] [ 1.42394391e-02 -1.23823215e-03 9.99897847e-01 -2.33795766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10800114499997 meters 0.0809831329312018 Centerline is valid? [True, True] Translation: X:133.14, Y:-0.53, Z:-2.34 [[ 9.97168167e-01 -7.39113385e-02 -1.38838178e-02 1.33140976e+02] [ 7.39210947e-02 9.97264075e-01 1.90143370e-04 -5.26837258e-01] [ 1.38317789e-02 -1.21591193e-03 9.99903597e-01 -2.33978782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13800114499998 meters 0.07963243915774998 Centerline is valid? [True, True] Translation: X:133.17, Y:-0.52, Z:-2.34 [[ 9.97156646e-01 -7.40955671e-02 -1.37284413e-02 1.33173234e+02] [ 7.41051042e-02 9.97250419e-01 1.86605631e-04 -5.23622576e-01] [ 1.36768672e-02 -1.20342262e-03 9.99905743e-01 -2.33842927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16800114499998 meters 0.08156565203110787 Centerline is valid? [True, True] Translation: X:133.20, Y:-0.52, Z:-2.34 [[ 9.97094431e-01 -7.48428583e-02 -1.41859966e-02 1.33203924e+02] [ 7.48531497e-02 9.97194549e-01 1.95146107e-04 -5.24986937e-01] [ 1.41315932e-02 -1.25644562e-03 9.99899355e-01 -2.33951181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19800114499998 meters 0.08246275963055481 Centerline is valid? [True, True] Translation: X:133.24, Y:-0.53, Z:-2.34 [[ 9.97035067e-01 -7.56158843e-02 -1.42588090e-02 1.33236245e+02] [ 7.56263613e-02 9.97136207e-01 1.96244825e-04 -5.25379785e-01] [ 1.42031355e-02 -1.27400482e-03 9.99898319e-01 -2.33934918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22800114499998 meters 0.08418376856484328 Centerline is valid? [True, True] Translation: X:133.27, Y:-0.53, Z:-2.34 [[ 9.96987156e-01 -7.61518810e-02 -1.47479124e-02 1.33268096e+02] [ 7.61632244e-02 9.97095341e-01 2.08215844e-04 -5.27703692e-01] [ 1.46892188e-02 -1.33083709e-03 9.99891222e-01 -2.34072797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25800114499998 meters 0.08592512780737674 Centerline is valid? [True, True] Translation: X:133.30, Y:-0.53, Z:-2.34 [[ 9.96955995e-01 -7.64207305e-02 -1.54472046e-02 1.33298796e+02] [ 7.64332074e-02 9.97074680e-01 2.18097357e-04 -5.30478415e-01] [ 1.53853494e-02 -1.39811286e-03 9.99880661e-01 -2.34240487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28800114499998 meters 0.08590794132902897 Centerline is valid? [True, True] Translation: X:133.33, Y:-0.53, Z:-2.34 [[ 9.96914378e-01 -7.70279167e-02 -1.51136598e-02 1.33330928e+02] [ 7.70399332e-02 9.97027985e-01 2.13620592e-04 -5.30007253e-01] [ 1.50522870e-02 -1.37731678e-03 9.99885759e-01 -2.34329413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31800114499998 meters 0.08358690783374793 Centerline is valid? [True, True] Translation: X:133.36, Y:-0.53, Z:-2.34 [[ 9.96885409e-01 -7.73132821e-02 -1.55607883e-02 1.33362847e+02] [ 7.73261416e-02 9.97005826e-01 2.25544792e-04 -5.25750750e-01] [ 1.54967590e-02 -1.42809803e-03 9.99878898e-01 -2.34225045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34800114499998 meters 0.08713478869632281 Centerline is valid? [True, True] Translation: X:133.39, Y:-0.53, Z:-2.35 [[ 9.96940034e-01 -7.66620444e-02 -1.52806989e-02 1.33394117e+02] [ 7.66744184e-02 9.97056158e-01 2.24711049e-04 -5.30296927e-01] [ 1.52184881e-02 -1.39566214e-03 9.99883218e-01 -2.34574656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37800114499998 meters 0.08643008131581162 Centerline is valid? [True, True] Translation: X:133.43, Y:-0.53, Z:-2.34 [[ 9.96965607e-01 -7.64724393e-02 -1.45445737e-02 1.33426563e+02] [ 7.64836111e-02 9.97070816e-01 2.12605472e-04 -5.27762700e-01] [ 1.44857116e-02 -1.32438187e-03 9.99894199e-01 -2.34497862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.408001145 meters 0.08387103720464295 Centerline is valid? [True, True] Translation: X:133.46, Y:-0.52, Z:-2.34 [[ 9.97022886e-01 -7.56812340e-02 -1.47551898e-02 1.33458497e+02] [ 7.56926599e-02 9.97131172e-01 2.16641646e-04 -5.21874858e-01] [ 1.46964640e-02 -1.33285624e-03 9.99891113e-01 -2.34375630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.438001145 meters 0.08729942951453344 Centerline is valid? [True, True] Translation: X:133.49, Y:-0.52, Z:-2.35 [[ 9.97104699e-01 -7.44783828e-02 -1.53359208e-02 1.33488562e+02] [ 7.44905759e-02 9.97221692e-01 2.24585719e-04 -5.24944476e-01] [ 1.52765861e-02 -1.36631705e-03 9.99882373e-01 -2.34633604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.468001145 meters 0.08359943950758768 Centerline is valid? [True, True] Translation: X:133.52, Y:-0.52, Z:-2.35 [[ 9.97091649e-01 -7.46730799e-02 -1.52372560e-02 1.33520780e+02] [ 7.46851659e-02 9.97207138e-01 2.24907156e-04 -5.18450361e-01] [ 1.51779059e-02 -1.36225004e-03 9.99883881e-01 -2.34543316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.498001145 meters 0.08463200901894215 Centerline is valid? [True, True] Translation: X:133.55, Y:-0.52, Z:-2.35 [[ 9.97091628e-01 -7.45789565e-02 -1.56927970e-02 1.33551719e+02] [ 7.45918512e-02 9.97214119e-01 2.37177570e-04 -5.20799572e-01] [ 1.56313903e-02 -1.40704255e-03 9.99876832e-01 -2.34693723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.528001145 meters 0.08517234347706897 Centerline is valid? [True, True] Translation: X:133.58, Y:-0.52, Z:-2.35 [[ 9.97058312e-01 -7.51011307e-02 -1.53147784e-02 1.33584064e+02] [ 7.51134531e-02 9.97174968e-01 2.30180109e-04 -5.22394424e-01] [ 1.52542269e-02 -1.37984888e-03 9.99882695e-01 -2.34807500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.558001145 meters 0.08313845951132177 Centerline is valid? [True, True] Translation: X:133.62, Y:-0.52, Z:-2.35 [[ 9.96951069e-01 -7.67012089e-02 -1.43349554e-02 1.33615727e+02] [ 7.67121693e-02 9.97053257e-01 2.15486753e-04 -5.18822367e-01] [ 1.42761858e-02 -1.31449527e-03 9.99897226e-01 -2.34622727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.588001145 meters 0.09004370600591943 Centerline is valid? [True, True] Translation: X:133.65, Y:-0.53, Z:-2.35 [[ 9.96899143e-01 -7.73954856e-02 -1.42139755e-02 1.33646766e+02] [ 7.74063739e-02 9.96999602e-01 2.16653603e-04 -5.29839899e-01] [ 1.41545599e-02 -1.31623409e-03 9.99898953e-01 -2.34999103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61800114499997 meters 0.07975043335032705 Centerline is valid? [True, True] Translation: X:133.68, Y:-0.51, Z:-2.34 [[ 9.96854319e-01 -7.77986798e-02 -1.51272247e-02 1.33679063e+02] [ 7.78110609e-02 9.96968097e-01 2.30733785e-04 -5.11298088e-01] [ 1.50634097e-02 -1.40707337e-03 9.99885550e-01 -2.34480901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64800114499997 meters 0.08595677179867142 Centerline is valid? [True, True] Translation: X:133.71, Y:-0.52, Z:-2.35 [[ 9.96769681e-01 -7.86515545e-02 -1.62522337e-02 1.33708827e+02] [ 7.86659389e-02 9.96901003e-01 2.46696613e-04 -5.20495136e-01] [ 1.61824650e-02 -1.52439693e-03 9.99867893e-01 -2.34998092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67800114499997 meters 0.08105502679640293 Centerline is valid? [True, True] Translation: X:133.74, Y:-0.51, Z:-2.35 [[ 9.96757120e-01 -7.87364150e-02 -1.66078245e-02 1.33741195e+02] [ 7.87514846e-02 9.96894247e-01 2.54333845e-04 -5.12744038e-01] [ 1.65362194e-02 -1.56139991e-03 9.99862048e-01 -2.34760792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70800114499997 meters 0.08164355921282591 Centerline is valid? [True, True] Translation: X:133.77, Y:-0.52, Z:-2.35 [[ 9.96755961e-01 -7.86705571e-02 -1.69852016e-02 1.33773324e+02] [ 7.86863289e-02 9.96899390e-01 2.61229817e-04 -5.15007525e-01] [ 1.69119860e-02 -1.59688554e-03 9.99855707e-01 -2.34860842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73800114499997 meters 0.08821293748167522 Centerline is valid? [True, True] Translation: X:133.80, Y:-0.53, Z:-2.35 [[ 9.96727645e-01 -7.90953307e-02 -1.66712619e-02 1.33804060e+02] [ 7.91106846e-02 9.96865804e-01 2.62482688e-04 -5.27129191e-01] [ 1.65982497e-02 -1.58049869e-03 9.99860990e-01 -2.35362799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76800114499997 meters 0.08510605004058998 Centerline is valid? [True, True] Translation: X:133.83, Y:-0.52, Z:-2.35 [[ 9.96583645e-01 -8.09545451e-02 -1.63523928e-02 1.33834980e+02] [ 8.09695175e-02 9.96716546e-01 2.54540840e-04 -5.21179734e-01] [ 1.62780942e-02 -1.57771659e-03 9.99866258e-01 -2.35037110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79800114499997 meters 0.08608805998997034 Centerline is valid? [True, True] Translation: X:133.87, Y:-0.52, Z:-2.35 [[ 9.96467578e-01 -8.22956635e-02 -1.67268979e-02 1.33865635e+02] [ 8.23115214e-02 9.96606615e-01 2.60638403e-04 -5.20853147e-01] [ 1.66486877e-02 -1.63653413e-03 9.99860062e-01 -2.34970062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82800114499997 meters 0.08869706102121944 Centerline is valid? [True, True] Translation: X:133.90, Y:-0.52, Z:-2.35 [[ 9.96473800e-01 -8.24252966e-02 -1.56855401e-02 1.33897654e+02] [ 8.24393757e-02 9.96596049e-01 2.52016361e-04 -5.24487657e-01] [ 1.56113747e-02 -1.54423383e-03 9.99876943e-01 -2.35012563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85800114499997 meters 0.08930962393998965 Centerline is valid? [True, True] Translation: X:133.93, Y:-0.53, Z:-2.35 [[ 9.96465363e-01 -8.28518842e-02 -1.38688901e-02 1.33929790e+02] [ 8.28629100e-02 9.96560931e-01 2.21274559e-04 -5.27224278e-01] [ 1.38028610e-02 -1.36970903e-03 9.99903798e-01 -2.34999858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88800114499998 meters 0.09035096059571054 Centerline is valid? [True, True] Translation: X:133.96, Y:-0.53, Z:-2.35 [[ 9.96506988e-01 -8.24499175e-02 -1.32602429e-02 1.33961020e+02] [ 8.24600304e-02 9.96594349e-01 2.16786136e-04 -5.30657894e-01] [ 1.31972091e-02 -1.30946893e-03 9.99912056e-01 -2.35144615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91800114499998 meters 0.08935497998053468 Centerline is valid? [True, True] Translation: X:133.99, Y:-0.53, Z:-2.35 [[ 9.96573047e-01 -8.16782850e-02 -1.30698412e-02 1.33993409e+02] [ 8.16880866e-02 9.96657920e-01 2.16961720e-04 -5.29743237e-01] [ 1.30084396e-02 -1.28386852e-03 9.99914562e-01 -2.35165763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94800114499998 meters 0.08903822698367583 Centerline is valid? [True, True] Translation: X:134.03, Y:-0.53, Z:-2.35 [[ 9.96650167e-01 -8.07136388e-02 -1.31815670e-02 1.34025832e+02] [ 8.07235641e-02 9.96736503e-01 2.21787423e-04 -5.28250198e-01] [ 1.31206477e-02 -1.28510754e-03 9.99913095e-01 -2.35160025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97800114499998 meters 0.08984827894266206 Centerline is valid? [True, True] Translation: X:134.06, Y:-0.53, Z:-2.35 [[ 9.96837064e-01 -7.81998767e-02 -1.41649909e-02 1.34055813e+02] [ 7.82110308e-02 9.96936798e-01 2.34354214e-04 -5.25867200e-01] [ 1.41032742e-02 -1.34147151e-03 9.99899644e-01 -2.35167527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00800114499998 meters 0.08522890309581622 Centerline is valid? [True, True] Translation: X:134.09, Y:-0.52, Z:-2.35 [[ 9.96933176e-01 -7.66927980e-02 -1.55710180e-02 1.34087382e+02] [ 7.67061109e-02 9.97053713e-01 2.58673686e-04 -5.17930538e-01] [ 1.55053029e-02 -1.45227262e-03 9.99878731e-01 -2.35049387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03800114499998 meters 0.08394768756286412 Centerline is valid? [True, True] Translation: X:134.12, Y:-0.52, Z:-2.35 [[ 9.97045854e-01 -7.52700220e-02 -1.52966798e-02 1.34119068e+02] [ 7.52827195e-02 9.97162197e-01 2.55147051e-04 -5.16744555e-01] [ 1.52340660e-02 -1.40596897e-03 9.99882966e-01 -2.35162816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06800114499998 meters 0.08627133634232707 Centerline is valid? [True, True] Translation: X:134.15, Y:-0.52, Z:-2.35 [[ 9.97091131e-01 -7.44983620e-02 -1.61018962e-02 1.34149801e+02] [ 7.45124277e-02 9.97220047e-01 2.74547460e-04 -5.22504792e-01] [ 1.60366803e-02 -1.47354021e-03 9.99870318e-01 -2.35483263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09800114499998 meters 0.08755993557060011 Centerline is valid? [True, True] Translation: X:134.18, Y:-0.53, Z:-2.36 [[ 9.97063391e-01 -7.48793036e-02 -1.60525329e-02 1.34180854e+02] [ 7.48933381e-02 9.97191513e-01 2.74077597e-04 -5.27389165e-01] [ 1.59869268e-02 -1.47550051e-03 9.99871112e-01 -2.35592950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12800114499998 meters 0.08592793733353181 Centerline is valid? [True, True] Translation: X:134.21, Y:-0.52, Z:-2.35 [[ 9.96977356e-01 -7.59046768e-02 -1.65720254e-02 1.34212144e+02] [ 7.59197601e-02 9.97113890e-01 2.82045556e-04 -5.24763118e-01] [ 1.65027881e-02 -1.53933722e-03 9.99862635e-01 -2.35481627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.158001145 meters 0.08592793733353181 Centerline is valid? [True, True] Translation: X:134.24, Y:-0.53, Z:-2.36 [[ 9.96984750e-01 -7.58075053e-02 -1.65719798e-02 1.34244840e+02] [ 7.58226193e-02 9.97121281e-01 2.84717851e-04 -5.25430510e-01] [ 1.65026900e-02 -1.54039027e-03 9.99862635e-01 -2.35534727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.188001145 meters 0.08982210863058582 Centerline is valid? [True, True] Translation: X:134.28, Y:-0.53, Z:-2.36 [[ 9.96913861e-01 -7.67078126e-02 -1.66932831e-02 1.34276080e+02] [ 7.67232738e-02 9.97052384e-01 2.86798897e-04 -5.31609179e-01] [ 1.66220780e-02 -1.56667713e-03 9.99860616e-01 -2.35620748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.218001145 meters 0.08698625432448316 Centerline is valid? [True, True] Translation: X:134.31, Y:-0.53, Z:-2.36 [[ 9.96926433e-01 -7.65658670e-02 -1.65938058e-02 1.34308254e+02] [ 7.65811474e-02 9.97063311e-01 2.86449710e-04 -5.28424471e-01] [ 1.65231427e-02 -1.55634197e-03 9.99862272e-01 -2.35534049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.248001145 meters 0.08578812948303478 Centerline is valid? [True, True] Translation: X:134.34, Y:-0.53, Z:-2.35 [[ 9.96918781e-01 -7.67269825e-02 -1.63068582e-02 1.34340474e+02] [ 7.67417782e-02 9.97050961e-01 2.82596140e-04 -5.27825303e-01] [ 1.62370859e-02 -1.53314269e-03 9.99866994e-01 -2.35485628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.278001145 meters 0.08819897405451628 Centerline is valid? [True, True] Translation: X:134.37, Y:-0.53, Z:-2.36 [[ 9.96933144e-01 -7.67298897e-02 -1.53892861e-02 1.34372658e+02] [ 7.67431695e-02 9.97050857e-01 2.73369605e-04 -5.33966169e-01] [ 1.53229253e-02 -1.45355381e-03 9.99881541e-01 -2.35630862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.308001145 meters 0.08651009848335081 Centerline is valid? [True, True] Translation: X:134.40, Y:-0.53, Z:-2.35 [[ 9.96950070e-01 -7.66766258e-02 -1.45345334e-02 1.34404523e+02] [ 7.66884407e-02 9.97055072e-01 2.56466405e-04 -5.33906239e-01] [ 1.44720653e-02 -1.37031490e-03 9.99894335e-01 -2.35453523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.338001145 meters 0.08651428066312317 Centerline is valid? [True, True] Translation: X:134.44, Y:-0.53, Z:-2.36 [[ 9.97025317e-01 -7.57813964e-02 -1.40604658e-02 1.34436898e+02] [ 7.57924473e-02 9.97123583e-01 2.53990327e-04 -5.34887026e-01] [ 1.40007743e-02 -1.31891190e-03 9.99901115e-01 -2.35527054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36800114499997 meters 0.08634069832578295 Centerline is valid? [True, True] Translation: X:134.47, Y:-0.54, Z:-2.36 [[ 9.97036781e-01 -7.55810810e-02 -1.43233522e-02 1.34470037e+02] [ 7.55925175e-02 9.97138759e-01 2.57971648e-04 -5.35628525e-01] [ 1.42628719e-02 -1.33994547e-03 9.99897382e-01 -2.35542103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39800114499997 meters 0.08649788959179638 Centerline is valid? [True, True] Translation: X:134.50, Y:-0.54, Z:-2.36 [[ 9.97042007e-01 -7.55153590e-02 -1.43061524e-02 1.34502917e+02] [ 7.55267813e-02 9.97143740e-01 2.59056884e-04 -5.37618779e-01] [ 1.42457275e-02 -1.33878824e-03 9.99897628e-01 -2.35559868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42800114499997 meters 0.08628401553276935 Centerline is valid? [True, True] Translation: X:134.54, Y:-0.54, Z:-2.36 [[ 9.97039421e-01 -7.56663795e-02 -1.36745133e-02 1.34536287e+02] [ 7.56768485e-02 9.97132365e-01 2.49025860e-04 -5.39413043e-01] [ 1.36164569e-02 -1.28313267e-03 9.99906468e-01 -2.35555235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45800114499997 meters 0.08603731086031186 Centerline is valid? [True, True] Translation: X:134.57, Y:-0.54, Z:-2.36 [[ 9.97026535e-01 -7.57350224e-02 -1.42230570e-02 1.34567991e+02] [ 7.57464232e-02 9.97127078e-01 2.63815745e-04 -5.44093138e-01] [ 1.41622152e-02 -1.34037699e-03 9.99898812e-01 -2.35668719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48800114499997 meters 0.08701189973576294 Centerline is valid? [True, True] Translation: X:134.60, Y:-0.55, Z:-2.36 [[ 9.96966646e-01 -7.62888348e-02 -1.54117233e-02 1.34600010e+02] [ 7.63022611e-02 9.97084693e-01 2.84194163e-04 -5.48090461e-01] [ 1.53451126e-02 -1.45928144e-03 9.99881192e-01 -2.35790265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51800114499997 meters 0.08320766414767519 Centerline is valid? [True, True] Translation: X:134.63, Y:-0.55, Z:-2.36 [[ 9.96977408e-01 -7.59377458e-02 -1.64166704e-02 1.34632501e+02] [ 7.59529507e-02 9.97111356e-01 3.03791448e-04 -5.45004343e-01] [ 1.63461792e-02 -1.54976777e-03 9.99865191e-01 -2.35647513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54800114499997 meters 0.08684989323666857 Centerline is valid? [True, True] Translation: X:134.66, Y:-0.55, Z:-2.36 [[ 9.96994757e-01 -7.57140893e-02 -1.63960635e-02 1.34664282e+02] [ 7.57293405e-02 9.97128362e-01 3.10409714e-04 -5.52891785e-01] [ 1.63254776e-02 -1.55113993e-03 9.99865527e-01 -2.35914805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57800114499997 meters 0.08323648713381274 Centerline is valid? [True, True] Translation: X:134.70, Y:-0.55, Z:-2.36 [[ 9.97045529e-01 -7.48097064e-02 -1.74275920e-02 1.34696448e+02] [ 7.48267649e-02 9.97196494e-01 3.27897378e-04 -5.49100627e-01] [ 1.73542037e-02 -1.63097894e-03 9.99848074e-01 -2.35811209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60800114499997 meters 0.08337105092803831 Centerline is valid? [True, True] Translation: X:134.73, Y:-0.55, Z:-2.36 [[ 9.97110489e-01 -7.40578811e-02 -1.69146081e-02 1.34728002e+02] [ 7.40738436e-02 9.97252708e-01 3.18296507e-04 -5.51899292e-01] [ 1.68445663e-02 -1.57030682e-03 9.99856887e-01 -2.35869401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63800114499998 meters 0.08318997531888668 Centerline is valid? [True, True] Translation: X:134.76, Y:-0.56, Z:-2.36 [[ 9.97240978e-01 -7.23702918e-02 -1.65219085e-02 1.34757181e+02] [ 7.23852745e-02 9.97376697e-01 3.09848489e-04 -5.56975688e-01] [ 1.64561427e-02 -1.50493649e-03 9.99863456e-01 -2.36050216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66800114499998 meters 0.08315460485182413 Centerline is valid? [True, True] Translation: X:134.79, Y:-0.56, Z:-2.36 [[ 9.97314565e-01 -7.12551720e-02 -1.69221712e-02 1.34787971e+02] [ 7.12707531e-02 9.97456956e-01 3.18701906e-04 -5.58899390e-01] [ 1.68564282e-02 -1.52390194e-03 9.99856759e-01 -2.36117981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69800114499998 meters 0.0827121279029881 Centerline is valid? [True, True] Translation: X:134.82, Y:-0.56, Z:-2.36 [[ 9.97441814e-01 -6.94099865e-02 -1.70903651e-02 1.34817462e+02] [ 6.94255921e-02 9.97587081e-01 3.20807327e-04 -5.59410751e-01] [ 1.70268602e-02 -1.50649536e-03 9.99853898e-01 -2.36087445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72800114499998 meters 0.08344732384861198 Centerline is valid? [True, True] Translation: X:134.85, Y:-0.56, Z:-2.36 [[ 9.97575178e-01 -6.72696769e-02 -1.78480848e-02 1.34847301e+02] [ 6.72863621e-02 9.97733648e-01 3.35300361e-04 -5.61542793e-01] [ 1.77850793e-02 -1.53542002e-03 9.99840654e-01 -2.36184929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75800114499998 meters 0.08128963577985765 Centerline is valid? [True, True] Translation: X:134.88, Y:-0.56, Z:-2.36 [[ 9.97740245e-01 -6.49076656e-02 -1.73608341e-02 1.34877848e+02] [ 6.49231021e-02 9.97890217e-01 3.26444677e-04 -5.60392112e-01] [ 1.73030177e-02 -1.45282620e-03 9.99849236e-01 -2.36051659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78800114499998 meters 0.08117352053108529 Centerline is valid? [True, True] Translation: X:134.91, Y:-0.56, Z:-2.36 [[ 9.97840490e-01 -6.36733306e-02 -1.61264756e-02 1.34908716e+02] [ 6.36864956e-02 9.97969908e-01 3.03600509e-04 -5.63252494e-01] [ 1.60744061e-02 -1.32998360e-03 9.99869914e-01 -2.36080796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81800114499998 meters 0.08112443431541834 Centerline is valid? [True, True] Translation: X:134.94, Y:-0.57, Z:-2.36 [[ 9.97823696e-01 -6.36624215e-02 -1.71746010e-02 1.34940928e+02] [ 6.36773829e-02 9.97970483e-01 3.25136009e-04 -5.66357152e-01] [ 1.71190459e-02 -1.41806206e-03 9.99852453e-01 -2.36196729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84800114499998 meters 0.08225716664155092 Centerline is valid? [True, True] Translation: X:134.97, Y:-0.57, Z:-2.36 [[ 9.97898116e-01 -6.27381593e-02 -1.62257045e-02 1.34971420e+02] [ 6.27513924e-02 9.98029142e-01 3.07224520e-04 -5.73378630e-01] [ 1.61744512e-02 -1.32476432e-03 9.99868307e-01 -2.36364658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87800114499998 meters 0.08269538763737504 Centerline is valid? [True, True] Translation: X:135.00, Y:-0.58, Z:-2.37 [[ 9.97904027e-01 -6.22703149e-02 -1.76057042e-02 1.35002949e+02] [ 6.22858403e-02 9.98058296e-01 3.34348841e-04 -5.75704126e-01] [ 1.75506991e-02 -1.43023413e-03 9.99844952e-01 -2.36503639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.908001145 meters 0.08220580510526142 Centerline is valid? [True, True] Translation: X:135.03, Y:-0.58, Z:-2.37 [[ 9.97977364e-01 -6.11097394e-02 -1.75151408e-02 1.35034478e+02] [ 6.11249329e-02 9.98130068e-01 3.32916991e-04 -5.76683482e-01] [ 1.74620442e-02 -1.40285543e-03 9.99846543e-01 -2.36508254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.938001145 meters 0.07645387893475264 Centerline is valid? [True, True] Translation: X:135.07, Y:-0.57, Z:-2.36 [[ 9.98029197e-01 -6.00223027e-02 -1.83042462e-02 1.35066534e+02] [ 6.00387457e-02 9.98195986e-01 3.49617225e-04 -5.68057395e-01] [ 1.82502403e-02 -1.44789218e-03 9.99832402e-01 -2.36114789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.968001145 meters 0.07504608965277954 Centerline is valid? [True, True] Translation: X:135.10, Y:-0.57, Z:-2.36 [[ 9.98141826e-01 -5.80491032e-02 -1.85255659e-02 1.35098365e+02] [ 5.80656201e-02 9.98312706e-01 3.54472615e-04 -5.69389417e-01] [ 1.84737310e-02 -1.42951241e-03 9.99828324e-01 -2.36107373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.998001145 meters 0.07611429225276464 Centerline is valid? [True, True] Translation: X:135.13, Y:-0.57, Z:-2.36 [[ 9.98228128e-01 -5.64378233e-02 -1.88514600e-02 1.35129015e+02] [ 5.64546472e-02 9.98405099e-01 3.61038654e-04 -5.73693973e-01] [ 1.88010176e-02 -1.42465146e-03 9.99822230e-01 -2.36289246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.028001145 meters 0.07635169796106475 Centerline is valid? [True, True] Translation: X:135.16, Y:-0.58, Z:-2.36 [[ 9.98319132e-01 -5.49854818e-02 -1.83168511e-02 1.35160000e+02] [ 5.50011322e-02 9.98486230e-01 3.51376520e-04 -5.76538862e-01] [ 1.82698030e-02 -1.35823345e-03 9.99832171e-01 -2.36453023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.058001145 meters 0.07346157377127835 Centerline is valid? [True, True] Translation: X:135.19, Y:-0.57, Z:-2.36 [[ 9.98376577e-01 -5.36278936e-02 -1.91900886e-02 1.35192827e+02] [ 5.36448670e-02 9.98560009e-01 3.70441385e-04 -5.73380490e-01] [ 1.91425890e-02 -1.39928975e-03 9.99815785e-01 -2.36375709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.088001145 meters 0.07073107914222895 Centerline is valid? [True, True] Translation: X:135.22, Y:-0.57, Z:-2.36 [[ 9.98484115e-01 -5.18329247e-02 -1.85153894e-02 1.35223865e+02] [ 5.18484057e-02 9.98654903e-01 3.56732429e-04 -5.70387886e-01] [ 1.84719939e-02 -1.31618508e-03 9.99828512e-01 -2.36215666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11800114499997 meters 0.07325562498837092 Centerline is valid? [True, True] Translation: X:135.25, Y:-0.58, Z:-2.37 [[ 9.98525006e-01 -5.10436738e-02 -1.85028356e-02 1.35254891e+02] [ 5.10590256e-02 9.98695573e-01 3.57939220e-04 -5.77108396e-01] [ 1.84604295e-02 -1.30214802e-03 9.99828744e-01 -2.36528836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14800114499997 meters 0.07196853781075271 Centerline is valid? [True, True] Translation: X:135.29, Y:-0.58, Z:-2.36 [[ 9.98523427e-01 -5.09781204e-02 -1.87669148e-02 1.35287507e+02] [ 5.09939294e-02 9.98698897e-01 3.64499535e-04 -5.75771770e-01] [ 1.87239156e-02 -1.32096005e-03 9.99823820e-01 -2.36431740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17800114499997 meters 0.0707589749358911 Centerline is valid? [True, True] Translation: X:135.32, Y:-0.58, Z:-2.36 [[ 9.98547376e-01 -5.02963471e-02 -1.93239686e-02 1.35319421e+02] [ 5.03130059e-02 9.98733428e-01 3.76574026e-04 -5.75893458e-01] [ 1.92805531e-02 -1.34827395e-03 9.99813204e-01 -2.36389230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20800114499997 meters 0.07478103672671446 Centerline is valid? [True, True] Translation: X:135.35, Y:-0.59, Z:-2.37 [[ 9.98542600e-01 -5.04179134e-02 -1.92538553e-02 1.35350785e+02] [ 5.04344871e-02 9.98727301e-01 3.75885416e-04 -5.85720755e-01] [ 1.92103996e-02 -1.34639592e-03 9.99814557e-01 -2.36856434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23800114499997 meters 0.07199440783347791 Centerline is valid? [True, True] Translation: X:135.38, Y:-0.58, Z:-2.37 [[ 9.98529919e-01 -5.10615239e-02 -1.81857398e-02 1.35383183e+02] [ 5.10764425e-02 9.98694683e-01 3.56516186e-04 -5.81925979e-01] [ 1.81437974e-02 -1.28485497e-03 9.99834562e-01 -2.36561376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26800114499997 meters 0.07308093439775325 Centerline is valid? [True, True] Translation: X:135.41, Y:-0.59, Z:-2.37 [[ 9.98398587e-01 -5.40529855e-02 -1.66894146e-02 1.35413681e+02] [ 5.40659581e-02 9.98537313e-01 3.26746780e-04 -5.87249456e-01] [ 1.66473416e-02 -1.22855271e-03 9.99860669e-01 -2.36547870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29800114499997 meters 0.07232487535726953 Centerline is valid? [True, True] Translation: X:135.44, Y:-0.59, Z:-2.36 [[ 9.98286457e-01 -5.61078195e-02 -1.66151394e-02 1.35444354e+02] [ 5.61209644e-02 9.98423924e-01 3.25573974e-04 -5.85916763e-01] [ 1.65706854e-02 -1.25747373e-03 9.99861906e-01 -2.36451481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32800114499997 meters 0.07763963710036753 Centerline is valid? [True, True] Translation: X:135.47, Y:-0.60, Z:-2.37 [[ 9.98206790e-01 -5.74528063e-02 -1.68041744e-02 1.35474292e+02] [ 5.74664461e-02 9.98347384e-01 3.29549211e-04 -5.96664825e-01] [ 1.67574701e-02 -1.29463444e-03 9.99858746e-01 -2.36907755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35800114499997 meters 0.07666925914024633 Centerline is valid? [True, True] Translation: X:135.51, Y:-0.59, Z:-2.37 [[ 9.98049970e-01 -5.95175041e-02 -1.88128508e-02 1.35505229e+02] [ 5.95349615e-02 9.98226153e-01 3.68756040e-04 -5.94926262e-01] [ 1.87575323e-02 -1.48805930e-03 9.99822955e-01 -2.36863276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38800114499998 meters 0.07691901706365381 Centerline is valid? [True, True] Translation: X:135.54, Y:-0.60, Z:-2.37 [[ 9.97860332e-01 -6.26946506e-02 -1.85509578e-02 1.35535879e+02] [ 6.27121714e-02 9.98031588e-01 3.63672994e-04 -5.96588230e-01] [ 1.84916415e-02 -1.52626570e-03 9.99827850e-01 -2.36927787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41800114499998 meters 0.07917313996966092 Centerline is valid? [True, True] Translation: X:135.57, Y:-0.60, Z:-2.37 [[ 9.97781668e-01 -6.40855007e-02 -1.80219630e-02 1.35566917e+02] [ 6.41022904e-02 9.97943270e-01 3.54905732e-04 -6.01878634e-01] [ 1.79621524e-02 -1.50936754e-03 9.99837528e-01 -2.37077225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44800114499998 meters 0.07593677902290412 Centerline is valid? [True, True] Translation: X:135.60, Y:-0.60, Z:-2.37 [[ 9.97756118e-01 -6.44725299e-02 -1.80560542e-02 1.35599525e+02] [ 6.44894728e-02 9.97918324e-01 3.57063854e-04 -5.96814808e-01] [ 1.79954465e-02 -1.52068806e-03 9.99836912e-01 -2.36889823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47800114499998 meters 0.07893872619093015 Centerline is valid? [True, True] Translation: X:135.63, Y:-0.60, Z:-2.37 [[ 9.97729242e-01 -6.50312132e-02 -1.75300050e-02 1.35630021e+02] [ 6.50472699e-02 9.97882124e-01 3.46731586e-04 -6.03260698e-01] [ 1.74703303e-02 -1.48622321e-03 9.99846278e-01 -2.37148131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50800114499998 meters 0.08027494438537049 Centerline is valid? [True, True] Translation: X:135.66, Y:-0.61, Z:-2.37 [[ 9.97782909e-01 -6.44878580e-02 -1.64493719e-02 1.35660516e+02] [ 6.45019227e-02 9.97917530e-01 3.25373062e-04 -6.05507718e-01] [ 1.63941339e-02 -1.38566779e-03 9.99864647e-01 -2.37241456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53800114499998 meters 0.08017970652704522 Centerline is valid? [True, True] Translation: X:135.69, Y:-0.60, Z:-2.37 [[ 9.97756128e-01 -6.49364735e-02 -1.63083772e-02 1.35692738e+02] [ 6.49503870e-02 9.97888442e-01 3.24392716e-04 -6.04852203e-01] [ 1.62528762e-02 -1.38290023e-03 9.99866957e-01 -2.37180003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56800114499998 meters 0.08052338390840985 Centerline is valid? [True, True] Translation: X:135.73, Y:-0.60, Z:-2.37 [[ 9.97767001e-01 -6.49200067e-02 -1.56972911e-02 1.35725141e+02] [ 6.49329109e-02 9.97889583e-01 3.13265987e-04 -6.04923028e-01] [ 1.56438260e-02 -1.33183727e-03 9.99876741e-01 -2.37217062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59800114499998 meters 0.0816279957851637 Centerline is valid? [True, True] Translation: X:135.76, Y:-0.61, Z:-2.37 [[ 9.97806658e-01 -6.45087364e-02 -1.48490876e-02 1.35756676e+02] [ 6.45202529e-02 9.97916354e-01 2.97314651e-04 -6.06779411e-01] [ 1.47989679e-02 -1.25472942e-03 9.99889702e-01 -2.37370355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62800114499998 meters 0.08231653090176609 Centerline is valid? [True, True] Translation: X:135.79, Y:-0.61, Z:-2.38 [[ 9.97809208e-01 -6.43772450e-02 -1.52431954e-02 1.35789181e+02] [ 6.43893795e-02 9.97924804e-01 3.06114698e-04 -6.09010768e-01] [ 1.51918559e-02 -1.28694396e-03 9.99883769e-01 -2.37557896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.658001145 meters 0.07881658870894853 Centerline is valid? [True, True] Translation: X:135.82, Y:-0.60, Z:-2.38 [[ 9.97808280e-01 -6.43121099e-02 -1.55752947e-02 1.35821233e+02] [ 6.43247869e-02 9.97928967e-01 3.13804370e-04 -6.03975892e-01] [ 1.55228563e-02 -1.31499411e-03 9.99878648e-01 -2.37529590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.688001145 meters 0.07982759219017875 Centerline is valid? [True, True] Translation: X:135.85, Y:-0.61, Z:-2.38 [[ 9.97817086e-01 -6.40457115e-02 -1.60999970e-02 1.35853074e+02] [ 6.40592472e-02 9.97946044e-01 3.25894791e-04 -6.06742430e-01] [ 1.60460561e-02 -1.35653708e-03 9.99870334e-01 -2.37728404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.718001145 meters 0.0758814210431103 Centerline is valid? [True, True] Translation: X:135.89, Y:-0.60, Z:-2.37 [[ 9.97857599e-01 -6.33880246e-02 -1.61916915e-02 1.35885409e+02] [ 6.34016423e-02 9.97988038e-01 3.28582106e-04 -5.97269282e-01] [ 1.61382863e-02 -1.35445799e-03 9.99868852e-01 -2.37438169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.748001145 meters 0.0805882490352342 Centerline is valid? [True, True] Translation: X:135.92, Y:-0.60, Z:-2.38 [[ 9.97944115e-01 -6.22324443e-02 -1.53188146e-02 1.35916191e+02] [ 6.22444983e-02 9.98060883e-01 3.10890706e-04 -6.04748194e-01] [ 1.52697621e-02 -1.26376348e-03 9.99882612e-01 -2.37744367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.778001145 meters 0.07990613325542513 Centerline is valid? [True, True] Translation: X:135.95, Y:-0.60, Z:-2.38 [[ 9.97955589e-01 -6.22063571e-02 -1.46632602e-02 1.35948825e+02] [ 6.22174194e-02 9.98062575e-01 2.99013263e-04 -6.02396664e-01] [ 1.46162507e-02 -1.21071217e-03 9.99892444e-01 -2.37657221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.808001145 meters 0.07736330695249513 Centerline is valid? [True, True] Translation: X:135.98, Y:-0.60, Z:-2.37 [[ 9.98011421e-01 -6.14526628e-02 -1.40276127e-02 1.35979972e+02] [ 6.14627128e-02 9.98109339e-01 2.86053798e-04 -5.97894176e-01] [ 1.39835124e-02 -1.14766009e-03 9.99901567e-01 -2.37494704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83800114499996 meters 0.07807830665396764 Centerline is valid? [True, True] Translation: X:136.01, Y:-0.60, Z:-2.38 [[ 9.98026556e-01 -6.11510518e-02 -1.42668450e-02 1.36011497e+02] [ 6.11614787e-02 9.98127841e-01 2.95272127e-04 -6.01259560e-01] [ 1.42220789e-02 -1.16727076e-03 9.99898180e-01 -2.37843349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86800114499997 meters 0.07927872470516481 Centerline is valid? [True, True] Translation: X:136.04, Y:-0.60, Z:-2.38 [[ 9.97983372e-01 -6.16062979e-02 -1.52922757e-02 1.36042967e+02] [ 6.16183113e-02 9.98099737e-01 3.15217838e-04 -6.03708228e-01] [ 1.52437969e-02 -1.25686636e-03 9.99883017e-01 -2.38043411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89800114499997 meters 0.08091640101451486 Centerline is valid? [True, True] Translation: X:136.07, Y:-0.60, Z:-2.38 [[ 9.97856211e-01 -6.35180120e-02 -1.57620862e-02 1.36072828e+02] [ 6.35309993e-02 9.97979813e-01 3.24104536e-04 -6.03896903e-01] [ 1.57096574e-02 -1.32479081e-03 9.99875718e-01 -2.38184648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92800114499997 meters 0.07868397373891596 Centerline is valid? [True, True] Translation: X:136.10, Y:-0.60, Z:-2.38 [[ 9.97786951e-01 -6.45589368e-02 -1.59167807e-02 1.36104653e+02] [ 6.45723653e-02 9.97912972e-01 3.30655743e-04 -5.97998341e-01] [ 1.58622152e-02 -1.35770816e-03 9.99873265e-01 -2.38039815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95800114499997 meters 0.08000806614687601 Centerline is valid? [True, True] Translation: X:136.13, Y:-0.60, Z:-2.38 [[ 9.97702104e-01 -6.55207983e-02 -1.72492657e-02 1.36134327e+02] [ 6.55367244e-02 9.97850093e-01 3.59038516e-04 -5.99332419e-01] [ 1.71886569e-02 -1.48867386e-03 9.99851156e-01 -2.38166356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98800114499997 meters 0.08123033337702781 Centerline is valid? [True, True] Translation: X:136.17, Y:-0.60, Z:-2.38 [[ 9.97674099e-01 -6.61201710e-02 -1.65685114e-02 1.36165693e+02] [ 6.61349908e-02 9.97810624e-01 3.47545086e-04 -6.01281103e-01] [ 1.65092570e-02 -1.44249508e-03 9.99862672e-01 -2.38255172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01800114499997 meters 0.08232526285238008 Centerline is valid? [True, True] Translation: X:136.20, Y:-0.60, Z:-2.38 [[ 9.97627748e-01 -6.73963598e-02 -1.40216989e-02 1.36197634e+02] [ 6.74071025e-02 9.97725511e-01 2.94425908e-04 -6.02950894e-01] [ 1.39699635e-02 -1.23888955e-03 9.99901648e-01 -2.38215581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04800114499997 meters 0.08450013697739586 Centerline is valid? [True, True] Translation: X:136.23, Y:-0.61, Z:-2.38 [[ 9.97554231e-01 -6.85548043e-02 -1.36306965e-02 1.36228852e+02] [ 6.85650691e-02 9.97646605e-01 2.86634584e-04 -6.06959206e-01] [ 1.35789680e-02 -1.22052319e-03 9.99907057e-01 -2.38341272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07800114499997 meters 0.08450013697739586 Centerline is valid? [True, True] Translation: X:136.26, Y:-0.61, Z:-2.38 [[ 9.97560760e-01 -6.84597360e-02 -1.36306529e-02 1.36261527e+02] [ 6.84700202e-02 9.97653133e-01 2.88708776e-04 -6.07754936e-01] [ 1.35788986e-02 -1.22129563e-03 9.99907057e-01 -2.38394336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10800114499997 meters 0.07982968415206011 Centerline is valid? [True, True] Translation: X:136.29, Y:-0.60, Z:-2.38 [[ 9.97451537e-01 -7.00704900e-02 -1.34372052e-02 1.36292462e+02] [ 7.00806153e-02 9.97541291e-01 2.83574783e-04 -5.99140746e-01] [ 1.33842967e-02 -1.22453971e-03 9.99909676e-01 -2.38099690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13800114499998 meters 0.08613022806794327 Centerline is valid? [True, True] Translation: X:136.32, Y:-0.61, Z:-2.38 [[ 9.97398806e-01 -7.09513858e-02 -1.27091324e-02 1.36323353e+02] [ 7.09605292e-02 9.97479088e-01 2.69369372e-04 -6.08917190e-01] [ 1.26579816e-02 -1.17051545e-03 9.99919199e-01 -2.38414729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16800114499998 meters 0.08839746926339113 Centerline is valid? [True, True] Translation: X:136.35, Y:-0.61, Z:-2.38 [[ 9.97216329e-01 -7.35806958e-02 -1.20612400e-02 1.36354455e+02] [ 7.35891185e-02 9.97288612e-01 2.55409634e-04 -6.09426900e-01] [ 1.20097441e-02 -1.14227468e-03 9.99927228e-01 -2.38408328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19800114499998 meters 0.08520927041571068 Centerline is valid? [True, True] Translation: X:136.39, Y:-0.60, Z:-2.38 [[ 9.97167451e-01 -7.42760324e-02 -1.18383009e-02 1.36387111e+02] [ 7.42842129e-02 9.97237079e-01 2.52194285e-04 -6.03536642e-01] [ 1.17868606e-02 -1.13087880e-03 9.99929893e-01 -2.38271870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22800114499998 meters 0.09121804409778606 Centerline is valid? [True, True] Translation: X:136.42, Y:-0.61, Z:-2.39 [[ 9.97119203e-01 -7.48301575e-02 -1.23992758e-02 1.36417499e+02] [ 7.48392001e-02 9.97195579e-01 2.66251763e-04 -6.13277764e-01] [ 1.23445793e-02 -1.19343663e-03 9.99923091e-01 -2.38633327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25800114499998 meters 0.0936175943060072 Centerline is valid? [True, True] Translation: X:136.45, Y:-0.62, Z:-2.39 [[ 9.97020508e-01 -7.61512459e-02 -1.22920837e-02 1.36447395e+02] [ 7.61602351e-02 9.97095557e-01 2.64184004e-04 -6.18006979e-01] [ 1.22362641e-02 -1.19956485e-03 9.99924415e-01 -2.38952856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28800114499998 meters 0.09394045624056203 Centerline is valid? [True, True] Translation: X:136.48, Y:-0.62, Z:-2.39 [[ 9.97015402e-01 -7.63670833e-02 -1.13294427e-02 1.36480497e+02] [ 7.63747498e-02 9.97079153e-01 2.44949183e-04 -6.19011038e-01] [ 1.12776450e-02 -1.10950146e-03 9.99935790e-01 -2.38975019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31800114499998 meters 0.08742059008382565 Centerline is valid? [True, True] Translation: X:136.51, Y:-0.61, Z:-2.39 [[ 9.96973326e-01 -7.71244796e-02 -9.79807318e-03 1.36512638e+02] [ 7.71302537e-02 9.97021002e-01 2.12240303e-04 -6.07639888e-01] [ 9.75251582e-03 -9.67325791e-04 9.99951975e-01 -2.38612803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34800114499998 meters 0.08935831027827908 Centerline is valid? [True, True] Translation: X:136.54, Y:-0.61, Z:-2.39 [[ 9.96971717e-01 -7.71878100e-02 -9.45717243e-03 1.36543831e+02] [ 7.71932330e-02 9.97016129e-01 2.09207817e-04 -6.09921743e-01] [ 9.41280515e-03 -9.38603991e-04 9.99955258e-01 -2.38675163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37800114499998 meters 0.08976317956828948 Centerline is valid? [True, True] Translation: X:136.58, Y:-0.61, Z:-2.39 [[ 9.96928247e-01 -7.76290817e-02 -1.03825151e-02 1.36575920e+02] [ 7.76356207e-02 9.96981774e-01 2.27653860e-04 -6.08303134e-01] [ 1.03335058e-02 -1.03300757e-03 9.99946074e-01 -2.38730184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.408001145 meters 0.09192121547164939 Centerline is valid? [True, True] Translation: X:136.61, Y:-0.61, Z:-2.39 [[ 9.96896021e-01 -7.80861599e-02 -1.00436793e-02 1.36607129e+02] [ 7.80923461e-02 9.96946104e-01 2.24629732e-04 -6.11253218e-01] [ 9.99546652e-03 -1.00826697e-03 9.99949536e-01 -2.38851897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.438001145 meters 0.09236825744248936 Centerline is valid? [True, True] Translation: X:136.64, Y:-0.61, Z:-2.39 [[ 9.96882712e-01 -7.83042240e-02 -9.65950963e-03 1.36639263e+02] [ 7.83099410e-02 9.96929038e-01 2.14468870e-04 -6.12496656e-01] [ 9.61305182e-03 -9.70235938e-04 9.99953323e-01 -2.38919546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.468001145 meters 0.09116298058605601 Centerline is valid? [True, True] Translation: X:136.67, Y:-0.61, Z:-2.39 [[ 9.96822855e-01 -7.89797676e-02 -1.03146241e-02 1.36671485e+02] [ 7.89863283e-02 9.96875673e-01 2.29609497e-04 -6.12035543e-01] [ 1.02642633e-02 -1.04359428e-03 9.99946776e-01 -2.38999030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.498001145 meters 0.09621598600003957 Centerline is valid? [True, True] Translation: X:136.70, Y:-0.62, Z:-2.39 [[ 9.96626462e-01 -8.14184049e-02 -1.03313950e-02 1.36701203e+02] [ 8.14251067e-02 9.96679437e-01 2.29027053e-04 -6.21422968e-01] [ 1.02784419e-02 -1.06948936e-03 9.99946603e-01 -2.39319026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.528001145 meters 0.08881415318500062 Centerline is valid? [True, True] Translation: X:136.73, Y:-0.61, Z:-2.39 [[ 9.96594364e-01 -8.18435199e-02 -1.00654305e-02 1.36733277e+02] [ 8.18499591e-02 9.96644637e-01 2.28775721e-04 -6.10193065e-01] [ 1.00129335e-02 -1.05185166e-03 9.99949316e-01 -2.39011352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.558001145 meters 0.09092950260092023 Centerline is valid? [True, True] Translation: X:136.76, Y:-0.61, Z:-2.39 [[ 9.96629324e-01 -8.15483215e-02 -8.93656153e-03 1.36764203e+02] [ 8.15534058e-02 9.96668952e-01 2.05405741e-04 -6.13382478e-01] [ 8.89004292e-03 -9.33520414e-04 9.99960047e-01 -2.38965586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58800114499996 meters 0.0907477951515079 Centerline is valid? [True, True] Translation: X:136.80, Y:-0.61, Z:-2.39 [[ 9.96667648e-01 -8.10544255e-02 -9.15309115e-03 1.36796397e+02] [ 8.10597590e-02 9.96709221e-01 2.12617012e-04 -6.13120548e-01] [ 9.10573679e-03 -9.53855860e-04 9.99958087e-01 -2.39065880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61800114499997 meters 0.09024297060403862 Centerline is valid? [True, True] Translation: X:136.83, Y:-0.61, Z:-2.39 [[ 9.96800472e-01 -7.95552475e-02 -7.73191406e-03 1.36827430e+02] [ 7.95589875e-02 9.96830144e-01 1.76857427e-04 -6.12983485e-01] [ 7.69333507e-03 -7.91434821e-04 9.99970093e-01 -2.38942790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64800114499997 meters 0.08999831938220866 Centerline is valid? [True, True] Translation: X:136.86, Y:-0.61, Z:-2.39 [[ 9.96936233e-01 -7.77772930e-02 -8.29696434e-03 1.36857053e+02] [ 7.77815364e-02 9.96970409e-01 1.89499045e-04 -6.13309173e-01] [ 8.25708921e-03 -8.34269098e-04 9.99965562e-01 -2.39100151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67800114499997 meters 0.08813901245077767 Centerline is valid? [True, True] Translation: X:136.89, Y:-0.61, Z:-2.39 [[ 9.97295642e-01 -7.31108465e-02 -7.49711751e-03 1.36887966e+02] [ 7.31141813e-02 9.97323562e-01 1.71344759e-04 -6.10983672e-01] [ 7.46452478e-03 -7.19026991e-04 9.99971882e-01 -2.39084036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70800114499997 meters 0.08636576259645194 Centerline is valid? [True, True] Translation: X:136.92, Y:-0.61, Z:-2.39 [[ 9.97526884e-01 -6.98250726e-02 -8.03588298e-03 1.36918174e+02] [ 6.98287976e-02 9.97558973e-01 1.83566438e-04 -6.08191331e-01] [ 8.00344964e-03 -7.44248503e-04 9.99967695e-01 -2.39094478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73800114499997 meters 0.07805328172258229 Centerline is valid? [True, True] Translation: X:136.95, Y:-0.59, Z:-2.39 [[ 9.97739494e-01 -6.67236751e-02 -7.99076921e-03 1.36949550e+02] [ 6.67272596e-02 9.97771236e-01 1.82515281e-04 -5.93703026e-01] [ 7.96078158e-03 -7.15304836e-04 9.99968057e-01 -2.38799156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76800114499997 meters 0.08079731927178967 Centerline is valid? [True, True] Translation: X:136.98, Y:-0.60, Z:-2.39 [[ 9.97901509e-01 -6.41564066e-02 -8.74841184e-03 1.36978823e+02] [ 6.41606017e-02 9.97939566e-01 1.99425410e-04 -5.98889137e-01] [ 8.71759190e-03 -7.60310284e-04 9.99961712e-01 -2.39151875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79800114499997 meters 0.0828325498300106 Centerline is valid? [True, True] Translation: X:137.01, Y:-0.60, Z:-2.39 [[ 9.98081689e-01 -6.12270330e-02 -9.17567078e-03 1.37008342e+02] [ 6.12315247e-02 9.98123568e-01 2.09129863e-04 -6.03400355e-01] [ 9.14564885e-03 -7.70568998e-04 9.99957881e-01 -2.39421328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82800114499997 meters 0.08188617342107994 Centerline is valid? [True, True] Translation: X:137.04, Y:-0.60, Z:-2.40 [[ 9.98340728e-01 -5.66180994e-02 -1.04967778e-02 1.37037858e+02] [ 5.66237223e-02 9.98395561e-01 2.39026604e-04 -6.01848055e-01] [ 1.04664031e-02 -8.32996623e-04 9.99944879e-01 -2.39561373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85800114499997 meters 0.08079993947244225 Centerline is valid? [True, True] Translation: X:137.07, Y:-0.60, Z:-2.40 [[ 9.98445612e-01 -5.47279308e-02 -1.05458089e-02 1.37068411e+02] [ 5.47335044e-02 9.98500969e-01 2.40414996e-04 -5.99546521e-01] [ 1.05168429e-02 -8.17250373e-04 9.99944363e-01 -2.39531534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88800114499998 meters 0.07517308694406803 Centerline is valid? [True, True] Translation: X:137.10, Y:-0.59, Z:-2.39 [[ 9.98544431e-01 -5.29915645e-02 -1.00455238e-02 1.37099995e+02] [ 5.29965428e-02 9.98594669e-01 2.29845387e-04 -5.88848087e-01] [ 1.00192266e-02 -7.61888862e-04 9.99949516e-01 -2.39192907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91800114499998 meters 0.08019158978769172 Centerline is valid? [True, True] Translation: X:137.13, Y:-0.60, Z:-2.39 [[ 9.98602541e-01 -5.19506450e-02 -9.70026230e-03 1.37130404e+02] [ 5.19552414e-02 9.98649390e-01 2.22276175e-04 -5.99398128e-01] [ 9.67561364e-03 -7.25945022e-04 9.99952927e-01 -2.39497554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94800114499998 meters 0.08044376223294666 Centerline is valid? [True, True] Translation: X:137.16, Y:-0.60, Z:-2.40 [[ 9.98617325e-01 -5.15721942e-02 -1.01855968e-02 1.37162399e+02] [ 5.15772530e-02 9.98668980e-01 2.34438016e-04 -6.01463958e-01] [ 1.01599491e-02 -7.59458967e-04 9.99948098e-01 -2.39561860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97800114499998 meters 0.08036750904694742 Centerline is valid? [True, True] Translation: X:137.19, Y:-0.60, Z:-2.40 [[ 9.98616966e-01 -5.17878919e-02 -9.06477816e-03 1.37194490e+02] [ 5.17919134e-02 9.98657876e-01 2.09296501e-04 -6.03003972e-01] [ 9.04177308e-03 -6.78489242e-04 9.99958892e-01 -2.39542391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00800114499998 meters 0.07529335116925362 Centerline is valid? [True, True] Translation: X:137.23, Y:-0.60, Z:-2.39 [[ 9.98581127e-01 -5.26559895e-02 -7.94231109e-03 1.37226809e+02] [ 5.26591095e-02 9.98612530e-01 1.84075904e-04 -5.95142487e-01] [ 7.92159867e-03 -6.02049753e-04 9.99968442e-01 -2.39165577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03800114499998 meters 0.07366584785922196 Centerline is valid? [True, True] Translation: X:137.26, Y:-0.59, Z:-2.39 [[ 9.98543644e-01 -5.34034703e-02 -7.65896065e-03 1.37258691e+02] [ 5.34064073e-02 9.98572843e-01 1.79324514e-04 -5.93137752e-01] [ 7.63845356e-03 -5.88100926e-04 9.99970654e-01 -2.39103106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06800114499998 meters 0.0772764655604636 Centerline is valid? [True, True] Translation: X:137.29, Y:-0.60, Z:-2.39 [[ 9.98495942e-01 -5.43024257e-02 -7.55641551e-03 1.37289645e+02] [ 5.43053339e-02 9.98524360e-01 1.80073672e-04 -6.01933709e-01] [ 7.53548653e-03 -5.90156498e-04 9.99971434e-01 -2.39335461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09800114499998 meters 0.07678164519681961 Centerline is valid? [True, True] Translation: X:137.32, Y:-0.60, Z:-2.39 [[ 9.98423647e-01 -5.55629326e-02 -7.93604933e-03 1.37321126e+02] [ 5.55661576e-02 9.98454990e-01 1.86280655e-04 -6.02642397e-01] [ 7.91343775e-03 -6.26962778e-04 9.99968492e-01 -2.39334824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12800114499998 meters 0.07867862504894231 Centerline is valid? [True, True] Translation: X:137.35, Y:-0.61, Z:-2.40 [[ 9.98279314e-01 -5.81563583e-02 -7.49994090e-03 1.37350619e+02] [ 5.81593075e-02 9.98307299e-01 1.75545869e-04 -6.09074005e-01] [ 7.47703663e-03 -6.11435178e-04 9.99971860e-01 -2.39506999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.158001145 meters 0.07936339649188207 Centerline is valid? [True, True] Translation: X:137.38, Y:-0.61, Z:-2.40 [[ 9.98246964e-01 -5.86013065e-02 -8.29978773e-03 1.37382174e+02] [ 5.86049753e-02 9.98281231e-01 1.99307765e-04 -6.12937754e-01] [ 8.27384262e-03 -6.85367225e-04 9.99965536e-01 -2.39642083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.188001145 meters 0.07663987429823746 Centerline is valid? [True, True] Translation: X:137.41, Y:-0.61, Z:-2.40 [[ 9.98215778e-01 -5.91297686e-02 -8.30242035e-03 1.37414762e+02] [ 5.91334435e-02 9.98250067e-01 1.97639468e-04 -6.10758820e-01] [ 8.27620530e-03 -6.88237540e-04 9.99965515e-01 -2.39585866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.218001145 meters 0.07736079852989848 Centerline is valid? [True, True] Translation: X:137.45, Y:-0.61, Z:-2.40 [[ 9.98232564e-01 -5.88040565e-02 -8.59245997e-03 1.37447108e+02] [ 5.88080229e-02 9.98269289e-01 2.09469413e-04 -6.14049057e-01] [ 8.56527125e-03 -7.14404772e-04 9.99963062e-01 -2.39688591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.248001145 meters 0.08128997911956358 Centerline is valid? [True, True] Translation: X:137.48, Y:-0.62, Z:-2.40 [[ 9.98294116e-01 -5.77017661e-02 -8.90868781e-03 1.37478068e+02] [ 5.77059964e-02 9.98333597e-01 2.18318710e-04 -6.21624219e-01] [ 8.88124496e-03 -7.32030990e-04 9.99960293e-01 -2.39927053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.278001145 meters 0.08047974968538764 Centerline is valid? [True, True] Translation: X:137.51, Y:-0.62, Z:-2.40 [[ 9.98353215e-01 -5.65049541e-02 -9.90189888e-03 1.37509954e+02] [ 5.65101007e-02 9.98401999e-01 2.40516125e-04 -6.21150998e-01] [ 9.87248528e-03 -7.99677349e-04 9.99950946e-01 -2.40071002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.308001145 meters 0.08059895102226008 Centerline is valid? [True, True] Translation: X:137.54, Y:-0.62, Z:-2.40 [[ 9.98430110e-01 -5.50443480e-02 -1.03650941e-02 1.37540620e+02] [ 5.50499067e-02 9.98483572e-01 2.51537098e-04 -6.22731953e-01] [ 1.03355305e-02 -8.21739676e-04 9.99946249e-01 -2.40205282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33800114499996 meters 0.07497908557042007 Centerline is valid? [True, True] Translation: X:137.57, Y:-0.61, Z:-2.40 [[ 9.98514077e-01 -5.34472456e-02 -1.06315791e-02 1.37572256e+02] [ 5.34530077e-02 9.98570333e-01 2.58359002e-04 -6.14998873e-01] [ 1.06025709e-02 -8.26264977e-04 9.99943450e-01 -2.40012754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36800114499997 meters 0.07509374459332296 Centerline is valid? [True, True] Translation: X:137.60, Y:-0.62, Z:-2.40 [[ 9.98579844e-01 -5.23415396e-02 -9.93266087e-03 1.37602312e+02] [ 5.23465138e-02 9.98628952e-01 2.41307164e-04 -6.17255302e-01] [ 9.90641233e-03 -7.60904640e-04 9.99950641e-01 -2.40009468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39800114499997 meters 0.08015869543839757 Centerline is valid? [True, True] Translation: X:137.63, Y:-0.63, Z:-2.40 [[ 9.98659988e-01 -5.08582962e-02 -9.57401583e-03 1.37632776e+02] [ 5.08628553e-02 9.98705620e-01 2.33159536e-04 -6.27880582e-01] [ 9.54976532e-03 -7.19808881e-04 9.99954141e-01 -2.40422122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42800114499997 meters 0.07844265723139912 Centerline is valid? [True, True] Translation: X:137.66, Y:-0.63, Z:-2.40 [[ 9.98877710e-01 -4.63707873e-02 -9.64725745e-03 1.37662290e+02] [ 4.63751993e-02 9.98924064e-01 2.34012045e-04 -6.25002755e-01] [ 9.62602630e-03 -6.81142902e-04 9.99953437e-01 -2.40479527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45800114499997 meters 0.06920695839369885 Centerline is valid? [True, True] Translation: X:137.69, Y:-0.61, Z:-2.40 [[ 9.98937281e-01 -4.49194095e-02 -1.03225736e-02 1.37694787e+02] [ 4.49244001e-02 9.98990358e-01 2.51987241e-04 -6.07127462e-01] [ 1.03008324e-02 -7.15454876e-04 9.99946689e-01 -2.39866243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48800114499997 meters 0.06814905799902468 Centerline is valid? [True, True] Translation: X:137.73, Y:-0.61, Z:-2.40 [[ 9.99029756e-01 -4.28877864e-02 -1.00092053e-02 1.37726505e+02] [ 4.28923824e-02 9.99079668e-01 2.44863218e-04 -6.06341789e-01] [ 9.98949190e-03 -6.73944304e-04 9.99949877e-01 -2.39846478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51800114499997 meters 0.07604451878559695 Centerline is valid? [True, True] Translation: X:137.76, Y:-0.62, Z:-2.41 [[ 9.99087564e-01 -4.15655635e-02 -9.81545946e-03 1.37756208e+02] [ 4.15699161e-02 9.99135569e-01 2.39758107e-04 -6.24602321e-01] [ 9.79700898e-03 -6.47567169e-04 9.99951798e-01 -2.40601209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54800114499997 meters 0.06853137653567573 Centerline is valid? [True, True] Translation: X:137.79, Y:-0.61, Z:-2.40 [[ 9.99126441e-01 -4.05096570e-02 -1.02626553e-02 1.37789438e+02] [ 4.05143790e-02 9.99178924e-01 2.52551154e-04 -6.10478474e-01] [ 1.02439981e-02 -6.68115641e-04 9.99947306e-01 -2.40086958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57800114499997 meters 0.06647412900767566 Centerline is valid? [True, True] Translation: X:137.82, Y:-0.60, Z:-2.40 [[ 9.99187654e-01 -3.86901701e-02 -1.12740283e-02 1.37821445e+02] [ 3.86957526e-02 9.99251000e-01 2.77367503e-04 -6.04834741e-01] [ 1.12548526e-02 -7.13399192e-04 9.99936408e-01 -2.39971450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60800114499997 meters 0.06889378952540695 Centerline is valid? [True, True] Translation: X:137.85, Y:-0.61, Z:-2.40 [[ 9.99195215e-01 -3.82028417e-02 -1.22255685e-02 1.37853514e+02] [ 3.82093881e-02 9.99269709e-01 3.02255230e-04 -6.11231413e-01] [ 1.22050933e-02 -7.69143471e-04 9.99925219e-01 -2.40328618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63800114499998 meters 0.06900603172222085 Centerline is valid? [True, True] Translation: X:137.89, Y:-0.62, Z:-2.40 [[ 9.99234286e-01 -3.78181860e-02 -1.00312642e-02 1.37885243e+02] [ 3.78225753e-02 9.99284440e-01 2.48142967e-04 -6.15276194e-01] [ 1.00147019e-02 -6.27361208e-04 9.99949655e-01 -2.40304222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66800114499998 meters 0.06957549203889361 Centerline is valid? [True, True] Translation: X:137.92, Y:-0.62, Z:-2.40 [[ 9.99202943e-01 -3.87258593e-02 -9.68432916e-03 1.37917362e+02] [ 3.87300012e-02 9.99249683e-01 2.40445004e-04 -6.19076921e-01] [ 9.66775140e-03 -6.15327436e-04 9.99953077e-01 -2.40392701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69800114499998 meters 0.06632827143884458 Centerline is valid? [True, True] Translation: X:137.95, Y:-0.61, Z:-2.40 [[ 9.99152785e-01 -3.98725489e-02 -1.01927582e-02 1.37949742e+02] [ 3.98772036e-02 9.99204556e-01 2.53758575e-04 -6.13622177e-01] [ 1.01745324e-02 -6.60002279e-04 9.99948020e-01 -2.40150971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72800114499998 meters 0.06899824824005865 Centerline is valid? [True, True] Translation: X:137.98, Y:-0.62, Z:-2.40 [[ 9.99122489e-01 -4.07736322e-02 -9.57929453e-03 1.37980497e+02] [ 4.07777872e-02 9.99168212e-01 2.38748986e-04 -6.21526154e-01] [ 9.56159192e-03 -6.29161915e-04 9.99954089e-01 -2.40452463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75800114499998 meters 0.06639153578195806 Centerline is valid? [True, True] Translation: X:138.01, Y:-0.62, Z:-2.40 [[ 9.99091914e-01 -4.16830573e-02 -8.82444362e-03 1.38012547e+02] [ 4.16866269e-02 9.99130710e-01 2.20878796e-04 -6.16278391e-01] [ 8.80756571e-03 -5.88539507e-04 9.99961039e-01 -2.40071339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78800114499998 meters 0.06861455250224746 Centerline is valid? [True, True] Translation: X:138.04, Y:-0.62, Z:-2.40 [[ 9.99074644e-01 -4.20206058e-02 -9.17192356e-03 1.38043727e+02] [ 4.20244775e-02 9.99116555e-01 2.29718199e-04 -6.21604268e-01] [ 9.15416778e-03 -6.14950923e-04 9.99957911e-01 -2.40239774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81800114499998 meters 0.06802302113124908 Centerline is valid? [True, True] Translation: X:138.08, Y:-0.62, Z:-2.40 [[ 9.99083030e-01 -4.18047196e-02 -9.24468487e-03 1.38075824e+02] [ 4.18086515e-02 9.99125609e-01 2.32386014e-04 -6.21343750e-01] [ 9.22688657e-03 -6.18680731e-04 9.99957240e-01 -2.40230159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84800114499998 meters 0.06767459173596124 Centerline is valid? [True, True] Translation: X:138.11, Y:-0.62, Z:-2.40 [[ 9.99069564e-01 -4.22306271e-02 -8.75106642e-03 1.38108255e+02] [ 4.22341722e-02 9.99107715e-01 2.20617548e-04 -6.21861038e-01] [ 8.73394115e-03 -5.90006323e-04 9.99961684e-01 -2.40303664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87800114499998 meters 0.06740980578023112 Centerline is valid? [True, True] Translation: X:138.14, Y:-0.62, Z:-2.40 [[ 9.99082417e-01 -4.19732449e-02 -8.51889263e-03 1.38139982e+02] [ 4.19766002e-02 9.99118571e-01 2.15360582e-04 -6.23752772e-01] [ 8.50234445e-03 -5.72757120e-04 9.99963690e-01 -2.40347489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.908001145 meters 0.06988156489475418 Centerline is valid? [True, True] Translation: X:138.17, Y:-0.63, Z:-2.41 [[ 9.99065616e-01 -4.23756212e-02 -8.49716114e-03 1.38171078e+02] [ 4.23789751e-02 9.99101585e-01 2.14958954e-04 -6.30033131e-01] [ 8.48041814e-03 -5.74859080e-04 9.99963875e-01 -2.40581037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.938001145 meters 0.06785338076705703 Centerline is valid? [True, True] Translation: X:138.20, Y:-0.63, Z:-2.40 [[ 9.99046609e-01 -4.27451767e-02 -8.87259963e-03 1.38203765e+02] [ 4.27488552e-02 9.99085824e-01 2.25276348e-04 -6.26022391e-01] [ 8.85485904e-03 -6.04355049e-04 9.99960612e-01 -2.40453033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.968001145 meters 0.06785338076705703 Centerline is valid? [True, True] Translation: X:138.24, Y:-0.63, Z:-2.41 [[ 9.99050834e-01 -4.26463326e-02 -8.87256376e-03 1.38236381e+02] [ 4.26500198e-02 9.99090048e-01 2.26690988e-04 -6.26946100e-01] [ 8.85482261e-03 -6.04890841e-04 9.99960612e-01 -2.40505992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.998001145 meters 0.0675103526483691 Centerline is valid? [True, True] Translation: X:138.27, Y:-0.63, Z:-2.41 [[ 9.99051493e-01 -4.27865685e-02 -8.08844408e-03 1.38268440e+02] [ 4.27896386e-02 9.99084083e-01 2.06810614e-04 -6.26552518e-01] [ 8.07218702e-03 -5.52716051e-04 9.99967267e-01 -2.40523761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.028001145 meters 0.07120323702651943 Centerline is valid? [True, True] Translation: X:138.30, Y:-0.64, Z:-2.41 [[ 9.99049397e-01 -4.28056056e-02 -8.24517760e-03 1.38299243e+02] [ 4.28088130e-02 9.99083260e-01 2.12833103e-04 -6.35748278e-01] [ 8.22850846e-03 -5.65597049e-04 9.99965985e-01 -2.40902768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.058001145 meters 0.06671630506717414 Centerline is valid? [True, True] Translation: X:138.33, Y:-0.63, Z:-2.41 [[ 9.99050837e-01 -4.26901903e-02 -8.65862744e-03 1.38332174e+02] [ 4.26937189e-02 9.99088183e-01 2.23016047e-04 -6.26684344e-01] [ 8.64121175e-03 -5.92473374e-04 9.99962489e-01 -2.40628361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08800114499996 meters 0.06737011059644564 Centerline is valid? [True, True] Translation: X:138.36, Y:-0.63, Z:-2.41 [[ 9.99063048e-01 -4.24746208e-02 -8.30256943e-03 1.38363721e+02] [ 4.24778593e-02 9.99097385e-01 2.14027452e-04 -6.27903357e-01] [ 8.28598467e-03 -5.66502294e-04 9.99965510e-01 -2.40705110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11800114499997 meters 0.06775293498386062 Centerline is valid? [True, True] Translation: X:138.40, Y:-0.63, Z:-2.41 [[ 9.99094351e-01 -4.18463085e-02 -7.70482209e-03 1.38395413e+02] [ 4.18490852e-02 9.99123923e-01 1.99448400e-04 -6.29143959e-01] [ 7.68972589e-03 -5.21707526e-04 9.99970298e-01 -2.40794448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14800114499997 meters 0.07023180687864963 Centerline is valid? [True, True] Translation: X:138.43, Y:-0.63, Z:-2.41 [[ 9.99084055e-01 -4.19135771e-02 -8.61992077e-03 1.38426803e+02] [ 4.19170553e-02 9.99121069e-01 2.23161339e-04 -6.34763096e-01] [ 8.60299096e-03 -5.84278631e-04 9.99962823e-01 -2.41097867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17800114499997 meters 0.06839749506810157 Centerline is valid? [True, True] Translation: X:138.46, Y:-0.63, Z:-2.41 [[ 9.99061974e-01 -4.23214487e-02 -9.16877706e-03 1.38459545e+02] [ 4.23254085e-02 9.99103850e-01 2.38187296e-04 -6.30997814e-01] [ 9.15048003e-03 -6.26036104e-04 9.99957938e-01 -2.41080138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20800114499997 meters 0.06800565457619138 Centerline is valid? [True, True] Translation: X:138.49, Y:-0.63, Z:-2.41 [[ 9.99012367e-01 -4.35129861e-02 -8.99505362e-03 1.38491633e+02] [ 4.35168510e-02 9.99052666e-01 2.34311168e-04 -6.30010752e-01] [ 8.97633672e-03 -6.25516163e-04 9.99959516e-01 -2.41095356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23800114499997 meters 0.07107026216854889 Centerline is valid? [True, True] Translation: X:138.52, Y:-0.64, Z:-2.41 [[ 9.98953680e-01 -4.48864856e-02 -8.76068413e-03 1.38522877e+02] [ 4.48902060e-02 9.98991900e-01 2.28394836e-04 -6.36310525e-01] [ 8.74160065e-03 -6.21424778e-04 9.99961598e-01 -2.41245292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26800114499997 meters 0.07252813454230457 Centerline is valid? [True, True] Translation: X:138.55, Y:-0.64, Z:-2.41 [[ 9.98802173e-01 -4.85816825e-02 -5.83438895e-03 1.38554084e+02] [ 4.85833941e-02 9.98819118e-01 1.51910487e-04 -6.37382905e-01] [ 5.82011916e-03 -4.35182942e-04 9.99982968e-01 -2.41097353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29800114499997 meters 0.07075274970531256 Centerline is valid? [True, True] Translation: X:138.59, Y:-0.63, Z:-2.41 [[ 9.98732348e-01 -5.01080985e-02 -4.78280099e-03 1.38586615e+02] [ 5.01092718e-02 9.98743733e-01 1.25716646e-04 -6.34795305e-01] [ 4.77049309e-03 -3.65219955e-04 9.99988554e-01 -2.41002827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32800114499997 meters 0.0723774979049667 Centerline is valid? [True, True] Translation: X:138.62, Y:-0.64, Z:-2.41 [[ 9.98612653e-01 -5.24257929e-02 -4.92998933e-03 1.38616979e+02] [ 5.24270639e-02 9.98624748e-01 1.28823565e-04 -6.39291246e-01] [ 4.91645567e-03 -3.87109707e-04 9.99987839e-01 -2.41122368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35800114499997 meters 0.07343327483680895 Centerline is valid? [True, True] Translation: X:138.65, Y:-0.64, Z:-2.41 [[ 9.98423519e-01 -5.57478886e-02 -6.53062753e-03 1.38647530e+02] [ 5.57501874e-02 9.98444734e-01 1.70353469e-04 -6.41819793e-01] [ 6.51097382e-03 -5.34168619e-04 9.99978661e-01 -2.41330209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38800114499998 meters 0.0759212989665145 Centerline is valid? [True, True] Translation: X:138.68, Y:-0.65, Z:-2.42 [[ 9.98365895e-01 -5.66679933e-02 -7.36731883e-03 1.38678162e+02] [ 5.66709491e-02 9.98392892e-01 1.92907084e-04 -6.45428125e-01] [ 7.34454710e-03 -6.10104804e-04 9.99972842e-01 -2.41596136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41800114499998 meters 0.07651826432079156 Centerline is valid? [True, True] Translation: X:138.71, Y:-0.64, Z:-2.42 [[ 9.98351787e-01 -5.69949487e-02 -6.72937694e-03 1.38710325e+02] [ 5.69974288e-02 9.98374309e-01 1.77188144e-04 -6.44789613e-01] [ 6.70833823e-03 -5.60453284e-04 9.99977342e-01 -2.41651799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44800114499998 meters 0.07432207653010875 Centerline is valid? [True, True] Translation: X:138.74, Y:-0.64, Z:-2.42 [[ 9.98277984e-01 -5.80782027e-02 -8.24554487e-03 1.38741913e+02] [ 5.80819592e-02 9.98311795e-01 2.16641173e-04 -6.38347929e-01] [ 8.21904257e-03 -6.95185514e-04 9.99965981e-01 -2.41559845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47800114499998 meters 0.07529965779285615 Centerline is valid? [True, True] Translation: X:138.77, Y:-0.64, Z:-2.42 [[ 9.98305112e-01 -5.77942493e-02 -6.83575482e-03 1.38772696e+02] [ 5.77968548e-02 9.98328348e-01 1.84071766e-04 -6.40851013e-01] [ 6.81368953e-03 -5.78844914e-04 9.99976619e-01 -2.41723281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50800114499998 meters 0.07894048035211021 Centerline is valid? [True, True] Translation: X:138.80, Y:-0.65, Z:-2.42 [[ 9.98286690e-01 -5.81525161e-02 -6.47844595e-03 1.38803441e+02] [ 5.81548607e-02 9.98307559e-01 1.73947996e-04 -6.47950465e-01] [ 6.45736604e-03 -5.50403090e-04 9.99979000e-01 -2.41967340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53800114499998 meters 0.0800409325915522 Centerline is valid? [True, True] Translation: X:138.84, Y:-0.65, Z:-2.42 [[ 9.98286924e-01 -5.82374694e-02 -5.62267745e-03 1.38835183e+02] [ 5.82392560e-02 9.98302642e-01 1.54408676e-04 -6.49809514e-01] [ 5.60414138e-03 -4.81604714e-04 9.99984181e-01 -2.42000704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56800114499998 meters 0.08102544448235229 Centerline is valid? [True, True] Translation: X:138.87, Y:-0.65, Z:-2.42 [[ 9.98198962e-01 -5.97579421e-02 -5.27451615e-03 1.38866292e+02] [ 5.97595183e-02 9.98212793e-01 1.41589928e-04 -6.48828453e-01] [ 5.25662838e-03 -4.56537464e-04 9.99986080e-01 -2.41984038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59800114499998 meters 0.0788348521826243 Centerline is valid? [True, True] Translation: X:138.90, Y:-0.64, Z:-2.42 [[ 9.98135840e-01 -6.08033774e-02 -5.27208660e-03 1.38898945e+02] [ 6.08049726e-02 9.98149656e-01 1.42666084e-04 -6.44687927e-01] [ 5.25365684e-03 -4.62969213e-04 9.99986092e-01 -2.41948180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62800114499998 meters 0.08104813786594645 Centerline is valid? [True, True] Translation: X:138.93, Y:-0.65, Z:-2.42 [[ 9.98014847e-01 -6.27594612e-02 -5.25499043e-03 1.38929131e+02] [ 6.27610693e-02 9.98028571e-01 1.41499374e-04 -6.48707178e-01] [ 5.23575016e-03 -4.71027295e-04 9.99986182e-01 -2.42107506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.658001145 meters 0.07981821656804637 Centerline is valid? [True, True] Translation: X:138.96, Y:-0.65, Z:-2.42 [[ 9.97787260e-01 -6.61431726e-02 -6.75749960e-03 1.38960301e+02] [ 6.61459104e-02 9.97809945e-01 1.82216191e-04 -6.47805790e-01] [ 6.73064794e-03 -6.28793956e-04 9.99977151e-01 -2.42282866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.688001145 meters 0.08264421083207035 Centerline is valid? [True, True] Translation: X:138.99, Y:-0.65, Z:-2.42 [[ 9.97694437e-01 -6.74805964e-02 -7.22354987e-03 1.38990498e+02] [ 6.74837592e-02 9.97720354e-01 1.94719225e-04 -6.53739546e-01] [ 7.19394297e-03 -6.81742588e-04 9.99973891e-01 -2.42487244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.718001145 meters 0.08466636600609903 Centerline is valid? [True, True] Translation: X:139.02, Y:-0.66, Z:-2.43 [[ 9.97688168e-01 -6.76165875e-02 -6.80558103e-03 1.39021232e+02] [ 6.76194064e-02 9.97711172e-01 1.84699035e-04 -6.57283798e-01] [ 6.77751550e-03 -6.44461391e-04 9.99976825e-01 -2.42598247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.748001145 meters 0.08486770223074236 Centerline is valid? [True, True] Translation: X:139.05, Y:-0.66, Z:-2.43 [[ 9.97691007e-01 -6.76058257e-02 -6.48898955e-03 1.39054604e+02] [ 6.76083961e-02 9.97711919e-01 1.77333687e-04 -6.56254055e-01] [ 6.46215342e-03 -6.15634400e-04 9.99978931e-01 -2.42521942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.778001145 meters 0.0862690804053257 Centerline is valid? [True, True] Translation: X:139.09, Y:-0.65, Z:-2.42 [[ 9.97817227e-01 -6.57782202e-02 -5.83154013e-03 1.39085000e+02] [ 6.57802568e-02 9.97834121e-01 1.57932953e-04 -6.53395858e-01] [ 5.80852117e-03 -5.41188428e-04 9.99982984e-01 -2.42378451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.808001145 meters 0.08553252848258174 Centerline is valid? [True, True] Translation: X:139.12, Y:-0.65, Z:-2.42 [[ 9.97858968e-01 -6.51902598e-02 -5.26396043e-03 1.39117516e+02] [ 6.51919184e-02 9.97872734e-01 1.43941433e-04 -6.52003895e-01] [ 5.24337901e-03 -4.86800929e-04 9.99986135e-01 -2.42357749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83800114499996 meters 0.08624385647846607 Centerline is valid? [True, True] Translation: X:139.15, Y:-0.65, Z:-2.42 [[ 9.97892944e-01 -6.47263750e-02 -4.49102051e-03 1.39149694e+02] [ 6.47275796e-02 9.97902964e-01 1.23230982e-04 -6.54110687e-01] [ 4.47362639e-03 -4.13664215e-04 9.99989908e-01 -2.42400945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86800114499997 meters 0.0863904251885012 Centerline is valid? [True, True] Translation: X:139.18, Y:-0.65, Z:-2.43 [[ 9.97878070e-01 -6.49643713e-02 -4.35754680e-03 1.39182229e+02] [ 6.49655089e-02 9.97887503e-01 1.19876497e-04 -6.54952533e-01] [ 4.34055380e-03 -4.02712373e-04 9.99990499e-01 -2.42505048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89800114499997 meters 0.08513418219817513 Centerline is valid? [True, True] Translation: X:139.21, Y:-0.65, Z:-2.42 [[ 9.97790471e-01 -6.62551729e-02 -4.94253729e-03 1.39212975e+02] [ 6.62566480e-02 9.97802605e-01 1.35140459e-04 -6.52031441e-01] [ 4.92272283e-03 -4.62317816e-04 9.99987776e-01 -2.42477171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92800114499997 meters 0.08272007012019945 Centerline is valid? [True, True] Translation: X:139.25, Y:-0.65, Z:-2.43 [[ 9.97744490e-01 -6.69063449e-02 -5.42894219e-03 1.39245312e+02] [ 6.69081404e-02 9.97759128e-01 1.49585091e-04 -6.47288723e-01] [ 5.40676843e-03 -5.12488127e-04 9.99985252e-01 -2.42555200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95800114499997 meters 0.08828175356209635 Centerline is valid? [True, True] Translation: X:139.28, Y:-0.66, Z:-2.43 [[ 9.97707200e-01 -6.74031656e-02 -6.09557938e-03 1.39275895e+02] [ 6.74054467e-02 9.97725652e-01 1.69314773e-04 -6.55516983e-01] [ 6.07030356e-03 -5.79801819e-04 9.99981407e-01 -2.42822813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98800114499997 meters 0.0893331269934875 Centerline is valid? [True, True] Translation: X:139.31, Y:-0.66, Z:-2.43 [[ 9.97650808e-01 -6.82035778e-02 -6.41391260e-03 1.39308013e+02] [ 6.82061164e-02 9.97671236e-01 1.77632420e-04 -6.56022757e-01] [ 6.38686094e-03 -6.14683196e-04 9.99979415e-01 -2.42847283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01800114499997 meters 0.08666920853105878 Centerline is valid? [True, True] Translation: X:139.34, Y:-0.65, Z:-2.43 [[ 9.97566847e-01 -6.93747685e-02 -6.89405845e-03 1.39339135e+02] [ 6.93777240e-02 9.97590445e-01 1.90198801e-04 -6.49997277e-01] [ 6.86425184e-03 -6.68030102e-04 9.99976218e-01 -2.42788489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04800114499997 meters 0.09494721953718796 Centerline is valid? [True, True] Translation: X:139.37, Y:-0.66, Z:-2.43 [[ 9.97568210e-01 -6.93673920e-02 -6.76995683e-03 1.39369585e+02] [ 6.93702728e-02 9.97590963e-01 1.91354314e-04 -6.64033065e-01] [ 6.74037400e-03 -6.60522732e-04 9.99977065e-01 -2.43250143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07800114499997 meters 0.09067376341642341 Centerline is valid? [True, True] Translation: X:139.40, Y:-0.66, Z:-2.43 [[ 9.97601437e-01 -6.89216351e-02 -6.41717399e-03 1.39401727e+02] [ 6.89242029e-02 9.97621883e-01 1.79582436e-04 -6.57959146e-01] [ 6.38953609e-03 -6.21450298e-04 9.99979394e-01 -2.43124589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10800114499997 meters 0.09013691344794213 Centerline is valid? [True, True] Translation: X:139.43, Y:-0.66, Z:-2.43 [[ 9.97640286e-01 -6.83341579e-02 -6.65604790e-03 1.39434278e+02] [ 6.83369100e-02 9.97662283e-01 1.86656888e-04 -6.55079095e-01] [ 6.62773291e-03 -6.41070177e-04 9.99977831e-01 -2.43107087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13800114499998 meters 0.08984465324223088 Centerline is valid? [True, True] Translation: X:139.47, Y:-0.65, Z:-2.43 [[ 9.97668464e-01 -6.78832748e-02 -7.03547445e-03 1.39466197e+02] [ 6.78863413e-02 9.97693042e-01 1.97693529e-04 -6.52838635e-01] [ 7.00582382e-03 -6.74845219e-04 9.99975231e-01 -2.43109517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16800114499998 meters 0.09019430608633766 Centerline is valid? [True, True] Translation: X:139.50, Y:-0.65, Z:-2.43 [[ 9.97741884e-01 -6.67960009e-02 -7.03047493e-03 1.39497957e+02] [ 6.67990367e-02 9.97766430e-01 1.97622724e-04 -6.52204985e-01] [ 7.00157146e-03 -6.66805421e-04 9.99975266e-01 -2.43159205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19800114499998 meters 0.08490829748174081 Centerline is valid? [True, True] Translation: X:139.53, Y:-0.64, Z:-2.43 [[ 9.97861099e-01 -6.49769252e-02 -7.15720183e-03 1.39529077e+02] [ 6.49800223e-02 9.97886545e-01 2.00781979e-04 -6.41977350e-01] [ 7.12902921e-03 -6.65427660e-04 9.99974367e-01 -2.43088200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22800114499998 meters 0.08595188966690195 Centerline is valid? [True, True] Translation: X:139.56, Y:-0.64, Z:-2.43 [[ 9.97923995e-01 -6.39976509e-02 -7.21121612e-03 1.39560277e+02] [ 6.40008032e-02 9.97949826e-01 2.06987179e-04 -6.44706132e-01] [ 7.18318517e-03 -6.68081096e-04 9.99973977e-01 -2.43353500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25800114499998 meters 0.08445609350413731 Centerline is valid? [True, True] Translation: X:139.59, Y:-0.64, Z:-2.43 [[ 9.97987722e-01 -6.29864153e-02 -7.29507246e-03 1.39591941e+02] [ 6.29895949e-02 9.98014162e-01 2.06699256e-04 -6.43011767e-01] [ 7.26756639e-03 -6.65796979e-04 9.99973369e-01 -2.43385259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28800114499998 meters 0.0840894428393803 Centerline is valid? [True, True] Translation: X:139.62, Y:-0.64, Z:-2.43 [[ 9.98014249e-01 -6.25932350e-02 -7.04593969e-03 1.39622825e+02] [ 6.25962226e-02 9.98038913e-01 2.04081207e-04 -6.42461047e-01] [ 7.01934788e-03 -6.44725161e-04 9.99975156e-01 -2.43435576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31800114499998 meters 0.08562664726792205 Centerline is valid? [True, True] Translation: X:139.65, Y:-0.64, Z:-2.43 [[ 9.98057210e-01 -6.19939264e-02 -6.20962234e-03 1.39653891e+02] [ 6.19962344e-02 9.98076367e-01 1.79707373e-04 -6.42507148e-01] [ 6.18653654e-03 -5.64331442e-04 9.99980704e-01 -2.43390481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34800114499998 meters 0.08744821839521012 Centerline is valid? [True, True] Translation: X:139.68, Y:-0.64, Z:-2.43 [[ 9.97968195e-01 -6.32757529e-02 -7.46058211e-03 1.39684459e+02] [ 6.32791042e-02 9.97995846e-01 2.13770859e-04 -6.44006553e-01] [ 7.43210344e-03 -6.85435470e-04 9.99972147e-01 -2.43408761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37800114499998 meters 0.08807259261417957 Centerline is valid? [True, True] Translation: X:139.72, Y:-0.65, Z:-2.44 [[ 9.97899644e-01 -6.42515723e-02 -8.24839007e-03 1.39715753e+02] [ 6.42557060e-02 9.97933439e-01 2.36844973e-04 -6.45099995e-01] [ 8.21612660e-03 -7.66353641e-04 9.99965953e-01 -2.43523129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.408001145 meters 0.08807672645873954 Centerline is valid? [True, True] Translation: X:139.75, Y:-0.65, Z:-2.44 [[ 9.97789653e-01 -6.59234501e-02 -8.36107168e-03 1.39747198e+02] [ 6.59277578e-02 9.97824370e-01 2.40351131e-04 -6.46432501e-01] [ 8.32703630e-03 -7.91046580e-04 9.99965017e-01 -2.43675209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.438001145 meters 0.09076239185579434 Centerline is valid? [True, True] Translation: X:139.78, Y:-0.65, Z:-2.44 [[ 9.97668836e-01 -6.76219034e-02 -9.17449547e-03 1.39776688e+02] [ 6.76271697e-02 9.97710627e-01 2.64653143e-04 -6.52744749e-01] [ 9.13559528e-03 -8.84481356e-04 9.99957878e-01 -2.43903905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.468001145 meters 0.09465535701962621 Centerline is valid? [True, True] Translation: X:139.81, Y:-0.66, Z:-2.44 [[ 9.97344940e-01 -7.20325765e-02 -1.06947879e-02 1.39807564e+02] [ 7.20399731e-02 9.97401698e-01 3.07482869e-04 -6.58723984e-01] [ 1.06448509e-02 -1.07711872e-03 9.99942762e-01 -2.44087459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.498001145 meters 0.09412410873436894 Centerline is valid? [True, True] Translation: X:139.84, Y:-0.66, Z:-2.44 [[ 9.97211940e-01 -7.37951170e-02 -1.10737343e-02 1.39838954e+02] [ 7.38031637e-02 9.97272777e-01 3.19208826e-04 -6.57478710e-01] [ 1.10199777e-02 -1.13559548e-03 9.99938633e-01 -2.44070378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.528001145 meters 0.09703370487651364 Centerline is valid? [True, True] Translation: X:139.87, Y:-0.66, Z:-2.44 [[ 9.97126766e-01 -7.49153236e-02 -1.12208304e-02 1.39868642e+02] [ 7.49236497e-02 9.97189221e-01 3.22914585e-04 -6.61452004e-01] [ 1.11650998e-02 -1.16269234e-03 9.99936992e-01 -2.44254446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.558001145 meters 0.0974586156836286 Centerline is valid? [True, True] Translation: X:139.90, Y:-0.66, Z:-2.44 [[ 9.97050938e-01 -7.60754575e-02 -1.00970818e-02 1.39900554e+02] [ 7.60822863e-02 9.97101499e-01 2.93378570e-04 -6.60924065e-01] [ 1.00454965e-02 -1.06072245e-03 9.99948980e-01 -2.44222699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58800114499996 meters 0.09501727909454395 Centerline is valid? [True, True] Translation: X:139.93, Y:-0.66, Z:-2.44 [[ 9.97039278e-01 -7.62052538e-02 -1.02683203e-02 1.39933026e+02] [ 7.62123677e-02 9.97091562e-01 3.02720948e-04 -6.56761456e-01] [ 1.02153866e-02 -1.08439767e-03 9.99947234e-01 -2.44104496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61800114499997 meters 0.09093230085802459 Centerline is valid? [True, True] Translation: X:139.97, Y:-0.65, Z:-2.44 [[ 9.97095520e-01 -7.54320172e-02 -1.05135792e-02 1.39965942e+02] [ 7.54394587e-02 9.97150335e-01 3.12455784e-04 -6.50256692e-01] [ 1.04600499e-02 -1.10468699e-03 9.99944682e-01 -2.43939459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64800114499997 meters 0.09171048068133197 Centerline is valid? [True, True] Translation: X:140.00, Y:-0.65, Z:-2.44 [[ 9.97161360e-01 -7.46796784e-02 -9.60039631e-03 1.39996898e+02] [ 7.46858690e-02 9.97207069e-01 2.87433525e-04 -6.51256760e-01] [ 9.55211762e-03 -1.00363155e-03 9.99953874e-01 -2.44031147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67800114499997 meters 0.09536250498432285 Centerline is valid? [True, True] Translation: X:140.03, Y:-0.66, Z:-2.44 [[ 9.97185253e-01 -7.42999718e-02 -1.00540814e-02 1.40028723e+02] [ 7.43067709e-02 9.97235384e-01 3.03886314e-04 -6.57043505e-01] [ 1.00037069e-02 -1.05011727e-03 9.99949410e-01 -2.44201641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70800114499997 meters 0.09290320897717246 Centerline is valid? [True, True] Translation: X:140.06, Y:-0.65, Z:-2.44 [[ 9.97274400e-01 -7.31141608e-02 -9.90405519e-03 1.40060398e+02] [ 7.31206698e-02 9.97323057e-01 2.96222001e-04 -6.51963225e-01] [ 9.85588458e-03 -1.01960577e-03 9.99950910e-01 -2.44215410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73800114499997 meters 0.10006030673275929 Centerline is valid? [True, False] Translation: X:140.06, Y:-0.65, Z:-2.44 [[ 9.97791171e-01 -6.63987164e-02 1.99758324e-03 1.40057777e+02] [ 6.64114895e-02 9.97766290e-01 -7.20719090e-03 -6.51033894e-01] [-1.51457300e-03 7.32393393e-03 9.99972033e-01 -2.44478386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76800114499997 meters 0.09333829411756898 Centerline is valid? [False, True] Translation: X:140.05, Y:-0.65, Z:-2.45 [[ 9.98254653e-01 -5.83999622e-02 8.78023893e-03 1.40049129e+02] [ 5.84809271e-02 9.98245523e-01 -9.26590547e-03 -6.52232289e-01] [-8.22370568e-03 9.76320976e-03 9.99918522e-01 -2.45089059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79800114499997 meters 0.09231757783536304 Centerline is valid? [True, True] Translation: X:140.08, Y:-0.66, Z:-2.46 [[ 9.98271942e-01 -5.81160650e-02 8.69789020e-03 1.40081545e+02] [ 5.81214110e-02 9.98309456e-01 -3.62912898e-04 -6.55525198e-01] [-8.66209496e-03 8.67819415e-04 9.99962107e-01 -2.45586176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82800114499997 meters 0.09163052033161129 Centerline is valid? [True, True] Translation: X:140.11, Y:-0.65, Z:-2.46 [[ 9.98348316e-01 -5.69749523e-02 7.38211219e-03 1.40113867e+02] [ 5.69787524e-02 9.98375345e-01 -3.05316182e-04 -6.53877056e-01] [-7.35272342e-03 7.25435438e-04 9.99972705e-01 -2.45845303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85800114499997 meters 0.08997409660942746 Centerline is valid? [True, True] Translation: X:140.15, Y:-0.65, Z:-2.46 [[ 9.98382295e-01 -5.64363171e-02 6.90905203e-03 1.40146629e+02] [ 5.64396396e-02 9.98405972e-01 -2.86702433e-04 -6.52194365e-01] [-6.88185838e-03 6.76183040e-04 9.99976091e-01 -2.45932681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88800114499998 meters 0.08997409660942746 Centerline is valid? [True, True] Translation: X:140.18, Y:-0.65, Z:-2.46 [[ 9.98397423e-01 -5.61680617e-02 6.90902517e-03 1.40179386e+02] [ 5.61713822e-02 9.98421100e-01 -2.87355590e-04 -6.53733503e-01] [-6.88197630e-03 6.74984575e-04 9.99976091e-01 -2.46048160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91800114499998 meters 0.09271839895810888 Centerline is valid? [True, True] Translation: X:140.21, Y:-0.66, Z:-2.46 [[ 9.98384357e-01 -5.63998556e-02 6.90883373e-03 1.40210294e+02] [ 5.64032045e-02 9.98408030e-01 -2.90691525e-04 -6.59222411e-01] [-6.88144011e-03 6.79902233e-04 9.99976091e-01 -2.46290092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94800114499998 meters 0.09211721161362868 Centerline is valid? [True, True] Translation: X:140.24, Y:-0.66, Z:-2.46 [[ 9.98383944e-01 -5.65212955e-02 5.90283489e-03 1.40242921e+02] [ 5.65237407e-02 9.98401225e-01 -2.48101895e-04 -6.59532667e-01] [-5.87937454e-03 5.81351257e-04 9.99982547e-01 -2.46417854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97800114499998 meters 0.09543188364978675 Centerline is valid? [True, True] Translation: X:140.27, Y:-0.67, Z:-2.47 [[ 9.98352828e-01 -5.70527285e-02 6.05125681e-03 1.40273873e+02] [ 5.70553205e-02 9.98370985e-01 -2.56435239e-04 -6.65786963e-01] [-6.02676890e-03 6.01269243e-04 9.99981658e-01 -2.46687596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00800114499998 meters 0.09383193244315509 Centerline is valid? [True, True] Translation: X:140.31, Y:-0.66, Z:-2.47 [[ 9.98357626e-01 -5.70190953e-02 5.55640044e-03 1.40306687e+02] [ 5.70212811e-02 9.98372935e-01 -2.35628213e-04 -6.64765434e-01] [-5.53392451e-03 5.52074295e-04 9.99984535e-01 -2.46718194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03800114499998 meters 0.09971868778489794 Centerline is valid? [True, True] Translation: X:140.34, Y:-0.67, Z:-2.47 [[ 9.98308524e-01 -5.79751374e-02 4.35591320e-03 1.40336277e+02] [ 5.79765171e-02 9.98317929e-01 -1.91037013e-04 -6.73252456e-01] [-4.33751085e-03 4.43254555e-04 9.99990495e-01 -2.47062886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06800114499998 meters 0.10022268377060191 Centerline is valid? [True, False] Translation: X:140.33, Y:-0.67, Z:-2.47 [[ 9.98575074e-01 -5.26530915e-02 8.68754937e-03 1.40328779e+02] [ 5.27251398e-02 9.98574704e-01 -8.28371706e-03 -6.72198097e-01] [-8.23900373e-03 8.72996563e-03 9.99927951e-01 -2.47417022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09800114499998 meters 0.09524183740206406 Centerline is valid? [False, True] Translation: X:140.32, Y:-0.67, Z:-2.48 [[ 9.98750897e-01 -4.71684447e-02 1.64858704e-02 1.40318940e+02] [ 4.73563590e-02 9.98815265e-01 -1.12001044e-02 -6.74029672e-01] [-1.59380475e-02 1.19668251e-02 9.99801367e-01 -2.47989947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12800114499998 meters 0.09832526464365816 Centerline is valid? [True, True] Translation: X:140.35, Y:-0.69, Z:-2.49 [[ 9.98712569e-01 -4.73674162e-02 1.81530166e-02 1.40349517e+02] [ 4.73932515e-02 9.98875813e-01 -9.95407129e-04 -6.86812126e-01] [-1.80854593e-02 1.85445609e-03 9.99834725e-01 -2.48766971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.158001145 meters 0.09716700785148094 Centerline is valid? [True, True] Translation: X:140.38, Y:-0.69, Z:-2.49 [[ 9.98692162e-01 -4.73151549e-02 1.93711432e-02 1.40381479e+02] [ 4.73445708e-02 9.98878052e-01 -1.06250874e-03 -6.87174177e-01] [-1.92991370e-02 1.97823761e-03 9.99811797e-01 -2.48723855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.188001145 meters 0.09689442537573327 Centerline is valid? [True, True] Translation: X:140.41, Y:-0.69, Z:-2.49 [[ 9.98705006e-01 -4.69035386e-02 1.97070913e-02 1.40414221e+02] [ 4.69339959e-02 9.98897403e-01 -1.08558471e-03 -6.87909001e-01] [-1.96344446e-02 2.00911143e-03 9.99805207e-01 -2.48750839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.218001145 meters 0.09793284023437542 Centerline is valid? [True, True] Translation: X:140.45, Y:-0.69, Z:-2.49 [[ 9.98726173e-01 -4.65440416e-02 1.94854617e-02 1.40446817e+02] [ 4.65738162e-02 9.98914271e-01 -1.07679926e-03 -6.90732128e-01] [-1.94141872e-02 1.98293992e-03 9.99809561e-01 -2.48876790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.248001145 meters 0.10007393765863476 Centerline is valid? [True, False] Translation: X:140.44, Y:-0.69, Z:-2.49 [[ 9.99018820e-01 -4.22606338e-02 1.32451953e-02 1.40442295e+02] [ 4.24081029e-02 9.99039176e-01 -1.10579067e-02 -6.89569650e-01] [-1.27651549e-02 1.16087605e-02 9.99851133e-01 -2.48672314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.278001145 meters 0.08984214060019681 Centerline is valid? [False, True] Translation: X:140.43, Y:-0.69, Z:-2.49 [[ 9.99096933e-01 -3.68273816e-02 2.11911023e-02 1.40433038e+02] [ 3.71075587e-02 9.99226929e-01 -1.29835908e-02 -6.92768663e-01] [-2.06965684e-02 1.37582158e-02 9.99691134e-01 -2.49327971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.308001145 meters 0.09437362254519621 Centerline is valid? [True, True] Translation: X:140.46, Y:-0.71, Z:-2.50 [[ 9.99051607e-01 -3.82559294e-02 2.07935089e-02 1.40461880e+02] [ 3.82926160e-02 9.99265631e-01 -1.36889329e-03 -7.10081560e-01] [-2.07258705e-02 2.16383289e-03 9.99782854e-01 -2.50346679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33800114499996 meters 0.09354600260972966 Centerline is valid? [True, True] Translation: X:140.49, Y:-0.71, Z:-2.50 [[ 9.99021531e-01 -3.89633737e-02 2.09245475e-02 1.40493877e+02] [ 3.90006521e-02 9.99238237e-01 -1.37628964e-03 -7.12780942e-01] [-2.08549831e-02 2.19101398e-03 9.99780110e-01 -2.50488974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36800114499997 meters 0.10345885252765502 Centerline is valid? [True, False] Translation: X:140.49, Y:-0.71, Z:-2.50 [[ 9.99272439e-01 -3.49013437e-02 1.53781997e-02 1.40489066e+02] [ 3.50842928e-02 9.99314787e-01 -1.17918834e-02 -7.11737381e-01] [-1.49561098e-02 1.23228374e-02 9.99812214e-01 -2.50299848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39800114499997 meters 0.09507559430443595 Centerline is valid? [False, True] Translation: X:140.49, Y:-0.71, Z:-2.50 [[ 9.99265382e-01 -3.49822257e-02 1.56505371e-02 1.40488698e+02] [ 3.51677066e-02 9.99312497e-01 -1.17373917e-02 -7.11488063e-01] [-1.52291772e-02 1.22791627e-02 9.99808629e-01 -2.50331347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42800114499997 meters 0.09696342518407433 Centerline is valid? [True, True] Translation: X:140.52, Y:-0.72, Z:-2.51 [[ 9.99249268e-01 -3.48341585e-02 1.69552713e-02 1.40518736e+02] [ 3.48594301e-02 9.99391508e-01 -1.19713849e-03 -7.21890515e-01] [-1.69032528e-02 1.78729085e-03 9.99855532e-01 -2.50903314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45800114499997 meters 0.09698476835948795 Centerline is valid? [True, True] Translation: X:140.55, Y:-0.72, Z:-2.51 [[ 9.99278233e-01 -3.39830599e-02 1.69754133e-02 1.40550100e+02] [ 3.40084251e-02 9.99420816e-01 -1.20771414e-03 -7.24669983e-01] [-1.69245396e-02 1.78414952e-03 9.99855178e-01 -2.51051300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48800114499997 meters 0.09670577783806919 Centerline is valid? [True, True] Translation: X:140.58, Y:-0.73, Z:-2.51 [[ 9.99324870e-01 -3.24916989e-02 1.71491433e-02 1.40580436e+02] [ 3.25173873e-02 9.99470424e-01 -1.22115302e-03 -7.29153324e-01] [-1.71003842e-02 1.77797392e-03 9.99852197e-01 -2.51296797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51800114499997 meters 0.09741667328270422 Centerline is valid? [True, True] Translation: X:140.61, Y:-0.73, Z:-2.52 [[ 9.99340726e-01 -3.25524670e-02 1.60763792e-02 1.40611878e+02] [ 3.25749576e-02 9.99468646e-01 -1.13904115e-03 -7.34327556e-01] [-1.60307583e-02 1.66197758e-03 9.99870118e-01 -2.51549918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54800114499997 meters 0.09808565477453204 Centerline is valid? [True, True] Translation: X:140.64, Y:-0.74, Z:-2.52 [[ 9.99333833e-01 -3.23496372e-02 1.68935407e-02 1.40643758e+02] [ 3.23745046e-02 9.99475087e-01 -1.20053712e-03 -7.39847698e-01] [-1.68458361e-02 1.74665737e-03 9.99856573e-01 -2.51676776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57800114499997 meters 0.10075363833305608 Centerline is valid? [True, False] Translation: X:140.64, Y:-0.74, Z:-2.52 [[ 9.99531112e-01 -2.40597805e-02 1.89389149e-02 1.40637622e+02] [ 2.41930479e-02 9.99683910e-01 -6.83928524e-03 -7.40594717e-01] [-1.87683768e-02 7.29426846e-03 9.99797250e-01 -2.52039241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60800114499997 meters 0.10107194010177449 Centerline is valid? [False, False] Translation: X:140.64, Y:-0.74, Z:-2.52 [[ 9.99754990e-01 -2.20411497e-02 2.03656784e-03 1.40642047e+02] [ 2.20553655e-02 9.99730510e-01 -7.24352500e-03 -7.40712420e-01] [-1.87636339e-03 7.28666751e-03 9.99971691e-01 -2.51666777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63800114499998 meters 0.0945336974967659 Centerline is valid? [False, True] Translation: X:140.64, Y:-0.74, Z:-2.52 [[ 9.99846699e-01 -1.73523786e-02 2.33961372e-03 1.40641895e+02] [ 1.73567298e-02 9.99847645e-01 -1.85247382e-03 -7.43655524e-01] [-2.30711244e-03 1.89279788e-03 9.99995547e-01 -2.51768697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66800114499998 meters 0.0956677014043272 Centerline is valid? [True, True] Translation: X:140.67, Y:-0.75, Z:-2.52 [[ 9.99854214e-01 -1.68565205e-02 2.72192072e-03 1.40672351e+02] [ 1.68572162e-02 9.99857880e-01 -2.32858683e-04 -7.49959575e-01] [-2.71760869e-03 2.78708742e-04 9.99996268e-01 -2.51947162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69800114499998 meters 0.1018877425583287 Centerline is valid? [True, False] Translation: X:140.67, Y:-0.75, Z:-2.52 [[ 9.99912844e-01 -1.26427962e-02 -3.80317814e-03 1.40667581e+02] [ 1.26055332e-02 9.99873814e-01 -9.66725552e-03 -7.50464790e-01] [ 3.92491937e-03 9.61847188e-03 9.99946039e-01 -2.51736483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72800114499998 meters 0.09644211916445533 Centerline is valid? [False, True] Translation: X:140.67, Y:-0.76, Z:-2.52 [[ 9.99964758e-01 -7.69392470e-03 -3.35958219e-03 1.40667448e+02] [ 7.68145175e-03 9.99963615e-01 -3.70990354e-03 -7.55086955e-01] [ 3.38800367e-03 3.68396633e-03 9.99987475e-01 -2.51881042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75800114499998 meters 0.09680312004496483 Centerline is valid? [True, True] Translation: X:140.70, Y:-0.76, Z:-2.52 [[ 9.99971494e-01 -7.24579796e-03 -2.12346581e-03 1.40698451e+02] [ 7.24624118e-03 9.99973725e-01 2.01105038e-04 -7.62352328e-01] [ 2.12195285e-03 -2.16486451e-04 9.99997725e-01 -2.52135543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78800114499998 meters 0.09043757382857379 Centerline is valid? [True, True] Translation: X:140.73, Y:-0.76, Z:-2.52 [[ 9.99976620e-01 -5.76962211e-03 -3.67018550e-03 1.40730922e+02] [ 5.77093654e-03 9.99983288e-01 3.47648366e-04 -7.56645708e-01] [ 3.66811837e-03 -3.68820645e-04 9.99993204e-01 -2.52034044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81800114499998 meters 0.08514147834984602 Centerline is valid? [True, True] Translation: X:140.76, Y:-0.75, Z:-2.52 [[ 9.99980315e-01 -4.77210194e-03 -4.07380750e-03 1.40762679e+02] [ 4.77371167e-03 9.99988531e-01 3.85509976e-04 -7.51468331e-01] [ 4.07192109e-03 -4.04949570e-04 9.99991628e-01 -2.51819584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84800114499998 meters 0.08395157517205115 Centerline is valid? [True, True] Translation: X:140.79, Y:-0.75, Z:-2.52 [[ 9.99983876e-01 -3.65695956e-03 -4.34451318e-03 1.40792667e+02] [ 3.65877394e-03 9.99993223e-01 4.09750663e-04 -7.53167038e-01] [ 4.34298530e-03 -4.25639647e-04 9.99990479e-01 -2.51852845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87800114499998 meters 0.08656004159089922 Centerline is valid? [True, True] Translation: X:140.82, Y:-0.76, Z:-2.52 [[ 9.99989014e-01 -2.88576229e-03 -3.69382774e-03 1.40821116e+02] [ 2.88707226e-03 9.99995771e-01 3.49354632e-04 -7.61788792e-01] [ 3.69280396e-03 -3.60015141e-04 9.99993117e-01 -2.52070674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.908001145 meters 0.08545636910500713 Centerline is valid? [True, True] Translation: X:140.85, Y:-0.77, Z:-2.52 [[ 9.99995246e-01 -1.16289594e-04 -3.08114895e-03 1.40850985e+02] [ 1.17186390e-04 9.99999951e-01 2.90880027e-04 -7.66177369e-01] [ 3.08111497e-03 -2.91239713e-04 9.99995211e-01 -2.52234521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.938001145 meters 0.08176309063871434 Centerline is valid? [True, True] Translation: X:140.88, Y:-0.76, Z:-2.52 [[ 9.99993846e-01 5.30445038e-04 -3.46807689e-03 1.40880893e+02] [-5.29315689e-04 9.99999807e-01 3.26551130e-04 -7.62665667e-01] [ 3.46824943e-03 -3.24713413e-04 9.99993933e-01 -2.52145475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.968001145 meters 0.0832369838344283 Centerline is valid? [True, True] Translation: X:140.91, Y:-0.77, Z:-2.52 [[ 9.99989818e-01 1.97154543e-03 -4.05928872e-03 1.40909781e+02] [-1.97000996e-03 9.99997986e-01 3.82224332e-04 -7.67398092e-01] [ 4.06003412e-03 -3.74223601e-04 9.99991688e-01 -2.52245015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.998001145 meters 0.0822894109738265 Centerline is valid? [True, True] Translation: X:140.94, Y:-0.77, Z:-2.52 [[ 9.99987298e-01 2.85930337e-03 -4.15067335e-03 1.40938437e+02] [-2.85770990e-03 9.99995841e-01 3.89786587e-04 -7.67813055e-01] [ 4.15177061e-03 -3.77920216e-04 9.99991310e-01 -2.52280153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.028001145 meters 0.08290907146125644 Centerline is valid? [True, True] Translation: X:140.97, Y:-0.77, Z:-2.52 [[ 9.99988107e-01 4.05573404e-03 -2.70871302e-03 1.40966455e+02] [-4.05506053e-03 9.99991746e-01 2.54088776e-04 -7.73639988e-01] [ 2.70972118e-03 -2.43101759e-04 9.99996299e-01 -2.52397233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.058001145 meters 0.08418800765739684 Centerline is valid? [True, True] Translation: X:140.99, Y:-0.78, Z:-2.53 [[ 9.99991772e-01 3.72855067e-03 -1.59824789e-03 1.40993728e+02] [-3.72831799e-03 9.99993039e-01 1.48537036e-04 -7.79799946e-01] [ 1.59879059e-03 -1.42577038e-04 9.99998712e-01 -2.52515247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08800114499996 meters 0.08450749935745015 Centerline is valid? [True, True] Translation: X:141.02, Y:-0.78, Z:-2.53 [[ 9.99992617e-01 3.64562340e-03 -1.21446185e-03 1.41022587e+02] [-3.64548917e-03 9.99993349e-01 1.12717849e-04 -7.83931996e-01] [ 1.21486470e-03 -1.08289710e-04 9.99999256e-01 -2.52528297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11800114499997 meters 0.0848704443567422 Centerline is valid? [True, True] Translation: X:141.05, Y:-0.79, Z:-2.53 [[ 9.99993743e-01 3.53733090e-03 3.25542937e-05 1.41051605e+02] [-3.53733075e-03 9.99993744e-01 -4.61024231e-06 -7.87603890e-01] [-3.25703980e-05 4.49505816e-06 9.99999999e-01 -2.52500560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14800114499997 meters 0.0846979906619299 Centerline is valid? [True, True] Translation: X:141.08, Y:-0.79, Z:-2.52 [[ 9.99986565e-01 4.54993785e-03 2.48339790e-03 1.41081126e+02] [-4.54937011e-03 9.99989624e-01 -2.34213705e-04 -7.90599942e-01] [-2.48443779e-03 2.22912662e-04 9.99996889e-01 -2.52363861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17800114499997 meters 0.08463222283603879 Centerline is valid? [True, True] Translation: X:141.11, Y:-0.79, Z:-2.52 [[ 9.99979551e-01 5.64652083e-03 3.00232893e-03 1.41110318e+02] [-5.64569672e-03 9.99984023e-01 -2.82894313e-04 -7.93916985e-01] [-3.00387833e-03 2.65938289e-04 9.99995453e-01 -2.52404509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20800114499997 meters 0.08016146844920688 Centerline is valid? [True, True] Translation: X:141.14, Y:-0.79, Z:-2.52 [[ 9.99976011e-01 6.52024654e-03 2.33732756e-03 1.41140328e+02] [-6.51974915e-03 9.99978722e-01 -2.20359073e-04 -7.89149901e-01] [-2.33871462e-03 2.05114998e-04 9.99997244e-01 -2.52401296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23800114499997 meters 0.08626018037089202 Centerline is valid? [True, True] Translation: X:141.17, Y:-0.80, Z:-2.53 [[ 9.99979146e-01 6.42225570e-03 6.79925545e-04 1.41167917e+02] [-6.42221296e-03 9.99979375e-01 -6.50274658e-05 -8.02560934e-01] [-6.80329145e-04 6.06594830e-05 9.99999767e-01 -2.52786715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26800114499997 meters 0.08580781403478131 Centerline is valid? [True, True] Translation: X:141.20, Y:-0.81, Z:-2.53 [[ 9.99977970e-01 6.49498009e-03 -1.36952277e-03 1.41196342e+02] [-6.49481222e-03 9.99978900e-01 1.26986168e-04 -8.06159014e-01] [ 1.37031865e-03 -1.18088578e-04 9.99999054e-01 -2.53159402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29800114499997 meters 0.08889694004294547 Centerline is valid? [True, True] Translation: X:141.22, Y:-0.82, Z:-2.53 [[ 9.99984376e-01 5.27861609e-03 -1.83973609e-03 1.41224292e+02] [-5.27830988e-03 9.99986055e-01 1.71255598e-04 -8.15201943e-01] [ 1.84061443e-03 -1.61542225e-04 9.99998293e-01 -2.53471015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32800114499997 meters 0.08574818283697117 Centerline is valid? [True, True] Translation: X:141.25, Y:-0.81, Z:-2.53 [[ 9.99989937e-01 4.19771616e-03 -1.58256625e-03 1.41254149e+02] [-4.19748780e-03 9.99991180e-01 1.47588014e-04 -8.14285660e-01] [ 1.58317183e-03 -1.40943726e-04 9.99998737e-01 -2.53346703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35800114499997 meters 0.08686238277091499 Centerline is valid? [True, True] Translation: X:141.28, Y:-0.82, Z:-2.53 [[ 9.99994311e-01 3.12751358e-03 -1.26372457e-03 1.41282771e+02] [-3.12736788e-03 9.99995103e-01 1.17259275e-04 -8.19873132e-01] [ 1.26408511e-03 -1.13306476e-04 9.99999195e-01 -2.53449054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38800114499998 meters 0.08204348286415734 Centerline is valid? [True, True] Translation: X:141.31, Y:-0.82, Z:-2.53 [[ 9.99999475e-01 5.86491256e-04 -8.40834367e-04 1.41313790e+02] [-5.86425219e-04 9.99999825e-01 7.87825495e-05 -8.16435700e-01] [ 8.40880425e-04 -7.82894216e-05 9.99999643e-01 -2.53326368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41800114499998 meters 0.08510247502510601 Centerline is valid? [True, True] Translation: X:141.34, Y:-0.83, Z:-2.54 [[ 9.99998673e-01 -7.80233169e-04 -1.42982268e-03 1.41342634e+02] [ 7.80425206e-04 9.99999687e-01 1.33755217e-04 -8.25377582e-01] [ 1.42971787e-03 -1.34870909e-04 9.99998969e-01 -2.53516892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44800114499998 meters 0.08441202410098457 Centerline is valid? [True, True] Translation: X:141.37, Y:-0.83, Z:-2.54 [[ 9.99998245e-01 -1.80697050e-03 -4.95636950e-04 1.41372650e+02] [ 1.80699353e-03 9.99998366e-01 4.60267689e-05 -8.27263432e-01] [ 4.95552971e-04 -4.69223009e-05 9.99999876e-01 -2.53516358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47800114499998 meters 0.08543977252133333 Centerline is valid? [True, True] Translation: X:141.40, Y:-0.83, Z:-2.54 [[ 9.99993873e-01 -3.31337923e-03 -1.12948991e-03 1.41402379e+02] [ 3.31350082e-03 9.99994505e-01 1.05795977e-04 -8.31980129e-01] [ 1.12913316e-03 -1.09537895e-04 9.99999357e-01 -2.53521084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50800114499998 meters 0.08626749981258676 Centerline is valid? [True, True] Translation: X:141.43, Y:-0.84, Z:-2.54 [[ 9.99992679e-01 -3.64874699e-03 -1.15224528e-03 1.41433700e+02] [ 3.64887469e-03 9.99993337e-01 1.08750858e-04 -8.37163364e-01] [ 1.15184079e-03 -1.12954461e-04 9.99999330e-01 -2.53647299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53800114499998 meters 0.08822782833206691 Centerline is valid? [True, True] Translation: X:141.46, Y:-0.84, Z:-2.54 [[ 9.99994847e-01 -3.20916345e-03 -8.76159798e-05 1.41463660e+02] [ 3.20916433e-03 9.99994851e-01 9.84095419e-06 -8.44476837e-01] [ 8.75839474e-05 -1.01220776e-05 9.99999996e-01 -2.53852970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56800114499998 meters 0.0842389663073888 Centerline is valid? [True, True] Translation: X:141.50, Y:-0.84, Z:-2.54 [[ 9.99998597e-01 -1.30251337e-03 1.05297760e-03 1.41495452e+02] [ 1.30261766e-03 9.99999147e-01 -9.83555865e-05 -8.41443274e-01] [-1.05284859e-03 9.97270758e-05 9.99999441e-01 -2.53749575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59800114499998 meters 0.08744740175263226 Centerline is valid? [True, True] Translation: X:141.52, Y:-0.85, Z:-2.54 [[ 9.99998548e-01 3.29384405e-04 1.67182083e-03 1.41524384e+02] [-3.29122122e-04 9.99999933e-01 -1.57157161e-04 -8.49160624e-01] [-1.67187248e-03 1.56606700e-04 9.99998590e-01 -2.53933887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62800114499998 meters 0.08647184852528875 Centerline is valid? [True, True] Translation: X:141.56, Y:-0.85, Z:-2.54 [[ 9.99997585e-01 1.37501507e-03 1.71467312e-03 1.41555418e+02] [-1.37474200e-03 9.99999042e-01 -1.60426034e-04 -8.49270654e-01] [-1.71489206e-03 1.58068413e-04 9.99998517e-01 -2.53947922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.658001145 meters 0.0841064451750307 Centerline is valid? [True, True] Translation: X:141.59, Y:-0.85, Z:-2.54 [[ 9.99994618e-01 3.25884112e-03 3.80124242e-04 1.41586163e+02] [-3.25882780e-03 9.99994689e-01 -3.56494036e-05 -8.47489758e-01] [-3.80238399e-04 3.44104522e-05 9.99999927e-01 -2.54129102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.688001145 meters 0.08342167447895343 Centerline is valid? [True, True] Translation: X:141.62, Y:-0.85, Z:-2.54 [[ 9.99991502e-01 4.11074999e-03 3.12323643e-04 1.41615361e+02] [-4.11074069e-03 9.99991550e-01 -3.04294135e-05 -8.49535152e-01] [-3.12446092e-04 2.91452734e-05 9.99999951e-01 -2.54217120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.718001145 meters 0.08426732094734198 Centerline is valid? [True, True] Translation: X:141.64, Y:-0.85, Z:-2.54 [[ 9.99987824e-01 4.93202711e-03 -1.65908955e-04 1.41644981e+02] [-4.93202472e-03 9.99987837e-01 1.47861175e-05 -8.54100195e-01] [ 1.65979863e-04 -1.39676704e-05 9.99999986e-01 -2.54426697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.748001145 meters 0.08170330710212016 Centerline is valid? [True, True] Translation: X:141.67, Y:-0.85, Z:-2.54 [[ 9.99987204e-01 5.05166449e-03 2.70986590e-04 1.41674188e+02] [-5.05165737e-03 9.99987240e-01 -2.69504969e-05 -8.51920782e-01] [-2.71119277e-04 2.55812207e-05 9.99999963e-01 -2.54303231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.778001145 meters 0.08170330710212016 Centerline is valid? [True, True] Translation: X:141.70, Y:-0.85, Z:-2.54 [[ 9.99987532e-01 4.98623104e-03 2.70987557e-04 1.41702483e+02] [-4.98622392e-03 9.99987568e-01 -2.69407114e-05 -8.54497370e-01] [-2.71118521e-04 2.55891708e-05 9.99999963e-01 -2.54371809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.808001145 meters 0.08659160843066414 Centerline is valid? [True, True] Translation: X:141.73, Y:-0.86, Z:-2.55 [[ 9.99988536e-01 4.76072320e-03 5.12372597e-04 1.41730242e+02] [-4.76069866e-03 9.99988667e-01 -4.90981357e-05 -8.64950458e-01] [-5.12600533e-04 4.66583213e-05 9.99999868e-01 -2.54600143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83800114499996 meters 0.08327056193375512 Centerline is valid? [True, True] Translation: X:141.76, Y:-0.86, Z:-2.54 [[ 9.99991691e-01 4.07101433e-03 2.09485782e-04 1.41760033e+02] [-4.07101008e-03 9.99991713e-01 -2.07460840e-05 -8.61446050e-01] [-2.09568504e-04 1.98930929e-05 9.99999978e-01 -2.54431571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86800114499997 meters 0.08244228951916226 Centerline is valid? [True, True] Translation: X:141.79, Y:-0.86, Z:-2.54 [[ 9.99994109e-01 3.43171139e-03 -7.24612684e-05 1.41789775e+02] [-3.43171097e-03 9.99994112e-01 5.98492438e-06 -8.63012086e-01] [ 7.24813803e-05 -5.73622299e-06 9.99999997e-01 -2.54474493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89800114499997 meters 0.0864035595419554 Centerline is valid? [True, True] Translation: X:141.82, Y:-0.87, Z:-2.55 [[ 9.99994069e-01 3.44165289e-03 -1.33641084e-04 1.41816976e+02] [-3.44165141e-03 9.99994077e-01 1.13059719e-05 -8.74177620e-01] [ 1.33679204e-04 -1.08459588e-05 9.99999991e-01 -2.54843328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92800114499997 meters 0.08410582485476444 Centerline is valid? [True, True] Translation: X:141.85, Y:-0.87, Z:-2.55 [[ 9.99995239e-01 3.07200962e-03 -2.91044862e-04 1.41847226e+02] [-3.07200206e-03 9.99995281e-01 2.63982889e-05 -8.72763653e-01] [ 2.91124584e-04 -2.55040728e-05 9.99999957e-01 -2.54788623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95800114499997 meters 0.08521723885954219 Centerline is valid? [True, True] Translation: X:141.88, Y:-0.88, Z:-2.55 [[ 9.99995097e-01 2.95290134e-03 -1.04209456e-03 1.41877071e+02] [-2.95280238e-03 9.99995636e-01 9.64892783e-05 -8.76561060e-01] [ 1.04237494e-03 -9.34117059e-05 9.99999452e-01 -2.54845036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98800114499997 meters 0.0880810105769335 Centerline is valid? [True, True] Translation: X:141.90, Y:-0.88, Z:-2.55 [[ 9.99998108e-01 1.82756002e-03 -6.66628845e-04 1.41904536e+02] [-1.82751999e-03 9.99998328e-01 6.06446242e-05 -8.83574888e-01] [ 6.66738562e-04 -5.94262319e-05 9.99999776e-01 -2.54947547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01800114499997 meters 0.08994522360890499 Centerline is valid? [True, True] Translation: X:141.93, Y:-0.89, Z:-2.55 [[ 9.99998720e-01 1.59041085e-03 1.75987884e-04 1.41932689e+02] [-1.59040779e-03 9.99998735e-01 -1.75295963e-05 -8.89850591e-01] [-1.76015541e-04 1.72496813e-05 9.99999984e-01 -2.54970731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04800114499997 meters 0.09121143295797353 Centerline is valid? [True, True] Translation: X:141.96, Y:-0.90, Z:-2.55 [[ 9.99999289e-01 1.08300242e-03 4.99673297e-04 1.41961660e+02] [-1.08297909e-03 9.99999412e-01 -4.69456732e-05 -8.95190253e-01] [-4.99723845e-04 4.64045041e-05 9.99999874e-01 -2.55070413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07800114499997 meters 0.09004680996352574 Centerline is valid? [True, True] Translation: X:141.99, Y:-0.90, Z:-2.55 [[ 9.99999759e-01 6.91451727e-04 -6.67400637e-05 1.41991668e+02] [-6.91451338e-04 9.99999761e-01 5.84233850e-06 -8.97472732e-01] [ 6.67440874e-05 -5.79618958e-06 9.99999998e-01 -2.55108793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10800114499997 meters 0.08456404264584234 Centerline is valid? [True, True] Translation: X:142.02, Y:-0.89, Z:-2.55 [[ 9.99999344e-01 -1.14556264e-03 2.50853290e-05 1.42021885e+02] [ 1.14556271e-03 9.99999344e-01 -2.73331220e-06 -8.94156802e-01] [-2.50821814e-05 2.76204722e-06 1.00000000e+00 -2.55019933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13800114499998 meters 0.09336664332865488 Centerline is valid? [True, True] Translation: X:142.05, Y:-0.91, Z:-2.55 [[ 9.99998511e-01 -1.71876451e-03 1.52239690e-04 1.42050899e+02] [ 1.71876663e-03 9.99998523e-01 -1.37930883e-05 -9.12363248e-01] [-1.52215758e-04 1.40547323e-05 9.99999988e-01 -2.55407189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16800114499998 meters 0.08023516179244558 Centerline is valid? [True, True] Translation: X:142.08, Y:-0.89, Z:-2.55 [[ 9.99998070e-01 -1.96142163e-03 1.11266006e-04 1.42084202e+02] [ 1.96142270e-03 9.99998076e-01 -9.54528195e-06 -8.92945903e-01] [-1.11247070e-04 9.76350320e-06 9.99999994e-01 -2.54942866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19800114499998 meters 0.08099787731516797 Centerline is valid? [True, True] Translation: X:142.11, Y:-0.90, Z:-2.55 [[ 9.99998508e-01 -1.58504797e-03 -6.87144336e-04 1.42113954e+02] [ 1.58509265e-03 9.99998742e-01 6.44772919e-05 -8.96978028e-01] [ 6.87041271e-04 -6.55663831e-05 9.99999762e-01 -2.55060458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22800114499998 meters 0.08278652993125282 Centerline is valid? [True, True] Translation: X:142.14, Y:-0.90, Z:-2.55 [[ 9.99996456e-01 -1.25392228e-03 -2.34847878e-03 1.42143603e+02] [ 1.25444325e-03 9.99999189e-01 2.20374836e-04 -9.04800477e-01] [ 2.34820055e-03 -2.23320088e-04 9.99997218e-01 -2.55310706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25800114499998 meters 0.08425016090896992 Centerline is valid? [True, True] Translation: X:142.17, Y:-0.91, Z:-2.56 [[ 9.99996881e-01 -9.59332318e-04 -2.30583466e-03 1.42172886e+02] [ 9.59829858e-04 9.99999516e-01 2.14677503e-04 -9.11328236e-01] [ 2.30562760e-03 -2.16890043e-04 9.99997319e-01 -2.55510898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28800114499998 meters 0.08390395974320991 Centerline is valid? [True, True] Translation: X:142.20, Y:-0.91, Z:-2.56 [[ 9.99998832e-01 -4.13955993e-04 -1.47100308e-03 1.42202150e+02] [ 4.14157031e-04 9.99999905e-01 1.36364777e-04 -9.14912074e-01] [ 1.47094649e-03 -1.36973844e-04 9.99998909e-01 -2.55523180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31800114499998 meters 0.08595976447780998 Centerline is valid? [True, True] Translation: X:142.23, Y:-0.92, Z:-2.56 [[ 9.99999179e-01 -8.69612119e-05 -1.27864806e-03 1.42230560e+02] [ 8.71131977e-05 9.99999989e-01 1.18809211e-04 -9.22944204e-01] [ 1.27863772e-03 -1.18920501e-04 9.99999175e-01 -2.55715595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34800114499998 meters 0.08196003674770568 Centerline is valid? [True, True] Translation: X:142.26, Y:-0.92, Z:-2.56 [[ 9.99997113e-01 2.08188316e-03 -1.19982102e-03 1.42261249e+02] [-2.08175093e-03 9.99997827e-01 1.11452318e-04 -9.21661516e-01] [ 1.20005045e-03 -1.08954268e-04 9.99999274e-01 -2.55644811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37800114499998 meters 0.08082754664734974 Centerline is valid? [True, True] Translation: X:142.29, Y:-0.92, Z:-2.56 [[ 9.99992041e-01 3.95168140e-03 -5.50398128e-04 1.42291121e+02] [-3.95165398e-03 9.99992191e-01 5.09048477e-05 -9.22285703e-01] [ 5.50594990e-04 -4.87294596e-05 9.99999847e-01 -2.55589249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.408001145 meters 0.08130338621273182 Centerline is valid? [True, True] Translation: X:142.32, Y:-0.92, Z:-2.56 [[ 9.99986030e-01 5.24532205e-03 -6.52748456e-04 1.42319415e+02] [-5.24528423e-03 9.99986242e-01 5.96476223e-05 -9.24534107e-01] [ 6.53052346e-04 -5.62229379e-05 9.99999785e-01 -2.55633567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.438001145 meters 0.08076337700540132 Centerline is valid? [True, True] Translation: X:142.35, Y:-0.93, Z:-2.56 [[ 9.99978490e-01 6.40203188e-03 -1.42616222e-03 1.42348743e+02] [-6.40185187e-03 9.99979499e-01 1.30746566e-04 -9.26020823e-01] [ 1.42697003e-03 -1.21613674e-04 9.99998974e-01 -2.55738886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.468001145 meters 0.08114665321008119 Centerline is valid? [True, True] Translation: X:142.38, Y:-0.93, Z:-2.56 [[ 9.99958888e-01 8.44293128e-03 -3.30751952e-03 1.42377331e+02] [-8.44196187e-03 9.99964319e-01 3.06943591e-04 -9.32455099e-01] [ 3.30999300e-03 -2.79009018e-04 9.99994483e-01 -2.56221866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.498001145 meters 0.08092936930178754 Centerline is valid? [True, True] Translation: X:142.41, Y:-0.94, Z:-2.56 [[ 9.99952172e-01 9.05850190e-03 -3.68742411e-03 1.42406256e+02] [-9.05730287e-03 9.99958923e-01 3.41735852e-04 -9.36750673e-01] [ 3.69036826e-03 -3.08321390e-04 9.99993143e-01 -2.56395154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.528001145 meters 0.08079926534925734 Centerline is valid? [True, True] Translation: X:142.43, Y:-0.94, Z:-2.57 [[ 9.99955035e-01 8.73204885e-03 -3.69864185e-03 1.42434470e+02] [-8.73084255e-03 9.99961827e-01 3.42169310e-04 -9.40192637e-01] [ 3.70148850e-03 -3.09861665e-04 9.99993101e-01 -2.56550656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.558001145 meters 0.08244966792341124 Centerline is valid? [True, True] Translation: X:142.46, Y:-0.95, Z:-2.57 [[ 9.99953332e-01 8.61487377e-03 -4.37248199e-03 1.42461333e+02] [-8.61318601e-03 9.99962824e-01 4.04679824e-04 -9.46197574e-01] [ 4.37580570e-03 -3.66999937e-04 9.99990359e-01 -2.56698065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58800114499996 meters 0.08426301343655145 Centerline is valid? [True, True] Translation: X:142.49, Y:-0.95, Z:-2.57 [[ 9.99959536e-01 8.31359317e-03 -3.43652281e-03 1.42488746e+02] [-8.31255241e-03 9.99965400e-01 3.17027087e-04 -9.51670844e-01] [ 3.43903954e-03 -2.88447983e-04 9.99994045e-01 -2.56652432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61800114499997 meters 0.08343869118566061 Centerline is valid? [True, True] Translation: X:142.52, Y:-0.95, Z:-2.57 [[ 9.99968070e-01 7.67856313e-03 -2.21324878e-03 1.42517674e+02] [-7.67813083e-03 9.99970502e-01 2.03754901e-04 -9.52596249e-01] [ 2.21474804e-03 -1.86754782e-04 9.99997530e-01 -2.56508480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64800114499997 meters 0.08413056121431904 Centerline is valid? [True, True] Translation: X:142.55, Y:-0.96, Z:-2.56 [[ 9.99974442e-01 6.91212647e-03 -1.82712644e-03 1.42546164e+02] [-6.91183124e-03 9.99976099e-01 1.67842420e-04 -9.56527883e-01] [ 1.82824292e-03 -1.55209340e-04 9.99998317e-01 -2.56436183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67800114499997 meters 0.07648261374911298 Centerline is valid? [True, True] Translation: X:142.58, Y:-0.95, Z:-2.56 [[ 9.99973545e-01 7.25680988e-03 -4.98389305e-04 1.42576556e+02] [-7.25678836e-03 9.99973668e-01 4.49663275e-05 -9.46044454e-01] [ 4.98702494e-04 -4.13484322e-05 9.99999875e-01 -2.56067629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70800114499997 meters 0.07797688296607976 Centerline is valid? [True, True] Translation: X:142.60, Y:-0.95, Z:-2.56 [[ 9.99979500e-01 6.37066293e-03 -6.44051753e-04 1.42603939e+02] [-6.37062687e-03 9.99979706e-01 5.80335364e-05 -9.54453156e-01] [ 6.44408395e-04 -5.39293333e-05 9.99999791e-01 -2.56230939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73800114499997 meters 0.0879981453483085 Centerline is valid? [True, True] Translation: X:142.63, Y:-0.98, Z:-2.57 [[ 9.99978385e-01 6.56385955e-03 -3.80945790e-04 1.42629781e+02] [-6.56384735e-03 9.99978457e-01 3.32710082e-05 -9.76327903e-01] [ 3.81155970e-04 -3.07698191e-05 9.99999927e-01 -2.56825518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76800114499997 meters 0.07901020961767348 Centerline is valid? [True, True] Translation: X:142.66, Y:-0.96, Z:-2.56 [[ 9.99979389e-01 6.35739937e-03 -8.96894982e-04 1.42659588e+02] [-6.35732897e-03 9.99979789e-01 8.13237544e-05 -9.63919956e-01] [ 8.97393862e-04 -7.56202218e-05 9.99999594e-01 -2.56456080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79800114499997 meters 0.08873157081380678 Centerline is valid? [True, True] Translation: X:142.69, Y:-0.98, Z:-2.57 [[ 9.99977839e-01 6.45709339e-03 -1.62087370e-03 1.42685510e+02] [-6.45686238e-03 9.99979143e-01 1.47714262e-04 -9.83807377e-01] [ 1.62179370e-03 -1.37245230e-04 9.99998675e-01 -2.57134004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82800114499997 meters 0.07855832610280454 Centerline is valid? [True, True] Translation: X:142.72, Y:-0.97, Z:-2.57 [[ 9.99969369e-01 7.32826421e-03 -2.74909416e-03 1.42715559e+02] [-7.32759869e-03 9.99973121e-01 2.52080862e-04 -9.68804321e-01] [ 2.75086758e-03 -2.31928882e-04 9.99996189e-01 -2.56629370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85800114499997 meters 0.08091951881538215 Centerline is valid? [True, True] Translation: X:142.74, Y:-0.98, Z:-2.57 [[ 9.99965998e-01 7.57779180e-03 -3.25263251e-03 1.42742687e+02] [-7.57686262e-03 9.99971251e-01 2.97897606e-04 -9.75759067e-01] [ 3.25479640e-03 -2.73242727e-04 9.99994666e-01 -2.56885779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88800114499998 meters 0.07946856326573752 Centerline is valid? [True, True] Translation: X:142.77, Y:-0.98, Z:-2.57 [[ 9.99955689e-01 8.56587600e-03 -3.90460684e-03 1.42771654e+02] [-8.56454237e-03 9.99963259e-01 3.58145684e-04 -9.76651447e-01] [ 3.90753121e-03 -3.24688644e-04 9.99992313e-01 -2.56933431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91800114499998 meters 0.07602232806034083 Centerline is valid? [True, True] Translation: X:142.80, Y:-0.97, Z:-2.57 [[ 9.99935402e-01 1.06842137e-02 -3.87810073e-03 1.42801604e+02] [-1.06829116e-02 9.99942873e-01 3.56323228e-04 -9.74619098e-01] [ 3.88168622e-03 -3.14870803e-04 9.99992417e-01 -2.56770235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94800114499998 meters 0.078965042914864 Centerline is valid? [True, True] Translation: X:142.83, Y:-0.98, Z:-2.57 [[ 9.99930006e-01 1.14055392e-02 -3.14584435e-03 1.42828525e+02] [-1.14046909e-02 9.99934923e-01 2.87484944e-04 -9.82744097e-01] [ 3.14891855e-03 -2.51587439e-04 9.99995010e-01 -2.56988140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97800114499998 meters 0.07341116191806951 Centerline is valid? [True, True] Translation: X:142.86, Y:-0.97, Z:-2.57 [[ 9.99914608e-01 1.27396554e-02 -2.91164403e-03 1.42859045e+02] [-1.27389316e-02 9.99918821e-01 2.66977428e-04 -9.74950951e-01] [ 2.91480886e-03 -2.29863396e-04 9.99995726e-01 -2.56644910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00800114499998 meters 0.07354926899058477 Centerline is valid? [True, True] Translation: X:142.89, Y:-0.98, Z:-2.57 [[ 9.99909934e-01 1.31492217e-02 -2.68740253e-03 1.42888001e+02] [-1.31486094e-02 9.99913523e-01 2.45382746e-04 -9.78360605e-01] [ 2.69039673e-03 -2.10025039e-04 9.99996359e-01 -2.56659923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03800114499998 meters 0.07461489208073574 Centerline is valid? [True, True] Translation: X:142.92, Y:-0.98, Z:-2.57 [[ 9.99903975e-01 1.36475763e-02 -2.40522071e-03 1.42915629e+02] [-1.36470895e-02 9.99906850e-01 2.18695506e-04 -9.82597729e-01] [ 2.40798133e-03 -1.85850244e-04 9.99997084e-01 -2.56652150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06800114499998 meters 0.07548530293259849 Centerline is valid? [True, True] Translation: X:142.94, Y:-0.99, Z:-2.57 [[ 9.99905719e-01 1.35014597e-02 -2.50289232e-03 1.42942657e+02] [-1.35009330e-02 9.99908832e-01 2.27217308e-04 -9.86282886e-01] [ 2.50573190e-03 -1.93404504e-04 9.99996842e-01 -2.56769443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09800114499998 meters 0.07440189792307146 Centerline is valid? [True, True] Translation: X:142.97, Y:-0.99, Z:-2.57 [[ 9.99909508e-01 1.30926858e-02 -3.09149716e-03 1.42971678e+02] [-1.30918768e-02 9.99914258e-01 2.81760807e-04 -9.87166635e-01] [ 3.09492109e-03 -2.41261810e-04 9.99995182e-01 -2.56783695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12800114499998 meters 0.07655555033735069 Centerline is valid? [True, True] Translation: X:143.00, Y:-1.00, Z:-2.57 [[ 9.99910493e-01 1.30143560e-02 -3.10355243e-03 1.42999038e+02] [-1.30135435e-02 9.99915281e-01 2.81822001e-04 -9.95378049e-01] [ 3.10695723e-03 -2.41408561e-04 9.99995144e-01 -2.57113050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.158001145 meters 0.07762517146760722 Centerline is valid? [True, True] Translation: X:143.03, Y:-1.00, Z:-2.57 [[ 9.99899887e-01 1.38157422e-02 -3.05635500e-03 1.43026211e+02] [-1.38149576e-02 9.99904530e-01 2.77674288e-04 -9.99548938e-01] [ 3.05989949e-03 -2.35423074e-04 9.99995291e-01 -2.57247856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.188001145 meters 0.07768888542667234 Centerline is valid? [True, True] Translation: X:143.06, Y:-1.00, Z:-2.57 [[ 9.99895737e-01 1.42424477e-02 -2.38075471e-03 1.43055165e+02] [-1.42419732e-02 9.99898555e-01 2.16124685e-04 -1.00136033e+00] [ 2.38359133e-03 -1.82195507e-04 9.99997143e-01 -2.57246415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.218001145 meters 0.07650666884211552 Centerline is valid? [True, True] Translation: X:143.08, Y:-1.00, Z:-2.57 [[ 9.99893528e-01 1.44655525e-02 -1.91819295e-03 1.43084183e+02] [-1.44652457e-02 9.99895358e-01 1.73703519e-04 -1.00087857e+00] [ 1.92050495e-03 -1.45937893e-04 9.99998145e-01 -2.57087861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.248001145 meters 0.07467153943697334 Centerline is valid? [True, True] Translation: X:143.11, Y:-1.00, Z:-2.57 [[ 9.99892861e-01 1.45813452e-02 -1.28500516e-03 1.43113315e+02] [-1.45812084e-02 9.99893682e-01 1.15741017e-04 -1.00028625e+00] [ 1.28655620e-03 -9.69916886e-05 9.99999168e-01 -2.57026684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.278001145 meters 0.07753945801513555 Centerline is valid? [True, True] Translation: X:143.14, Y:-1.01, Z:-2.57 [[ 9.99897768e-01 1.42516771e-02 -1.15864651e-03 1.43140269e+02] [-1.42515664e-02 9.99898436e-01 1.03737110e-04 -1.00915756e+00] [ 1.16000726e-03 -8.72139773e-05 9.99999323e-01 -2.57337434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30800114499996 meters 0.07737795169733287 Centerline is valid? [True, True] Translation: X:143.17, Y:-1.01, Z:-2.57 [[ 9.99902341e-01 1.38221992e-02 -2.06284139e-03 1.43168854e+02] [-1.38218437e-02 9.99904456e-01 1.86497880e-04 -1.01209990e+00] [ 2.06522211e-03 -1.57967395e-04 9.99997855e-01 -2.57490444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33800114499996 meters 0.07925363149554861 Centerline is valid? [True, True] Translation: X:143.20, Y:-1.02, Z:-2.58 [[ 9.99908224e-01 1.29207667e-02 -4.07402759e-03 1.43196703e+02] [-1.29193674e-02 9.99916473e-01 3.69602017e-04 -1.01883666e+00] [ 4.07846284e-03 -3.16934237e-04 9.99991633e-01 -2.57788892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36800114499997 meters 0.07800501861624841 Centerline is valid? [True, True] Translation: X:143.23, Y:-1.02, Z:-2.58 [[ 9.99905006e-01 1.33534355e-02 -3.41547992e-03 1.43225580e+02] [-1.33524563e-02 9.99910804e-01 3.09362461e-04 -1.01930862e+00] [ 3.41930632e-03 -2.63728027e-04 9.99994119e-01 -2.57796818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39800114499997 meters 0.07760756984459745 Centerline is valid? [True, True] Translation: X:143.25, Y:-1.02, Z:-2.58 [[ 9.99912297e-01 1.25771084e-02 -4.14916023e-03 1.43254960e+02] [-1.25756527e-02 9.99920852e-01 3.76751739e-04 -1.02096582e+00] [ 4.15357028e-03 -3.24540299e-04 9.99991321e-01 -2.57811624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42800114499997 meters 0.07879021966773422 Centerline is valid? [True, True] Translation: X:143.28, Y:-1.03, Z:-2.58 [[ 9.99920271e-01 1.19127602e-02 -4.18792532e-03 1.43282519e+02] [-1.19112774e-02 9.99928986e-01 3.78826008e-04 -1.02559463e+00] [ 4.19214079e-03 -3.28912264e-04 9.99991159e-01 -2.57923495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45800114499997 meters 0.07928357694578723 Centerline is valid? [True, True] Translation: X:143.31, Y:-1.03, Z:-2.58 [[ 9.99930451e-01 1.11780458e-02 -3.76083979e-03 1.43311240e+02] [-1.11768450e-02 9.99937479e-01 3.40153415e-04 -1.02986969e+00] [ 3.76440691e-03 -2.98095435e-04 9.99992870e-01 -2.58016622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48800114499997 meters 0.08180019243101179 Centerline is valid? [True, True] Translation: X:143.34, Y:-1.04, Z:-2.58 [[ 9.99937716e-01 1.08143970e-02 -2.75907230e-03 1.43338194e+02] [-1.08137521e-02 9.99941499e-01 2.48572182e-04 -1.03783477e+00] [ 2.76159905e-03 -2.18720776e-04 9.99996163e-01 -2.58183737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51800114499997 meters 0.0818130473081034 Centerline is valid? [True, True] Translation: X:143.37, Y:-1.04, Z:-2.58 [[ 9.99943411e-01 1.05580675e-02 -1.30498809e-03 1.43366536e+02] [-1.05579239e-02 9.99944257e-01 1.16904668e-04 -1.04110434e+00] [ 1.30614963e-03 -1.03120088e-04 9.99999142e-01 -2.58173527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54800114499997 meters 0.08316295423745368 Centerline is valid? [True, True] Translation: X:143.39, Y:-1.05, Z:-2.58 [[ 9.99945454e-01 1.04173516e-02 -7.53517002e-04 1.43393917e+02] [-1.04173045e-02 9.99945736e-01 6.64722736e-05 -1.04511570e+00] [ 7.54168578e-04 -5.86190317e-05 9.99999714e-01 -2.58048897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57800114499997 meters 0.07616470604471699 Centerline is valid? [True, True] Translation: X:143.42, Y:-1.03, Z:-2.58 [[ 9.99946567e-01 1.03262254e-02 -4.82471913e-04 1.43424391e+02] [-1.03262063e-02 9.99946682e-01 4.21370182e-05 -1.03356954e+00] [ 4.82881305e-04 -3.71526622e-05 9.99999883e-01 -2.57619248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60800114499997 meters 0.07649590457241447 Centerline is valid? [True, True] Translation: X:143.45, Y:-1.04, Z:-2.58 [[ 9.99942170e-01 1.07183828e-02 -8.79366124e-04 1.43452820e+02] [-1.07183182e-02 9.99942554e-01 7.80364046e-05 -1.03642835e+00] [ 8.80152032e-04 -6.86065658e-05 9.99999610e-01 -2.57789087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63800114499998 meters 0.07732432580664925 Centerline is valid? [True, True] Translation: X:143.48, Y:-1.04, Z:-2.58 [[ 9.99941079e-01 1.06076854e-02 -2.30569261e-03 1.43480651e+02] [-1.06072371e-02 9.99943720e-01 2.06562385e-04 -1.04053640e+00] [ 2.30775400e-03 -1.82093186e-04 9.99997321e-01 -2.57989081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66800114499998 meters 0.07645661789652076 Centerline is valid? [True, True] Translation: X:143.51, Y:-1.04, Z:-2.58 [[ 9.99940547e-01 1.01884855e-02 -3.88540718e-03 1.43509456e+02] [-1.01872038e-02 9.99948048e-01 3.49516345e-04 -1.04195555e+00] [ 3.88876637e-03 -3.09914131e-04 9.99992391e-01 -2.58222288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69800114499998 meters 0.07645661789652076 Centerline is valid? [True, True] Translation: X:143.54, Y:-1.04, Z:-2.58 [[ 9.99941523e-01 1.00922861e-02 -3.88551037e-03 1.43536901e+02] [-1.00910081e-02 9.99949024e-01 3.48372803e-04 -1.04433189e+00] [ 3.88882818e-03 -3.09143714e-04 9.99992391e-01 -2.58288775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72800114499998 meters 0.07669926288410983 Centerline is valid? [True, True] Translation: X:143.57, Y:-1.05, Z:-2.58 [[ 9.99940663e-01 9.81947346e-03 -4.71679967e-03 1.43565668e+02] [-9.81758255e-03 9.99951717e-01 4.23876368e-04 -1.04740258e+00] [ 4.72073417e-03 -3.77543646e-04 9.99988786e-01 -2.58457852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75800114499998 meters 0.07844823342638084 Centerline is valid? [True, True] Translation: X:143.59, Y:-1.05, Z:-2.59 [[ 9.99945909e-01 9.01947642e-03 -5.17954078e-03 1.43592416e+02] [-9.01718974e-03 9.99959236e-01 4.64666577e-04 -1.05323988e+00] [ 5.18352069e-03 -4.17936540e-04 9.99986478e-01 -2.58624052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78800114499998 meters 0.07491020600759433 Centerline is valid? [True, True] Translation: X:143.62, Y:-1.05, Z:-2.58 [[ 9.99957387e-01 7.93767319e-03 -4.71354732e-03 1.43621923e+02] [-7.93576771e-03 9.99968422e-01 4.22820598e-04 -1.04866700e+00] [ 4.71675468e-03 -3.85396964e-04 9.99988802e-01 -2.58416970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81800114499998 meters 0.07787518666467935 Centerline is valid? [True, True] Translation: X:143.65, Y:-1.06, Z:-2.59 [[ 9.99970822e-01 6.32000820e-03 -4.29106650e-03 1.43649669e+02] [-6.31841530e-03 9.99979965e-01 3.84669107e-04 -1.05628333e+00] [ 4.29341163e-03 -3.57545142e-04 9.99990719e-01 -2.58544920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84800114499998 meters 0.07687940815924531 Centerline is valid? [True, True] Translation: X:143.68, Y:-1.06, Z:-2.58 [[ 9.99979199e-01 5.35116921e-03 -3.60081748e-03 1.43678787e+02] [-5.35004348e-03 9.99985637e-01 3.22191191e-04 -1.05712126e+00] [ 3.60248986e-03 -3.02919960e-04 9.99993465e-01 -2.58468363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87800114499998 meters 0.0759682694093293 Centerline is valid? [True, True] Translation: X:143.71, Y:-1.06, Z:-2.58 [[ 9.99985757e-01 4.69962254e-03 -2.52954567e-03 1.43707571e+02] [-4.69906660e-03 9.99988934e-01 2.25678418e-04 -1.05865571e+00] [ 2.53057828e-03 -2.13788701e-04 9.99996775e-01 -2.58442022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.908001145 meters 0.08328987181016341 Centerline is valid? [True, True] Translation: X:143.73, Y:-1.08, Z:-2.59 [[ 9.99991732e-01 3.73359006e-03 -1.61159088e-03 1.43734361e+02] [-3.73336206e-03 9.99993021e-01 1.44460542e-04 -1.07511151e+00] [ 1.61211899e-03 -1.38442695e-04 9.99998691e-01 -2.58759610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.938001145 meters 0.08614698141677718 Centerline is valid? [True, True] Translation: X:143.76, Y:-1.08, Z:-2.59 [[ 9.99994281e-01 2.07342587e-03 -2.67204655e-03 1.43762848e+02] [-2.07279400e-03 9.99997823e-01 2.39222940e-04 -1.08239709e+00] [ 2.67253674e-03 -2.33682970e-04 9.99996401e-01 -2.58955787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.968001145 meters 0.08342982626839321 Centerline is valid? [True, True] Translation: X:143.79, Y:-1.08, Z:-2.59 [[ 9.99996430e-01 1.28549331e-03 -2.34250811e-03 1.43791426e+02] [-1.28500884e-03 9.99999153e-01 2.08309467e-04 -1.08034683e+00] [ 2.34277391e-03 -2.05298579e-04 9.99997235e-01 -2.58903449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.998001145 meters 0.08484257656094678 Centerline is valid? [True, True] Translation: X:143.82, Y:-1.09, Z:-2.59 [[ 9.99995442e-01 2.03412847e-04 -3.01257070e-03 1.43820407e+02] [-2.02603225e-04 9.99999943e-01 2.69050837e-04 -1.08566920e+00] [ 3.01262525e-03 -2.68439254e-04 9.99995426e-01 -2.59087329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.028001145 meters 0.08496810270770054 Centerline is valid? [True, True] Translation: X:143.85, Y:-1.09, Z:-2.59 [[ 9.99993894e-01 -2.71809027e-04 -3.48393163e-03 1.43849191e+02] [ 2.72893213e-04 9.99999914e-01 3.10724492e-04 -1.08828730e+00] [ 3.48384687e-03 -3.11673336e-04 9.99993883e-01 -2.59177786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05800114499996 meters 0.08177164449564867 Centerline is valid? [True, True] Translation: X:143.88, Y:-1.08, Z:-2.59 [[ 9.99988230e-01 -5.71555601e-04 -4.81795026e-03 1.43878643e+02] [ 5.73633550e-04 9.99999743e-01 4.29922375e-04 -1.08292681e+00] [ 4.81770329e-03 -4.32681053e-04 9.99988301e-01 -2.58977971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08800114499996 meters 0.08142742064430483 Centerline is valid? [True, True] Translation: X:143.91, Y:-1.08, Z:-2.59 [[ 9.99990322e-01 -3.56110638e-04 -4.38504999e-03 1.43907208e+02] [ 3.57808065e-04 9.99999861e-01 3.86315720e-04 -1.08361994e+00] [ 4.38491181e-03 -3.87880988e-04 9.99990311e-01 -2.59030213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11800114499997 meters 0.08291265219617433 Centerline is valid? [True, True] Translation: X:143.94, Y:-1.09, Z:-2.59 [[ 9.99992880e-01 4.67517705e-04 -3.74459492e-03 1.43935245e+02] [-4.66274991e-04 9.99999836e-01 3.32735020e-04 -1.08865289e+00] [ 3.74474987e-03 -3.30986640e-04 9.99992934e-01 -2.59167216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14800114499997 meters 0.08121674632853963 Centerline is valid? [True, True] Translation: X:143.96, Y:-1.09, Z:-2.59 [[ 9.99995036e-01 8.38778486e-04 -3.03730330e-03 1.43964605e+02] [-8.37975918e-04 9.99999614e-01 2.65500143e-04 -1.08807099e+00] [ 3.03752482e-03 -2.62953638e-04 9.99995352e-01 -2.59179746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17800114499997 meters 0.08116259547767794 Centerline is valid? [True, True] Translation: X:143.99, Y:-1.09, Z:-2.59 [[ 9.99990500e-01 3.44021076e-03 -2.67684338e-03 1.43994230e+02] [-3.43958623e-03 9.99994056e-01 2.37877292e-04 -1.08964478e+00] [ 2.67764582e-03 -2.28667798e-04 9.99996389e-01 -2.59274121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20800114499997 meters 0.08267603541204542 Centerline is valid? [True, True] Translation: X:144.02, Y:-1.09, Z:-2.59 [[ 9.99988889e-01 3.80698498e-03 -2.78021793e-03 1.44022339e+02] [-3.80631600e-03 9.99992726e-01 2.45874252e-04 -1.09275028e+00] [ 2.78113374e-03 -2.35289132e-04 9.99996105e-01 -2.59429211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23800114499997 meters 0.08135785154248494 Centerline is valid? [True, True] Translation: X:144.05, Y:-1.09, Z:-2.59 [[ 9.99983679e-01 4.34660157e-03 -3.70799273e-03 1.44051030e+02] [-4.34541430e-03 9.99990505e-01 3.28186900e-04 -1.09136437e+00] [ 3.70938401e-03 -3.12068779e-04 9.99993072e-01 -2.59498911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26800114499997 meters 0.08329215969983979 Centerline is valid? [True, True] Translation: X:144.08, Y:-1.10, Z:-2.60 [[ 9.99982327e-01 4.38489334e-03 -4.01470912e-03 1.44078428e+02] [-4.38350469e-03 9.99990330e-01 3.54624593e-04 -1.09641398e+00] [ 4.01622528e-03 -3.37019830e-04 9.99991878e-01 -2.59746505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29800114499997 meters 0.08438047412832171 Centerline is valid? [True, True] Translation: X:144.11, Y:-1.10, Z:-2.60 [[ 9.99975453e-01 4.31942682e-03 -5.51684515e-03 1.44105745e+02] [-4.31680086e-03 9.99990564e-01 4.87809313e-04 -1.10032289e+00] [ 5.51890015e-03 -4.63982217e-04 9.99984663e-01 -2.60030109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32800114499997 meters 0.07847020486029328 Centerline is valid? [True, True] Translation: X:144.14, Y:-1.09, Z:-2.60 [[ 9.99978039e-01 4.18356691e-03 -5.13989980e-03 1.44135765e+02] [-4.18128665e-03 9.99991155e-01 4.54305431e-04 -1.09233524e+00] [ 5.14175496e-03 -4.32804060e-04 9.99986687e-01 -2.59724235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35800114499997 meters 0.07736756293576724 Centerline is valid? [True, True] Translation: X:144.16, Y:-1.09, Z:-2.60 [[ 9.99979341e-01 3.97244185e-03 -5.05350300e-03 1.44164540e+02] [-3.97023680e-03 9.99992019e-01 4.46297247e-04 -1.09264601e+00] [ 5.05523556e-03 -4.26224423e-04 9.99987131e-01 -2.59764639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38800114499998 meters 0.07877368488526065 Centerline is valid? [True, True] Translation: X:144.19, Y:-1.10, Z:-2.60 [[ 9.99987450e-01 3.90142749e-03 -3.14288798e-03 1.44192093e+02] [-3.90057811e-03 9.99992355e-01 2.76339934e-04 -1.09625329e+00] [ 3.14394207e-03 -2.64077386e-04 9.99995023e-01 -2.59702762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41800114499998 meters 0.07920725698630557 Centerline is valid? [True, True] Translation: X:144.22, Y:-1.10, Z:-2.60 [[ 9.99988827e-01 4.12745873e-03 -2.30454057e-03 1.44219654e+02] [-4.12700419e-03 9.99991463e-01 2.01954474e-04 -1.09812351e+00] [ 2.30535445e-03 -1.92441369e-04 9.99997324e-01 -2.59679909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44800114499998 meters 0.07633001411829687 Centerline is valid? [True, True] Translation: X:144.25, Y:-1.09, Z:-2.60 [[ 9.99990513e-01 3.92085305e-03 -1.89739561e-03 1.44249413e+02] [-3.92054482e-03 9.99992301e-01 1.66141676e-04 -1.09402057e+00] [ 1.89803242e-03 -1.58701276e-04 9.99998186e-01 -2.59544299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47800114499998 meters 0.08003171854312623 Centerline is valid? [True, True] Translation: X:144.28, Y:-1.10, Z:-2.60 [[ 9.99992110e-01 3.22755401e-03 -2.31556903e-03 1.44277588e+02] [-3.22709163e-03 9.99994772e-01 2.03392760e-04 -1.10302866e+00] [ 2.31621338e-03 -1.95918602e-04 9.99997298e-01 -2.59859266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50800114499998 meters 0.07748193488237039 Centerline is valid? [True, True] Translation: X:144.31, Y:-1.10, Z:-2.60 [[ 9.99991888e-01 1.23637206e-03 -3.83356031e-03 1.44308099e+02] [-1.23508514e-03 9.99999180e-01 3.38046270e-04 -1.10017676e+00] [ 3.83397512e-03 -3.33308754e-04 9.99992595e-01 -2.59926985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53800114499998 meters 0.08265388658118794 Centerline is valid? [True, True] Translation: X:144.34, Y:-1.11, Z:-2.60 [[ 9.99990933e-01 -5.20930022e-04 -4.22641209e-03 1.44336010e+02] [ 5.22508453e-04 9.99999794e-01 3.72372844e-04 -1.11179027e+00] [ 4.22621724e-03 -3.74577804e-04 9.99990999e-01 -2.60334432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56800114499998 meters 0.08139628721185542 Centerline is valid? [True, True] Translation: X:144.37, Y:-1.11, Z:-2.60 [[ 9.99984630e-01 -2.56516726e-03 -4.91524672e-03 1.44366711e+02] [ 2.56733113e-03 9.99996610e-01 4.33978078e-04 -1.11195256e+00] [ 4.91411683e-03 -4.46590473e-04 9.99987826e-01 -2.60360708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59800114499998 meters 0.08239102467471307 Centerline is valid? [True, True] Translation: X:144.40, Y:-1.12, Z:-2.60 [[ 9.99977066e-01 -4.48424635e-03 -5.07529500e-03 1.44396914e+02] [ 4.48657557e-03 9.99989835e-01 4.47640456e-04 -1.11569097e+00] [ 5.07323608e-03 -4.70400884e-04 9.99987020e-01 -2.60427156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62800114499998 meters 0.08568598001063829 Centerline is valid? [True, True] Translation: X:144.43, Y:-1.12, Z:-2.60 [[ 9.99967833e-01 -7.27880225e-03 -3.36925899e-03 1.44425459e+02] [ 7.27984389e-03 9.99973457e-01 2.96998702e-04 -1.12151445e+00] [ 3.36700776e-03 -3.21516828e-04 9.99994280e-01 -2.60389391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.658001145 meters 0.09065924921113758 Centerline is valid? [True, True] Translation: X:144.45, Y:-1.13, Z:-2.61 [[ 9.99959813e-01 -8.70476454e-03 -2.14462521e-03 1.44454353e+02] [ 8.70519033e-03 9.99962091e-01 1.89285766e-04 -1.13129108e+00] [ 2.14289622e-03 -2.07947530e-04 9.99997682e-01 -2.60547285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.688001145 meters 0.08911754986478765 Centerline is valid? [True, True] Translation: X:144.49, Y:-1.13, Z:-2.61 [[ 9.99951886e-01 -9.69923465e-03 -1.46629043e-03 1.44485716e+02] [ 9.69943594e-03 9.99952951e-01 1.30229701e-04 -1.13137045e+00] [ 1.46495832e-03 -1.44445625e-04 9.99998917e-01 -2.60522236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.718001145 meters 0.09079870596400064 Centerline is valid? [True, True] Translation: X:144.52, Y:-1.14, Z:-2.61 [[ 9.99929064e-01 -1.18989716e-02 -5.31052632e-04 1.44516482e+02] [ 1.18989985e-02 9.99929203e-01 4.76738445e-05 -1.13540873e+00] [ 5.30447766e-04 -5.39894572e-05 9.99999858e-01 -2.60521827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.748001145 meters 0.0888138773167626 Centerline is valid? [True, True] Translation: X:144.55, Y:-1.13, Z:-2.61 [[ 9.99919122e-01 -1.27180670e-02 3.42928134e-05 1.44548498e+02] [ 1.27180670e-02 9.99919122e-01 -1.83860875e-06 -1.13415005e+00] [-3.42666564e-05 2.27459835e-06 9.99999999e-01 -2.60517043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.778001145 meters 0.09238386413060579 Centerline is valid? [True, True] Translation: X:144.58, Y:-1.14, Z:-2.61 [[ 9.99914773e-01 -1.30552039e-02 -9.31005915e-05 1.44579267e+02] [ 1.30552049e-02 9.99914777e-01 9.41094536e-06 -1.14203478e+00] [ 9.29697954e-05 -1.06255906e-05 9.99999996e-01 -2.60756384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80800114499996 meters 0.09503157825661353 Centerline is valid? [True, True] Translation: X:144.61, Y:-1.15, Z:-2.61 [[ 9.99901033e-01 -1.39797092e-02 -1.57886658e-03 1.44608799e+02] [ 1.39799498e-02 9.99902266e-01 1.41498547e-04 -1.14643823e+00] [ 1.57673416e-03 -1.63557019e-04 9.99998744e-01 -2.61059964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83800114499996 meters 0.09245815224839272 Centerline is valid? [True, True] Translation: X:144.64, Y:-1.14, Z:-2.61 [[ 9.99906064e-01 -1.36517864e-02 -1.22136821e-03 1.44641799e+02] [ 1.36519310e-02 9.99906802e-01 1.10112608e-04 -1.14453634e+00] [ 1.21975115e-03 -1.26776299e-04 9.99999248e-01 -2.61052660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86800114499997 meters 0.09072676480523564 Centerline is valid? [True, True] Translation: X:144.67, Y:-1.14, Z:-2.61 [[ 9.99920281e-01 -1.26123386e-02 -5.99955620e-04 1.44673853e+02] [ 1.26123735e-02 9.99920459e-01 5.43414880e-05 -1.14374470e+00] [ 5.99222526e-04 -6.19040204e-05 9.99999819e-01 -2.61018181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89800114499997 meters 0.09047877171223154 Centerline is valid? [True, True] Translation: X:144.71, Y:-1.14, Z:-2.61 [[ 9.99926061e-01 -1.21497653e-02 -5.05996809e-04 1.44706574e+02] [ 1.21497906e-02 9.99926187e-01 4.68298334e-05 -1.14481229e+00] [ 5.05390489e-04 -5.29741261e-05 9.99999871e-01 -2.61022530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92800114499997 meters 0.09052657642993732 Centerline is valid? [True, True] Translation: X:144.74, Y:-1.15, Z:-2.61 [[ 9.99936800e-01 -1.12267947e-02 5.96528749e-04 1.44738550e+02] [ 1.12268276e-02 9.99936976e-01 -5.17803940e-05 -1.14628412e+00] [-5.95909826e-04 5.84742468e-05 9.99999821e-01 -2.61051438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95800114499997 meters 0.09381525583621357 Centerline is valid? [True, True] Translation: X:144.77, Y:-1.15, Z:-2.61 [[ 9.99951269e-01 -9.78041240e-03 1.34263936e-03 1.44768277e+02] [ 9.78058114e-03 9.99952162e-01 -1.19166866e-04 -1.15258691e+00] [-1.34140963e-03 1.32292852e-04 9.99999092e-01 -2.61220298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98800114499997 meters 0.09272747941535457 Centerline is valid? [True, True] Translation: X:144.80, Y:-1.15, Z:-2.61 [[ 9.99953029e-01 -9.60207554e-03 1.31899393e-03 1.44800552e+02] [ 9.60223634e-03 9.99953891e-01 -1.15634531e-04 -1.15270808e+00] [-1.31782278e-03 1.28294391e-04 9.99999123e-01 -2.61258362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01800114499997 meters 0.09353344905254957 Centerline is valid? [True, True] Translation: X:144.83, Y:-1.16, Z:-2.61 [[ 9.99954624e-01 -9.39221107e-03 1.59261630e-03 1.44831410e+02] [ 9.39244421e-03 9.99955880e-01 -1.38970161e-04 -1.15516597e+00] [-1.59124080e-03 1.53922415e-04 9.99998722e-01 -2.61326564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04800114499997 meters 0.09504352394844352 Centerline is valid? [True, True] Translation: X:144.86, Y:-1.16, Z:-2.62 [[ 9.99951748e-01 -9.80102378e-03 6.64520272e-04 1.44862632e+02] [ 9.80106447e-03 9.99951967e-01 -5.80005479e-05 -1.15839175e+00] [-6.63919888e-04 6.45107552e-05 9.99999778e-01 -2.61580504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07800114499997 meters 0.09635982653759158 Centerline is valid? [True, True] Translation: X:144.89, Y:-1.16, Z:-2.62 [[ 9.99944328e-01 -1.05016922e-02 1.02703711e-03 1.44894417e+02] [ 1.05017901e-02 9.99944851e-01 -8.99540983e-05 -1.16300073e+00] [-1.02603580e-03 1.00734818e-04 9.99999469e-01 -2.61714060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10800114499997 meters 0.09456589055588413 Centerline is valid? [True, True] Translation: X:144.93, Y:-1.16, Z:-2.62 [[ 9.99944179e-01 -1.05439052e-02 6.82519606e-04 1.44926640e+02] [ 1.05439481e-02 9.99944409e-01 -5.93014084e-05 -1.16345244e+00] [-6.81856396e-04 6.64945493e-05 9.99999765e-01 -2.61758707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13800114499998 meters 0.0875646569806617 Centerline is valid? [True, True] Translation: X:144.96, Y:-1.15, Z:-2.62 [[ 9.99936088e-01 -1.11225693e-02 2.02685331e-03 1.44960049e+02] [ 1.11229550e-02 9.99938122e-01 -1.79124994e-04 -1.15478914e+00] [-2.02473556e-03 2.01658144e-04 9.99997930e-01 -2.61567866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16800114499998 meters 0.09069677070224029 Centerline is valid? [True, True] Translation: X:144.99, Y:-1.16, Z:-2.62 [[ 9.99936823e-01 -1.08781061e-02 2.83142799e-03 1.44991172e+02] [ 1.08788602e-02 9.99940792e-01 -2.51065633e-04 -1.16190810e+00] [-2.82852923e-03 2.81852481e-04 9.99995960e-01 -2.61705484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19800114499998 meters 0.08723490340456509 Centerline is valid? [True, True] Translation: X:145.02, Y:-1.16, Z:-2.62 [[ 9.99931820e-01 -1.12331395e-02 3.18948079e-03 1.45023893e+02] [ 1.12340994e-02 9.99936855e-01 -2.83214153e-04 -1.15752748e+00] [-3.18609800e-03 3.19025788e-04 9.99994873e-01 -2.61597331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22800114499998 meters 0.09039043230061587 Centerline is valid? [True, True] Translation: X:145.05, Y:-1.16, Z:-2.62 [[ 9.99936055e-01 -1.09736021e-02 2.73227706e-03 1.45054389e+02] [ 1.09743065e-02 9.99939751e-01 -2.42931647e-04 -1.16424813e+00] [-2.72944660e-03 2.72900958e-04 9.99996238e-01 -2.61716807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25800114499998 meters 0.08661131784973317 Centerline is valid? [True, True] Translation: X:145.09, Y:-1.16, Z:-2.62 [[ 9.99939418e-01 -1.07533847e-02 2.35068370e-03 1.45086772e+02] [ 1.07539045e-02 9.99942153e-01 -2.08572318e-04 -1.16050882e+00] [-2.34830486e-03 2.33838710e-04 9.99997215e-01 -2.61745250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28800114499998 meters 0.08944814172532081 Centerline is valid? [True, True] Translation: X:145.12, Y:-1.17, Z:-2.62 [[ 9.99942930e-01 -1.04499878e-02 2.22143620e-03 1.45116962e+02] [ 1.04504522e-02 9.99945373e-01 -1.97545898e-04 -1.16844719e+00] [-2.21925049e-03 2.20749637e-04 9.99997513e-01 -2.62057015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31800114499998 meters 0.09076038644691188 Centerline is valid? [True, True] Translation: X:145.15, Y:-1.17, Z:-2.62 [[ 9.99949721e-01 -9.90372915e-03 1.57224392e-03 1.45147977e+02] [ 9.90396072e-03 9.99950945e-01 -1.39568709e-04 -1.17345363e+00] [-1.57078455e-03 1.55133134e-04 9.99998754e-01 -2.62224676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34800114499998 meters 0.09029804354386833 Centerline is valid? [True, True] Translation: X:145.18, Y:-1.17, Z:-2.62 [[ 9.99949896e-01 -9.91725556e-03 1.36115056e-03 1.45179932e+02] [ 9.91742851e-03 9.99950814e-01 -1.20374098e-04 -1.17479318e+00] [-1.35988983e-03 1.33867180e-04 9.99999066e-01 -2.62264095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37800114499998 meters 0.08493195644472044 Centerline is valid? [True, True] Translation: X:145.21, Y:-1.17, Z:-2.62 [[ 9.99959193e-01 -8.97556844e-03 1.02566633e-03 1.45212692e+02] [ 8.97566577e-03 9.99959714e-01 -9.03288084e-05 -1.16617992e+00] [-1.02481425e-03 9.95311604e-05 9.99999470e-01 -2.62138204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.408001145 meters 0.08721753304395816 Centerline is valid? [True, True] Translation: X:145.24, Y:-1.17, Z:-2.62 [[ 9.99963691e-01 -8.48539263e-03 7.83522880e-04 1.45244030e+02] [ 8.48544901e-03 9.99963996e-01 -6.86595685e-05 -1.17177835e+00] [-7.82912067e-04 7.53056190e-05 9.99999691e-01 -2.62342095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.438001145 meters 0.08643891045309585 Centerline is valid? [True, True] Translation: X:145.28, Y:-1.17, Z:-2.62 [[ 9.99971602e-01 -7.51478089e-03 5.68049545e-04 1.45275922e+02] [ 7.51481038e-03 9.99971762e-01 -4.97821123e-05 -1.17309962e+00] [-5.67659403e-04 5.40494832e-05 9.99999837e-01 -2.62459367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.468001145 meters 0.08869675949703996 Centerline is valid? [True, True] Translation: X:145.31, Y:-1.18, Z:-2.63 [[ 9.99973590e-01 -7.18042111e-03 1.12261241e-03 1.45306679e+02] [ 7.18053743e-03 9.99974215e-01 -9.96238748e-05 -1.18038201e+00] [-1.12186812e-03 1.07682204e-04 9.99999365e-01 -2.62628770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.498001145 meters 0.08820298087077161 Centerline is valid? [True, True] Translation: X:145.34, Y:-1.18, Z:-2.63 [[ 9.99975641e-01 -6.63250951e-03 2.17421426e-03 1.45339260e+02] [ 6.63294575e-03 9.99977983e-01 -1.93495194e-04 -1.18274983e+00] [-2.17288304e-03 2.07911926e-04 9.99997618e-01 -2.62607543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.528001145 meters 0.08857123544906688 Centerline is valid? [True, True] Translation: X:145.37, Y:-1.19, Z:-2.63 [[ 9.99972201e-01 -6.64092526e-03 3.39055660e-03 1.45371687e+02] [ 6.64199202e-03 9.99977896e-01 -3.03463564e-04 -1.18542987e+00] [-3.38846638e-03 3.25975178e-04 9.99994206e-01 -2.62611250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55800114499996 meters 0.08872957862078362 Centerline is valid? [True, True] Translation: X:145.40, Y:-1.19, Z:-2.63 [[ 9.99970604e-01 -6.71015044e-03 3.71013408e-03 1.45404170e+02] [ 6.71142972e-03 9.99977423e-01 -3.32464613e-04 -1.18760720e+00] [-3.70781943e-03 3.57355144e-04 9.99993062e-01 -2.62545928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58800114499996 meters 0.08872957862078362 Centerline is valid? [True, True] Translation: X:145.44, Y:-1.19, Z:-2.63 [[ 9.99971038e-01 -6.64510990e-03 3.71011164e-03 1.45435879e+02] [ 6.64638965e-03 9.99977857e-01 -3.32714318e-04 -1.19053763e+00] [-3.70781857e-03 3.57363530e-04 9.99993062e-01 -2.62622649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61800114499997 meters 0.0906220064094126 Centerline is valid? [True, True] Translation: X:145.47, Y:-1.20, Z:-2.63 [[ 9.99963110e-01 -8.00392353e-03 3.11706473e-03 1.45467136e+02] [ 8.00483540e-03 9.99967922e-01 -2.80174327e-04 -1.19501354e+00] [-3.11472224e-03 3.05115581e-04 9.99995103e-01 -2.62740040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64800114499997 meters 0.09243633805363602 Centerline is valid? [True, True] Translation: X:145.50, Y:-1.20, Z:-2.63 [[ 9.99955077e-01 -9.02426482e-03 2.89945635e-03 1.45498205e+02] [ 9.02505818e-03 9.99959239e-01 -2.60656814e-04 -1.20149919e+00] [-2.89698593e-03 2.86812866e-04 9.99995763e-01 -2.62924388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67800114499997 meters 0.0938947138817496 Centerline is valid? [True, True] Translation: X:145.53, Y:-1.21, Z:-2.63 [[ 9.99936335e-01 -1.07689601e-02 3.36968721e-03 1.45529047e+02] [ 1.07700422e-02 9.99941955e-01 -3.03164212e-04 -1.20767237e+00] [-3.36622685e-03 3.39436584e-04 9.99994277e-01 -2.63119067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70800114499997 meters 0.09538789817783544 Centerline is valid? [True, True] Translation: X:145.56, Y:-1.21, Z:-2.63 [[ 9.99919445e-01 -1.21744852e-02 3.58951306e-03 1.45559149e+02] [ 1.21757239e-02 9.99925821e-01 -3.23441589e-04 -1.21415393e+00] [-3.58530905e-03 3.67120454e-04 9.99993505e-01 -2.63236529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73800114499997 meters 0.09745087716656281 Centerline is valid? [True, True] Translation: X:145.59, Y:-1.22, Z:-2.63 [[ 9.99884727e-01 -1.47527287e-02 3.59035950e-03 1.45589268e+02] [ 1.47539856e-02 9.99891102e-01 -3.23851473e-04 -1.22101731e+00] [-3.58519082e-03 3.76786254e-04 9.99993502e-01 -2.63259999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76800114499997 meters 0.10161842059018344 Centerline is valid? [True, False] Translation: X:145.59, Y:-1.22, Z:-2.63 [[ 9.99943419e-01 -9.90597362e-03 3.87696261e-03 1.45589514e+02] [ 9.88506100e-03 9.99936687e-01 5.37656736e-03 -1.22420060e+00] [-3.92997729e-03 -5.33793913e-03 9.99978031e-01 -2.63421639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79800114499997 meters 0.10057046465041805 Centerline is valid? [False, False] Translation: X:145.59, Y:-1.23, Z:-2.64 [[ 9.99947916e-01 -9.50299898e-03 3.72254057e-03 1.45590305e+02] [ 9.48047841e-03 9.99936930e-01 6.02142321e-03 -1.22533490e+00] [-3.77952736e-03 -5.98581813e-03 9.99974942e-01 -2.63501420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82800114499997 meters 0.10377151407620183 Centerline is valid? [False, False] Translation: X:145.58, Y:-1.23, Z:-2.64 [[ 9.99990113e-01 -2.48349678e-03 3.68853612e-03 1.45584631e+02] [ 2.48838988e-03 9.99996029e-01 -1.32257454e-03 -1.22543657e+00] [-3.68523686e-03 1.33173998e-03 9.99992323e-01 -2.63746390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85800114499997 meters 0.09813331844069388 Centerline is valid? [False, True] Translation: X:145.58, Y:-1.23, Z:-2.64 [[ 9.99990588e-01 -2.36405267e-03 3.63791284e-03 1.45584764e+02] [ 2.36795883e-03 9.99996624e-01 -1.06980644e-03 -1.22616249e+00] [-3.63537148e-03 1.07841080e-03 9.99992811e-01 -2.63752725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88800114499998 meters 0.09284687001343966 Centerline is valid? [True, True] Translation: X:145.62, Y:-1.22, Z:-2.64 [[ 9.99987777e-01 -2.51596886e-03 4.25624764e-03 1.45618033e+02] [ 2.51790540e-03 9.99996729e-01 -4.49689235e-04 -1.22256390e+00] [-4.25510231e-03 4.60400567e-04 9.99990841e-01 -2.63721142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91800114499998 meters 0.09820816183853588 Centerline is valid? [True, True] Translation: X:145.65, Y:-1.24, Z:-2.64 [[ 9.99985621e-01 -1.85677235e-03 5.03086386e-03 1.45647487e+02] [ 1.85947675e-03 9.99998129e-01 -5.32936382e-04 -1.23552513e+00] [-5.02986491e-03 5.42283494e-04 9.99987203e-01 -2.63960212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94800114499998 meters 0.08951085216475473 Centerline is valid? [True, True] Translation: X:145.68, Y:-1.23, Z:-2.64 [[ 9.99988073e-01 -1.20952122e-03 4.73199421e-03 1.45680929e+02] [ 1.21190357e-03 9.99999140e-01 -5.00621126e-04 -1.22632807e+00] [-4.73138463e-03 5.06349876e-04 9.99988679e-01 -2.63810190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97800114499998 meters 0.09425444783787224 Centerline is valid? [True, True] Translation: X:145.71, Y:-1.24, Z:-2.64 [[ 9.99988389e-01 -5.63698444e-04 4.78577534e-03 1.45711726e+02] [ 5.66129691e-04 9.99999711e-01 -5.06675798e-04 -1.23709135e+00] [-4.78548834e-03 5.09379285e-04 9.99988420e-01 -2.63996355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00800114499998 meters 0.09199318930802847 Centerline is valid? [True, True] Translation: X:145.74, Y:-1.24, Z:-2.64 [[ 9.99988391e-01 -2.08995988e-04 4.81390346e-03 1.45744619e+02] [ 2.11453562e-04 9.99999848e-01 -5.10012703e-04 -1.23651387e+00] [-4.81379614e-03 5.11024699e-04 9.99988283e-01 -2.63974942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03800114499998 meters 0.09262746644206636 Centerline is valid? [True, True] Translation: X:145.77, Y:-1.24, Z:-2.64 [[ 9.99987887e-01 5.50074148e-04 4.89111848e-03 1.45774346e+02] [-5.47538996e-04 9.99999715e-01 -5.19641440e-04 -1.24099183e+00] [-4.89140292e-03 5.16957068e-04 9.99987903e-01 -2.64019205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06800114499998 meters 0.0892031037529606 Centerline is valid? [True, True] Translation: X:145.81, Y:-1.24, Z:-2.64 [[ 9.99980233e-01 1.80928503e-03 6.02156922e-03 1.45806232e+02] [-1.80546601e-03 9.99998166e-01 -6.39599642e-04 -1.23882234e+00] [-6.02271539e-03 6.28715260e-04 9.99981666e-01 -2.63953104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09800114499998 meters 0.09065389396204451 Centerline is valid? [True, True] Translation: X:145.84, Y:-1.24, Z:-2.64 [[ 9.99979515e-01 4.26501648e-03 4.77277071e-03 1.45835962e+02] [-4.26264149e-03 9.99990786e-01 -5.07673132e-04 -1.24383146e+00] [-4.77489197e-03 4.87318122e-04 9.99988481e-01 -2.64204553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12800114499998 meters 0.09161860323407252 Centerline is valid? [True, True] Translation: X:145.86, Y:-1.25, Z:-2.64 [[ 9.99971898e-01 5.68436505e-03 4.88785662e-03 1.45864880e+02] [-5.68188928e-03 9.99983723e-01 -5.20252080e-04 -1.24845150e+00] [-4.89073436e-03 4.92465200e-04 9.99987919e-01 -2.64364418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.158001145 meters 0.09159760837477647 Centerline is valid? [True, True] Translation: X:145.90, Y:-1.25, Z:-2.64 [[ 9.99963204e-01 7.09249196e-03 4.82566194e-03 1.45895491e+02] [-7.09009879e-03 9.99974733e-01 -5.12852508e-04 -1.25127115e+00] [-4.82917742e-03 4.78619218e-04 9.99988225e-01 -2.64486999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.188001145 meters 0.0866536900538578 Centerline is valid? [True, True] Translation: X:145.93, Y:-1.24, Z:-2.64 [[ 9.99943012e-01 9.69442777e-03 4.47118564e-03 1.45926958e+02] [-9.69239659e-03 9.99952914e-01 -4.75727465e-04 -1.24499270e+00] [-4.47558701e-03 4.32363850e-04 9.99989891e-01 -2.64406785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.218001145 meters 0.08815328405757196 Centerline is valid? [True, True] Translation: X:145.96, Y:-1.25, Z:-2.65 [[ 9.99929268e-01 1.08723522e-02 4.82197643e-03 1.45955317e+02] [-1.08699991e-02 9.99940788e-01 -5.13931229e-04 -1.24967771e+00] [-4.82727856e-03 4.61479998e-04 9.99988242e-01 -2.64552369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.248001145 meters 0.08847372973817645 Centerline is valid? [True, True] Translation: X:145.98, Y:-1.25, Z:-2.65 [[ 9.99914236e-01 1.20016700e-02 5.24211067e-03 1.45983877e+02] [-1.19989065e-02 9.99927855e-01 -5.58301433e-04 -1.25240743e+00] [-5.24843302e-03 4.95353956e-04 9.99986104e-01 -2.64648810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.278001145 meters 0.08639906164601843 Centerline is valid? [True, True] Translation: X:146.01, Y:-1.25, Z:-2.65 [[ 9.99904026e-01 1.27913348e-02 5.32166468e-03 1.46013111e+02] [-1.27884975e-02 9.99918063e-01 -5.66852751e-04 -1.25147428e+00] [-5.32847944e-03 4.98742253e-04 9.99985679e-01 -2.64676240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30800114499996 meters 0.0853257774465524 Centerline is valid? [True, True] Translation: X:146.04, Y:-1.25, Z:-2.65 [[ 9.99890728e-01 1.31936542e-02 6.66781745e-03 1.46042131e+02] [-1.31892145e-02 9.99912767e-01 -7.09377091e-04 -1.25204316e+00] [-6.67659507e-03 6.21356301e-04 9.99977518e-01 -2.64664277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33800114499996 meters 0.08641201146860589 Centerline is valid? [True, True] Translation: X:146.07, Y:-1.26, Z:-2.65 [[ 9.99883780e-01 1.39133862e-02 6.23249831e-03 1.46070834e+02] [-1.39095272e-02 9.99903039e-01 -6.62098816e-04 -1.25679749e+00] [-6.24110604e-03 5.75330762e-04 9.99980359e-01 -2.64848296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36800114499997 meters 0.08733001698315772 Centerline is valid? [True, True] Translation: X:146.10, Y:-1.26, Z:-2.65 [[ 9.99879879e-01 1.41633628e-02 6.29497039e-03 1.46098785e+02] [-1.41594262e-02 9.99899526e-01 -6.69480910e-04 -1.26011470e+00] [-6.30382001e-03 5.80267322e-04 9.99979962e-01 -2.65005482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39800114499997 meters 0.08555946978684469 Centerline is valid? [True, True] Translation: X:146.13, Y:-1.26, Z:-2.65 [[ 9.99877102e-01 1.43680132e-02 6.27220661e-03 1.46128185e+02] [-1.43641141e-02 9.99896609e-01 -6.66259115e-04 -1.25745034e+00] [-6.28113094e-03 5.76082541e-04 9.99980108e-01 -2.64902219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42800114499997 meters 0.08476180757212923 Centerline is valid? [True, True] Translation: X:146.16, Y:-1.26, Z:-2.65 [[ 9.99878900e-01 1.42291063e-02 6.30227104e-03 1.46156593e+02] [-1.42251696e-02 9.99898593e-01 -6.69042164e-04 -1.25850690e+00] [-6.31115182e-03 5.79310268e-04 9.99979917e-01 -2.64917796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45800114499997 meters 0.08649911832495176 Centerline is valid? [True, True] Translation: X:146.18, Y:-1.26, Z:-2.65 [[ 9.99880712e-01 1.43193276e-02 5.78946239e-03 1.46184037e+02] [-1.43160064e-02 9.99897332e-01 -6.14686309e-04 -1.26423856e+00] [-5.79766989e-03 5.31731004e-04 9.99983052e-01 -2.65149738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48800114499997 meters 0.08652305212309905 Centerline is valid? [True, True] Translation: X:146.21, Y:-1.27, Z:-2.65 [[ 9.99906152e-01 1.32531074e-02 3.47021322e-03 1.46213561e+02] [-1.32519098e-02 9.99912122e-01 -3.67885230e-04 -1.26555107e+00] [-3.47478389e-03 3.21863752e-04 9.99993911e-01 -2.65470426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51800114499997 meters 0.08483532202665758 Centerline is valid? [True, True] Translation: X:146.24, Y:-1.26, Z:-2.66 [[ 9.99922613e-01 1.21550503e-02 2.64994348e-03 1.46242875e+02] [-1.21543467e-02 9.99926094e-01 -2.81464604e-04 -1.26446513e+00] [-2.65316885e-03 2.49234490e-04 9.99996449e-01 -2.65523140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54800114499997 meters 0.08720610679513849 Centerline is valid? [True, True] Translation: X:146.27, Y:-1.27, Z:-2.66 [[ 9.99930830e-01 1.12034622e-02 3.58008337e-03 1.46270526e+02] [-1.12021728e-02 9.99937181e-01 -3.79991266e-04 -1.27088495e+00] [-3.58411570e-03 3.39860269e-04 9.99993519e-01 -2.65658094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57800114499997 meters 0.08772279288416088 Centerline is valid? [True, True] Translation: X:146.30, Y:-1.27, Z:-2.66 [[ 9.99941852e-01 9.65186477e-03 4.80983871e-03 1.46300207e+02] [-9.64952764e-03 9.99953313e-01 -5.08876571e-04 -1.27472941e+00] [-4.81452576e-03 4.62434309e-04 9.99988303e-01 -2.65737415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60800114499997 meters 0.0884580737033878 Centerline is valid? [True, True] Translation: X:146.33, Y:-1.28, Z:-2.66 [[ 9.99949542e-01 8.96159113e-03 4.53915421e-03 1.46329523e+02] [-8.95950306e-03 9.99959748e-01 -4.80138107e-04 -1.27903271e+00] [-4.54327429e-03 4.39445314e-04 9.99989583e-01 -2.65817783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63800114499998 meters 0.09104217441609441 Centerline is valid? [True, True] Translation: X:146.36, Y:-1.28, Z:-2.66 [[ 9.99961626e-01 6.93081212e-03 5.35824586e-03 1.46358759e+02] [-6.92787727e-03 9.99975842e-01 -5.66092775e-04 -1.28414975e+00] [-5.36203990e-03 5.28949782e-04 9.99985484e-01 -2.65855675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66800114499998 meters 0.09691962191777716 Centerline is valid? [True, True] Translation: X:146.39, Y:-1.30, Z:-2.66 [[ 9.99969720e-01 5.43322468e-03 5.57126671e-03 1.46387706e+02] [-5.43003134e-03 9.99985084e-01 -5.88146601e-04 -1.29516167e+00] [-5.57437914e-03 5.57876639e-04 9.99984307e-01 -2.66018358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69800114499998 meters 0.0927030892350382 Centerline is valid? [True, True] Translation: X:146.42, Y:-1.29, Z:-2.66 [[ 9.99977407e-01 3.96963458e-03 5.42464943e-03 1.46419622e+02] [-3.96658830e-03 9.99991969e-01 -5.72205562e-04 -1.29125799e+00] [-5.42687732e-03 5.50675284e-04 9.99985123e-01 -2.65926169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72800114499998 meters 0.09834279192767584 Centerline is valid? [True, True] Translation: X:146.45, Y:-1.30, Z:-2.66 [[ 9.99985063e-01 1.35291375e-03 5.29558140e-03 1.46448202e+02] [-1.34996984e-03 9.99998932e-01 -5.59451941e-04 -1.30484299e+00] [-5.29633264e-03 5.52294710e-04 9.99985822e-01 -2.66298626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75800114499998 meters 0.09464537609062755 Centerline is valid? [True, True] Translation: X:146.48, Y:-1.30, Z:-2.66 [[ 9.99990139e-01 2.66183758e-04 4.43292623e-03 1.46479341e+02] [-2.64113259e-04 9.99999856e-01 -4.67651732e-04 -1.30306500e+00] [-4.43305007e-03 4.66476326e-04 9.99990065e-01 -2.66301220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78800114499998 meters 0.10107709105232472 Centerline is valid? [True, False] Translation: X:146.48, Y:-1.30, Z:-2.66 [[ 9.99990217e-01 5.46900757e-04 4.38934304e-03 1.46479856e+02] [-5.46866492e-04 9.99999850e-01 -9.00666896e-06 -1.30375736e+00] [-4.38934731e-03 6.60619622e-06 9.99990367e-01 -2.66369066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81800114499998 meters 0.10329761246734676 Centerline is valid? [False, False] Translation: X:146.48, Y:-1.30, Z:-2.66 [[ 9.99990218e-01 6.94040465e-04 4.36840442e-03 1.46479995e+02] [-6.95430901e-04 9.99999708e-01 3.16782861e-04 -1.30452036e+00] [-4.36818328e-03 -3.19817685e-04 9.99990408e-01 -2.66385632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84800114499998 meters 0.10252310590910556 Centerline is valid? [False, False] Translation: X:146.48, Y:-1.30, Z:-2.66 [[ 9.99990094e-01 6.10284429e-04 4.40898273e-03 1.46479674e+02] [-6.11466923e-04 9.99999777e-01 2.66857928e-04 -1.30482293e+00] [-4.40881889e-03 -2.69551232e-04 9.99990245e-01 -2.66351034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87800114499998 meters 0.10824371496637904 Centerline is valid? [False, False] Translation: X:146.48, Y:-1.31, Z:-2.66 [[ 9.99989728e-01 5.18979721e-04 4.50262465e-03 1.46479188e+02] [-5.20181257e-04 9.99999829e-01 2.65685236e-04 -1.30536446e+00] [-4.50248599e-03 -2.68024688e-04 9.99989828e-01 -2.66307454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.908001145 meters 0.10919406309246726 Centerline is valid? [False, False] Translation: X:146.48, Y:-1.31, Z:-2.66 [[ 9.99990012e-01 9.10076018e-04 4.37577346e-03 1.46479870e+02] [-9.14056082e-04 9.99999170e-01 9.07654320e-04 -1.30655358e+00] [-4.37494380e-03 -9.11644957e-04 9.99990014e-01 -2.66376147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.938001145 meters 0.10086700189185502 Centerline is valid? [False, False] Translation: X:146.48, Y:-1.31, Z:-2.66 [[ 9.99989786e-01 8.23858759e-04 4.44409626e-03 1.46479406e+02] [-8.27823969e-04 9.99999261e-01 8.90476414e-04 -1.30711713e+00] [-4.44335934e-03 -8.94146247e-04 9.99989728e-01 -2.66328947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.968001145 meters 0.10034746011017442 Centerline is valid? [False, False] Translation: X:146.48, Y:-1.31, Z:-2.66 [[ 9.99990066e-01 7.93350319e-04 4.38624960e-03 1.46479230e+02] [-7.97230338e-04 9.99999292e-01 8.82909103e-04 -1.30743659e+00] [-4.38554604e-03 -8.86397183e-04 9.99989991e-01 -2.66282355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.998001145 meters 0.10916229614954628 Centerline is valid? [False, False] Translation: X:146.48, Y:-1.31, Z:-2.66 [[ 9.99990353e-01 5.79718497e-04 4.35417357e-03 1.46478900e+02] [-5.81930741e-04 9.99999702e-01 5.06824730e-04 -1.30685715e+00] [-4.35387845e-03 -5.09353667e-04 9.99990392e-01 -2.66217137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.028001145 meters 0.10000177027371832 Centerline is valid? [False, False] Translation: X:146.48, Y:-1.31, Z:-2.66 [[ 9.99991388e-01 6.30830693e-04 4.10199517e-03 1.46479044e+02] [-6.32846672e-04 9.99999680e-01 4.90183662e-04 -1.30724652e+00] [-4.10168463e-03 -4.92775375e-04 9.99991467e-01 -2.66161108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05800114499996 meters 0.09966628403499514 Centerline is valid? [False, True] Translation: X:146.48, Y:-1.31, Z:-2.66 [[ 9.99991504e-01 9.73070194e-04 4.00556952e-03 1.46479678e+02] [-9.77148281e-04 9.99999006e-01 1.01627287e-03 -1.30819624e+00] [-4.00457663e-03 -1.02017827e-03 9.99991461e-01 -2.66233596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08800114499996 meters 0.09655755303123094 Centerline is valid? [True, True] Translation: X:146.51, Y:-1.31, Z:-2.66 [[ 9.99993420e-01 2.19859431e-03 2.88543115e-03 1.46511695e+02] [-2.19769896e-03 9.99997536e-01 -3.13432673e-04 -1.30721441e+00] [-2.88611315e-03 3.07089301e-04 9.99995788e-01 -2.66246985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11800114499997 meters 0.09847901887692669 Centerline is valid? [True, True] Translation: X:146.54, Y:-1.31, Z:-2.66 [[ 9.99994948e-01 2.38648987e-03 2.09984099e-03 1.46541416e+02] [-2.38601501e-03 9.99997127e-01 -2.28614308e-04 -1.31387355e+00] [-2.10038055e-03 2.23602901e-04 9.99997769e-01 -2.66467861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14800114499997 meters 0.09952176206599754 Centerline is valid? [True, True] Translation: X:146.57, Y:-1.32, Z:-2.67 [[ 9.99987068e-01 5.08340469e-03 1.48223815e-04 1.46570666e+02] [-5.08340230e-03 9.99987079e-01 -1.64750283e-05 -1.31877995e+00] [-1.48305649e-04 1.57213339e-05 9.99999989e-01 -2.66666041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17800114499997 meters 0.09021020731777435 Centerline is valid? [True, True] Translation: X:146.60, Y:-1.31, Z:-2.66 [[ 9.99976982e-01 6.77428169e-03 3.80877262e-04 1.46601971e+02] [-6.77426620e-03 9.99977054e-01 -4.19386102e-05 -1.30741997e+00] [-3.81152627e-04 3.93574809e-05 9.99999927e-01 -2.66477894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20800114499997 meters 0.0976623784566104 Centerline is valid? [True, True] Translation: X:146.63, Y:-1.32, Z:-2.67 [[ 9.99960283e-01 8.82447260e-03 1.24964866e-03 1.46629187e+02] [-8.82430804e-03 9.99961056e-01 -1.37135427e-04 -1.32329091e+00] [-1.25081014e-03 1.26102696e-04 9.99999210e-01 -2.66840537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23800114499997 meters 0.09170147237444444 Centerline is valid? [True, True] Translation: X:146.66, Y:-1.32, Z:-2.67 [[ 9.99943373e-01 1.05857097e-02 1.09244404e-03 1.46659419e+02] [-1.05855851e-02 9.99943964e-01 -1.19826640e-04 -1.31836777e+00] [-1.09365128e-03 1.08255695e-04 9.99999396e-01 -2.66716711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26800114499997 meters 0.09551869076682164 Centerline is valid? [True, True] Translation: X:146.69, Y:-1.33, Z:-2.67 [[ 9.99902738e-01 1.38971852e-02 1.17627330e-03 1.46686948e+02] [-1.38970429e-02 9.99903423e-01 -1.29109343e-04 -1.32946641e+00] [-1.17795395e-03 1.12750065e-04 9.99999300e-01 -2.67026735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29800114499997 meters 0.0942100769094138 Centerline is valid? [True, True] Translation: X:146.72, Y:-1.33, Z:-2.67 [[ 9.99884626e-01 1.51794160e-02 5.65233626e-04 1.46716506e+02] [-1.51793832e-02 9.99884785e-01 -6.22964506e-05 -1.33079438e+00] [-5.66114126e-04 5.37093654e-05 9.99999838e-01 -2.67113083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32800114499997 meters 0.08612896791945171 Centerline is valid? [True, True] Translation: X:146.75, Y:-1.32, Z:-2.67 [[ 9.99868941e-01 1.61884273e-02 -1.86526462e-04 1.46746338e+02] [-1.61884240e-02 9.99868959e-01 1.87076873e-05 -1.32051435e+00] [ 1.86804868e-04 -1.56856660e-05 9.99999982e-01 -2.66882045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35800114499997 meters 0.08491135667964743 Centerline is valid? [True, True] Translation: X:146.78, Y:-1.32, Z:-2.67 [[ 9.99845283e-01 1.75664211e-02 9.11671483e-04 1.46776134e+02] [-1.75663376e-02 9.99845695e-01 -9.95982120e-05 -1.32270822e+00] [-9.13280392e-04 8.35680734e-05 9.99999579e-01 -2.66865990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38800114499998 meters 0.08703364667507515 Centerline is valid? [True, True] Translation: X:146.80, Y:-1.33, Z:-2.67 [[ 9.99847889e-01 1.74027256e-02 1.15962204e-03 1.46802807e+02] [-1.74025878e-02 9.99848555e-01 -1.28829891e-04 -1.33051483e+00] [-1.16168842e-03 1.08629870e-04 9.99999319e-01 -2.67006734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41800114499998 meters 0.08641005467145346 Centerline is valid? [True, True] Translation: X:146.83, Y:-1.33, Z:-2.67 [[ 9.99850131e-01 1.72472618e-02 1.49917690e-03 1.46830598e+02] [-1.72470333e-02 9.99851245e-01 -1.65175493e-04 -1.33476665e+00] [-1.50180271e-03 1.39294384e-04 9.99998863e-01 -2.67031377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44800114499998 meters 0.08765866522312529 Centerline is valid? [True, True] Translation: X:146.86, Y:-1.34, Z:-2.67 [[ 9.99864219e-01 1.63929618e-02 1.67731769e-03 1.46857448e+02] [-1.63926761e-02 9.99865614e-01 -1.83973765e-04 -1.34193384e+00] [-1.68010816e-03 1.56453059e-04 9.99998576e-01 -2.67233757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47800114499998 meters 0.08659420764256001 Centerline is valid? [True, True] Translation: X:146.89, Y:-1.35, Z:-2.67 [[ 9.99900181e-01 1.40156851e-02 1.78548929e-03 1.46887209e+02] [-1.40153603e-02 9.99901761e-01 -1.94286735e-04 -1.34603536e+00] [-1.78803695e-03 1.69243065e-04 9.99998387e-01 -2.67231813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50800114499998 meters 0.08659420764256001 Centerline is valid? [True, True] Translation: X:146.92, Y:-1.35, Z:-2.67 [[ 9.99901085e-01 1.39510946e-02 1.78539226e-03 1.46915478e+02] [-1.39507681e-02 9.99902664e-01 -1.95181494e-04 -1.34902843e+00] [-1.78794147e-03 1.70254594e-04 9.99998387e-01 -2.67301576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53800114499998 meters 0.08538716301752897 Centerline is valid? [True, True] Translation: X:146.94, Y:-1.35, Z:-2.67 [[ 9.99920486e-01 1.25886981e-02 7.39524056e-04 1.46944708e+02] [-1.25886410e-02 9.99920757e-01 -8.17707404e-05 -1.34972818e+00] [-7.40494840e-04 7.24546356e-05 9.99999723e-01 -2.67260108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56800114499998 meters 0.08787075683604688 Centerline is valid? [True, True] Translation: X:146.97, Y:-1.36, Z:-2.67 [[ 9.99934195e-01 1.14691038e-02 2.53672219e-04 1.46972505e+02] [-1.14690968e-02 9.99934227e-01 -2.86895430e-05 -1.35681236e+00] [-2.53984577e-04 2.57782639e-05 9.99999967e-01 -2.67354990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59800114499998 meters 0.08586314747452145 Centerline is valid? [True, True] Translation: X:147.00, Y:-1.36, Z:-2.67 [[ 9.99952556e-01 9.61811560e-03 1.54185879e-03 1.47002040e+02] [-9.61786824e-03 9.99953733e-01 -1.67763557e-04 -1.35872177e+00] [-1.54340102e-03 1.52926203e-04 9.99998797e-01 -2.67266387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62800114499998 meters 0.08610629913410553 Centerline is valid? [True, True] Translation: X:147.03, Y:-1.36, Z:-2.67 [[ 9.99956815e-01 9.10552848e-03 1.85958359e-03 1.47029719e+02] [-9.10516928e-03 9.99958527e-01 -2.01533521e-04 -1.36390729e+00] [-1.86134153e-03 1.84592994e-04 9.99998251e-01 -2.67371097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.658001145 meters 0.08797171722361022 Centerline is valid? [True, True] Translation: X:147.06, Y:-1.37, Z:-2.68 [[ 9.99959110e-01 8.71659028e-03 2.40820243e-03 1.47056349e+02] [-8.71598300e-03 9.99961981e-01 -2.62549112e-04 -1.37215962e+00] [-2.41039940e-03 2.41548525e-04 9.99997066e-01 -2.67516619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.688001145 meters 0.0896685115579759 Centerline is valid? [True, True] Translation: X:147.09, Y:-1.38, Z:-2.68 [[ 9.99966359e-01 7.89849194e-03 2.21246345e-03 1.47085320e+02] [-7.89797986e-03 9.99968782e-01 -2.40090069e-04 -1.37947730e+00] [-2.21429073e-03 2.22608000e-04 9.99997524e-01 -2.67726734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.718001145 meters 0.0898753433266037 Centerline is valid? [True, True] Translation: X:147.11, Y:-1.38, Z:-2.68 [[ 9.99965742e-01 7.96371490e-03 2.25692473e-03 1.47113450e+02] [-7.96317995e-03 9.99968263e-01 -2.45911071e-04 -1.38193369e+00] [-2.25881146e-03 2.27930349e-04 9.99997423e-01 -2.67713876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.748001145 meters 0.09020854415248857 Centerline is valid? [True, True] Translation: X:147.14, Y:-1.38, Z:-2.68 [[ 9.99964953e-01 7.95237045e-03 2.61784129e-03 1.47142502e+02] [-7.95165305e-03 9.99968345e-01 -2.84334427e-04 -1.38434218e+00] [-2.62001955e-03 2.63508296e-04 9.99996533e-01 -2.67715554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.778001145 meters 0.09039204217441614 Centerline is valid? [True, True] Translation: X:147.17, Y:-1.39, Z:-2.68 [[ 9.99964450e-01 7.85987217e-03 3.05311714e-03 1.47170896e+02] [-7.85889738e-03 9.99969064e-01 -3.31144069e-04 -1.38696162e+00] [-3.05562544e-03 3.07138162e-04 9.99995284e-01 -2.67766885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80800114499996 meters 0.09187802179793972 Centerline is valid? [True, True] Translation: X:147.20, Y:-1.39, Z:-2.68 [[ 9.99963810e-01 8.08976368e-03 2.63328663e-03 1.47198782e+02] [-8.08904016e-03 9.99967242e-01 -2.85293989e-04 -1.39330719e+00] [-2.63550833e-03 2.63982903e-04 9.99996492e-01 -2.68003883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83800114499996 meters 0.09147819355689309 Centerline is valid? [True, True] Translation: X:147.23, Y:-1.40, Z:-2.68 [[ 9.99961665e-01 8.65002088e-03 1.35874581e-03 1.47227255e+02] [-8.64982757e-03 9.99962579e-01 -1.48082905e-04 -1.39763216e+00] [-1.35997588e-03 1.36324311e-04 9.99999066e-01 -2.68317623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86800114499997 meters 0.09256992340499817 Centerline is valid? [True, True] Translation: X:147.26, Y:-1.40, Z:-2.69 [[ 9.99953661e-01 9.61550802e-03 4.67467768e-04 1.47255492e+02] [-9.61548496e-03 9.99953769e-01 -5.15492049e-05 -1.40249331e+00] [-4.67941828e-04 4.70518869e-05 9.99999889e-01 -2.68505129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89800114499997 meters 0.0913097221762383 Centerline is valid? [True, True] Translation: X:147.29, Y:-1.40, Z:-2.69 [[ 9.99941666e-01 1.07565309e-02 9.81133718e-04 1.47285277e+02] [-1.07564316e-02 9.99942142e-01 -1.06492134e-04 -1.40276180e+00] [-9.82222438e-04 9.59324240e-05 9.99999513e-01 -2.68511015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92800114499997 meters 0.09358011504362006 Centerline is valid? [True, True] Translation: X:147.31, Y:-1.41, Z:-2.69 [[ 9.99933480e-01 1.13868911e-02 1.83677791e-03 1.47312613e+02] [-1.13865437e-02 9.99935151e-01 -1.99501762e-04 -1.40771714e+00] [-1.83893050e-03 1.78573940e-04 9.99998293e-01 -2.68507226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95800114499997 meters 0.08761453160665936 Centerline is valid? [True, True] Translation: X:147.34, Y:-1.40, Z:-2.68 [[ 9.99914943e-01 1.29465853e-02 1.57913491e-03 1.47344084e+02] [-1.29463322e-02 9.99916178e-01 -1.70410829e-04 -1.39950479e+00] [-1.58120879e-03 1.49952329e-04 9.99998739e-01 -2.68323095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98800114499997 meters 0.08778882330283931 Centerline is valid? [True, True] Translation: X:147.37, Y:-1.40, Z:-2.68 [[ 9.99914867e-01 1.30323351e-02 6.45463268e-04 1.47372682e+02] [-1.30322919e-02 9.99915074e-01 -7.10247000e-05 -1.40172442e+00] [-6.46334069e-04 6.26067877e-05 9.99999789e-01 -2.68479970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01800114499997 meters 0.094399804390988 Centerline is valid? [True, True] Translation: X:147.40, Y:-1.42, Z:-2.69 [[ 9.99913990e-01 1.31082925e-02 -4.30242338e-04 1.47398987e+02] [-1.31082746e-02 9.99914082e-01 4.43030317e-05 -1.41623513e+00] [ 4.30786110e-04 -3.86594865e-05 9.99999906e-01 -2.68932641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04800114499997 meters 0.0899341393893602 Centerline is valid? [True, True] Translation: X:147.43, Y:-1.42, Z:-2.69 [[ 9.99935135e-01 1.13741737e-02 -5.94323412e-04 1.47429804e+02] [-1.13741377e-02 9.99935310e-01 6.39015397e-05 -1.41560733e+00] [ 5.95011793e-04 -5.71374784e-05 9.99999821e-01 -2.69018752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07800114499997 meters 0.08862876002534045 Centerline is valid? [True, True] Translation: X:147.46, Y:-1.42, Z:-2.69 [[ 9.99947767e-01 1.02187579e-02 -1.99038207e-04 1.47459253e+02] [-1.02187540e-02 9.99947787e-01 2.05979353e-05 -1.41714802e+00] [ 1.99238300e-04 -1.85629369e-05 9.99999980e-01 -2.68950147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10800114499997 meters 0.09568512111713295 Centerline is valid? [True, True] Translation: X:147.49, Y:-1.43, Z:-2.69 [[ 9.99956001e-01 9.38036939e-03 -7.33878003e-05 1.47486343e+02] [-9.38036893e-03 9.99956003e-01 6.69682663e-06 -1.43121997e+00] [ 7.34473902e-05 -6.00812733e-06 9.99999997e-01 -2.69258817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13800114499998 meters 0.09815398049876174 Centerline is valid? [True, True] Translation: X:147.52, Y:-1.44, Z:-2.69 [[ 9.99970119e-01 7.72537244e-03 2.81805090e-04 1.47515043e+02] [-7.72536400e-03 9.99970158e-01 -3.10202287e-05 -1.43567328e+00] [-2.82036323e-04 2.88422549e-05 9.99999960e-01 -2.69224900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16800114499998 meters 0.08809814839657529 Centerline is valid? [True, True] Translation: X:147.55, Y:-1.42, Z:-2.69 [[ 9.99972414e-01 7.36552949e-03 9.58976124e-04 1.47545392e+02] [-7.36543257e-03 9.99972869e-01 -1.04559788e-04 -1.42195170e+00] [-9.59720245e-04 9.74936292e-05 9.99999535e-01 -2.68819529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19800114499998 meters 0.08998052062130148 Centerline is valid? [True, True] Translation: X:147.57, Y:-1.43, Z:-2.69 [[ 9.99975222e-01 6.81154751e-03 1.77721407e-03 1.47572895e+02] [-6.81121580e-03 9.99976785e-01 -1.92631617e-04 -1.42825932e+00] [-1.77848493e-03 1.80521855e-04 9.99998402e-01 -2.68945523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22800114499998 meters 0.09399232689954845 Centerline is valid? [True, True] Translation: X:147.60, Y:-1.44, Z:-2.69 [[ 9.99977300e-01 6.72710200e-03 3.81671730e-04 1.47600157e+02] [-6.72708649e-03 9.99977372e-01 -4.19124969e-05 -1.43862064e+00] [-3.81945043e-04 3.93440068e-05 9.99999926e-01 -2.69311112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25800114499998 meters 0.08981174790811852 Centerline is valid? [True, True] Translation: X:147.63, Y:-1.43, Z:-2.69 [[ 9.99972289e-01 7.42406603e-03 5.51879813e-04 1.47629700e+02] [-7.42403362e-03 9.99972440e-01 -6.07484178e-05 -1.43439712e+00] [-5.52315603e-04 5.66495601e-05 9.99999846e-01 -2.69239865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28800114499998 meters 0.0927631576526619 Centerline is valid? [True, True] Translation: X:147.66, Y:-1.44, Z:-2.69 [[ 9.99970719e-01 7.65051769e-03 -1.77640579e-04 1.47657326e+02] [-7.65051479e-03 9.99970734e-01 1.70148230e-05 -1.44086521e+00] [ 1.77765552e-04 -1.56552829e-05 9.99999984e-01 -2.69472265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31800114499998 meters 0.08941742594965196 Centerline is valid? [True, True] Translation: X:147.69, Y:-1.44, Z:-2.69 [[ 9.99965965e-01 8.22326974e-03 -6.68495452e-04 1.47686617e+02] [-8.22322481e-03 9.99966186e-01 6.99280620e-05 -1.43685781e+00] [ 6.69047885e-04 -6.44284937e-05 9.99999774e-01 -2.69407916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34800114499998 meters 0.09049650325440849 Centerline is valid? [True, True] Translation: X:147.72, Y:-1.44, Z:-2.70 [[ 9.99953514e-01 9.64018156e-03 -1.94039030e-04 1.47715682e+02] [-9.64017787e-03 9.99953532e-01 1.99637517e-05 -1.43997300e+00] [ 1.94222467e-04 -1.80922529e-05 9.99999981e-01 -2.69601577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37800114499998 meters 0.08834249184505462 Centerline is valid? [True, True] Translation: X:147.75, Y:-1.44, Z:-2.70 [[ 9.99945742e-01 1.04169690e-02 -9.51279901e-06 1.47745163e+02] [-1.04169690e-02 9.99945742e-01 -1.88314357e-07 -1.43860860e+00] [ 9.51032120e-06 2.87398672e-07 1.00000000e+00 -2.69637228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.408001145 meters 0.09105196538186776 Centerline is valid? [True, True] Translation: X:147.77, Y:-1.45, Z:-2.70 [[ 9.99937918e-01 1.11348968e-02 4.18343062e-04 1.47772688e+02] [-1.11348784e-02 9.99938004e-01 -4.62916039e-05 -1.44539324e+00] [-4.18832579e-04 4.16305309e-05 9.99999911e-01 -2.69816316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.438001145 meters 0.08902272069277077 Centerline is valid? [True, True] Translation: X:147.80, Y:-1.44, Z:-2.70 [[ 9.99920959e-01 1.25499530e-02 7.57984112e-04 1.47803203e+02] [-1.25498948e-02 9.99921244e-01 -8.13786203e-05 -1.44448699e+00] [-7.58945714e-04 7.18595672e-05 9.99999709e-01 -2.69861352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.468001145 meters 0.08708498101046758 Centerline is valid? [True, True] Translation: X:147.83, Y:-1.44, Z:-2.70 [[ 9.99901548e-01 1.40052765e-02 8.64516110e-04 1.47833752e+02] [-1.40052015e-02 9.99901918e-01 -9.27508041e-05 -1.44169547e+00] [-8.65730317e-04 8.06339502e-05 9.99999622e-01 -2.69893521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.498001145 meters 0.08848982227441206 Centerline is valid? [True, True] Translation: X:147.86, Y:-1.45, Z:-2.70 [[ 9.99902395e-01 1.39237415e-02 1.15338314e-03 1.47861297e+02] [-1.39236063e-02 9.99903054e-01 -1.25132342e-04 -1.44629254e+00] [-1.15501363e-03 1.09060875e-04 9.99999327e-01 -2.70010609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.528001145 meters 0.08952128093464884 Centerline is valid? [True, True] Translation: X:147.89, Y:-1.45, Z:-2.70 [[ 9.99911075e-01 1.32279356e-02 1.69205324e-03 1.47888675e+02] [-1.32276457e-02 9.99912494e-01 -1.82440586e-04 -1.45079194e+00] [-1.69431848e-03 1.60042482e-04 9.99998552e-01 -2.70195673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55800114499996 meters 0.08896120869073888 Centerline is valid? [True, True] Translation: X:147.92, Y:-1.45, Z:-2.70 [[ 9.99933966e-01 1.12823131e-02 2.18463028e-03 1.47918858e+02] [-1.12818299e-02 9.99936331e-01 -2.33375521e-04 -1.45378496e+00] [-2.18712420e-03 2.08713483e-04 9.99997586e-01 -2.70222640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58800114499996 meters 0.09128848044711235 Centerline is valid? [True, True] Translation: X:147.95, Y:-1.46, Z:-2.70 [[ 9.99949691e-01 9.80578496e-03 2.11255733e-03 1.47946585e+02] [-9.80532762e-03 9.99951901e-01 -2.26738113e-04 -1.46056102e+00] [-2.11467906e-03 2.06012389e-04 9.99997743e-01 -2.70307823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61800114499997 meters 0.09290896370273027 Centerline is valid? [True, True] Translation: X:147.98, Y:-1.47, Z:-2.70 [[ 9.99966971e-01 7.71191252e-03 2.56589178e-03 1.47975443e+02] [-7.71123414e-03 9.99970230e-01 -2.74171538e-04 -1.46596240e+00] [-2.56792978e-03 2.54376290e-04 9.99996671e-01 -2.70353188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64800114499997 meters 0.09448147968663069 Centerline is valid? [True, True] Translation: X:148.00, Y:-1.47, Z:-2.70 [[ 9.99974663e-01 6.49957178e-03 2.90328510e-03 1.48004713e+02] [-6.49869879e-03 9.99978835e-01 -3.10021596e-04 -1.47108054e+00] [-2.90523866e-03 2.91146166e-04 9.99995737e-01 -2.70370725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67800114499997 meters 0.0988828816686065 Centerline is valid? [True, True] Translation: X:148.03, Y:-1.48, Z:-2.71 [[ 9.99984933e-01 3.99370471e-03 3.76624171e-03 1.48033206e+02] [-3.99222257e-03 9.99991951e-01 -4.00970239e-04 -1.48118419e+00] [-3.76781275e-03 3.85928522e-04 9.99992827e-01 -2.70541909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70800114499997 meters 0.09861902351511667 Centerline is valid? [True, True] Translation: X:148.06, Y:-1.48, Z:-2.71 [[ 9.99986888e-01 3.50371203e-03 3.73456447e-03 1.48063752e+02] [-3.50225170e-03 9.99993788e-01 -3.97497537e-04 -1.48491207e+00] [-3.73593399e-03 3.84412941e-04 9.99992947e-01 -2.70612731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73800114499997 meters 0.09419212495063894 Centerline is valid? [True, True] Translation: X:148.10, Y:-1.48, Z:-2.71 [[ 9.99991805e-01 2.43176771e-03 3.23676662e-03 1.48095015e+02] [-2.43066523e-03 9.99996987e-01 -3.44499781e-04 -1.48175160e+00] [-3.23759461e-03 3.36629461e-04 9.99994702e-01 -2.70561184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76800114499997 meters 0.0977215259872147 Centerline is valid? [True, True] Translation: X:148.12, Y:-1.49, Z:-2.71 [[ 9.99994683e-01 1.75254334e-03 2.74996177e-03 1.48124835e+02] [-1.75174505e-03 9.99998423e-01 -2.92675112e-04 -1.48929067e+00] [-2.75047035e-03 2.87856324e-04 9.99996176e-01 -2.70692929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79800114499997 meters 0.09552359125245599 Centerline is valid? [True, True] Translation: X:148.16, Y:-1.49, Z:-2.71 [[ 9.99991211e-01 2.44568140e-03 3.40527335e-03 1.48156812e+02] [-2.44446195e-03 9.99996947e-01 -3.62222392e-04 -1.48816219e+00] [-3.40614883e-03 3.53895147e-04 9.99994136e-01 -2.70631757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82800114499997 meters 0.09776251309116318 Centerline is valid? [True, True] Translation: X:148.19, Y:-1.49, Z:-2.71 [[ 9.99987821e-01 3.07286880e-03 3.86207426e-03 1.48186304e+02] [-3.07130264e-03 9.99995199e-01 -4.11387703e-04 -1.49420463e+00] [-3.86331986e-03 3.99521094e-04 9.99992458e-01 -2.70701313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85800114499997 meters 0.0988982280100892 Centerline is valid? [True, True] Translation: X:148.22, Y:-1.50, Z:-2.71 [[ 9.99985267e-01 3.77234209e-03 3.90331973e-03 1.48216619e+02] [-3.77074855e-03 9.99992804e-01 -4.15530841e-04 -1.49923966e+00] [-3.90485917e-03 4.00806282e-04 9.99992296e-01 -2.70855662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88800114499998 meters 0.09321488426706018 Centerline is valid? [True, True] Translation: X:148.25, Y:-1.49, Z:-2.71 [[ 9.99983086e-01 4.61321581e-03 3.54216320e-03 1.48247569e+02] [-4.61190625e-03 9.99989294e-01 -3.77785195e-04 -1.49376488e+00] [-3.54386808e-03 3.61442680e-04 9.99993655e-01 -2.70954738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91800114499998 meters 0.0908445602153291 Centerline is valid? [True, True] Translation: X:148.28, Y:-1.49, Z:-2.71 [[ 9.99983223e-01 5.20627298e-03 2.53944275e-03 1.48277944e+02] [-5.20560087e-03 9.99986414e-01 -2.71205831e-04 -1.49297038e+00] [-2.54082022e-03 2.57981955e-04 9.99996739e-01 -2.71039335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94800114499998 meters 0.09091137321222488 Centerline is valid? [True, True] Translation: X:148.31, Y:-1.49, Z:-2.71 [[ 9.99976677e-01 6.58158329e-03 1.82437395e-03 1.48307465e+02] [-6.58123852e-03 9.99978324e-01 -1.94920080e-04 -1.49300298e+00] [-1.82561729e-03 1.82908894e-04 9.99998317e-01 -2.71157977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97800114499998 meters 0.10510635534502347 Centerline is valid? [True, False] Translation: X:148.31, Y:-1.49, Z:-2.71 [[ 9.99977891e-01 6.46657453e-03 1.54953429e-03 1.48308072e+02] [-6.46552952e-03 9.99978868e-01 -6.78469789e-04 -1.49112626e+00] [-1.55388893e-03 6.68436229e-04 9.99998569e-01 -2.71153383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00800114499998 meters 0.09165695969405005 Centerline is valid? [False, True] Translation: X:148.31, Y:-1.49, Z:-2.71 [[ 9.99980001e-01 6.15633328e-03 1.44849396e-03 1.48307876e+02] [-6.15443368e-03 9.99980200e-01 -1.31225514e-03 -1.48974133e+00] [-1.45654396e-03 1.30331424e-03 9.99998090e-01 -2.71084488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03800114499998 meters 0.09245147730339347 Centerline is valid? [True, True] Translation: X:148.34, Y:-1.49, Z:-2.71 [[ 9.99978361e-01 6.30830773e-03 1.86643601e-03 1.48336281e+02] [-6.30795291e-03 9.99980085e-01 -1.95933970e-04 -1.49454465e+00] [-1.86763485e-03 1.84156340e-04 9.99998239e-01 -2.71288668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06800114499998 meters 0.0874322079215772 Centerline is valid? [True, True] Translation: X:148.37, Y:-1.49, Z:-2.71 [[ 9.99979075e-01 6.15399848e-03 1.99460131e-03 1.48366111e+02] [-6.15359248e-03 9.99981044e-01 -2.09622425e-04 -1.48948780e+00] [-1.99585352e-03 1.97344075e-04 9.99997989e-01 -2.71197784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09800114499998 meters 0.09498949782046802 Centerline is valid? [True, True] Translation: X:148.39, Y:-1.50, Z:-2.71 [[ 9.99982218e-01 4.98754250e-03 3.26931337e-03 1.48393491e+02] [-4.98645073e-03 9.99987509e-01 -3.42011249e-04 -1.50415396e+00] [-3.27097833e-03 3.25702897e-04 9.99994597e-01 -2.71477161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12800114499998 meters 0.09192212867245785 Centerline is valid? [True, True] Translation: X:148.42, Y:-1.50, Z:-2.71 [[ 9.99983917e-01 4.13356543e-03 3.88313771e-03 1.48424514e+02] [-4.13202419e-03 9.99991381e-01 -4.04845211e-04 -1.50168842e+00] [-3.88477770e-03 3.88793481e-04 9.99992379e-01 -2.71339343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.158001145 meters 0.09525128275660098 Centerline is valid? [True, True] Translation: X:148.45, Y:-1.51, Z:-2.71 [[ 9.99984755e-01 1.89106950e-03 5.18788481e-03 1.48453776e+02] [-1.88828863e-03 9.99998071e-01 -5.40876777e-04 -1.50953352e+00] [-5.18889764e-03 5.31072307e-04 9.99986397e-01 -2.71321045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.188001145 meters 0.09790496893891967 Centerline is valid? [True, True] Translation: X:148.48, Y:-1.52, Z:-2.71 [[ 9.99984847e-01 -2.03604012e-05 5.50499234e-03 1.48484590e+02] [ 2.35170790e-05 9.99999835e-01 -5.73356792e-04 -1.51675391e+00] [-5.50497976e-03 5.73477565e-04 9.99984683e-01 -2.71476751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.218001145 meters 0.09917568682743587 Centerline is valid? [True, True] Translation: X:148.52, Y:-1.52, Z:-2.72 [[ 9.99980050e-01 -9.29752469e-04 6.24778429e-03 1.48515316e+02] [ 9.33818985e-04 9.99999354e-01 -6.47987672e-04 -1.52250254e+00] [-6.24717779e-03 6.53809045e-04 9.99980272e-01 -2.71556593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.248001145 meters 0.10208078827100159 Centerline is valid? [True, False] Translation: X:148.52, Y:-1.52, Z:-2.72 [[ 9.99980142e-01 -7.07546736e-04 6.26215884e-03 1.48515466e+02] [ 7.08700952e-04 9.99999732e-01 -1.82098949e-04 -1.52381775e+00] [-6.26202832e-03 1.86533331e-04 9.99980376e-01 -2.71590158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.278001145 meters 0.09573905330720266 Centerline is valid? [False, True] Translation: X:148.52, Y:-1.52, Z:-2.72 [[ 9.99979603e-01 -7.84745252e-04 6.33855569e-03 1.48515211e+02] [ 7.86075375e-04 9.99999670e-01 -2.07357788e-04 -1.52404782e+00] [-6.33839087e-03 2.12336141e-04 9.99979890e-01 -2.71577116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30800114499996 meters 0.09716994428356578 Centerline is valid? [True, True] Translation: X:148.55, Y:-1.53, Z:-2.72 [[ 9.99978914e-01 -2.08498632e-03 6.15009765e-03 1.48545651e+02] [ 2.08911288e-03 9.99997597e-01 -6.64627904e-04 -1.52895326e+00] [-6.14869713e-03 6.77462138e-04 9.99980867e-01 -2.71669393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33800114499996 meters 0.10621003208537663 Centerline is valid? [True, False] Translation: X:148.55, Y:-1.53, Z:-2.72 [[ 9.99980240e-01 -1.88383624e-03 5.99751782e-03 1.48546297e+02] [ 1.88636088e-03 9.99998135e-01 -4.15319794e-04 -1.52903979e+00] [-5.99672424e-03 4.26625070e-04 9.99981928e-01 -2.71720163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36800114499997 meters 0.0991861797104308 Centerline is valid? [False, True] Translation: X:148.55, Y:-1.53, Z:-2.72 [[ 9.99980372e-01 -2.01888094e-03 5.93117785e-03 1.48546207e+02] [ 2.02304277e-03 9.99997712e-01 -6.95770980e-04 -1.52841760e+00] [-5.92975959e-03 7.07756351e-04 9.99982168e-01 -2.71681409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39800114499997 meters 0.0991861797104308 Centerline is valid? [True, True] Translation: X:148.58, Y:-1.53, Z:-2.72 [[ 9.99980468e-01 -1.95412896e-03 5.93677013e-03 1.48577896e+02] [ 1.95798838e-03 9.99997876e-01 -6.44344519e-04 -1.53196794e+00] [-5.93549839e-03 6.55956060e-04 9.99982170e-01 -2.71761688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42800114499997 meters 0.10074770363373886 Centerline is valid? [True, False] Translation: X:148.58, Y:-1.53, Z:-2.72 [[ 9.99981868e-01 -1.64506340e-03 5.79286108e-03 1.48578548e+02] [ 1.64635821e-03 9.99998621e-01 -2.18756879e-04 -1.53264295e+00] [-5.79249322e-03 2.28290037e-04 9.99983197e-01 -2.71818259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45800114499997 meters 0.09882772565204631 Centerline is valid? [False, True] Translation: X:148.58, Y:-1.53, Z:-2.72 [[ 9.99984049e-01 -1.17469296e-03 5.52467141e-03 1.48579472e+02] [ 1.17266134e-03 9.99999244e-01 3.70960659e-04 -1.53404049e+00] [-5.52510300e-03 -3.64476174e-04 9.99984670e-01 -2.71881649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48800114499997 meters 0.10085533448059023 Centerline is valid? [True, False] Translation: X:148.58, Y:-1.53, Z:-2.72 [[ 9.99985579e-01 -9.88064707e-04 5.27874780e-03 1.48580141e+02] [ 9.85271034e-04 9.99999373e-01 5.31804521e-04 -1.53418295e+00] [-5.27926995e-03 -5.26595854e-04 9.99985926e-01 -2.71908804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51800114499997 meters 0.09478636454747034 Centerline is valid? [False, True] Translation: X:148.58, Y:-1.53, Z:-2.72 [[ 9.99987050e-01 -9.09323013e-04 5.00721941e-03 1.48580830e+02] [ 9.07005544e-04 9.99999481e-01 4.65076744e-04 -1.53354368e+00] [-5.00763972e-03 -4.60529146e-04 9.99987356e-01 -2.71925556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54800114499997 meters 0.09962940027008892 Centerline is valid? [True, True] Translation: X:148.61, Y:-1.54, Z:-2.72 [[ 9.99989431e-01 -1.20643515e-04 4.59590881e-03 1.48610848e+02] [ 1.22878109e-04 9.99999874e-01 -4.85934319e-04 -1.54309238e+00] [-4.59584960e-03 4.86493920e-04 9.99989321e-01 -2.72115069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57800114499997 meters 0.08857420871499361 Centerline is valid? [True, True] Translation: X:148.64, Y:-1.53, Z:-2.72 [[ 9.99989802e-01 1.16439451e-03 4.36358439e-03 1.48644421e+02] [-1.16239178e-03 9.99999218e-01 -4.61472354e-04 -1.52783735e+00] [-4.36411832e-03 4.56395453e-04 9.99990373e-01 -2.71840321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60800114499997 meters 0.09165659879364205 Centerline is valid? [True, True] Translation: X:148.67, Y:-1.54, Z:-2.72 [[ 9.99986877e-01 3.95206580e-03 3.25993632e-03 1.48673465e+02] [-3.95095864e-03 9.99992135e-01 -3.45996736e-04 -1.53610654e+00] [-3.26127808e-03 3.33112322e-04 9.99994627e-01 -2.72057379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63800114499998 meters 0.09440287455798958 Centerline is valid? [True, True] Translation: X:148.70, Y:-1.54, Z:-2.72 [[ 9.99981681e-01 5.03138483e-03 3.36507487e-03 1.48702870e+02] [-5.03021239e-03 9.99987285e-01 -3.56786926e-04 -1.54378171e+00] [-3.36682722e-03 3.39853348e-04 9.99994274e-01 -2.72340677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66800114499998 meters 0.08980574456250118 Centerline is valid? [True, True] Translation: X:148.73, Y:-1.54, Z:-2.72 [[ 9.99978080e-01 5.77965956e-03 3.23018500e-03 1.48733658e+02] [-5.77858060e-03 9.99983245e-01 -3.43259373e-04 -1.53939450e+00] [-3.23211480e-03 3.24585965e-04 9.99994724e-01 -2.72271028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69800114499998 meters 0.09021736215879372 Centerline is valid? [True, True] Translation: X:148.76, Y:-1.54, Z:-2.73 [[ 9.99964777e-01 7.98837525e-03 2.57499947e-03 1.48762630e+02] [-7.98769717e-03 9.99968060e-01 -2.73508692e-04 -1.54377372e+00] [-2.57710212e-03 2.52930742e-04 9.99996647e-01 -2.72526488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72800114499998 meters 0.09043370929474724 Centerline is valid? [True, True] Translation: X:148.79, Y:-1.55, Z:-2.73 [[ 9.99955756e-01 9.06737861e-03 2.50353672e-03 1.48790932e+02] [-9.06673997e-03 9.99958861e-01 -2.66327683e-04 -1.54628067e+00] [-2.50584862e-03 2.43616984e-04 9.99996831e-01 -2.72600726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75800114499998 meters 0.09347094162114189 Centerline is valid? [True, True] Translation: X:148.82, Y:-1.55, Z:-2.73 [[ 9.99940071e-01 1.05082396e-02 3.07111520e-03 1.48819161e+02] [-1.05072876e-02 9.99944744e-01 -3.25938256e-04 -1.55313344e+00] [-3.07437054e-03 2.93649632e-04 9.99995231e-01 -2.72775417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78800114499998 meters 0.0954323991472806 Centerline is valid? [True, True] Translation: X:148.85, Y:-1.56, Z:-2.73 [[ 9.99904431e-01 1.34786825e-02 3.07474870e-03 1.48848758e+02] [-1.34777444e-02 9.99909118e-01 -3.25604922e-04 -1.55742023e+00] [-3.07885798e-03 2.84133127e-04 9.99995220e-01 -2.72988805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81800114499998 meters 0.08669395098810304 Centerline is valid? [True, True] Translation: X:148.88, Y:-1.55, Z:-2.73 [[ 9.99894348e-01 1.43263921e-02 2.45919122e-03 1.48879280e+02] [-1.43257913e-02 9.99897346e-01 -2.61777687e-04 -1.54531324e+00] [-2.46268911e-03 2.26520170e-04 9.99996942e-01 -2.72823445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84800114499998 meters 0.08765455087317975 Centerline is valid? [True, True] Translation: X:148.91, Y:-1.55, Z:-2.73 [[ 9.99898364e-01 1.41602410e-02 1.65789568e-03 1.48907624e+02] [-1.41599671e-02 9.99899727e-01 -1.76874850e-04 -1.54940997e+00] [-1.66023403e-03 1.53381125e-04 9.99998610e-01 -2.72965917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87800114499998 meters 0.08705778393276105 Centerline is valid? [True, True] Translation: X:148.94, Y:-1.55, Z:-2.73 [[ 9.99896595e-01 1.43111475e-02 1.41089989e-03 1.48936311e+02] [-1.43109490e-02 9.99897582e-01 -1.50672791e-04 -1.55149680e+00] [-1.41291169e-03 1.30465894e-04 9.99998993e-01 -2.73056612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.908001145 meters 0.08318270899517397 Centerline is valid? [True, True] Translation: X:148.97, Y:-1.55, Z:-2.73 [[ 9.99905229e-01 1.34262509e-02 3.04461602e-03 1.48965707e+02] [-1.34253285e-02 9.99909824e-01 -3.23177771e-04 -1.54796708e+00] [-3.04868054e-03 2.82272173e-04 9.99995313e-01 -2.72865060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.938001145 meters 0.09376708810803289 Centerline is valid? [True, True] Translation: X:148.99, Y:-1.57, Z:-2.73 [[ 9.99918048e-01 1.24249940e-02 3.08506206e-03 1.48991917e+02] [-1.24240441e-02 9.99922765e-01 -3.26870401e-04 -1.56874152e+00] [-3.08888515e-03 2.88514666e-04 9.99995188e-01 -2.73302999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.968001145 meters 0.08735412803606966 Centerline is valid? [True, True] Translation: X:149.02, Y:-1.56, Z:-2.73 [[ 9.99923381e-01 1.19744928e-02 3.13731587e-03 1.49022163e+02] [-1.19735079e-02 9.99928260e-01 -3.32538210e-04 -1.56050017e+00] [-3.14107277e-03 2.94948055e-04 9.99995023e-01 -2.73063408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.998001145 meters 0.0960808653113583 Centerline is valid? [True, True] Translation: X:149.05, Y:-1.58, Z:-2.73 [[ 9.99932817e-01 1.12598001e-02 2.75293870e-03 1.49049444e+02] [-1.12590400e-02 9.99936573e-01 -2.91456571e-04 -1.57686890e+00] [-2.75604583e-03 2.60441543e-04 9.99996168e-01 -2.73431342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.028001145 meters 0.08765378820706886 Centerline is valid? [True, True] Translation: X:149.08, Y:-1.56, Z:-2.73 [[ 9.99936944e-01 1.11567536e-02 1.27898037e-03 1.49079597e+02] [-1.11565882e-02 9.99937754e-01 -1.36371873e-04 -1.56483192e+00] [-1.28042223e-03 1.22094217e-04 9.99999173e-01 -2.73325952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05800114499996 meters 0.09013162570272286 Centerline is valid? [True, True] Translation: X:149.11, Y:-1.57, Z:-2.74 [[ 9.99943084e-01 1.06622780e-02 3.81524721e-04 1.49107153e+02] [-1.06622629e-02 9.99943156e-01 -4.17656564e-05 -1.57144686e+00] [-3.81948351e-04 3.76953623e-05 9.99999926e-01 -2.73631265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08800114499996 meters 0.08774925256700818 Centerline is valid? [True, True] Translation: X:149.14, Y:-1.57, Z:-2.74 [[ 9.99938215e-01 1.10080705e-02 1.54518568e-03 1.49136306e+02] [-1.10078298e-02 9.99939399e-01 -1.64216331e-04 -1.57010540e+00] [-1.54689975e-03 1.47197044e-04 9.99998793e-01 -2.73580306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11800114499997 meters 0.088580960369588 Centerline is valid? [True, True] Translation: X:149.17, Y:-1.57, Z:-2.74 [[ 9.99943506e-01 1.03931977e-02 2.22831935e-03 1.49165280e+02] [-1.03926975e-02 9.99945967e-01 -2.35952242e-04 -1.57417279e+00] [-2.23065124e-03 2.12780664e-04 9.99997489e-01 -2.73563042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14800114499997 meters 0.0878267834853514 Centerline is valid? [True, True] Translation: X:149.19, Y:-1.58, Z:-2.74 [[ 9.99942432e-01 1.03824267e-02 2.70903523e-03 1.49194471e+02] [-1.03816887e-02 9.99946068e-01 -2.86339889e-04 -1.57523082e+00] [-2.71186203e-03 2.58199044e-04 9.99996290e-01 -2.73537880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17800114499997 meters 0.0885008184839916 Centerline is valid? [True, True] Translation: X:149.22, Y:-1.58, Z:-2.74 [[ 9.99941203e-01 1.03952278e-02 3.08692577e-03 1.49222576e+02] [-1.03942710e-02 9.99945925e-01 -3.25846557e-04 -1.57902727e+00] [-3.09014609e-03 2.93741055e-04 9.99995182e-01 -2.73580172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20800114499997 meters 0.08868743715485221 Centerline is valid? [True, True] Translation: X:149.25, Y:-1.58, Z:-2.74 [[ 9.99942043e-01 1.03446385e-02 2.98297769e-03 1.49251549e+02] [-1.03437452e-02 9.99946453e-01 -3.14731930e-04 -1.58049847e+00] [-2.98607375e-03 2.83858528e-04 9.99995501e-01 -2.73607638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23800114499997 meters 0.08863873890638424 Centerline is valid? [True, True] Translation: X:149.28, Y:-1.58, Z:-2.74 [[ 9.99932662e-01 1.12355952e-02 2.90378046e-03 1.49280698e+02] [-1.12347539e-02 9.99936841e-01 -3.05873265e-04 -1.58260132e+00] [-2.90703373e-03 2.73229409e-04 9.99995737e-01 -2.73695068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26800114499997 meters 0.08828080885944622 Centerline is valid? [True, True] Translation: X:149.31, Y:-1.58, Z:-2.74 [[ 9.99935290e-01 1.12134778e-02 1.91692632e-03 1.49309103e+02] [-1.12131098e-02 9.99937111e-01 -2.02606578e-04 -1.58437201e+00] [-1.91907769e-03 1.81098762e-04 9.99998142e-01 -2.73783776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29800114499997 meters 0.08995479953603763 Centerline is valid? [True, True] Translation: X:149.34, Y:-1.59, Z:-2.74 [[ 9.99936249e-01 1.11756047e-02 1.61373750e-03 1.49336140e+02] [-1.11753431e-02 9.99937539e-01 -1.71058439e-04 -1.59008390e+00] [-1.61554839e-03 1.53013463e-04 9.99998683e-01 -2.74031281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32800114499997 meters 0.08877417402813148 Centerline is valid? [True, True] Translation: X:149.37, Y:-1.59, Z:-2.74 [[ 9.99935897e-01 1.13099943e-02 5.34486923e-04 1.49365210e+02] [-1.13099651e-02 9.99936039e-01 -5.75353226e-05 -1.59053676e+00] [-5.35103461e-04 5.14866060e-05 9.99999856e-01 -2.74167206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35800114499997 meters 0.08665981748671014 Centerline is valid? [True, True] Translation: X:149.39, Y:-1.59, Z:-2.74 [[ 9.99940848e-01 1.08759530e-02 1.15407763e-04 1.49393967e+02] [-1.08759515e-02 9.99940855e-01 -1.36715596e-05 -1.58891661e+00] [-1.15549629e-04 1.24155817e-05 9.99999993e-01 -2.74109067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38800114499998 meters 0.09242645878348879 Centerline is valid? [True, True] Translation: X:149.42, Y:-1.60, Z:-2.74 [[ 9.99940958e-01 1.08651677e-02 1.69695610e-04 1.49420885e+02] [-1.08651644e-02 9.99940972e-01 -1.98379250e-05 -1.60051222e+00] [-1.69901136e-04 1.79929830e-05 9.99999985e-01 -2.74390038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41800114499998 meters 0.08925521673804414 Centerline is valid? [True, True] Translation: X:149.45, Y:-1.60, Z:-2.74 [[ 9.99937202e-01 1.12067462e-02 8.15623290e-06 1.49450333e+02] [-1.12067462e-02 9.99937202e-01 -2.41472730e-06 -1.59786785e+00] [-8.18278195e-06 2.32317083e-06 1.00000000e+00 -2.74288665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44800114499998 meters 0.08995733844439156 Centerline is valid? [True, True] Translation: X:149.48, Y:-1.60, Z:-2.74 [[ 9.99929297e-01 1.18689576e-02 7.27318153e-04 1.49478866e+02] [-1.18689043e-02 9.99929559e-01 -7.74981201e-05 -1.60086660e+00] [-7.28186742e-04 6.88601711e-05 9.99999733e-01 -2.74384295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47800114499998 meters 0.089730855892797 Centerline is valid? [True, True] Translation: X:149.51, Y:-1.60, Z:-2.74 [[ 9.99914739e-01 1.29585348e-02 1.60964094e-03 1.49508144e+02] [-1.29582797e-02 9.99916024e-01 -1.68799637e-04 -1.60284022e+00] [-1.61169316e-03 1.47927068e-04 9.99998690e-01 -2.74443636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50800114499998 meters 0.08619316867297154 Centerline is valid? [True, True] Translation: X:149.54, Y:-1.60, Z:-2.74 [[ 9.99905454e-01 1.36867804e-02 1.32498098e-03 1.49537406e+02] [-1.36866071e-02 9.99906324e-01 -1.39801045e-04 -1.59889143e+00] [-1.32677028e-03 1.21653333e-04 9.99999112e-01 -2.74456733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53800114499998 meters 0.08808403302458219 Centerline is valid? [True, True] Translation: X:149.57, Y:-1.60, Z:-2.75 [[ 9.99881448e-01 1.53799609e-02 7.39083949e-04 1.49565591e+02] [-1.53799076e-02 9.99881719e-01 -7.77275130e-05 -1.60385933e+00] [-7.40191976e-04 6.63512554e-05 9.99999724e-01 -2.74628808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56800114499998 meters 0.08813938632151133 Centerline is valid? [True, True] Translation: X:149.59, Y:-1.61, Z:-2.75 [[ 9.99877533e-01 1.56111863e-02 1.09963884e-03 1.49593898e+02] [-1.56110679e-02 9.99878133e-01 -1.16164235e-04 -1.60631667e+00] [-1.10131829e-03 9.89834720e-05 9.99999389e-01 -2.74687559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59800114499998 meters 0.09177050948335506 Centerline is valid? [True, True] Translation: X:149.62, Y:-1.62, Z:-2.75 [[ 9.99874682e-01 1.57861477e-02 1.19052292e-03 1.49621187e+02] [-1.57860089e-02 9.99875385e-01 -1.25915046e-04 -1.61500651e+00] [-1.19236228e-03 1.07105661e-04 9.99999283e-01 -2.74910638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62800114499998 meters 0.08201421910595857 Centerline is valid? [True, True] Translation: X:149.65, Y:-1.60, Z:-2.75 [[ 9.99878312e-01 1.55686570e-02 9.88644934e-04 1.49651344e+02] [-1.55685612e-02 9.99878797e-01 -1.04540328e-04 -1.60168303e+00] [-9.90152660e-04 8.91358278e-05 9.99999506e-01 -2.74559616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.658001145 meters 0.0818486046319994 Centerline is valid? [True, True] Translation: X:149.68, Y:-1.60, Z:-2.75 [[ 9.99883513e-01 1.52387664e-02 8.60298238e-04 1.49680146e+02] [-1.52386936e-02 9.99883880e-01 -9.11186568e-05 -1.60427659e+00] [-8.61586876e-04 7.79982215e-05 9.99999626e-01 -2.74648718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.688001145 meters 0.08510058045849292 Centerline is valid? [True, True] Translation: X:149.71, Y:-1.61, Z:-2.75 [[ 9.99896348e-01 1.42856245e-02 1.79278576e-03 1.49707024e+02] [-1.42853095e-02 9.99897942e-01 -1.88348584e-04 -1.61347731e+00] [-1.79529347e-03 1.62718561e-04 9.99998375e-01 -2.74900658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.718001145 meters 0.08526591214343902 Centerline is valid? [True, True] Translation: X:149.74, Y:-1.62, Z:-2.75 [[ 9.99900288e-01 1.40368660e-02 1.54290481e-03 1.49735413e+02] [-1.40366329e-02 9.99901469e-01 -1.61809453e-04 -1.61722659e+00] [-1.54502409e-03 1.40136130e-04 9.99998797e-01 -2.74961507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.748001145 meters 0.08501514994418091 Centerline is valid? [True, True] Translation: X:149.76, Y:-1.62, Z:-2.75 [[ 9.99902274e-01 1.39295931e-02 1.18719864e-03 1.49764059e+02] [-1.39294547e-02 9.99902973e-01 -1.24790328e-04 -1.61985405e+00] [-1.18882173e-03 1.08241103e-04 9.99999287e-01 -2.75015255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77800114499996 meters 0.08490631942329747 Centerline is valid? [True, True] Translation: X:149.79, Y:-1.62, Z:-2.75 [[ 9.99892107e-01 1.45483363e-02 2.03001601e-03 1.49792987e+02] [-1.45479353e-02 9.99894151e-01 -2.12123446e-04 -1.62272100e+00] [-2.03288718e-03 1.82568018e-04 9.99997917e-01 -2.75103985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80800114499996 meters 0.08796506252196096 Centerline is valid? [True, True] Translation: X:149.82, Y:-1.63, Z:-2.75 [[ 9.99878335e-01 1.55622862e-02 1.06282704e-03 1.49820489e+02] [-1.55621761e-02 9.99878896e-01 -1.11716554e-04 -1.63103117e+00] [-1.06443689e-03 9.51630601e-05 9.99999429e-01 -2.75400605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83800114499996 meters 0.08576226298040346 Centerline is valid? [True, True] Translation: X:149.85, Y:-1.63, Z:-2.75 [[ 9.99867486e-01 1.62290142e-02 1.27657415e-03 1.49849378e+02] [-1.62288565e-02 9.99868294e-01 -1.33793752e-04 -1.63060506e+00] [-1.27857736e-03 1.13058684e-04 9.99999176e-01 -2.75479554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86800114499997 meters 0.08516723533674096 Centerline is valid? [True, True] Translation: X:149.88, Y:-1.63, Z:-2.76 [[ 9.99861091e-01 1.66607164e-02 4.68653492e-04 1.49878223e+02] [-1.66606948e-02 9.99861200e-01 -5.00684597e-05 -1.63296800e+00] [-4.69422619e-04 4.22534120e-05 9.99999889e-01 -2.75657550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89800114499997 meters 0.08580378749363525 Centerline is valid? [True, True] Translation: X:149.91, Y:-1.64, Z:-2.76 [[ 9.99852813e-01 1.71473710e-02 -5.66082149e-04 1.49907051e+02] [-1.71473414e-02 9.99852972e-01 5.70376189e-05 -1.63759148e+00] [ 5.66976965e-04 -4.73224199e-05 9.99999838e-01 -2.75793240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92800114499997 meters 0.08659554159370804 Centerline is valid? [True, True] Translation: X:149.94, Y:-1.64, Z:-2.76 [[ 9.99854479e-01 1.70532578e-02 4.55499104e-04 1.49935983e+02] [-1.70532374e-02 9.99854582e-01 -4.86237359e-05 -1.64175864e+00] [-4.56262059e-04 4.08489258e-05 9.99999895e-01 -2.75853351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95800114499997 meters 0.08747817132980228 Centerline is valid? [True, True] Translation: X:149.96, Y:-1.65, Z:-2.76 [[ 9.99853236e-01 1.71192009e-02 6.62913819e-04 1.49963097e+02] [-1.71191579e-02 9.99853454e-01 -7.03926190e-05 -1.64547434e+00] [-6.64021737e-04 5.90337615e-05 9.99999778e-01 -2.75894400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98800114499997 meters 0.08783163079416705 Centerline is valid? [True, True] Translation: X:149.99, Y:-1.65, Z:-2.76 [[ 9.99848886e-01 1.73829029e-02 2.01906725e-04 1.49990842e+02] [-1.73828986e-02 9.99848906e-01 -2.27318381e-05 -1.64945938e+00] [-2.02271363e-04 1.92186789e-05 9.99999979e-01 -2.76063437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01800114499997 meters 0.08909269202719244 Centerline is valid? [True, True] Translation: X:150.02, Y:-1.65, Z:-2.76 [[ 9.99859531e-01 1.67107928e-02 1.29165388e-03 1.50019281e+02] [-1.67106326e-02 9.99860359e-01 -1.34766026e-04 -1.65457392e+00] [-1.29372556e-03 1.13162742e-04 9.99999157e-01 -2.76123554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04800114499997 meters 0.09047429076161458 Centerline is valid? [True, True] Translation: X:150.05, Y:-1.66, Z:-2.76 [[ 9.99873805e-01 1.58273518e-02 1.36726830e-03 1.50047471e+02] [-1.58271716e-02 9.99874732e-01 -1.42476253e-04 -1.65995635e+00] [-1.36935204e-03 1.20818283e-04 9.99999055e-01 -2.76199810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07800114499997 meters 0.09136804911859396 Centerline is valid? [True, True] Translation: X:150.08, Y:-1.66, Z:-2.76 [[ 9.99894631e-01 1.44477744e-02 1.41027263e-03 1.50076902e+02] [-1.44475826e-02 9.99895618e-01 -1.46122051e-04 -1.66475177e+00] [-1.41223656e-03 1.25731624e-04 9.99998995e-01 -2.76230946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10800114499997 meters 0.09483503133503089 Centerline is valid? [True, True] Translation: X:150.11, Y:-1.67, Z:-2.76 [[ 9.99936867e-01 1.11237863e-02 1.58873667e-03 1.50105875e+02] [-1.11235395e-02 9.99938118e-01 -1.64111755e-04 -1.67351645e+00] [-1.59046390e-03 1.46429019e-04 9.99998724e-01 -2.76272173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13800114499998 meters 0.09679971791434401 Centerline is valid? [True, True] Translation: X:150.14, Y:-1.68, Z:-2.76 [[ 9.99955123e-01 9.33737535e-03 1.60178010e-03 1.50136069e+02] [-9.33712277e-03 9.99956394e-01 -1.65095812e-04 -1.68001464e+00] [-1.60325182e-03 1.50132386e-04 9.99998704e-01 -2.76328034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16800114499998 meters 0.09881872878916036 Centerline is valid? [True, True] Translation: X:150.17, Y:-1.69, Z:-2.76 [[ 9.99971097e-01 7.51770758e-03 1.13521656e-03 1.50165215e+02] [-7.51757916e-03 9.99971736e-01 -1.17353016e-04 -1.68728182e+00] [-1.13606670e-03 1.08815544e-04 9.99999349e-01 -2.76486310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19800114499998 meters 0.10071356261115372 Centerline is valid? [True, False] Translation: X:150.16, Y:-1.69, Z:-2.76 [[ 9.99970602e-01 7.54516783e-03 1.36577518e-03 1.50164589e+02] [-7.54553466e-03 9.99971497e-01 2.63635021e-04 -1.68905595e+00] [-1.36374708e-03 -2.73932775e-04 9.99999033e-01 -2.76472615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22800114499998 meters 0.10405871081222898 Centerline is valid? [False, False] Translation: X:150.16, Y:-1.69, Z:-2.76 [[ 9.99993387e-01 3.42200991e-03 1.23116059e-03 1.50164714e+02] [-3.41754162e-03 9.99987632e-01 -3.61331966e-03 -1.69062066e+00] [-1.24351018e-03 3.60908822e-03 9.99992714e-01 -2.76466623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25800114499998 meters 0.10559107300599785 Centerline is valid? [False, False] Translation: X:150.16, Y:-1.69, Z:-2.76 [[ 9.99993279e-01 3.43272083e-03 1.28745699e-03 1.50164617e+02] [-3.42823196e-03 9.99988093e-01 -3.47276640e-03 -1.69118358e+00] [-1.29936270e-03 3.46832936e-03 9.99993141e-01 -2.76476072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28800114499998 meters 0.10574268173712119 Centerline is valid? [False, False] Translation: X:150.16, Y:-1.69, Z:-2.76 [[ 9.99992975e-01 3.54692951e-03 1.21196588e-03 1.50164887e+02] [-3.54293254e-03 9.99988330e-01 -3.28431075e-03 -1.69150912e+00] [-1.22360096e-03 3.27999377e-03 9.99993872e-01 -2.76495487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31800114499998 meters 0.10574268173712119 Centerline is valid? [False, False] Translation: X:150.16, Y:-1.69, Z:-2.76 [[ 9.99992975e-01 3.54692951e-03 1.21196588e-03 1.50164887e+02] [-3.54293254e-03 9.99988330e-01 -3.28431075e-03 -1.69150912e+00] [-1.22360096e-03 3.27999377e-03 9.99993872e-01 -2.76495487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34800114499998 meters 0.10593918868386783 Centerline is valid? [False, False] Translation: X:150.17, Y:-1.69, Z:-2.77 [[ 9.99992474e-01 3.74723919e-03 1.00514818e-03 1.50165561e+02] [-3.74416927e-03 9.99988373e-01 -3.03887928e-03 -1.69142828e+00] [-1.01652390e-03 3.03509296e-03 9.99994877e-01 -2.76533495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37800114499998 meters 0.09993435768036657 Centerline is valid? [False, True] Translation: X:150.17, Y:-1.69, Z:-2.77 [[ 9.99991590e-01 3.98259317e-03 9.79534864e-04 1.50165720e+02] [-3.98006640e-03 9.99988782e-01 -2.56812373e-03 -1.69278471e+00] [-9.89751668e-04 2.56420352e-03 9.99996223e-01 -2.76556896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.408001145 meters 0.1060935364703114 Centerline is valid? [True, False] Translation: X:150.17, Y:-1.69, Z:-2.77 [[ 9.99990498e-01 4.24069306e-03 1.01001910e-03 1.50165773e+02] [-4.23863723e-03 9.99988959e-01 -2.02895223e-03 -1.69443699e+00] [-1.01861211e-03 2.02465184e-03 9.99997432e-01 -2.76581868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.438001145 meters 0.10606990928410694 Centerline is valid? [False, False] Translation: X:150.17, Y:-1.69, Z:-2.77 [[ 9.99990619e-01 4.22160064e-03 9.69327962e-04 1.50165585e+02] [-4.21964452e-03 9.99989075e-01 -2.01127023e-03 -1.69497628e+00] [-9.77808151e-04 2.00716114e-03 9.99997508e-01 -2.76543496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.468001145 meters 0.08523263813570935 Centerline is valid? [False, True] Translation: X:150.17, Y:-1.69, Z:-2.76 [[ 9.99991913e-01 3.94759884e-03 7.68833878e-04 1.50165358e+02] [-3.94553836e-03 9.99988670e-01 -2.66334038e-03 -1.69373941e+00] [-7.79338966e-04 2.66028537e-03 9.99996158e-01 -2.76435561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.498001145 meters 0.09307828957462852 Centerline is valid? [True, True] Translation: X:150.19, Y:-1.71, Z:-2.77 [[ 9.99987049e-01 4.93231667e-03 1.25483783e-03 1.50192678e+02] [-4.93216781e-03 9.99987829e-01 -1.21695401e-04 -1.71056362e+00] [-1.25542280e-03 1.15504754e-04 9.99999205e-01 -2.76905797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52800114499996 meters 0.08302080494722036 Centerline is valid? [True, True] Translation: X:150.22, Y:-1.70, Z:-2.77 [[ 9.99981113e-01 6.14585488e-03 5.25884228e-05 1.50223514e+02] [-6.14585456e-03 9.99981114e-01 -6.27261071e-06 -1.69633944e+00] [-5.26259801e-05 5.94929144e-06 9.99999999e-01 -2.76573827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55800114499996 meters 0.08386402199202651 Centerline is valid? [True, True] Translation: X:150.25, Y:-1.70, Z:-2.77 [[ 9.99978881e-01 6.43268150e-03 -9.26554009e-04 1.50250844e+02] [-6.43260348e-03 9.99979307e-01 8.71610905e-05 -1.70057922e+00] [ 9.27095515e-04 -8.11990951e-05 9.99999567e-01 -2.76798863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58800114499996 meters 0.08555556266933498 Centerline is valid? [True, True] Translation: X:150.28, Y:-1.71, Z:-2.77 [[ 9.99963582e-01 7.90277512e-03 -3.22191169e-03 1.50277656e+02] [-7.90182412e-03 9.99968733e-01 3.07787909e-04 -1.70767354e+00] [ 3.22424333e-03 -2.82317721e-04 9.99994762e-01 -2.77276345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61800114499997 meters 0.09254342159595672 Centerline is valid? [True, True] Translation: X:150.31, Y:-1.72, Z:-2.78 [[ 9.99954746e-01 9.03089402e-03 -2.99135143e-03 1.50305353e+02] [-9.03007643e-03 9.99959187e-01 2.86712604e-04 -1.72312245e+00] [ 2.99381862e-03 -2.59687497e-04 9.99995485e-01 -2.77836612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64800114499997 meters 0.08631249536779027 Centerline is valid? [True, True] Translation: X:150.33, Y:-1.72, Z:-2.78 [[ 9.99948730e-01 9.59936087e-03 -3.22339416e-03 1.50334624e+02] [-9.59841735e-03 9.99953887e-01 3.08054740e-04 -1.71618770e+00] [ 3.22620264e-03 -2.77099463e-04 9.99994757e-01 -2.77612755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67800114499997 meters 0.08568696837647412 Centerline is valid? [True, True] Translation: X:150.36, Y:-1.72, Z:-2.78 [[ 9.99940533e-01 1.08232193e-02 -1.33736940e-03 1.50364262e+02] [-1.08230582e-02 9.99941421e-01 1.27643838e-04 -1.71849116e+00] [ 1.33867258e-03 -1.13161820e-04 9.99999098e-01 -2.77510425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70800114499997 meters 0.08506407155665512 Centerline is valid? [True, True] Translation: X:150.39, Y:-1.72, Z:-2.77 [[ 9.99934895e-01 1.13533505e-02 -1.14339859e-03 1.50392893e+02] [-1.13532341e-02 9.99935544e-01 1.08199073e-04 -1.71998656e+00] [ 1.14455331e-03 -9.52107565e-05 9.99999340e-01 -2.77411267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73800114499997 meters 0.08623604649545813 Centerline is valid? [True, True] Translation: X:150.42, Y:-1.72, Z:-2.77 [[ 9.99933123e-01 1.15492515e-02 -6.04263122e-04 1.50420031e+02] [-1.15492198e-02 9.99933304e-01 5.59964051e-05 -1.72464100e+00] [ 6.04869537e-04 -4.90138926e-05 9.99999816e-01 -2.77498796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76800114499997 meters 0.08172008139462829 Centerline is valid? [True, True] Translation: X:150.45, Y:-1.72, Z:-2.77 [[ 9.99927199e-01 1.19399852e-02 -1.74159746e-03 1.50449776e+02] [-1.19397146e-02 9.99928705e-01 1.65715470e-04 -1.72176500e+00] [ 1.74345194e-03 -1.44909229e-04 9.99998470e-01 -2.77414963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79800114499997 meters 0.08115450970055103 Centerline is valid? [True, True] Translation: X:150.48, Y:-1.73, Z:-2.78 [[ 9.99934135e-01 1.14042541e-02 -1.29158025e-03 1.50478568e+02] [-1.14041058e-02 9.99934964e-01 1.22119019e-04 -1.72505860e+00] [ 1.29288892e-03 -1.07381658e-04 9.99999158e-01 -2.77512096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82800114499997 meters 0.08275509103934561 Centerline is valid? [True, True] Translation: X:150.51, Y:-1.73, Z:-2.78 [[ 9.99944376e-01 1.03581459e-02 -1.98852613e-03 1.50506703e+02] [-1.03577900e-02 9.99946339e-01 1.89153301e-04 -1.73223626e+00] [ 1.99037870e-03 -1.68546043e-04 9.99998005e-01 -2.77630795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85800114499997 meters 0.0845187767638137 Centerline is valid? [True, True] Translation: X:150.53, Y:-1.74, Z:-2.78 [[ 9.99949035e-01 9.95647377e-03 -1.67216101e-03 1.50534079e+02] [-9.95622340e-03 9.99950423e-01 1.57987725e-04 -1.73900749e+00] [ 1.67365111e-03 -1.41331264e-04 9.99998589e-01 -2.77693462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88800114499998 meters 0.08206593235844307 Centerline is valid? [True, True] Translation: X:150.56, Y:-1.74, Z:-2.77 [[ 9.99958297e-01 9.11194330e-03 -6.14478520e-04 1.50563781e+02] [-9.11190989e-03 9.99958484e-01 5.71576918e-05 -1.73622462e+00] [ 6.14973827e-04 -5.15562352e-05 9.99999810e-01 -2.77359503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91800114499998 meters 0.08510828486703677 Centerline is valid? [True, True] Translation: X:150.59, Y:-1.74, Z:-2.78 [[ 9.99957239e-01 9.23635125e-03 -4.57200117e-04 1.50591130e+02] [-9.23633314e-03 9.99957343e-01 4.17110304e-05 -1.74461825e+00] [ 4.57565872e-04 -3.74863942e-05 9.99999895e-01 -2.77595386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94800114499998 meters 0.08353650039749805 Centerline is valid? [True, True] Translation: X:150.62, Y:-1.75, Z:-2.78 [[ 9.99956166e-01 9.36297158e-03 3.02054222e-06 1.50619556e+02] [-9.36297157e-03 9.99956166e-01 -1.82500052e-06 -1.74667027e+00] [-3.03749724e-06 1.79663928e-06 1.00000000e+00 -2.77643837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97800114499998 meters 0.08075063440609083 Centerline is valid? [True, True] Translation: X:150.65, Y:-1.75, Z:-2.78 [[ 9.99953005e-01 9.69102113e-03 -2.68799741e-04 1.50648363e+02] [-9.69101501e-03 9.99953041e-01 2.40385209e-05 -1.74524884e+00] [ 2.69020076e-04 -2.14324489e-05 9.99999964e-01 -2.77598858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00800114499998 meters 0.07995594895463988 Centerline is valid? [True, True] Translation: X:150.68, Y:-1.75, Z:-2.78 [[ 9.99947171e-01 1.02760731e-02 -2.40537948e-04 1.50676890e+02] [-1.02760683e-02 9.99947200e-01 2.13251006e-05 -1.74644385e+00] [ 2.40744386e-04 -1.88521896e-05 9.99999971e-01 -2.77629202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03800114499998 meters 0.0814763637390699 Centerline is valid? [True, True] Translation: X:150.71, Y:-1.75, Z:-2.78 [[ 9.99931783e-01 1.16783732e-02 -2.12574602e-04 1.50705864e+02] [-1.16783694e-02 9.99931805e-01 1.94606637e-05 -1.75131834e+00] [ 2.12787374e-04 -1.69768115e-05 9.99999977e-01 -2.77786025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06800114499998 meters 0.0801671081630624 Centerline is valid? [True, True] Translation: X:150.74, Y:-1.75, Z:-2.78 [[ 9.99906225e-01 1.35362328e-02 -2.07649950e-03 1.50736178e+02] [-1.35358520e-02 9.99908367e-01 1.97357511e-04 -1.74962765e+00] [ 2.07898070e-03 -1.69231814e-04 9.99997825e-01 -2.77763959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09800114499998 meters 0.08031476182065794 Centerline is valid? [True, True] Translation: X:150.76, Y:-1.75, Z:-2.78 [[ 9.99899796e-01 1.40151070e-02 -1.99386446e-03 1.50764857e+02] [-1.40147594e-02 9.99901771e-01 1.88204503e-04 -1.75212635e+00] [ 1.99630631e-03 -1.60242113e-04 9.99997995e-01 -2.77919062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12800114499998 meters 0.08303100051774523 Centerline is valid? [True, True] Translation: X:150.79, Y:-1.76, Z:-2.78 [[ 9.99899380e-01 1.37495849e-02 -3.48994658e-03 1.50791536e+02] [-1.37485181e-02 9.99905430e-01 3.29486830e-04 -1.75982963e+00] [ 3.49414684e-03 -2.81472083e-04 9.99993856e-01 -2.78275218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.158001145 meters 0.08180691656577745 Centerline is valid? [True, True] Translation: X:150.82, Y:-1.76, Z:-2.78 [[ 9.99892816e-01 1.38602543e-02 -4.71689576e-03 1.50820758e+02] [-1.38583007e-02 9.99903869e-01 4.46615985e-04 -1.76069366e+00] [ 4.72263253e-03 -3.81199955e-04 9.99988776e-01 -2.78316738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.188001145 meters 0.08194293905771863 Centerline is valid? [True, True] Translation: X:150.85, Y:-1.76, Z:-2.78 [[ 9.99892290e-01 1.39999852e-02 -4.40545988e-03 1.50849534e+02] [-1.39982821e-02 9.99901932e-01 4.17197513e-04 -1.76310651e+00] [ 4.41086861e-03 -3.55483707e-04 9.99990209e-01 -2.78205471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.218001145 meters 0.07949099761705623 Centerline is valid? [True, True] Translation: X:150.88, Y:-1.76, Z:-2.78 [[ 9.99897472e-01 1.40832641e-02 -2.58992429e-03 1.50878608e+02] [-1.40826785e-02 9.99900804e-01 2.44202771e-04 -1.76027800e+00] [ 2.59310655e-03 -2.07704663e-04 9.99996616e-01 -2.77976885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.248001145 meters 0.0763810183723137 Centerline is valid? [True, True] Translation: X:150.91, Y:-1.76, Z:-2.78 [[ 9.99887453e-01 1.48851605e-02 -1.87441176e-03 1.50907503e+02] [-1.48848563e-02 9.99889199e-01 1.76150044e-04 -1.75731657e+00] [ 1.87682610e-03 -1.48229869e-04 9.99998228e-01 -2.77878010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27800114499996 meters 0.08212151377530207 Centerline is valid? [True, True] Translation: X:150.93, Y:-1.77, Z:-2.78 [[ 9.99879058e-01 1.52596383e-02 -3.00223510e-03 1.50933504e+02] [-1.52588571e-02 9.99883537e-01 2.82926793e-04 -1.77141019e+00] [ 3.00620281e-03 -2.37081899e-04 9.99995453e-01 -2.78334862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30800114499996 meters 0.080242235882451 Centerline is valid? [True, True] Translation: X:150.96, Y:-1.77, Z:-2.78 [[ 9.99868465e-01 1.57723632e-02 -3.77968523e-03 1.50962756e+02] [-1.57711279e-02 9.99875565e-01 3.56405632e-04 -1.77071942e+00] [ 3.78483626e-03 -2.96748853e-04 9.99992793e-01 -2.78303933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33800114499996 meters 0.08456151157106176 Centerline is valid? [True, True] Translation: X:150.99, Y:-1.78, Z:-2.79 [[ 9.99859074e-01 1.62681922e-02 -4.14468545e-03 1.50989514e+02] [-1.62667133e-02 9.99867612e-01 3.90285452e-04 -1.77998817e+00] [ 4.15048598e-03 -3.22810041e-04 9.99991335e-01 -2.78627622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36800114499997 meters 0.07670519936720446 Centerline is valid? [True, True] Translation: X:151.02, Y:-1.77, Z:-2.78 [[ 9.99828320e-01 1.81541928e-02 -3.70899362e-03 1.51020443e+02] [-1.81530184e-02 9.99835159e-01 3.50037869e-04 -1.76711470e+00] [ 3.71473688e-03 -2.82648345e-04 9.99993060e-01 -2.78182648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39800114499997 meters 0.07539234443442513 Centerline is valid? [True, True] Translation: X:151.05, Y:-1.77, Z:-2.78 [[ 9.99805843e-01 1.92529257e-02 -4.19536025e-03 1.51049788e+02] [-1.92514350e-02 9.99814596e-01 3.95435138e-04 -1.76759539e+00] [ 4.20219570e-03 -3.14591656e-04 9.99991121e-01 -2.78170113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42800114499997 meters 0.07408216299595535 Centerline is valid? [True, True] Translation: X:151.08, Y:-1.77, Z:-2.78 [[ 9.99786441e-01 2.02728612e-02 -4.01043166e-03 1.51078664e+02] [-2.02715101e-02 9.99794441e-01 3.77268953e-04 -1.76858331e+00] [ 4.01725559e-03 -2.95890878e-04 9.99991887e-01 -2.78178439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45800114499997 meters 0.07606969231127235 Centerline is valid? [True, True] Translation: X:151.11, Y:-1.78, Z:-2.78 [[ 9.99786348e-01 2.01794981e-02 -4.47725858e-03 1.51105422e+02] [-2.01778158e-02 9.99796319e-01 4.20611354e-04 -1.77603689e+00] [ 4.48483437e-03 -3.30180191e-04 9.99989889e-01 -2.78439358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48800114499997 meters 0.08204479131314453 Centerline is valid? [True, True] Translation: X:151.13, Y:-1.79, Z:-2.79 [[ 9.99810236e-01 1.90532160e-02 -4.05799970e-03 1.51132149e+02] [-1.90518266e-02 9.99818425e-01 3.80781871e-04 -1.79065569e+00] [ 4.06451799e-03 -3.03397305e-04 9.99991694e-01 -2.78933056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51800114499997 meters 0.07412358720054142 Centerline is valid? [True, True] Translation: X:151.16, Y:-1.78, Z:-2.78 [[ 9.99820401e-01 1.84552135e-02 -4.30949495e-03 1.51162561e+02] [-1.84536403e-02 9.99829635e-01 4.04527311e-04 -1.77725431e+00] [ 4.31622641e-03 -3.24928788e-04 9.99990632e-01 -2.78349914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54800114499997 meters 0.07657765870164368 Centerline is valid? [True, True] Translation: X:151.19, Y:-1.79, Z:-2.78 [[ 9.99850734e-01 1.69346482e-02 -3.42461371e-03 1.51190028e+02] [-1.69336461e-02 9.99856564e-01 3.21379572e-04 -1.78558019e+00] [ 3.42956495e-03 -2.63340404e-04 9.99994084e-01 -2.78471453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57800114499997 meters 0.07629523339910937 Centerline is valid? [True, True] Translation: X:151.22, Y:-1.79, Z:-2.79 [[ 9.99867118e-01 1.61004477e-02 -2.55395933e-03 1.51218352e+02] [-1.60998899e-02 9.99870360e-01 2.38803683e-04 -1.78886376e+00] [ 2.55747308e-03 -1.97653487e-04 9.99996710e-01 -2.78568915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60800114499997 meters 0.07792697954365435 Centerline is valid? [True, True] Translation: X:151.25, Y:-1.80, Z:-2.79 [[ 9.99862751e-01 1.63004950e-02 -2.96197925e-03 1.51245659e+02] [-1.62997467e-02 9.99867112e-01 2.76584826e-04 -1.79520632e+00] [ 2.96609411e-03 -2.28267353e-04 9.99995575e-01 -2.78853983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63800114499998 meters 0.07883367544166064 Centerline is valid? [True, True] Translation: X:151.27, Y:-1.80, Z:-2.79 [[ 9.99865083e-01 1.60331082e-02 -3.57141941e-03 1.51273990e+02] [-1.60320165e-02 9.99871423e-01 3.34103543e-04 -1.79944920e+00] [ 3.57631692e-03 -2.76801412e-04 9.99993567e-01 -2.79045581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66800114499998 meters 0.08070867935212604 Centerline is valid? [True, True] Translation: X:151.30, Y:-1.80, Z:-2.79 [[ 9.99859208e-01 1.62210493e-02 -4.29435530e-03 1.51300128e+02] [-1.62194782e-02 9.99868375e-01 4.00420458e-04 -1.80373166e+00] [ 4.30028530e-03 -3.30711880e-04 9.99990699e-01 -2.79298674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69800114499998 meters 0.08052831494064648 Centerline is valid? [True, True] Translation: X:151.33, Y:-1.80, Z:-2.79 [[ 9.99856254e-01 1.65538427e-02 -3.66618231e-03 1.51329393e+02] [-1.65526979e-02 9.99862936e-01 3.42392795e-04 -1.80425840e+00] [ 3.67134772e-03 -2.81658369e-04 9.99993221e-01 -2.79269387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72800114499998 meters 0.07615153293211156 Centerline is valid? [True, True] Translation: X:151.36, Y:-1.80, Z:-2.79 [[ 9.99851383e-01 1.68888157e-02 -3.46117396e-03 1.51359343e+02] [-1.68877987e-02 9.99857339e-01 3.22837355e-04 -1.79701151e+00] [ 3.46613253e-03 -2.64337767e-04 9.99993958e-01 -2.79059044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75800114499998 meters 0.07551745084359923 Centerline is valid? [True, True] Translation: X:151.39, Y:-1.80, Z:-2.79 [[ 9.99825759e-01 1.84804364e-02 -2.63168335e-03 1.51387795e+02] [-1.84798543e-02 9.99829203e-01 2.45354135e-04 -1.79791200e+00] [ 2.63576812e-03 -1.96678259e-04 9.99996507e-01 -2.79145166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78800114499998 meters 0.07587396520850292 Centerline is valid? [True, True] Translation: X:151.42, Y:-1.80, Z:-2.79 [[ 9.99814074e-01 1.92399865e-02 -1.28101623e-03 1.51415424e+02] [-1.92398510e-02 9.99814890e-01 1.17966486e-04 -1.80056810e+00] [ 1.28304877e-03 -9.32979912e-05 9.99999173e-01 -2.79236970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81800114499998 meters 0.08203938218695994 Centerline is valid? [True, True] Translation: X:151.44, Y:-1.81, Z:-2.80 [[ 9.99801278e-01 1.99276904e-02 -5.40355837e-04 1.51442486e+02] [-1.99276670e-02 9.99801423e-01 4.86086032e-05 -1.81154226e+00] [ 5.41217192e-04 -3.78309124e-05 9.99999853e-01 -2.79627693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84800114499998 meters 0.07619124568236399 Centerline is valid? [True, True] Translation: X:151.47, Y:-1.80, Z:-2.79 [[ 9.99792931e-01 2.03487060e-02 1.58096061e-04 1.51473028e+02] [-2.03487037e-02 9.99792944e-01 -1.59446661e-05 -1.80047530e+00] [-1.58387779e-04 1.27243145e-05 9.99999987e-01 -2.79253496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87800114499998 meters 0.0747301190291495 Centerline is valid? [True, True] Translation: X:151.50, Y:-1.80, Z:-2.79 [[ 9.99788943e-01 2.05433515e-02 2.01748703e-04 1.51502344e+02] [-2.05433478e-02 9.99788963e-01 -2.04398133e-05 -1.79818855e+00] [-2.02126029e-04 1.62909055e-05 9.99999979e-01 -2.79274801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.908001145 meters 0.07771776952806903 Centerline is valid? [True, True] Translation: X:151.53, Y:-1.81, Z:-2.80 [[ 9.99777321e-01 2.10888227e-02 7.54748488e-04 1.51529863e+02] [-2.10887743e-02 9.99777604e-01 -7.20298943e-05 -1.80614139e+00] [-7.56099661e-04 5.60971342e-05 9.99999713e-01 -2.79620457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.938001145 meters 0.07801983922722629 Centerline is valid? [True, True] Translation: X:151.56, Y:-1.81, Z:-2.80 [[ 9.99798146e-01 2.00878615e-02 -3.80644057e-04 1.51559038e+02] [-2.00878498e-02 9.99798218e-01 3.43572407e-05 -1.80852717e+00] [ 3.81257414e-04 -2.67039849e-05 9.99999927e-01 -2.79818415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.968001145 meters 0.0771262360731385 Centerline is valid? [True, True] Translation: X:151.59, Y:-1.81, Z:-2.80 [[ 9.99816619e-01 1.91500452e-02 5.69601279e-05 1.51587468e+02] [-1.91500449e-02 9.99816621e-01 -7.26342704e-06 -1.80850680e+00] [-5.70887776e-05 6.17130607e-06 9.99999998e-01 -2.79859598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.998001145 meters 0.07699953707801735 Centerline is valid? [True, True] Translation: X:151.62, Y:-1.81, Z:-2.80 [[ 9.99833978e-01 1.82131054e-02 -5.46609383e-04 1.51616915e+02] [-1.82130807e-02 9.99834127e-01 5.01483902e-05 -1.80976408e+00] [ 5.47432073e-04 -4.01846236e-05 9.99999849e-01 -2.79916141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02800114499996 meters 0.08096695006714352 Centerline is valid? [True, True] Translation: X:151.65, Y:-1.82, Z:-2.80 [[ 9.99878929e-01 1.55472190e-02 -6.41248082e-04 1.51645661e+02] [-1.55471844e-02 9.99879133e-01 5.89483495e-05 -1.81705320e+00] [ 6.42087060e-04 -4.89716104e-05 9.99999793e-01 -2.80078348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05800114499996 meters 0.08108699545527123 Centerline is valid? [True, True] Translation: X:151.68, Y:-1.82, Z:-2.80 [[ 9.99905819e-01 1.36979203e-02 -8.48072626e-04 1.51675481e+02] [-1.36978585e-02 9.99906177e-01 7.85954138e-05 -1.81930680e+00] [ 8.49069651e-04 -6.69712328e-05 9.99999637e-01 -2.80141313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08800114499996 meters 0.08568200940858009 Centerline is valid? [True, True] Translation: X:151.70, Y:-1.83, Z:-2.80 [[ 9.99925966e-01 1.21640436e-02 -3.13775329e-04 1.51703135e+02] [-1.21640355e-02 9.99926015e-01 2.76506876e-05 -1.83055546e+00] [ 3.14088458e-04 -2.38318663e-05 9.99999950e-01 -2.80399858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11800114499997 meters 0.08818035342529543 Centerline is valid? [True, True] Translation: X:151.73, Y:-1.84, Z:-2.81 [[ 9.99946863e-01 1.02742760e-02 -8.43062264e-04 1.51731911e+02] [-1.02742141e-02 9.99947216e-01 7.76909850e-05 -1.83763235e+00] [ 8.43815983e-04 -6.90250546e-05 9.99999642e-01 -2.80633407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14800114499997 meters 0.08641838001874487 Centerline is valid? [True, True] Translation: X:151.76, Y:-1.84, Z:-2.81 [[ 9.99974953e-01 7.06550145e-03 -4.13598395e-04 1.51762964e+02] [-7.06548615e-03 9.99975038e-01 3.84466679e-05 -1.83699410e+00] [ 4.13859716e-04 -3.55234312e-05 9.99999914e-01 -2.80538705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17800114499997 meters 0.08722835080390401 Centerline is valid? [True, True] Translation: X:151.79, Y:-1.84, Z:-2.81 [[ 9.99981707e-01 5.96183370e-03 1.02086072e-03 1.51791308e+02] [-5.96173832e-03 9.99982224e-01 -9.64474151e-05 -1.84014145e+00] [-1.02141758e-03 9.03595463e-05 9.99999474e-01 -2.80537087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20800114499997 meters 0.08722835080390401 Centerline is valid? [True, True] Translation: X:151.82, Y:-1.84, Z:-2.81 [[ 9.99982084e-01 5.89818052e-03 1.02086703e-03 1.51819600e+02] [-5.89808518e-03 9.99982601e-01 -9.63800022e-05 -1.84269518e+00] [-1.02141774e-03 9.03571148e-05 9.99999474e-01 -2.80605443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23800114499997 meters 0.08442605718956711 Centerline is valid? [True, True] Translation: X:151.85, Y:-1.84, Z:-2.81 [[ 9.99987725e-01 4.95150508e-03 1.77637893e-04 1.51850170e+02] [-4.95150209e-03 9.99987741e-01 -1.72955718e-05 -1.83808895e+00] [-1.77721354e-04 1.64157851e-05 9.99999984e-01 -2.80513847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26800114499997 meters 0.09515224509776239 Centerline is valid? [True, True] Translation: X:151.88, Y:-1.86, Z:-2.81 [[ 9.99989722e-01 4.53387341e-03 -2.60535111e-05 1.51877372e+02] [-4.53387338e-03 9.99989722e-01 1.38298632e-06 -1.85780763e+00] [ 2.60595136e-05 -1.26484878e-06 1.00000000e+00 -2.81102438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29800114499997 meters 0.08636665549837307 Centerline is valid? [True, True] Translation: X:151.91, Y:-1.84, Z:-2.81 [[ 9.99987110e-01 5.06911047e-03 -2.90222502e-04 1.51908052e+02] [-5.06910320e-03 9.99987152e-01 2.57551088e-05 -1.84491854e+00] [ 2.90349329e-04 -2.42836090e-05 9.99999958e-01 -2.80803864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32800114499997 meters 0.09035446520305174 Centerline is valid? [True, True] Translation: X:151.93, Y:-1.85, Z:-2.81 [[ 9.99986709e-01 5.09962223e-03 -7.58086773e-04 1.51934823e+02] [-5.09957188e-03 9.99986995e-01 6.83325025e-05 -1.85280583e+00] [ 7.58425384e-04 -6.44656763e-05 9.99999710e-01 -2.81096766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35800114499997 meters 0.09002550426203462 Centerline is valid? [True, True] Translation: X:151.96, Y:-1.85, Z:-2.81 [[ 9.99982134e-01 5.66298475e-03 -1.91361146e-03 1.51963564e+02] [-5.66265870e-03 9.99983952e-01 1.75761659e-04 -1.85395806e+00] [ 1.91457609e-03 -1.64922390e-04 9.99998154e-01 -2.81273512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38800114499998 meters 0.0837486288906592 Centerline is valid? [True, True] Translation: X:151.99, Y:-1.84, Z:-2.81 [[ 9.99974289e-01 6.49869589e-03 -3.03108544e-03 1.51993789e+02] [-6.49787990e-03 9.99978850e-01 2.78975556e-04 -1.84381592e+00] [ 3.03283431e-03 -2.59272755e-04 9.99995367e-01 -2.81161037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41800114499998 meters 0.08483516311226814 Centerline is valid? [True, True] Translation: X:152.02, Y:-1.85, Z:-2.81 [[ 9.99973098e-01 6.98035979e-03 -2.25325261e-03 1.52021164e+02] [-6.97991232e-03 9.99975619e-01 2.06389830e-04 -1.84645860e+00] [ 2.25463835e-03 -1.90656772e-04 9.99997440e-01 -2.81178497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44800114499998 meters 0.0902879204368135 Centerline is valid? [True, True] Translation: X:152.05, Y:-1.86, Z:-2.81 [[ 9.99964155e-01 8.40615984e-03 -1.01274061e-03 1.52049577e+02] [-8.40607009e-03 9.99964664e-01 9.28465553e-05 -1.85698883e+00] [ 1.01348531e-03 -8.43300586e-05 9.99999483e-01 -2.81465137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47800114499998 meters 0.0822590186654626 Centerline is valid? [True, True] Translation: X:152.08, Y:-1.84, Z:-2.81 [[ 9.99939717e-01 1.09722036e-02 -4.16346623e-04 1.52081737e+02] [-1.09721885e-02 9.99939803e-01 3.83885762e-05 -1.84287066e+00] [ 4.16742767e-04 -3.38180284e-05 9.99999913e-01 -2.81071151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50800114499998 meters 0.09073049854375041 Centerline is valid? [True, True] Translation: X:152.11, Y:-1.86, Z:-2.82 [[ 9.99927040e-01 1.20398563e-02 9.78516913e-04 1.52109022e+02] [-1.20397727e-02 9.99927515e-01 -9.12624760e-05 -1.85905790e+00] [-9.79544772e-04 7.94746962e-05 9.99999517e-01 -2.81551200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53800114499998 meters 0.08119204675880758 Centerline is valid? [True, True] Translation: X:152.14, Y:-1.84, Z:-2.81 [[ 9.99888824e-01 1.48653796e-02 1.16621446e-03 1.52141378e+02] [-1.48652637e-02 9.99889500e-01 -1.08006549e-04 -1.84302921e+00] [-1.16769115e-03 9.06584558e-05 9.99999314e-01 -2.81310682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56800114499998 meters 0.08176801452310586 Centerline is valid? [True, True] Translation: X:152.17, Y:-1.85, Z:-2.81 [[ 9.99886077e-01 1.50381322e-02 1.29937831e-03 1.52169266e+02] [-1.50379864e-02 9.99886916e-01 -1.21919227e-04 -1.84577781e+00] [-1.30106481e-03 1.02365305e-04 9.99999148e-01 -2.81448389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59800114499998 meters 0.08227827691708499 Centerline is valid? [True, True] Translation: X:152.20, Y:-1.85, Z:-2.82 [[ 9.99885615e-01 1.51049873e-02 7.72016010e-04 1.52198072e+02] [-1.51049356e-02 9.99885911e-01 -7.27801710e-05 -1.84788924e+00] [-7.73027276e-04 6.11105940e-05 9.99999699e-01 -2.81547535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62800114499998 meters 0.08359676678356479 Centerline is valid? [True, True] Translation: X:152.23, Y:-1.85, Z:-2.82 [[ 9.99903419e-01 1.38614286e-02 1.00641317e-03 1.52225893e+02] [-1.38613406e-02 9.99903923e-01 -9.43305143e-05 -1.85111616e+00] [-1.00762403e-03 8.03711681e-05 9.99999489e-01 -2.81646026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.658001145 meters 0.08359676678356479 Centerline is valid? [True, True] Translation: X:152.25, Y:-1.85, Z:-2.82 [[ 9.99904302e-01 1.37976252e-02 1.00641994e-03 1.52254165e+02] [-1.37975372e-02 9.99904805e-01 -9.42575387e-05 -1.85364593e+00] [-1.00762467e-03 8.03624018e-05 9.99999489e-01 -2.81714334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.688001145 meters 0.08558820520020519 Centerline is valid? [True, True] Translation: X:152.28, Y:-1.86, Z:-2.82 [[ 9.99927790e-01 1.19668880e-02 1.09907817e-03 1.52282485e+02] [-1.19667827e-02 9.99928390e-01 -1.02348346e-04 -1.85931595e+00] [-1.10022426e-03 8.91885258e-05 9.99999391e-01 -2.81828632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.718001145 meters 0.08715258613670851 Centerline is valid? [True, True] Translation: X:152.31, Y:-1.86, Z:-2.82 [[ 9.99937240e-01 1.11854672e-02 6.33876058e-04 1.52310143e+02] [-1.11854315e-02 9.99937439e-01 -5.98501097e-05 -1.86427171e+00] [-6.34505854e-04 5.27561763e-05 9.99999797e-01 -2.82026222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.748001145 meters 0.08468788273232557 Centerline is valid? [True, True] Translation: X:152.34, Y:-1.86, Z:-2.82 [[ 9.99944641e-01 1.04988254e-02 6.99173940e-04 1.52339077e+02] [-1.04987819e-02 9.99944884e-01 -6.58612797e-05 -1.86190736e+00] [-6.99826871e-04 5.85171590e-05 9.99999753e-01 -2.81995149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77800114499996 meters 0.08383597998067104 Centerline is valid? [True, True] Translation: X:152.37, Y:-1.86, Z:-2.82 [[ 9.99958133e-01 9.14983603e-03 -1.14290458e-04 1.52369358e+02] [-9.14983498e-03 9.99958139e-01 9.70076665e-06 -1.85936656e+00] [ 1.14374434e-04 -8.65462168e-06 9.99999993e-01 -2.82039745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80800114499996 meters 0.08931642172603854 Centerline is valid? [True, True] Translation: X:152.40, Y:-1.87, Z:-2.82 [[ 9.99960525e-01 8.78914953e-03 -1.30376897e-03 1.52395836e+02] [-8.78900346e-03 9.99961369e-01 1.17723193e-04 -1.86975918e+00] [ 1.30475329e-03 -1.06259716e-04 9.99999143e-01 -2.82484482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83800114499996 meters 0.09034354690355803 Centerline is valid? [True, True] Translation: X:152.42, Y:-1.87, Z:-2.83 [[ 9.99964842e-01 8.26219259e-03 -1.43215053e-03 1.52423037e+02] [-8.26201551e-03 9.99965861e-01 1.29519483e-04 -1.87315125e+00] [ 1.43317175e-03 -1.17682479e-04 9.99998966e-01 -2.82685481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86800114499997 meters 0.08676657637946494 Centerline is valid? [True, True] Translation: X:152.45, Y:-1.87, Z:-2.83 [[ 9.99964322e-01 8.37350178e-03 -1.11308950e-03 1.52452471e+02] [-8.37339507e-03 9.99964937e-01 1.00493753e-04 -1.86891406e+00] [ 1.11389195e-03 -9.11698300e-05 9.99999375e-01 -2.82664072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89800114499997 meters 0.08586665400283362 Centerline is valid? [True, True] Translation: X:152.48, Y:-1.87, Z:-2.83 [[ 9.99966983e-01 8.06194964e-03 -1.01915288e-03 1.52481194e+02] [-8.06185984e-03 9.99967498e-01 9.21918360e-05 -1.86849789e+00] [ 1.01986300e-03 -8.39725245e-05 9.99999476e-01 -2.82627102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92800114499997 meters 0.08705777029318125 Centerline is valid? [True, True] Translation: X:152.51, Y:-1.87, Z:-2.83 [[ 9.99965250e-01 8.30385761e-03 7.38656937e-04 1.52509210e+02] [-8.30380871e-03 9.99965520e-01 -6.92405055e-05 -1.87146819e+00] [-7.39206431e-04 6.31044335e-05 9.99999725e-01 -2.82599716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95800114499997 meters 0.08492145703795505 Centerline is valid? [True, True] Translation: X:152.54, Y:-1.87, Z:-2.82 [[ 9.99958994e-01 8.92247733e-03 1.54921957e-03 1.52538745e+02] [-8.92226586e-03 9.99960186e-01 -1.43358473e-04 -1.86731869e+00] [-1.55043700e-03 1.29530046e-04 9.99998790e-01 -2.82439494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98800114499997 meters 0.08764970933546673 Centerline is valid? [True, True] Translation: X:152.57, Y:-1.87, Z:-2.83 [[ 9.99961337e-01 8.58909716e-03 1.88445488e-03 1.52566118e+02] [-8.58878391e-03 9.99963101e-01 -1.74256355e-04 -1.87305240e+00] [-1.88588204e-03 1.58064442e-04 9.99998209e-01 -2.82586125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01800114499997 meters 0.08971012068642724 Centerline is valid? [True, True] Translation: X:152.59, Y:-1.88, Z:-2.83 [[ 9.99960955e-01 8.66835540e-03 1.71703196e-03 1.52593167e+02] [-8.66809548e-03 9.99962419e-01 -1.58764275e-04 -1.87814058e+00] [-1.71834365e-03 1.43874679e-04 9.99998513e-01 -2.82770109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04800114499997 meters 0.08777584341779751 Centerline is valid? [True, True] Translation: X:152.62, Y:-1.88, Z:-2.83 [[ 9.99968338e-01 7.88574679e-03 1.06675303e-03 1.52623269e+02] [-7.88564650e-03 9.99968903e-01 -9.81867123e-05 -1.87686991e+00] [-1.06749414e-03 8.97715662e-05 9.99999426e-01 -2.82916634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07800114499997 meters 0.08809608112050554 Centerline is valid? [True, True] Translation: X:152.65, Y:-1.88, Z:-2.83 [[ 9.99975507e-01 6.98968075e-03 3.60297486e-04 1.52653078e+02] [-6.98966907e-03 9.99975571e-01 -3.36772428e-05 -1.87972826e+00] [-3.60524078e-04 3.11580578e-05 9.99999935e-01 -2.83118230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10800114499997 meters 0.09399852996187263 Centerline is valid? [True, True] Translation: X:152.68, Y:-1.89, Z:-2.83 [[ 9.99979380e-01 6.41843418e-03 2.08194271e-04 1.52679520e+02] [-6.41842990e-03 9.99979401e-01 -2.12447705e-05 -1.89061040e+00] [-2.08326341e-04 1.99080521e-05 9.99999978e-01 -2.83409409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13800114499998 meters 0.09029650784659367 Centerline is valid? [True, True] Translation: X:152.71, Y:-1.88, Z:-2.83 [[ 9.99983577e-01 5.73066756e-03 7.57123661e-05 1.52709311e+02] [-5.73066693e-03 9.99983580e-01 -8.46190545e-06 -1.88485884e+00] [-7.57596152e-05 8.02788413e-06 9.99999997e-01 -2.83253045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16800114499998 meters 0.09514444833741029 Centerline is valid? [True, True] Translation: X:152.74, Y:-1.89, Z:-2.83 [[ 9.99984748e-01 5.51576600e-03 -2.83237247e-04 1.52736369e+02] [-5.51575946e-03 9.99984788e-01 2.38535854e-05 -1.89386680e+00] [ 2.83364509e-04 -2.22909531e-05 9.99999960e-01 -2.83490063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19800114499998 meters 0.09496892066215519 Centerline is valid? [True, True] Translation: X:152.77, Y:-1.89, Z:-2.84 [[ 9.99981908e-01 5.81006729e-03 1.55794422e-03 1.52765558e+02] [-5.80985169e-03 9.99983112e-01 -1.42879474e-04 -1.89475082e+00] [-1.55874805e-03 1.33825464e-04 9.99998776e-01 -2.83591784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22800114499998 meters 0.09192716365862764 Centerline is valid? [True, True] Translation: X:152.79, Y:-1.89, Z:-2.84 [[ 9.99983781e-01 5.47862002e-03 1.55626939e-03 1.52794512e+02] [-5.47840399e-03 9.99984983e-01 -1.43043585e-04 -1.89147268e+00] [-1.55702970e-03 1.34515392e-04 9.99998779e-01 -2.83558014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25800114499998 meters 0.0942866378972574 Centerline is valid? [True, True] Translation: X:152.82, Y:-1.90, Z:-2.84 [[ 9.99986439e-01 4.71120207e-03 2.21971548e-03 1.52822394e+02] [-4.71076330e-03 9.99988884e-01 -2.02856690e-04 -1.89638184e+00] [-2.22064651e-03 1.92397384e-04 9.99997516e-01 -2.83673273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28800114499998 meters 0.09641135837910089 Centerline is valid? [True, True] Translation: X:152.85, Y:-1.90, Z:-2.84 [[ 9.99990289e-01 3.68753852e-03 2.41334816e-03 1.52851244e+02] [-3.68701907e-03 9.99993179e-01 -2.19653240e-04 -1.90119675e+00] [-2.41414168e-03 2.10753046e-04 9.99997064e-01 -2.83828142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31800114499998 meters 0.0972030551406427 Centerline is valid? [True, True] Translation: X:152.88, Y:-1.90, Z:-2.84 [[ 9.99994283e-01 2.67218946e-03 2.07207333e-03 1.52881633e+02] [-2.67180505e-03 9.99996413e-01 -1.88266217e-04 -1.90397870e+00] [-2.07256898e-03 1.82728965e-04 9.99997836e-01 -2.83906451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34800114499998 meters 0.0953594248687788 Centerline is valid? [True, True] Translation: X:152.91, Y:-1.90, Z:-2.84 [[ 9.99998219e-01 1.63442586e-03 9.43515597e-04 1.52912309e+02] [-1.63434570e-03 9.99998661e-01 -8.57267499e-05 -1.90216909e+00] [-9.43654448e-04 8.41845665e-05 9.99999551e-01 -2.83962677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37800114499998 meters 0.09085224307299265 Centerline is valid? [True, True] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99998904e-01 -1.36651818e-03 -5.70564194e-04 1.52943689e+02] [ 1.36654799e-03 9.99999065e-01 5.18506229e-05 -1.89513356e+00] [ 5.70492806e-04 -5.26302694e-05 9.99999836e-01 -2.83893924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.408001145 meters 0.10406195617235067 Centerline is valid? [True, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999121e-01 -1.17881049e-03 -6.06435072e-04 1.52944084e+02] [ 1.17902336e-03 9.99999243e-01 3.50771271e-04 -1.89559136e+00] [ 6.06021120e-04 -3.51485964e-04 9.99999755e-01 -2.83944911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.438001145 meters 0.09900708054643419 Centerline is valid? [False, True] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999345e-01 -1.03010763e-03 -4.99507233e-04 1.52944129e+02] [ 1.03045318e-03 9.99999230e-01 6.92004944e-04 -1.89644244e+00] [ 4.98794009e-04 -6.92519209e-04 9.99999636e-01 -2.83990105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.468001145 meters 0.10490803578923345 Centerline is valid? [True, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999608e-01 -7.57883296e-04 -4.57545215e-04 1.52944542e+02] [ 7.58425866e-04 9.99999008e-01 1.18682132e-03 -1.89724692e+00] [ 4.56645289e-04 -1.18716787e-03 9.99999191e-01 -2.84070790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.498001145 meters 0.11389946863378303 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999207e-01 -1.24814182e-03 -1.68598624e-04 1.52943336e+02] [ 1.24825072e-03 9.99999011e-01 6.47388485e-04 -1.89674067e+00] [ 1.67790425e-04 -6.47598425e-04 9.99999776e-01 -2.83976330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52800114499996 meters 0.11516788875127931 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999298e-01 -1.16375995e-03 -2.24383312e-04 1.52943607e+02] [ 1.16393054e-03 9.99999033e-01 7.61604341e-04 -1.89671643e+00] [ 2.23496771e-04 -7.61864973e-04 9.99999685e-01 -2.83997522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55800114499996 meters 0.10296571342337771 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999222e-01 -1.24666078e-03 3.78402785e-05 1.52943009e+02] [ 1.24662658e-03 9.99998826e-01 8.90845494e-04 -1.89734618e+00] [-3.89508163e-05 -8.90797628e-04 9.99999602e-01 -2.83993251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58800114499996 meters 0.10499022576034825 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999531e-01 -9.65339739e-04 7.19107065e-05 1.52943232e+02] [ 9.65233551e-04 9.99998465e-01 1.46234661e-03 -1.89887998e+00] [-7.33222575e-05 -1.46227652e-03 9.99998928e-01 -2.84046205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61800114499997 meters 0.10501400380279013 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999711e-01 -7.53855521e-04 9.94214129e-05 1.52943335e+02] [ 7.53665209e-04 9.99997910e-01 1.90053128e-03 -1.90013593e+00] [-1.00853931e-04 -1.90045580e-03 9.99998189e-01 -2.84075730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64800114499997 meters 0.10496556889655854 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999737e-01 -6.97057177e-04 2.01643585e-04 1.52942918e+02] [ 6.96612723e-04 9.99997346e-01 2.19589416e-03 -1.90167031e+00] [-2.03173714e-04 -2.19575312e-03 9.99997569e-01 -2.84046680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67800114499997 meters 0.10496556889655854 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999737e-01 -6.97057177e-04 2.01643585e-04 1.52942918e+02] [ 6.96612723e-04 9.99997346e-01 2.19589416e-03 -1.90167031e+00] [-2.03173714e-04 -2.19575312e-03 9.99997569e-01 -2.84046680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70800114499997 meters 0.10825131697846896 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999773e-01 -6.39289716e-04 2.13353302e-04 1.52942817e+02] [ 6.38772099e-04 9.99996874e-01 2.41741673e-03 -1.90265819e+00] [-2.14898065e-04 -2.41727990e-03 9.99997055e-01 -2.84039798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73800114499997 meters 0.10913507576875131 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999987e-01 -1.62957020e-04 4.36317046e-06 1.52943749e+02] [ 1.62942614e-04 9.99995120e-01 3.11998191e-03 -1.90405084e+00] [-4.87157212e-06 -3.11998115e-03 9.99995133e-01 -2.84117791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76800114499997 meters 0.1101167547570223 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.90, Z:-2.84 [[ 9.99999994e-01 -1.07091980e-04 1.77431452e-05 1.52943654e+02] [ 1.07033116e-04 9.99994599e-01 3.28499070e-03 -1.90485542e+00] [-1.80948455e-05 -3.28498878e-03 9.99994604e-01 -2.84110670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79800114499997 meters 0.10933360753112013 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.91, Z:-2.84 [[ 9.99999983e-01 7.54398458e-05 1.67092518e-04 1.52943292e+02] [-7.60785852e-05 9.99992678e-01 3.82596713e-03 -1.90705149e+00] [-1.66802665e-04 -3.82597977e-03 9.99992667e-01 -2.84110662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82800114499997 meters 0.10249059778578261 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.91, Z:-2.84 [[ 9.99999942e-01 3.31184086e-04 8.30732751e-05 1.52943666e+02] [-3.31533953e-04 9.99990924e-01 4.24748883e-03 -1.90821876e+00] [-8.16658205e-05 -4.24751613e-03 9.99990976e-01 -2.84142191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85800114499997 meters 0.1003707140657525 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.91, Z:-2.84 [[ 9.99999953e-01 2.98028120e-04 7.34965575e-05 1.52943380e+02] [-2.98339494e-04 9.99990824e-01 4.27360123e-03 -1.90889043e+00] [-7.22222297e-05 -4.27362296e-03 9.99990865e-01 -2.84098039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88800114499998 meters 0.10353742921857671 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.91, Z:-2.84 [[ 9.99999992e-01 9.48325887e-05 8.35687833e-05 1.52942430e+02] [-9.51772848e-05 9.99991449e-01 4.13439417e-03 -1.90991087e+00] [-8.31759934e-05 -4.13440209e-03 9.99991450e-01 -2.83956846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91800114499998 meters 0.10406974209748673 Centerline is valid? [False, False] Translation: X:152.94, Y:-1.91, Z:-2.84 [[ 9.99999996e-01 5.81436612e-05 7.24072853e-05 1.52942029e+02] [-5.84453554e-05 9.99991289e-01 4.17361950e-03 -1.91077168e+00] [-7.21639850e-05 -4.17362372e-03 9.99991288e-01 -2.83892882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94800114499998 meters 0.0959836184728252 Centerline is valid? [False, True] Translation: X:152.94, Y:-1.91, Z:-2.84 [[ 9.99999985e-01 1.25634201e-04 1.21548952e-04 1.52941722e+02] [-1.26168791e-04 9.99990276e-01 4.40818131e-03 -1.91198047e+00] [-1.20993952e-04 -4.40819658e-03 9.99990277e-01 -2.83866573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97800114499998 meters 0.09403584996302383 Centerline is valid? [True, True] Translation: X:152.97, Y:-1.91, Z:-2.84 [[ 9.99999409e-01 1.08549711e-03 5.29790084e-05 1.52971878e+02] [-1.08549678e-03 9.99999411e-01 -6.19432612e-06 -1.91191603e+00] [-5.29857011e-05 6.13681392e-06 9.99999999e-01 -2.83703026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00800114499998 meters 0.10312174813201656 Centerline is valid? [True, False] Translation: X:152.97, Y:-1.92, Z:-2.84 [[ 9.99998950e-01 1.42127229e-03 2.81475616e-04 1.52971231e+02] [-1.42154581e-03 9.99998515e-01 9.73900809e-04 -1.91570270e+00] [-2.80091020e-04 -9.74299917e-04 9.99999486e-01 -2.83691377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03800114499998 meters 0.10334911485183311 Centerline is valid? [False, False] Translation: X:152.97, Y:-1.92, Z:-2.84 [[ 9.99998498e-01 1.68867465e-03 3.90422182e-04 1.52970972e+02] [-1.68932084e-03 9.99997194e-01 1.66073497e-03 -1.91812789e+00] [-3.87616646e-04 -1.66139202e-03 9.99998545e-01 -2.83695524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06800114499998 meters 0.09696314803100033 Centerline is valid? [False, True] Translation: X:152.97, Y:-1.92, Z:-2.84 [[ 9.99997959e-01 1.95010799e-03 5.28963716e-04 1.52970695e+02] [-1.95135983e-03 9.99995272e-01 2.37648907e-03 -1.92063973e+00] [-5.24326805e-04 -2.37751641e-03 9.99997036e-01 -2.83707619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09800114499998 meters 0.09839883995000324 Centerline is valid? [True, True] Translation: X:153.00, Y:-1.93, Z:-2.84 [[ 9.99998306e-01 1.74665978e-03 -5.81224902e-04 1.52999670e+02] [-1.74662556e-03 9.99998473e-01 5.93739828e-05 -1.92710752e+00] [ 5.81327721e-04 -5.83586999e-05 9.99999829e-01 -2.83700854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12800114499998 meters 0.09839883995000324 Centerline is valid? [True, True] Translation: X:153.03, Y:-1.93, Z:-2.84 [[ 9.99998363e-01 1.71358141e-03 -5.81265180e-04 1.53028819e+02] [-1.71354741e-03 9.99998530e-01 5.89820595e-05 -1.93006289e+00] [ 5.81365397e-04 -5.79859375e-05 9.99999829e-01 -2.83767367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.158001145 meters 0.09328066123834626 Centerline is valid? [True, True] Translation: X:153.06, Y:-1.93, Z:-2.84 [[ 9.99999404e-01 1.05647428e-03 -2.75572589e-04 1.53059037e+02] [-1.05646674e-03 9.99999442e-01 2.75306625e-05 -1.92988522e+00] [ 2.75601521e-04 -2.72395128e-05 9.99999962e-01 -2.83615781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.188001145 meters 0.09497029864379862 Centerline is valid? [True, True] Translation: X:153.09, Y:-1.94, Z:-2.84 [[ 9.99999392e-01 5.79180891e-04 -9.38539320e-04 1.53087486e+02] [-5.79091023e-04 9.99999828e-01 9.60214761e-05 -1.93865519e+00] [ 9.38594773e-04 -9.54779180e-05 9.99999555e-01 -2.83748900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.218001145 meters 0.09193941056511692 Centerline is valid? [True, True] Translation: X:153.12, Y:-1.94, Z:-2.84 [[ 9.99998721e-01 1.72768124e-04 -1.59021240e-03 1.53117378e+02] [-1.72509925e-04 9.99999972e-01 1.62503775e-04 -1.94060878e+00] [ 1.59024043e-03 -1.62229240e-04 9.99998722e-01 -2.83722152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.248001145 meters 0.09233315114836378 Centerline is valid? [True, True] Translation: X:153.15, Y:-1.95, Z:-2.84 [[ 9.99998306e-01 -2.67532437e-04 -1.82124184e-03 1.53145549e+02] [ 2.67872708e-04 9.99999947e-01 1.86593117e-04 -1.95119541e+00] [ 1.82119182e-03 -1.87080662e-04 9.99998324e-01 -2.83794757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27800114499996 meters 0.09372744891734756 Centerline is valid? [True, True] Translation: X:153.17, Y:-1.96, Z:-2.84 [[ 9.99995261e-01 -9.40578180e-04 -2.93133165e-03 1.53174441e+02] [ 9.41463100e-04 9.99999512e-01 3.00518044e-04 -1.95904186e+00] [ 2.93104756e-03 -3.03276360e-04 9.99995658e-01 -2.83987410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30800114499996 meters 0.09365629156571706 Centerline is valid? [True, True] Translation: X:153.20, Y:-1.96, Z:-2.84 [[ 9.99993164e-01 -6.67061173e-04 -3.63694922e-03 1.53203186e+02] [ 6.68420105e-04 9.99999707e-01 3.72443351e-04 -1.96478191e+00] [ 3.63669972e-03 -3.74871815e-04 9.99993317e-01 -2.84044834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33800114499996 meters 0.09235690045165466 Centerline is valid? [True, True] Translation: X:153.23, Y:-1.97, Z:-2.84 [[ 9.99996306e-01 -7.99878095e-04 -2.59774305e-03 1.53232236e+02] [ 8.00558752e-04 9.99999645e-01 2.60989469e-04 -1.96818125e+00] [ 2.59753337e-03 -2.63068151e-04 9.99996592e-01 -2.83981425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36800114499997 meters 0.09226360139705897 Centerline is valid? [True, True] Translation: X:153.26, Y:-1.98, Z:-2.84 [[ 9.99997628e-01 4.88224894e-04 -2.12286776e-03 1.53260619e+02] [-4.87766299e-04 9.99999858e-01 2.16538657e-04 -1.97653807e+00] [ 2.12297318e-03 -2.15502680e-04 9.99997723e-01 -2.83929744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39800114499997 meters 0.09180937348002412 Centerline is valid? [True, True] Translation: X:153.29, Y:-1.98, Z:-2.84 [[ 9.99996941e-01 1.01047491e-03 -2.25777704e-03 1.53290069e+02] [-1.00995753e-03 9.99999463e-01 2.30281619e-04 -1.98182686e+00] [ 2.25800852e-03 -2.28000655e-04 9.99997425e-01 -2.84063382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42800114499997 meters 0.09294244881965924 Centerline is valid? [True, True] Translation: X:153.32, Y:-1.99, Z:-2.84 [[ 9.99994838e-01 1.14063380e-03 -3.00377246e-03 1.53317862e+02] [-1.13971941e-03 9.99999304e-01 3.06107049e-04 -1.98935340e+00] [ 3.00411952e-03 -3.02682011e-04 9.99995442e-01 -2.84113896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45800114499997 meters 0.09344387958579721 Centerline is valid? [True, True] Translation: X:153.35, Y:-2.00, Z:-2.84 [[ 9.99996344e-01 1.74918606e-03 -2.06233403e-03 1.53345803e+02] [-1.74875722e-03 9.99998449e-01 2.09721733e-04 -1.99727253e+00] [ 2.06269768e-03 -2.06114445e-04 9.99997851e-01 -2.83969979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48800114499997 meters 0.09329890165286156 Centerline is valid? [True, True] Translation: X:153.37, Y:-2.00, Z:-2.84 [[ 9.99994504e-01 2.56470611e-03 -2.10104397e-03 1.53374695e+02] [-2.56427131e-03 9.99996690e-01 2.09611277e-04 -2.00215793e+00] [ 2.10157460e-03 -2.04222478e-04 9.99997771e-01 -2.83955326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51800114499997 meters 0.09251901217452072 Centerline is valid? [True, True] Translation: X:153.40, Y:-2.01, Z:-2.84 [[ 9.99991759e-01 3.33413278e-03 -2.31616817e-03 1.53403427e+02] [-3.33359807e-03 9.99994416e-01 2.34682641e-04 -2.00633069e+00] [ 2.31693770e-03 -2.26959533e-04 9.99997290e-01 -2.84010636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54800114499997 meters 0.08704796051365886 Centerline is valid? [True, True] Translation: X:153.43, Y:-2.00, Z:-2.84 [[ 9.99988863e-01 4.18210748e-03 -2.18707339e-03 1.53432942e+02] [-4.18163334e-03 9.99991232e-01 2.21318387e-04 -2.00301686e+00] [ 2.18797980e-03 -2.12170384e-04 9.99997584e-01 -2.83897212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57800114499997 meters 0.08596341501581056 Centerline is valid? [True, True] Translation: X:153.46, Y:-2.01, Z:-2.84 [[ 9.99974241e-01 6.33308716e-03 -3.37788987e-03 1.53460958e+02] [-6.33196476e-03 9.99979894e-01 3.42869426e-04 -2.01016859e+00] [ 3.37999337e-03 -3.21471914e-04 9.99994236e-01 -2.84098453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60800114499997 meters 0.08881514908528364 Centerline is valid? [True, True] Translation: X:153.49, Y:-2.02, Z:-2.84 [[ 9.99964538e-01 7.84476061e-03 -3.06313668e-03 1.53489411e+02] [-7.84384410e-03 9.99969188e-01 3.11103538e-04 -2.02035348e+00] [ 3.06548283e-03 -2.87065739e-04 9.99995260e-01 -2.84333161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63800114499998 meters 0.08052367908249475 Centerline is valid? [True, True] Translation: X:153.52, Y:-2.01, Z:-2.84 [[ 9.99952743e-01 8.88226148e-03 -3.95177152e-03 1.53519895e+02] [-8.88074569e-03 9.99960485e-01 4.00956602e-04 -2.01025568e+00] [ 3.95517676e-03 -3.65842976e-04 9.99992111e-01 -2.84011295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66800114499998 meters 0.08397013484328095 Centerline is valid? [True, True] Translation: X:153.55, Y:-2.02, Z:-2.84 [[ 9.99920158e-01 1.18698890e-02 -4.33399002e-03 1.53548494e+02] [-1.18680905e-02 9.99929475e-01 4.40462597e-04 -2.02181778e+00] [ 4.33891261e-03 -3.88991243e-04 9.99990511e-01 -2.84287156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69800114499998 meters 0.08169018895314085 Centerline is valid? [True, True] Translation: X:153.58, Y:-2.02, Z:-2.84 [[ 9.99910826e-01 1.25901660e-02 -4.45279836e-03 1.53577915e+02] [-1.25882785e-02 9.99920662e-01 4.51673315e-04 -2.02204329e+00] [ 4.45813172e-03 -3.95579972e-04 9.99989984e-01 -2.84244357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72800114499998 meters 0.07895058504607241 Centerline is valid? [True, True] Translation: X:153.61, Y:-2.02, Z:-2.84 [[ 9.99902825e-01 1.29194712e-02 -5.23714249e-03 1.53606802e+02] [-1.29168651e-02 9.99916433e-01 5.31129753e-04 -2.02126655e+00] [ 5.24356676e-03 -4.63430678e-04 9.99986145e-01 -2.84209143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75800114499998 meters 0.08064410446103285 Centerline is valid? [True, True] Translation: X:153.63, Y:-2.03, Z:-2.84 [[ 9.99893294e-01 1.34851775e-02 -5.61708005e-03 1.53634376e+02] [-1.34821923e-02 9.99908949e-01 5.68984791e-04 -2.02923395e+00] [ 5.62424147e-03 -4.93193524e-04 9.99984062e-01 -2.84414234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78800114499998 meters 0.08162897961984714 Centerline is valid? [True, True] Translation: X:153.66, Y:-2.04, Z:-2.85 [[ 9.99894821e-01 1.28928803e-02 -6.64226938e-03 1.53660871e+02] [-1.28887000e-02 9.99916712e-01 6.71767545e-04 -2.03783174e+00] [ 6.65037717e-03 -5.86086671e-04 9.99977714e-01 -2.84590030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81800114499998 meters 0.07779558783674505 Centerline is valid? [True, True] Translation: X:153.69, Y:-2.04, Z:-2.84 [[ 9.99892451e-01 1.29051637e-02 -6.96726168e-03 1.53690093e+02] [-1.29005622e-02 9.99916536e-01 7.04979794e-04 -2.03511041e+00] [ 6.97577804e-03 -6.15022381e-04 9.99975480e-01 -2.84373003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84800114499998 meters 0.07767051517168108 Centerline is valid? [True, True] Translation: X:153.72, Y:-2.04, Z:-2.84 [[ 9.99897959e-01 1.21365553e-02 -7.53494567e-03 1.53719033e+02] [-1.21311545e-02 9.99926124e-01 7.62062496e-04 -2.03806193e+00] [ 7.54363784e-03 -6.70577144e-04 9.99971322e-01 -2.84422036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87800114499998 meters 0.07872192331374685 Centerline is valid? [True, True] Translation: X:153.75, Y:-2.04, Z:-2.85 [[ 9.99906495e-01 1.16200848e-02 -7.20933717e-03 1.53746402e+02] [-1.16151350e-02 9.99932277e-01 7.28066574e-04 -2.04487310e+00] [ 7.21730913e-03 -6.44261072e-04 9.99973747e-01 -2.84506529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.908001145 meters 0.08125814279591347 Centerline is valid? [True, True] Translation: X:153.77, Y:-2.05, Z:-2.85 [[ 9.99909257e-01 1.15585613e-02 -6.91940646e-03 1.53772938e+02] [-1.15540043e-02 9.99933007e-01 6.98192176e-04 -2.05381753e+00] [ 6.92701300e-03 -6.18181967e-04 9.99975817e-01 -2.84692668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.938001145 meters 0.08323344598501616 Centerline is valid? [True, True] Translation: X:153.80, Y:-2.06, Z:-2.85 [[ 9.99916467e-01 1.13868719e-02 -6.11542432e-03 1.53800552e+02] [-1.13833132e-02 9.99935018e-01 6.16408695e-04 -2.06128566e+00] [ 6.12204589e-03 -5.46743414e-04 9.99981111e-01 -2.84780666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.968001145 meters 0.08023451304834928 Centerline is valid? [True, True] Translation: X:153.83, Y:-2.06, Z:-2.85 [[ 9.99914540e-01 1.18630880e-02 -5.49356592e-03 1.53830177e+02] [-1.18602220e-02 9.99929512e-01 5.53981298e-04 -2.05972165e+00] [ 5.49975061e-03 -4.88779044e-04 9.99984757e-01 -2.84586075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.998001145 meters 0.07540342436220712 Centerline is valid? [True, True] Translation: X:153.86, Y:-2.05, Z:-2.84 [[ 9.99915565e-01 1.21132517e-02 -4.70444586e-03 1.53860049e+02] [-1.21111570e-02 9.99926545e-01 4.73487423e-04 -2.05370404e+00] [ 4.70983577e-03 -4.16471162e-04 9.99988822e-01 -2.84279131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02800114499996 meters 0.08245801131668863 Centerline is valid? [True, True] Translation: X:153.89, Y:-2.07, Z:-2.85 [[ 9.99908265e-01 1.25305094e-02 -5.14275062e-03 1.53886335e+02] [-1.25280151e-02 9.99921388e-01 5.16943925e-04 -2.06982965e+00] [ 5.14882391e-03 -4.52468045e-04 9.99986642e-01 -2.84710375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05800114499996 meters 0.08540421816355767 Centerline is valid? [True, True] Translation: X:153.91, Y:-2.08, Z:-2.85 [[ 9.99908253e-01 1.28119498e-02 -4.39764472e-03 1.53913439e+02] [-1.28101329e-02 9.99917850e-01 4.41063678e-04 -2.07834769e+00] [ 4.40293434e-03 -3.84688798e-04 9.99990233e-01 -2.84950080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08800114499996 meters 0.07861395222217164 Centerline is valid? [True, True] Translation: X:153.94, Y:-2.07, Z:-2.85 [[ 9.99913669e-01 1.17694524e-02 -5.84245074e-03 1.53943929e+02] [-1.17662164e-02 9.99930603e-01 5.87937260e-04 -2.07099588e+00] [ 5.84896499e-03 -5.19142963e-04 9.99982760e-01 -2.84653089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11800114499997 meters 0.07973290593428609 Centerline is valid? [True, True] Translation: X:153.97, Y:-2.08, Z:-2.85 [[ 9.99917875e-01 1.13632878e-02 -5.92610943e-03 1.53971037e+02] [-1.13599608e-02 9.99935297e-01 5.94782635e-04 -2.07657235e+00] [ 5.93248468e-03 -5.27413418e-04 9.99982264e-01 -2.84824239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14800114499997 meters 0.07751802478199227 Centerline is valid? [True, True] Translation: X:154.00, Y:-2.08, Z:-2.85 [[ 9.99925916e-01 1.06713425e-02 -5.85533375e-03 1.53999798e+02] [-1.06680832e-02 9.99942922e-01 5.87599381e-04 -2.07533704e+00] [ 5.86127002e-03 -5.25090662e-04 9.99982685e-01 -2.84724976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17800114499997 meters 0.08098179391422393 Centerline is valid? [True, True] Translation: X:154.03, Y:-2.09, Z:-2.85 [[ 9.99929931e-01 1.04282282e-02 -5.60219373e-03 1.54026245e+02] [-1.04252458e-02 9.99945498e-01 5.61305404e-04 -2.08525124e+00] [ 5.60774182e-03 -5.02861828e-04 9.99984150e-01 -2.84962759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20800114499997 meters 0.08286985075550143 Centerline is valid? [True, True] Translation: X:154.05, Y:-2.09, Z:-2.85 [[ 9.99932733e-01 9.94924505e-03 -5.96174418e-03 1.54053508e+02] [-9.94586373e-03 9.99950361e-01 5.96549347e-04 -2.09234716e+00] [ 5.96738346e-03 -5.37214523e-04 9.99982051e-01 -2.85137288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23800114499997 meters 0.08187536115983902 Centerline is valid? [True, True] Translation: X:154.08, Y:-2.09, Z:-2.85 [[ 9.99939321e-01 9.51116832e-03 -5.55804665e-03 1.54082572e+02] [-9.50822138e-03 9.99954641e-01 5.56394211e-04 -2.09346369e+00] [ 5.56308650e-03 -5.03513312e-04 9.99984399e-01 -2.85136874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26800114499997 meters 0.0771269728646904 Centerline is valid? [True, True] Translation: X:154.11, Y:-2.09, Z:-2.85 [[ 9.99945606e-01 8.75778638e-03 -5.66439006e-03 1.54112460e+02] [-8.75471602e-03 9.99961516e-01 5.66613622e-04 -2.08717767e+00] [ 5.66913436e-03 -5.16992675e-04 9.99983797e-01 -2.84827246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29800114499997 meters 0.08218275505824792 Centerline is valid? [True, True] Translation: X:154.14, Y:-2.10, Z:-2.85 [[ 9.99946074e-01 8.53276336e-03 -5.91957952e-03 1.54139102e+02] [-8.52941089e-03 9.99963449e-01 5.91349584e-04 -2.09887514e+00] [ 5.92440900e-03 -5.40827168e-04 9.99982304e-01 -2.85121684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32800114499997 meters 0.08592799793428581 Centerline is valid? [True, True] Translation: X:154.17, Y:-2.11, Z:-2.85 [[ 9.99949173e-01 8.23882940e-03 -5.81151970e-03 1.54166469e+02] [-8.23559568e-03 9.99965919e-01 5.80144550e-04 -2.10771452e+00] [ 5.81610135e-03 -5.32253736e-04 9.99982945e-01 -2.85318022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35800114499997 meters 0.07955661641811787 Centerline is valid? [True, True] Translation: X:154.20, Y:-2.10, Z:-2.85 [[ 9.99959257e-01 7.52215417e-03 -4.99013546e-03 1.54196726e+02] [-7.51976251e-03 9.99971602e-01 4.97867958e-04 -2.09950874e+00] [ 4.99373879e-03 -4.60323040e-04 9.99987425e-01 -2.85026541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38800114499998 meters 0.08154316636220078 Centerline is valid? [True, True] Translation: X:154.22, Y:-2.11, Z:-2.85 [[ 9.99962266e-01 7.16510478e-03 -4.91192671e-03 1.54223684e+02] [-7.16278707e-03 9.99974227e-01 4.89283958e-04 -2.10631914e+00] [ 4.91530589e-03 -4.54082410e-04 9.99987817e-01 -2.85190607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41800114499998 meters 0.08039616929331198 Centerline is valid? [True, True] Translation: X:154.25, Y:-2.11, Z:-2.85 [[ 9.99964838e-01 7.32172216e-03 -4.08833427e-03 1.54252146e+02] [-7.32011868e-03 9.99973125e-01 4.07033157e-04 -2.10715545e+00] [ 4.09120458e-03 -3.77091753e-04 9.99991560e-01 -2.85184912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44800114499998 meters 0.07982657076120082 Centerline is valid? [True, True] Translation: X:154.28, Y:-2.11, Z:-2.85 [[ 9.99968013e-01 6.85517167e-03 -4.12069994e-03 1.54281145e+02] [-6.85353987e-03 9.99976430e-01 4.09990062e-04 -2.10785819e+00] [ 4.12341337e-03 -3.81735566e-04 9.99991426e-01 -2.85208867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47800114499998 meters 0.0813523735820142 Centerline is valid? [True, True] Translation: X:154.31, Y:-2.11, Z:-2.85 [[ 9.99961480e-01 6.94937840e-03 -5.36141709e-03 1.54308480e+02] [-6.94661923e-03 9.99975730e-01 5.33085923e-04 -2.11221812e+00] [ 5.36499159e-03 -4.95821665e-04 9.99985485e-01 -2.85362453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50800114499998 meters 0.08020181908416327 Centerline is valid? [True, True] Translation: X:154.34, Y:-2.11, Z:-2.85 [[ 9.99964143e-01 6.89363486e-03 -4.91847129e-03 1.54337143e+02] [-6.89131268e-03 9.99976135e-01 4.88925984e-04 -2.11258802e+00] [ 4.92172439e-03 -4.55013729e-04 9.99987785e-01 -2.85463469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53800114499998 meters 0.08183592384806752 Centerline is valid? [True, True] Translation: X:154.36, Y:-2.12, Z:-2.86 [[ 9.99963038e-01 6.88557093e-03 -5.14897243e-03 1.54364328e+02] [-6.88302953e-03 9.99976181e-01 5.11133275e-04 -2.11808967e+00] [ 5.15236924e-03 -4.75673853e-04 9.99986613e-01 -2.85639241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56800114499998 meters 0.08276508590262983 Centerline is valid? [True, True] Translation: X:154.39, Y:-2.12, Z:-2.86 [[ 9.99963029e-01 6.60517079e-03 -5.50575535e-03 1.54391326e+02] [-6.60226481e-03 9.99978056e-01 5.45816092e-04 -2.12191097e+00] [ 5.50923974e-03 -5.09445457e-04 9.99984694e-01 -2.85691626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59800114499998 meters 0.0848464887367549 Centerline is valid? [True, True] Translation: X:154.42, Y:-2.13, Z:-2.86 [[ 9.99967255e-01 5.84576933e-03 -5.59608463e-03 1.54418280e+02] [-5.84275812e-03 9.99982777e-01 5.54290317e-04 -2.12688512e+00] [ 5.59922850e-03 -5.21575597e-04 9.99984188e-01 -2.85841307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62800114499998 meters 0.08376254110967862 Centerline is valid? [True, True] Translation: X:154.45, Y:-2.13, Z:-2.86 [[ 9.99966011e-01 5.92391524e-03 -5.73448276e-03 1.54447370e+02] [-5.92075220e-03 9.99982311e-01 5.68401166e-04 -2.12616766e+00] [ 5.73774848e-03 -5.34429395e-04 9.99983396e-01 -2.85813379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.658001145 meters 0.08729647275102327 Centerline is valid? [True, True] Translation: X:154.47, Y:-2.13, Z:-2.86 [[ 9.99971111e-01 5.77497595e-03 -4.94234438e-03 1.54474594e+02] [-5.77262927e-03 9.99983219e-01 4.88944798e-04 -2.13387138e+00] [ 4.94508509e-03 -4.60400351e-04 9.99987667e-01 -2.85945470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.688001145 meters 0.08473630722312493 Centerline is valid? [True, True] Translation: X:154.50, Y:-2.13, Z:-2.86 [[ 9.99971599e-01 6.26052540e-03 -4.19616222e-03 1.54503619e+02] [-6.25883880e-03 9.99980327e-01 4.14951531e-04 -2.13165462e+00] [ 4.19867748e-03 -3.88676643e-04 9.99991110e-01 -2.85780399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.718001145 meters 0.0856832269430303 Centerline is valid? [True, True] Translation: X:154.53, Y:-2.13, Z:-2.86 [[ 9.99959390e-01 7.93678565e-03 -4.26924497e-03 1.54532795e+02] [-7.93505232e-03 9.99968428e-01 4.22789366e-04 -2.13473811e+00] [ 4.27246577e-03 -3.88895514e-04 9.99990797e-01 -2.86013084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.748001145 meters 0.08768524051658858 Centerline is valid? [True, True] Translation: X:154.56, Y:-2.14, Z:-2.86 [[ 9.99940241e-01 1.01933866e-02 -3.95092366e-03 1.54561514e+02] [-1.01919190e-02 9.99947984e-01 3.91400304e-04 -2.14040516e+00] [ 3.95470784e-03 -3.51109420e-04 9.99992118e-01 -2.86293943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77800114499996 meters 0.08692179863569435 Centerline is valid? [True, True] Translation: X:154.59, Y:-2.14, Z:-2.86 [[ 9.99911338e-01 1.23704917e-02 -4.92824459e-03 1.54592044e+02] [-1.23682338e-02 9.99923391e-01 4.88358370e-04 -2.14075301e+00] [ 4.93390828e-03 -4.27361390e-04 9.99987737e-01 -2.86390706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80800114499996 meters 0.08418183436132086 Centerline is valid? [True, True] Translation: X:154.62, Y:-2.13, Z:-2.86 [[ 9.99830144e-01 1.80472597e-02 -3.73881815e-03 1.54623801e+02] [-1.80459992e-02 9.99837089e-01 3.70615120e-04 -2.13446755e+00] [ 3.74489764e-03 -3.03081460e-04 9.99992942e-01 -2.86244941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83800114499996 meters 0.08127136673537985 Centerline is valid? [True, True] Translation: X:154.65, Y:-2.13, Z:-2.86 [[ 9.99787256e-01 2.02584452e-02 -3.87794724e-03 1.54654595e+02] [-2.02571068e-02 9.99794730e-01 3.84126062e-04 -2.13046453e+00] [ 3.88493301e-03 -3.05488351e-04 9.99992407e-01 -2.86127692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86800114499997 meters 0.0772918074527413 Centerline is valid? [True, True] Translation: X:154.69, Y:-2.13, Z:-2.86 [[ 9.99768115e-01 2.13837385e-02 -2.54026026e-03 1.54685261e+02] [-2.13831682e-02 9.99771322e-01 2.51452161e-04 -2.12566788e+00] [ 2.54505634e-03 -1.97075040e-04 9.99996742e-01 -2.85896868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89800114499997 meters 0.07755262767936111 Centerline is valid? [True, True] Translation: X:154.71, Y:-2.13, Z:-2.86 [[ 9.99749751e-01 2.21725812e-02 -2.96863278e-03 1.54713654e+02] [-2.21718094e-02 9.99754132e-01 2.92677707e-04 -2.12917978e+00] [ 2.97439231e-03 -2.26784504e-04 9.99995551e-01 -2.86029012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92800114499997 meters 0.08188245620921505 Centerline is valid? [True, True] Translation: X:154.74, Y:-2.14, Z:-2.87 [[ 9.99731957e-01 2.27126108e-02 -4.48914294e-03 1.54740373e+02] [-2.27108553e-02 9.99741978e-01 4.41664490e-04 -2.14067830e+00] [ 4.49801600e-03 -3.39593829e-04 9.99989826e-01 -2.86735787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95800114499997 meters 0.07911068268051923 Centerline is valid? [True, True] Translation: X:154.77, Y:-2.14, Z:-2.87 [[ 9.99750421e-01 2.16835837e-02 -5.37757148e-03 1.54769850e+02] [-2.16810402e-02 9.99764798e-01 5.30831533e-04 -2.13895824e+00] [ 5.38781700e-03 -4.14107704e-04 9.99985400e-01 -2.86661989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98800114499997 meters 0.07947960840675951 Centerline is valid? [True, True] Translation: X:154.80, Y:-2.14, Z:-2.87 [[ 9.99763000e-01 2.11693227e-02 -5.07980339e-03 1.54798569e+02] [-2.11670501e-02 9.99775828e-01 5.00727352e-04 -2.14211881e+00] [ 5.08926469e-03 -3.93084226e-04 9.99986972e-01 -2.86747447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01800114499997 meters 0.07947960840675951 Centerline is valid? [True, True] Translation: X:154.83, Y:-2.14, Z:-2.87 [[ 9.99764919e-01 2.10784416e-02 -5.07991649e-03 1.54825990e+02] [-2.10761736e-02 9.99777748e-01 4.99581907e-04 -2.14471877e+00] [ 5.08931788e-03 -3.92399263e-04 9.99986972e-01 -2.86810016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04800114499997 meters 0.08066223567690484 Centerline is valid? [True, True] Translation: X:154.85, Y:-2.15, Z:-2.87 [[ 9.99777944e-01 2.04583259e-02 -5.05160155e-03 1.54853541e+02] [-2.04560755e-02 9.99790629e-01 4.96758419e-04 -2.14846832e+00] [ 5.06070674e-03 -3.93312168e-04 9.99987117e-01 -2.86808866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07800114499997 meters 0.08120300843255143 Centerline is valid? [True, True] Translation: X:154.88, Y:-2.15, Z:-2.87 [[ 9.99765938e-01 2.09703567e-02 -5.32108361e-03 1.54880927e+02] [-2.09678685e-02 9.99780013e-01 5.22960077e-04 -2.15159065e+00] [ 5.33087970e-03 -4.11265890e-04 9.99985706e-01 -2.87019012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10800114499997 meters 0.08109287673078311 Centerline is valid? [True, True] Translation: X:154.91, Y:-2.15, Z:-2.87 [[ 9.99750490e-01 2.15899897e-02 -5.72977792e-03 1.54909798e+02] [-2.15871140e-02 9.99766812e-01 5.63259189e-04 -2.15497180e+00] [ 5.74060257e-03 -4.39429281e-04 9.99983426e-01 -2.87162532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13800114499998 meters 0.08164749160513389 Centerline is valid? [True, True] Translation: X:154.94, Y:-2.16, Z:-2.87 [[ 9.99742539e-01 2.18615600e-02 -6.07686027e-03 1.54937675e+02] [-2.18583347e-02 9.99760900e-01 5.96678225e-04 -2.15923192e+00] [ 6.08845161e-03 -4.63694558e-04 9.99981358e-01 -2.87326142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16800114499998 meters 0.08204213651751213 Centerline is valid? [True, True] Translation: X:154.97, Y:-2.16, Z:-2.88 [[ 9.99726990e-01 2.23629873e-02 -6.77066119e-03 1.54966471e+02] [-2.23589938e-02 9.99749785e-01 6.64945683e-04 -2.16335412e+00] [ 6.78383724e-03 -5.13378974e-04 9.99976858e-01 -2.87509542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19800114499998 meters 0.0749130155792415 Centerline is valid? [True, True] Translation: X:155.00, Y:-2.15, Z:-2.87 [[ 9.99696051e-01 2.30609901e-02 -8.71757826e-03 1.54995944e+02] [-2.30544073e-02 9.99733846e-01 8.54870864e-04 -2.15275880e+00] [ 8.73497222e-03 -6.53632427e-04 9.99961636e-01 -2.87140253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22800114499998 meters 0.08205742867264756 Centerline is valid? [True, True] Translation: X:155.02, Y:-2.17, Z:-2.88 [[ 9.99667959e-01 2.43048477e-02 -8.55837329e-03 1.55022483e+02] [-2.42985513e-02 9.99704395e-01 8.38933317e-04 -2.16723427e+00] [ 8.57623354e-03 -6.30698684e-04 9.99963025e-01 -2.87775843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25800114499998 meters 0.0711277407324824 Centerline is valid? [True, True] Translation: X:155.05, Y:-2.15, Z:-2.87 [[ 9.99657387e-01 2.47714156e-02 -8.45489127e-03 1.55053975e+02] [-2.47653292e-02 9.99692953e-01 8.23827831e-04 -2.14675359e+00] [ 8.47270260e-03 -6.14157411e-04 9.99963917e-01 -2.86829551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28800114499998 meters 0.07105412314246033 Centerline is valid? [True, True] Translation: X:155.08, Y:-2.15, Z:-2.87 [[ 9.99617779e-01 2.65581149e-02 -7.67872661e-03 1.55083334e+02] [-2.65531207e-02 9.99647121e-01 7.51638741e-04 -2.14834433e+00] [ 7.69597906e-03 -5.47457294e-04 9.99970236e-01 -2.86857772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31800114499998 meters 0.07089036181099076 Centerline is valid? [True, True] Translation: X:155.11, Y:-2.15, Z:-2.87 [[ 9.99570893e-01 2.88185805e-02 -5.24594833e-03 1.55112044e+02] [-2.88162833e-02 9.99584593e-01 5.12978397e-04 -2.15132209e+00] [ 5.25855244e-03 -3.61589541e-04 9.99986108e-01 -2.86924452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34800114499998 meters 0.07133606229691099 Centerline is valid? [True, True] Translation: X:155.14, Y:-2.16, Z:-2.87 [[ 9.99560489e-01 2.93851683e-02 -3.91677700e-03 1.55139537e+02] [-2.93838980e-02 9.99568127e-01 3.81484285e-04 -2.15633960e+00] [ 3.92629543e-03 -2.66226442e-04 9.99992257e-01 -2.87070034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37800114499998 meters 0.07104901293491245 Centerline is valid? [True, True] Translation: X:155.17, Y:-2.16, Z:-2.87 [[ 9.99546168e-01 2.98696848e-02 -3.90631773e-03 1.55168512e+02] [-2.98684396e-02 9.99553768e-01 3.76725467e-04 -2.15919334e+00] [ 3.91582728e-03 -2.59878882e-04 9.99992299e-01 -2.87106986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.408001145 meters 0.06953351937003166 Centerline is valid? [True, True] Translation: X:155.20, Y:-2.16, Z:-2.87 [[ 9.99520829e-01 3.08484006e-02 -2.54713950e-03 1.55197689e+02] [-3.08478706e-02 9.99524061e-01 2.47097544e-04 -2.15633263e+00] [ 2.55354978e-03 -1.68405313e-04 9.99996726e-01 -2.86859525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.438001145 meters 0.06981598315298942 Centerline is valid? [True, True] Translation: X:155.23, Y:-2.16, Z:-2.87 [[ 9.99507193e-01 3.13484520e-02 -1.62630976e-03 1.55226044e+02] [-3.13482376e-02 9.99508511e-01 1.57126070e-04 -2.15800862e+00] [ 1.63043611e-03 -1.06066693e-04 9.99998665e-01 -2.86828155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.468001145 meters 0.06993942952726913 Centerline is valid? [True, True] Translation: X:155.26, Y:-2.16, Z:-2.87 [[ 9.99496706e-01 3.17072171e-02 -9.93415747e-04 1.55255310e+02] [-3.17071392e-02 9.99497198e-01 9.40891564e-05 -2.16006856e+00] [ 9.95899560e-04 -6.25434305e-05 9.99999502e-01 -2.86838839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.498001145 meters 0.0700239879196969 Centerline is valid? [True, True] Translation: X:155.28, Y:-2.16, Z:-2.87 [[ 9.99491344e-01 3.18414173e-02 -1.78239112e-03 1.55284103e+02] [-3.18411609e-02 9.99492927e-01 1.72036741e-04 -2.16270244e+00] [ 1.78696521e-03 -1.15195831e-04 9.99998397e-01 -2.86947109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52800114499996 meters 0.07121480658740315 Centerline is valid? [True, True] Translation: X:155.31, Y:-2.17, Z:-2.87 [[ 9.99535744e-01 3.03335749e-02 -2.85841216e-03 1.55312091e+02] [-3.03329062e-02 9.99539813e-01 2.77010378e-04 -2.17026040e+00] [ 2.86549947e-03 -1.90177826e-04 9.99995876e-01 -2.87335840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55800114499996 meters 0.07210237569295694 Centerline is valid? [True, True] Translation: X:155.34, Y:-2.18, Z:-2.88 [[ 9.99569459e-01 2.91085913e-02 -3.68588454e-03 1.55341096e+02] [-2.91074690e-02 9.99576224e-01 3.57767377e-04 -2.17639617e+00] [ 3.69473665e-03 -2.50326574e-04 9.99993143e-01 -2.87578758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58800114499996 meters 0.073146014632326 Centerline is valid? [True, True] Translation: X:155.37, Y:-2.18, Z:-2.88 [[ 9.99610946e-01 2.74578472e-02 -4.90133449e-03 1.55369411e+02] [-2.74558446e-02 9.99622904e-01 4.75412194e-04 -2.18180576e+00] [ 4.91254001e-03 -3.40656955e-04 9.99987875e-01 -2.87716630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61800114499997 meters 0.07536817404328178 Centerline is valid? [True, True] Translation: X:155.40, Y:-2.19, Z:-2.88 [[ 9.99672797e-01 2.48505103e-02 -6.06228393e-03 1.55397944e+02] [-2.48473957e-02 9.99691083e-01 5.88559884e-04 -2.18707646e+00] [ 6.07503720e-03 -4.37735338e-04 9.99981451e-01 -2.87890138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64800114499997 meters 0.0757212794386213 Centerline is valid? [True, True] Translation: X:155.43, Y:-2.19, Z:-2.88 [[ 9.99677320e-01 2.46549360e-02 -6.11479389e-03 1.55427029e+02] [-2.46517707e-02 9.99695923e-01 5.92486064e-04 -2.18950719e+00] [ 6.12754223e-03 -4.41554384e-04 9.99981129e-01 -2.87849322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67800114499997 meters 0.07697491158234922 Centerline is valid? [True, True] Translation: X:155.45, Y:-2.19, Z:-2.88 [[ 9.99685588e-01 2.43386202e-02 -6.02961947e-03 1.55454773e+02] [-2.43355482e-02 9.99703677e-01 5.82333250e-04 -2.19413073e+00] [ 6.04200594e-03 -4.35416062e-04 9.99981652e-01 -2.87948458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70800114499997 meters 0.07673449922494412 Centerline is valid? [True, True] Translation: X:155.48, Y:-2.20, Z:-2.88 [[ 9.99675823e-01 2.48932099e-02 -5.34578093e-03 1.55483145e+02] [-2.48908000e-02 9.99690042e-01 5.16870935e-04 -2.19683581e+00] [ 5.35699054e-03 -3.83642613e-04 9.99985578e-01 -2.87999274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73800114499997 meters 0.07326960324280646 Centerline is valid? [True, True] Translation: X:155.51, Y:-2.19, Z:-2.88 [[ 9.99665753e-01 2.52197701e-02 -5.68737707e-03 1.55512024e+02] [-2.52170496e-02 9.99681849e-01 5.49559072e-04 -2.19356423e+00] [ 5.69942738e-03 -4.05956514e-04 9.99983676e-01 -2.87980352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76800114499997 meters 0.07453704481095799 Centerline is valid? [True, True] Translation: X:155.54, Y:-2.20, Z:-2.88 [[ 9.99662779e-01 2.51938280e-02 -6.29282836e-03 1.55539335e+02] [-2.51905012e-02 9.99682484e-01 6.07365249e-04 -2.19871854e+00] [ 6.30613214e-03 -4.48640932e-04 9.99980016e-01 -2.88185200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79800114499997 meters 0.07603212183655227 Centerline is valid? [True, True] Translation: X:155.57, Y:-2.20, Z:-2.88 [[ 9.99655344e-01 2.55685593e-02 -5.95328233e-03 1.55567077e+02] [-2.55655891e-02 9.99672982e-01 5.74502945e-04 -2.20447607e+00] [ 5.96602471e-03 -4.22105770e-04 9.99982114e-01 -2.88420815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82800114499997 meters 0.07776699653546654 Centerline is valid? [True, True] Translation: X:155.60, Y:-2.21, Z:-2.88 [[ 9.99629320e-01 2.69164893e-02 -4.08958045e-03 1.55595344e+02] [-2.69151000e-02 9.99637645e-01 3.94399874e-04 -2.21053234e+00] [ 4.09871443e-03 -2.84182212e-04 9.99991560e-01 -2.88421424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85800114499997 meters 0.07837659175453084 Centerline is valid? [True, True] Translation: X:155.62, Y:-2.21, Z:-2.88 [[ 9.99623311e-01 2.71789357e-02 -3.81331943e-03 1.55622778e+02] [-2.71777334e-02 9.99630550e-01 3.66764399e-04 -2.21411327e+00] [ 3.82187886e-03 -2.62988864e-04 9.99992662e-01 -2.88426124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88800114499998 meters 0.07315934184277403 Centerline is valid? [True, True] Translation: X:155.65, Y:-2.21, Z:-2.88 [[ 9.99615900e-01 2.74474770e-02 -3.83264772e-03 1.55651953e+02] [-2.74462644e-02 9.99623212e-01 3.68632892e-04 -2.20852849e+00] [ 3.84132166e-03 -2.63299438e-04 9.99992587e-01 -2.88136726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91800114499998 meters 0.07350388021142949 Centerline is valid? [True, True] Translation: X:155.68, Y:-2.21, Z:-2.88 [[ 9.99630214e-01 2.68424498e-02 -4.34957029e-03 1.55680694e+02] [-2.68408827e-02 9.99639631e-01 4.18270132e-04 -2.21231469e+00] [ 4.35923023e-03 -3.01369155e-04 9.99990453e-01 -2.88230752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94800114499998 meters 0.07316206622314465 Centerline is valid? [True, True] Translation: X:155.71, Y:-2.21, Z:-2.88 [[ 9.99655146e-01 2.59401844e-02 -4.08607059e-03 1.55709672e+02] [-2.59387954e-02 9.99663456e-01 3.92568477e-04 -2.21496921e+00] [ 4.09487875e-03 -2.86445349e-04 9.99991575e-01 -2.88282123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97800114499998 meters 0.07316206622314465 Centerline is valid? [True, True] Translation: X:155.74, Y:-2.22, Z:-2.88 [[ 9.99657608e-01 2.58451331e-02 -4.08617674e-03 1.55737079e+02] [-2.58437478e-02 9.99665918e-01 3.91466413e-04 -2.21750793e+00] [ 4.09492912e-03 -2.85730257e-04 9.99991575e-01 -2.88344655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00800114499998 meters 0.07388718438968755 Centerline is valid? [True, True] Translation: X:155.77, Y:-2.22, Z:-2.88 [[ 9.99682646e-01 2.46829359e-02 -5.03592357e-03 1.55765921e+02] [-2.46808103e-02 9.99695265e-01 4.83802910e-04 -2.22239727e+00] [ 5.04633062e-03 -3.59358699e-04 9.99987203e-01 -2.88428808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03800114499998 meters 0.07470899589875757 Centerline is valid? [True, True] Translation: X:155.80, Y:-2.23, Z:-2.89 [[ 9.99717541e-01 2.31893247e-02 -5.20508480e-03 1.55795248e+02] [-2.31870326e-02 9.99731019e-01 5.00288528e-04 -2.22802981e+00] [ 5.21528609e-03 -3.79456746e-04 9.99986328e-01 -2.88536767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06800114499998 meters 0.07611610547184852 Centerline is valid? [True, True] Translation: X:155.82, Y:-2.23, Z:-2.89 [[ 9.99748461e-01 2.19516067e-02 -4.59808645e-03 1.55822184e+02] [-2.19498119e-02 9.99758977e-01 4.40436707e-04 -2.23479134e+00] [ 4.60664650e-03 -3.39398787e-04 9.99989332e-01 -2.88661570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09800114499998 meters 0.07836980000772273 Centerline is valid? [True, True] Translation: X:155.85, Y:-2.24, Z:-2.89 [[ 9.99767273e-01 2.11001519e-02 -4.49259180e-03 1.55849206e+02] [-2.10984317e-02 9.99777311e-01 4.29950614e-04 -2.24126264e+00] [ 4.50066338e-03 -3.35063911e-04 9.99989816e-01 -2.88812148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12800114499998 meters 0.07166005388773615 Centerline is valid? [True, True] Translation: X:155.88, Y:-2.23, Z:-2.88 [[ 9.99772250e-01 2.10807003e-02 -3.32442427e-03 1.55879281e+02] [-2.10797598e-02 9.99777747e-01 3.17720805e-04 -2.23106570e+00] [ 3.33038318e-03 -2.47570379e-04 9.99994424e-01 -2.88337240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.158001145 meters 0.0733534650930916 Centerline is valid? [True, True] Translation: X:155.91, Y:-2.24, Z:-2.89 [[ 9.99776192e-01 2.08435196e-02 -3.62125231e-03 1.55906283e+02] [-2.08424076e-02 9.99782714e-01 3.44545918e-04 -2.23850626e+00] [ 3.62764701e-03 -2.68993189e-04 9.99993384e-01 -2.88547398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.188001145 meters 0.07137858386032642 Centerline is valid? [True, True] Translation: X:155.94, Y:-2.24, Z:-2.88 [[ 9.99735672e-01 2.28294515e-02 -2.72064358e-03 1.55936911e+02] [-2.28288267e-02 9.99739354e-01 2.60504226e-04 -2.23786698e+00] [ 2.72588163e-03 -1.98326266e-04 9.99996265e-01 -2.88465861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.218001145 meters 0.07289102974563479 Centerline is valid? [True, True] Translation: X:155.97, Y:-2.24, Z:-2.89 [[ 9.99690360e-01 2.47628659e-02 -2.44629871e-03 1.55965631e+02] [-2.47623677e-02 9.99693338e-01 2.33743629e-04 -2.24340045e+00] [ 2.45133668e-03 -1.73095105e-04 9.99996980e-01 -2.88625755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24800114499996 meters 0.0708524926378033 Centerline is valid? [True, True] Translation: X:156.00, Y:-2.24, Z:-2.89 [[ 9.99633205e-01 2.70097097e-02 -1.98243593e-03 1.55995531e+02] [-2.70093874e-02 9.99635162e-01 1.89216399e-04 -2.24151069e+00] [ 1.98682334e-03 -1.35602615e-04 9.99998017e-01 -2.88592396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27800114499996 meters 0.07016900506675106 Centerline is valid? [True, True] Translation: X:156.03, Y:-2.24, Z:-2.89 [[ 9.99508402e-01 3.13105253e-02 -1.61394106e-03 1.56025065e+02] [-3.13103170e-02 9.99509700e-01 1.54179733e-04 -2.24342784e+00] [ 1.61797720e-03 -1.03570932e-04 9.99998686e-01 -2.88752893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30800114499996 meters 0.07214037359107525 Centerline is valid? [True, True] Translation: X:156.05, Y:-2.25, Z:-2.89 [[ 9.99472972e-01 3.24554151e-02 -6.51308982e-04 1.56052795e+02] [-3.24553822e-02 9.99473183e-01 6.08922723e-05 -2.25041287e+00] [ 6.52942146e-04 -3.97216984e-05 9.99999786e-01 -2.88847766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33800114499996 meters 0.06930417241881597 Centerline is valid? [True, True] Translation: X:156.08, Y:-2.25, Z:-2.89 [[ 9.99439321e-01 3.34812416e-02 2.24996971e-04 1.56082392e+02] [-3.34812373e-02 9.99439346e-01 -2.30037485e-05 -2.24567616e+00] [-2.25641020e-04 1.54576738e-05 9.99999974e-01 -2.88618133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36800114499997 meters 0.06954896965771844 Centerline is valid? [True, True] Translation: X:156.11, Y:-2.25, Z:-2.89 [[ 9.99399883e-01 3.46304092e-02 7.80172618e-04 1.56109808e+02] [-3.46303601e-02 9.99400186e-01 -7.64126813e-05 -2.24808849e+00] [-7.82350862e-04 4.93491661e-05 9.99999693e-01 -2.88630576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39800114499997 meters 0.07008433463717487 Centerline is valid? [True, True] Translation: X:156.14, Y:-2.25, Z:-2.89 [[ 9.99305832e-01 3.71867879e-02 2.23527443e-03 1.56138649e+02] [-3.71864011e-02 9.99308324e-01 -2.14329189e-04 -2.25407066e+00] [-2.24169856e-03 1.31058597e-04 9.99997479e-01 -2.88902018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42800114499997 meters 0.06983477777472653 Centerline is valid? [True, True] Translation: X:156.17, Y:-2.26, Z:-2.89 [[ 9.99280261e-01 3.78643592e-02 2.29130798e-03 1.56167626e+02] [-3.78639534e-02 9.99282879e-01 -2.20237236e-04 -2.25754281e+00] [-2.29800398e-03 1.33320744e-04 9.99997351e-01 -2.88993774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45800114499997 meters 0.07017941940520672 Centerline is valid? [True, True] Translation: X:156.20, Y:-2.26, Z:-2.89 [[ 9.99260579e-01 3.83603628e-02 2.60345204e-03 1.56196189e+02] [-3.83598416e-02 9.99263959e-01 -2.49873578e-04 -2.26141419e+00] [-2.61112103e-03 1.49820808e-04 9.99996580e-01 -2.89125937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48800114499997 meters 0.06977653130449771 Centerline is valid? [True, True] Translation: X:156.22, Y:-2.26, Z:-2.89 [[ 9.99255995e-01 3.85170693e-02 1.97293385e-03 1.56223643e+02] [-3.85167686e-02 9.99257936e-01 -1.90233431e-04 -2.26302408e+00] [-1.97879704e-03 1.14100860e-04 9.99998036e-01 -2.89211806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51800114499997 meters 0.06987222939735138 Centerline is valid? [True, True] Translation: X:156.25, Y:-2.26, Z:-2.89 [[ 9.99248559e-01 3.87540734e-02 -6.63400210e-04 1.56252478e+02] [-3.87540409e-02 9.99248778e-01 6.17973766e-05 -2.26491053e+00] [ 6.65296749e-04 -3.60415006e-05 9.99999778e-01 -2.89478753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54800114499997 meters 0.0705272733251084 Centerline is valid? [True, True] Translation: X:156.28, Y:-2.27, Z:-2.90 [[ 9.99226346e-01 3.93156353e-02 -9.95338319e-04 1.56279811e+02] [-3.93155629e-02 9.99226840e-01 9.21259662e-05 -2.26809982e+00] [ 9.98190755e-04 -5.29224062e-05 9.99999500e-01 -2.89657435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57800114499997 meters 0.06910250845477185 Centerline is valid? [True, True] Translation: X:156.31, Y:-2.27, Z:-2.90 [[ 9.99198552e-01 4.00096351e-02 -1.21761551e-03 1.56309134e+02] [-4.00095253e-02 9.99199292e-01 1.14377159e-04 -2.26730636e+00] [ 1.22121674e-03 -6.55692735e-05 9.99999252e-01 -2.89528601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60800114499997 meters 0.06610560581422102 Centerline is valid? [True, True] Translation: X:156.34, Y:-2.27, Z:-2.89 [[ 9.99174722e-01 4.06139018e-02 6.21916786e-04 1.56338770e+02] [-4.06138699e-02 9.99174914e-01 -6.39145887e-05 -2.26513986e+00] [-6.23999472e-04 3.86033940e-05 9.99999805e-01 -2.89327365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63800114499998 meters 0.06914782326543963 Centerline is valid? [True, True] Translation: X:156.37, Y:-2.28, Z:-2.90 [[ 9.99140486e-01 4.14385218e-02 1.06661490e-03 1.56365050e+02] [-4.14384354e-02 9.99141054e-01 -1.02986624e-04 -2.27734416e+00] [-1.06996635e-03 5.86992526e-05 9.99999426e-01 -2.89791328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66800114499998 meters 0.06633634066550796 Centerline is valid? [True, True] Translation: X:156.39, Y:-2.27, Z:-2.90 [[ 9.99110911e-01 4.21384581e-02 1.31862224e-03 1.56394434e+02] [-4.21383279e-02 9.99111778e-01 -1.26401266e-04 -2.27281559e+00] [-1.32277736e-03 7.07243473e-05 9.99999123e-01 -2.89554441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69800114499998 meters 0.06642358696654739 Centerline is valid? [True, True] Translation: X:156.42, Y:-2.27, Z:-2.90 [[ 9.99066628e-01 4.31924999e-02 5.29511282e-04 1.56422066e+02] [-4.31924784e-02 9.99066768e-01 -5.19604546e-05 -2.27426120e+00] [-5.31261427e-04 2.90410515e-05 9.99999858e-01 -2.89609949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72800114499998 meters 0.0661482498156793 Centerline is valid? [True, True] Translation: X:156.45, Y:-2.27, Z:-2.90 [[ 9.98988517e-01 4.49654592e-02 2.23484664e-04 1.56450832e+02] [-4.49654553e-02 9.98988542e-01 -2.26025006e-05 -2.27373202e+00] [-2.24274951e-04 1.25305489e-05 9.99999975e-01 -2.89689682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75800114499998 meters 0.06602217459503139 Centerline is valid? [True, True] Translation: X:156.48, Y:-2.28, Z:-2.90 [[ 9.98981812e-01 4.51146913e-02 6.09895878e-05 1.56479845e+02] [-4.51146910e-02 9.98981814e-01 -7.23312483e-06 -2.27631615e+00] [-6.12538093e-05 4.47423374e-06 9.99999998e-01 -2.89787002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78800114499998 meters 0.06565267102381202 Centerline is valid? [True, True] Translation: X:156.51, Y:-2.28, Z:-2.90 [[ 9.98958113e-01 4.56358772e-02 -2.34236412e-04 1.56508618e+02] [-4.56358736e-02 9.98958141e-01 2.06494503e-05 -2.27894512e+00] [ 2.34934726e-04 -9.93835266e-06 9.99999972e-01 -2.89884150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81800114499998 meters 0.0661515453299426 Centerline is valid? [True, True] Translation: X:156.54, Y:-2.28, Z:-2.90 [[ 9.98942327e-01 4.59765318e-02 -6.21678700e-04 1.56536399e+02] [-4.59765053e-02 9.98942520e-01 5.68418952e-05 -2.28382411e+00] [ 6.23634681e-04 -2.81991610e-05 9.99999805e-01 -2.90032485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84800114499998 meters 0.06568034267351232 Centerline is valid? [True, True] Translation: X:156.57, Y:-2.29, Z:-2.90 [[ 9.99000393e-01 4.46742992e-02 -1.55627232e-03 1.56565701e+02] [-4.46741257e-02 9.99001602e-01 1.46082903e-04 -2.28647129e+00] [ 1.56124470e-03 -7.64117718e-05 9.99998778e-01 -2.90108466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87800114499998 meters 0.0674408080883512 Centerline is valid? [True, True] Translation: X:156.59, Y:-2.30, Z:-2.90 [[ 9.99096461e-01 4.24961331e-02 -5.83453776e-04 1.56593686e+02] [-4.24961088e-02 9.99096631e-01 5.39101175e-05 -2.29505102e+00] [ 5.85217673e-04 -2.90668925e-05 9.99999828e-01 -2.90329311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.908001145 meters 0.06789303921679196 Centerline is valid? [True, True] Translation: X:156.62, Y:-2.30, Z:-2.90 [[ 9.99194144e-01 4.01300506e-02 -8.01350562e-04 1.56622847e+02] [-4.01300035e-02 9.99194464e-01 7.48166814e-05 -2.30053512e+00] [ 8.03707442e-04 -4.25981890e-05 9.99999676e-01 -2.90265486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.938001145 meters 0.06789303921679196 Centerline is valid? [True, True] Translation: X:156.65, Y:-2.30, Z:-2.90 [[ 9.99197946e-01 4.00352542e-02 -8.01492296e-04 1.56650230e+02] [-4.00352083e-02 9.99198267e-01 7.33119528e-05 -2.30301260e+00] [ 8.03784776e-04 -4.11652417e-05 9.99999676e-01 -2.90327919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.968001145 meters 0.07048026693899574 Centerline is valid? [True, True] Translation: X:156.68, Y:-2.31, Z:-2.90 [[ 9.99374407e-01 3.53503514e-02 1.07130621e-03 1.56678401e+02] [-3.53502629e-02 9.99374979e-01 -1.01433474e-04 -2.31311221e+00] [-1.07422233e-03 6.34990618e-05 9.99999421e-01 -2.90335330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99800114499996 meters 0.06896160576548602 Centerline is valid? [True, True] Translation: X:156.71, Y:-2.31, Z:-2.90 [[ 9.99461898e-01 3.27928303e-02 7.38354632e-04 1.56708463e+02] [-3.27927876e-02 9.99462169e-01 -6.98665552e-05 -2.31362673e+00] [-7.40248644e-04 4.56162532e-05 9.99999725e-01 -2.90225553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02800114499996 meters 0.07334800414339644 Centerline is valid? [True, True] Translation: X:156.74, Y:-2.33, Z:-2.91 [[ 9.99529825e-01 3.06575916e-02 4.91266585e-04 1.56735459e+02] [-3.06575718e-02 9.99529945e-01 -4.76744780e-05 -2.32835354e+00] [-4.92497248e-04 3.25910220e-05 9.99999878e-01 -2.90700052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05800114499996 meters 0.0718091522669988 Centerline is valid? [True, True] Translation: X:156.77, Y:-2.33, Z:-2.91 [[ 9.99617624e-01 2.76501587e-02 -2.72061179e-04 1.56765956e+02] [-2.76501528e-02 9.99617661e-01 2.55990324e-05 -2.33110018e+00] [ 2.72664976e-04 -1.80667108e-05 9.99999963e-01 -2.90644611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08800114499996 meters 0.07317155752491435 Centerline is valid? [True, True] Translation: X:156.79, Y:-2.34, Z:-2.91 [[ 9.99659321e-01 2.60982232e-02 -3.52661746e-04 1.56793839e+02] [-2.60982137e-02 9.99659383e-01 3.15650169e-05 -2.33566737e+00] [ 3.53365414e-04 -2.23504218e-05 9.99999937e-01 -2.90721066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11800114499997 meters 0.07446742669895802 Centerline is valid? [True, True] Translation: X:156.82, Y:-2.34, Z:-2.91 [[ 9.99691815e-01 2.47702973e-02 -1.64539797e-03 1.56822490e+02] [-2.47700780e-02 9.99693163e-01 1.53513279e-04 -2.33955741e+00] [ 1.64869567e-03 -1.12709333e-04 9.99998635e-01 -2.90807102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14800114499997 meters 0.07487187069756686 Centerline is valid? [True, True] Translation: X:156.85, Y:-2.34, Z:-2.91 [[ 9.99716561e-01 2.37355000e-02 -1.85036604e-03 1.56852090e+02] [-2.37352201e-02 9.99718265e-01 1.73064094e-04 -2.34205864e+00] [ 1.85395249e-03 -1.29096195e-04 9.99998273e-01 -2.90861939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17800114499997 meters 0.07552843169045209 Centerline is valid? [True, True] Translation: X:156.88, Y:-2.35, Z:-2.91 [[ 9.99730269e-01 2.31339773e-02 -2.05158076e-03 1.56880693e+02] [-2.31336336e-02 9.99732363e-01 1.91137662e-04 -2.34688812e+00] [ 2.05545346e-03 -1.43625588e-04 9.99997877e-01 -2.90939346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20800114499997 meters 0.07278253413531426 Centerline is valid? [True, True] Translation: X:156.91, Y:-2.35, Z:-2.91 [[ 9.99765877e-01 2.16344670e-02 -3.75905139e-04 1.56909578e+02] [-2.16344558e-02 9.99765947e-01 3.37788740e-05 -2.34703631e+00] [ 3.76547946e-04 -2.56384624e-05 9.99999929e-01 -2.90841660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23800114499997 meters 0.07394269466754463 Centerline is valid? [True, True] Translation: X:156.94, Y:-2.35, Z:-2.91 [[ 9.99789327e-01 2.05252910e-02 1.19929697e-04 1.56937084e+02] [-2.05252896e-02 9.99789334e-01 -1.30692908e-05 -2.35274622e+00] [-1.20172683e-04 1.06049457e-05 9.99999993e-01 -2.90924438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26800114499997 meters 0.07804933976300349 Centerline is valid? [True, True] Translation: X:156.96, Y:-2.36, Z:-2.91 [[ 9.99806990e-01 1.96464430e-02 1.56625633e-05 1.56963911e+02] [-1.96464430e-02 9.99806990e-01 -3.27861473e-06 -2.36306347e+00] [-1.57239534e-05 2.97026827e-06 1.00000000e+00 -2.91154923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29800114499997 meters 0.07286283867464582 Centerline is valid? [True, True] Translation: X:156.99, Y:-2.35, Z:-2.91 [[ 9.99834412e-01 1.81925034e-02 -4.25420553e-04 1.56994716e+02] [-1.81924884e-02 9.99834502e-01 3.90652140e-05 -2.35357241e+00] [ 4.26060841e-04 -3.13192868e-05 9.99999909e-01 -2.90842639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32800114499997 meters 0.07735631512492266 Centerline is valid? [True, True] Translation: X:157.02, Y:-2.36, Z:-2.91 [[ 9.99860944e-01 1.66672046e-02 -5.44949739e-04 1.57022794e+02] [-1.66671801e-02 9.99861092e-01 4.94066766e-05 -2.36343023e+00] [ 5.45697512e-04 -4.03170308e-05 9.99999850e-01 -2.91171301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35800114499997 meters 0.07796996550928156 Centerline is valid? [True, True] Translation: X:157.05, Y:-2.37, Z:-2.91 [[ 9.99874136e-01 1.58243263e-02 -1.14168730e-03 1.57051905e+02] [-1.58242155e-02 9.99874784e-01 1.06023532e-04 -2.36787099e+00] [ 1.14322210e-03 -8.79438812e-05 9.99999343e-01 -2.91368236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38800114499998 meters 0.07830656463184502 Centerline is valid? [True, True] Translation: X:157.08, Y:-2.37, Z:-2.92 [[ 9.99879404e-01 1.54421721e-02 -1.64810935e-03 1.57079940e+02] [-1.54419421e-02 9.99880755e-01 1.52174324e-04 -2.37187881e+00] [ 1.65026272e-03 -1.26705963e-04 9.99998630e-01 -2.91595881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41800114499998 meters 0.08059984208565048 Centerline is valid? [True, True] Translation: X:157.11, Y:-2.38, Z:-2.92 [[ 9.99901953e-01 1.38512693e-02 -2.05575144e-03 1.57107605e+02] [-1.38509068e-02 9.99904053e-01 1.90512337e-04 -2.37739196e+00] [ 2.05819304e-03 -1.62019637e-04 9.99997869e-01 -2.91823911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44800114499998 meters 0.07994208991500121 Centerline is valid? [True, True] Translation: X:157.14, Y:-2.38, Z:-2.92 [[ 9.99916522e-01 1.27871999e-02 -1.85384829e-03 1.57137764e+02] [-1.27869023e-02 9.99918229e-01 1.72290831e-04 -2.37696437e+00] [ 1.85589982e-03 -1.48571471e-04 9.99998267e-01 -2.91800977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47800114499998 meters 0.08281663919621986 Centerline is valid? [True, True] Translation: X:157.16, Y:-2.38, Z:-2.92 [[ 9.99930517e-01 1.17184473e-02 -1.28052077e-03 1.57164753e+02] [-1.17183066e-02 9.99931331e-01 1.17269378e-04 -2.38261552e+00] [ 1.28180706e-03 -1.02255695e-04 9.99999173e-01 -2.91867995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50800114499998 meters 0.07725812209080223 Centerline is valid? [True, True] Translation: X:157.19, Y:-2.37, Z:-2.91 [[ 9.99943543e-01 1.06239237e-02 -2.07905287e-04 1.57194163e+02] [-1.06239203e-02 9.99943564e-01 1.75253671e-05 -2.37360512e+00] [ 2.08079742e-04 -1.53156085e-05 9.99999978e-01 -2.91489962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53800114499998 meters 0.0792915035155494 Centerline is valid? [True, True] Translation: X:157.22, Y:-2.38, Z:-2.92 [[ 9.99964780e-01 8.34373289e-03 9.06422225e-04 1.57222492e+02] [-8.34365912e-03 9.99965187e-01 -8.51287176e-05 -2.38020917e+00] [-9.07100962e-04 7.75628413e-05 9.99999586e-01 -2.91663195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56800114499998 meters 0.07748939393999087 Centerline is valid? [True, True] Translation: X:157.25, Y:-2.38, Z:-2.92 [[ 9.99974211e-01 7.18144637e-03 -6.95565550e-05 1.57251912e+02] [-7.18144602e-03 9.99974213e-01 5.30211159e-06 -2.37961258e+00] [ 6.95928381e-05 -4.80245821e-06 9.99999998e-01 -2.91754146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59800114499998 meters 0.08157836568755182 Centerline is valid? [True, True] Translation: X:157.28, Y:-2.39, Z:-2.92 [[ 9.99982499e-01 5.88165454e-03 -6.38866256e-04 1.57279713e+02] [-5.88161848e-03 9.99982701e-01 5.83108807e-05 -2.38922376e+00] [ 6.39198169e-04 -5.45522926e-05 9.99999794e-01 -2.92046021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62800114499998 meters 0.08282919055313473 Centerline is valid? [True, True] Translation: X:157.31, Y:-2.39, Z:-2.92 [[ 9.99986061e-01 5.23372838e-03 -6.97268117e-04 1.57307922e+02] [-5.23368520e-03 9.99986302e-01 6.37488322e-05 -2.39197807e+00] [ 6.97592210e-04 -6.00986618e-05 9.99999755e-01 -2.92122311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.658001145 meters 0.07703752237389477 Centerline is valid? [True, True] Translation: X:157.34, Y:-2.38, Z:-2.92 [[ 9.99988683e-01 4.57185254e-03 -1.31603991e-03 1.57338144e+02] [-4.57169753e-03 9.99989542e-01 1.20768257e-04 -2.37845022e+00] [ 1.31657828e-03 -1.14750354e-04 9.99999127e-01 -2.91800168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.688001145 meters 0.0769576462442288 Centerline is valid? [True, True] Translation: X:157.37, Y:-2.38, Z:-2.92 [[ 9.99985230e-01 5.15048079e-03 -1.73559316e-03 1.57367316e+02] [-5.15021150e-03 9.99986725e-01 1.59593236e-04 -2.37918076e+00] [ 1.73639210e-03 -1.50652207e-04 9.99998481e-01 -2.91944152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.718001145 meters 0.07755590552959749 Centerline is valid? [True, True] Translation: X:157.40, Y:-2.38, Z:-2.92 [[ 9.99983435e-01 5.53511547e-03 -1.57847740e-03 1.57396255e+02] [-5.53489356e-03 9.99984672e-01 1.44915878e-04 -2.38180678e+00] [ 1.57925533e-03 -1.36176774e-04 9.99998744e-01 -2.92116871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74800114499996 meters 0.08511305664773568 Centerline is valid? [True, True] Translation: X:157.42, Y:-2.40, Z:-2.93 [[ 9.99978232e-01 6.27055082e-03 -2.05326894e-03 1.57422350e+02] [-6.27017705e-03 9.99980324e-01 1.88424080e-04 -2.39597607e+00] [ 2.05441006e-03 -1.75545618e-04 9.99997874e-01 -2.92655403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77800114499996 meters 0.07698756858581798 Centerline is valid? [True, True] Translation: X:157.45, Y:-2.38, Z:-2.92 [[ 9.99979676e-01 6.28734694e-03 -1.05697504e-03 1.57452780e+02] [-6.28724855e-03 9.99980230e-01 9.63769259e-05 -2.38171017e+00] [ 1.05756010e-03 -8.97295023e-05 9.99999437e-01 -2.92268129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80800114499996 meters 0.07870652056224854 Centerline is valid? [True, True] Translation: X:157.48, Y:-2.38, Z:-2.92 [[ 9.99982767e-01 5.80746618e-03 -8.59701800e-04 1.57480547e+02] [-5.80740154e-03 9.99983134e-01 7.76682537e-05 -2.38489237e+00] [ 8.60138356e-04 -7.26742817e-05 9.99999627e-01 -2.92311274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83800114499996 meters 0.07937494797721072 Centerline is valid? [True, True] Translation: X:157.51, Y:-2.38, Z:-2.92 [[ 9.99990184e-01 4.31060022e-03 -1.02456801e-03 1.57510272e+02] [-4.31050654e-03 9.99990705e-01 9.36309477e-05 -2.38295121e+00] [ 1.02496209e-03 -8.92136216e-05 9.99999471e-01 -2.92178599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86800114499997 meters 0.08130124732668927 Centerline is valid? [True, True] Translation: X:157.54, Y:-2.39, Z:-2.92 [[ 9.99992082e-01 3.82664052e-03 -1.09232080e-03 1.57537965e+02] [-3.82653457e-03 9.99992674e-01 9.90677494e-05 -2.38786283e+00] [ 1.09269190e-03 -9.48871617e-05 9.99999399e-01 -2.92450560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89800114499997 meters 0.0815341376412645 Centerline is valid? [True, True] Translation: X:157.57, Y:-2.39, Z:-2.93 [[ 9.99995243e-01 3.04612645e-03 -4.84151318e-04 1.57566809e+02] [-3.04610588e-03 9.99995360e-01 4.32057321e-05 -2.39062193e+00] [ 4.84280681e-04 -4.17307504e-05 9.99999882e-01 -2.92591916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92800114499997 meters 0.08131191054386404 Centerline is valid? [True, True] Translation: X:157.60, Y:-2.39, Z:-2.93 [[ 9.99997199e-01 2.32084510e-03 4.64211699e-04 1.57596611e+02] [-2.32082510e-03 9.99997306e-01 -4.36052238e-05 -2.39278164e+00] [-4.64311650e-04 4.25277475e-05 9.99999891e-01 -2.92679797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95800114499997 meters 0.08579591483784266 Centerline is valid? [True, True] Translation: X:157.63, Y:-2.40, Z:-2.93 [[ 9.99999964e-01 -7.54714365e-05 -2.57870876e-04 1.57625326e+02] [ 7.54774605e-05 9.99999997e-01 2.33511623e-05 -2.40060565e+00] [ 2.57869113e-04 -2.33706249e-05 9.99999966e-01 -2.92993217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98800114499997 meters 0.08633723443767513 Centerline is valid? [True, True] Translation: X:157.66, Y:-2.40, Z:-2.93 [[ 9.99999051e-01 -9.10644453e-04 -1.03399307e-03 1.57655288e+02] [ 9.10743578e-04 9.99999581e-01 9.53996700e-05 -2.40153423e+00] [ 1.03390576e-03 -9.63412820e-05 9.99999461e-01 -2.93044909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01800114499997 meters 0.08652605042906719 Centerline is valid? [True, True] Translation: X:157.69, Y:-2.40, Z:-2.93 [[ 9.99998776e-01 -1.37202125e-03 -7.52346889e-04 1.57685526e+02] [ 1.37207386e-03 9.99999056e-01 6.94246525e-05 -2.40167993e+00] [ 7.52250927e-04 -7.04568430e-05 9.99999715e-01 -2.93117567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04800114499997 meters 0.0889762681781169 Centerline is valid? [True, True] Translation: X:157.71, Y:-2.41, Z:-2.93 [[ 9.99998906e-01 -1.46646051e-03 1.94351461e-04 1.57714563e+02] [ 1.46646403e-03 9.99998925e-01 -1.79342572e-05 -2.40545129e+00] [-1.94324952e-04 1.82192470e-05 9.99999981e-01 -2.93181284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07800114499997 meters 0.08949262760856015 Centerline is valid? [True, True] Translation: X:157.75, Y:-2.41, Z:-2.93 [[ 9.99996818e-01 -2.49122929e-03 -3.97295371e-04 1.57745578e+02] [ 2.49124419e-03 9.99996896e-01 3.70311445e-05 -2.40622219e+00] [ 3.97201885e-04 -3.80207865e-05 9.99999920e-01 -2.93351299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10800114499997 meters 0.08554610597100734 Centerline is valid? [True, True] Translation: X:157.78, Y:-2.40, Z:-2.93 [[ 9.99992998e-01 -3.52948528e-03 -1.24370836e-03 1.57777029e+02] [ 3.52963124e-03 9.99993764e-01 1.15184637e-04 -2.40199090e+00] [ 1.24329406e-03 -1.19573663e-04 9.99999220e-01 -2.93332303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13800114499998 meters 0.09075749318177272 Centerline is valid? [True, True] Translation: X:157.81, Y:-2.41, Z:-2.94 [[ 9.99990128e-01 -4.42614401e-03 -3.90295634e-04 1.57806187e+02] [ 4.42615856e-03 9.99990204e-01 3.64098609e-05 -2.41206309e+00] [ 3.90130655e-04 -3.81370118e-05 9.99999923e-01 -2.93551226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16800114499998 meters 0.09528614914483101 Centerline is valid? [True, True] Translation: X:157.84, Y:-2.42, Z:-2.94 [[ 9.99977321e-01 -6.68219559e-03 8.39584285e-04 1.57836011e+02] [ 6.68226272e-03 9.99977670e-01 -7.71671739e-05 -2.41671730e+00] [-8.39049892e-04 8.27757467e-05 9.99999645e-01 -2.93602253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19800114499998 meters 0.09006555486842255 Centerline is valid? [True, True] Translation: X:157.87, Y:-2.41, Z:-2.93 [[ 9.99971569e-01 -7.53205618e-03 3.58320737e-04 1.57868577e+02] [ 7.53206811e-03 9.99971633e-01 -3.19607408e-05 -2.40852712e+00] [-3.58069843e-04 3.46587284e-05 9.99999935e-01 -2.93408986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22800114499998 meters 0.09121247902311858 Centerline is valid? [True, True] Translation: X:157.90, Y:-2.41, Z:-2.94 [[ 9.99966233e-01 -8.21438990e-03 2.37858128e-04 1.57900235e+02] [ 8.21439509e-03 9.99966261e-01 -2.08480473e-05 -2.41149567e+00] [-2.37678849e-04 2.28012040e-05 9.99999971e-01 -2.93527466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25800114499998 meters 0.09070283449560444 Centerline is valid? [True, True] Translation: X:157.93, Y:-2.41, Z:-2.94 [[ 9.99959209e-01 -9.02274791e-03 -4.13249627e-04 1.57932611e+02] [ 9.02276510e-03 9.99959293e-01 3.97636269e-05 -2.41179086e+00] [ 4.12874028e-04 -4.34906592e-05 9.99999914e-01 -2.93704549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28800114499998 meters 0.10076960531400717 Centerline is valid? [True, False] Translation: X:157.93, Y:-2.41, Z:-2.94 [[ 9.99961077e-01 -8.80213580e-03 -6.05468588e-04 1.57934133e+02] [ 8.80214533e-03 9.99961260e-01 1.30755101e-05 -2.40992809e+00] [ 6.05330040e-04 -1.84044236e-05 9.99999817e-01 -2.93865991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31800114499998 meters 0.0972956080940648 Centerline is valid? [False, True] Translation: X:157.93, Y:-2.41, Z:-2.94 [[ 9.99990823e-01 -4.27549736e-03 -2.71270122e-04 1.57934227e+02] [ 4.27677802e-03 9.99978798e-01 4.91043688e-03 -2.41099796e+00] [ 2.50269810e-04 -4.91155198e-03 9.99987907e-01 -2.93997050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34800114499998 meters 0.09405146852944328 Centerline is valid? [True, True] Translation: X:157.97, Y:-2.40, Z:-2.94 [[ 9.99985699e-01 -5.30460436e-03 -6.80827625e-04 1.57965944e+02] [ 5.30465192e-03 9.99985928e-01 6.80693768e-05 -2.40412612e+00] [ 6.80456963e-04 -7.16799569e-05 9.99999766e-01 -2.93693939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37800114499998 meters 0.09747762525442599 Centerline is valid? [True, True] Translation: X:158.00, Y:-2.41, Z:-2.94 [[ 9.99978099e-01 -6.61818240e-03 2.78082430e-05 1.57995289e+02] [ 6.61818243e-03 9.99978100e-01 -9.42841848e-07 -2.40997533e+00] [-2.78013940e-05 1.12686122e-06 1.00000000e+00 -2.93814234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.408001145 meters 0.09915521949091814 Centerline is valid? [True, True] Translation: X:158.03, Y:-2.41, Z:-2.94 [[ 9.99979946e-01 -6.18646404e-03 1.35501473e-03 1.58027061e+02] [ 6.18665191e-03 9.99980853e-01 -1.34502595e-04 -2.41289877e+00] [-1.35415669e-03 1.42882902e-04 9.99999073e-01 -2.93869362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.438001145 meters 0.09804590428029356 Centerline is valid? [True, True] Translation: X:158.06, Y:-2.41, Z:-2.94 [[ 9.99982577e-01 -5.68629600e-03 1.58499217e-03 1.58059637e+02] [ 5.68655087e-03 9.99983819e-01 -1.56341308e-04 -2.41316234e+00] [-1.58407752e-03 1.65351723e-04 9.99998732e-01 -2.93943542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.468001145 meters 0.099227253803506 Centerline is valid? [True, True] Translation: X:158.09, Y:-2.41, Z:-2.94 [[ 9.99989039e-01 -4.59600316e-03 8.93287780e-04 1.58090686e+02] [ 4.59608380e-03 9.99989434e-01 -8.82476857e-05 -2.41395003e+00] [-8.92872755e-04 9.23523440e-05 9.99999597e-01 -2.94092693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49800114499996 meters 0.0976111803392349 Centerline is valid? [True, True] Translation: X:158.12, Y:-2.41, Z:-2.94 [[ 9.99991105e-01 -4.19768905e-03 4.12335061e-04 1.58123718e+02] [ 4.19770559e-03 9.99991189e-01 -3.92394695e-05 -2.41226138e+00] [-4.12166712e-04 4.09699816e-05 9.99999914e-01 -2.94123320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52800114499996 meters 0.1015650975864621 Centerline is valid? [True, False] Translation: X:158.12, Y:-2.41, Z:-2.94 [[ 9.99992208e-01 -3.94523345e-03 1.35495813e-04 1.58124927e+02] [ 3.94522099e-03 9.99992213e-01 9.21013126e-05 -2.41136766e+00] [-1.35858119e-04 -9.15660341e-05 9.99999987e-01 -2.94216698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55800114499996 meters 0.1011028930579074 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.94 [[ 9.99993340e-01 -3.64880602e-03 -8.10772785e-05 1.58126056e+02] [ 3.64883690e-03 9.99993269e-01 3.84055371e-04 -2.41108202e+00] [ 7.96753892e-05 -3.84348650e-04 9.99999923e-01 -2.94319458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58800114499996 meters 0.1059030371903403 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.94 [[ 9.99994546e-01 -3.29467628e-03 -2.28234363e-04 1.58127020e+02] [ 3.29486510e-03 9.99994226e-01 8.31954252e-04 -2.41137727e+00] [ 2.25492025e-04 -8.32701716e-04 9.99999628e-01 -2.94421959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61800114499997 meters 0.10418555904089039 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99995455e-01 -2.99692226e-03 -3.30601631e-04 1.58127825e+02] [ 2.99732397e-03 9.99994762e-01 1.22134435e-03 -2.41156905e+00] [ 3.26939625e-04 -1.22232972e-03 9.99999200e-01 -2.94513382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64800114499997 meters 0.09903188449543214 Centerline is valid? [False, True] Translation: X:158.13, Y:-2.41, Z:-2.94 [[ 9.99994023e-01 -3.45721286e-03 -3.49038600e-05 1.58126906e+02] [ 3.45723517e-03 9.99993806e-01 6.60655178e-04 -2.41061720e+00] [ 3.26196182e-05 -6.60771900e-04 9.99999781e-01 -2.94463185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67800114499997 meters 0.10251463359535881 Centerline is valid? [True, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99994395e-01 -3.34763756e-03 -4.97407538e-05 1.58127249e+02] [ 3.34767746e-03 9.99994056e-01 8.25073660e-04 -2.41055342e+00] [ 4.69784106e-05 -8.25235552e-04 9.99999658e-01 -2.94510003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70800114499997 meters 0.11252735155643305 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.94 [[ 9.99993589e-01 -3.58061614e-03 2.71288525e-05 1.58126923e+02] [ 3.58060211e-03 9.99993464e-01 5.00511022e-04 -2.40990760e+00] [-2.89208131e-05 -5.00410676e-04 9.99999874e-01 -2.94483623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73800114499997 meters 0.10941860322355694 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99993841e-01 -3.50970341e-03 -1.93836799e-05 1.58127257e+02] [ 3.50971440e-03 9.99993661e-01 5.99385671e-04 -2.40968218e+00] [ 1.72798911e-05 -5.99450011e-04 9.99999820e-01 -2.94518095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76800114499997 meters 0.10945951115316378 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99993567e-01 -3.58677941e-03 1.68921401e-05 1.58127255e+02] [ 3.58677086e-03 9.99993452e-01 4.81253783e-04 -2.40903264e+00] [-1.86181806e-05 -4.81190099e-04 9.99999884e-01 -2.94524149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79800114499997 meters 0.10927319744730811 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99992932e-01 -3.75777181e-03 1.21744958e-04 1.58126875e+02] [ 3.75773814e-03 9.99992902e-01 2.75598794e-04 -2.40880234e+00] [-1.22779731e-04 -2.75139360e-04 9.99999955e-01 -2.94500487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82800114499997 meters 0.10927319744730811 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99992932e-01 -3.75777181e-03 1.21744958e-04 1.58126875e+02] [ 3.75773814e-03 9.99992902e-01 2.75598794e-04 -2.40880234e+00] [-1.22779731e-04 -2.75139360e-04 9.99999955e-01 -2.94500487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85800114499997 meters 0.10963137936757954 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99994190e-01 -3.40865659e-03 1.80039556e-05 1.58127602e+02] [ 3.40864077e-03 9.99993858e-01 8.15754718e-04 -2.40959454e+00] [-2.07844727e-05 -8.15688609e-04 9.99999667e-01 -2.94581736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88800114499998 meters 0.11286744703725896 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99995203e-01 -3.09645680e-03 -7.56137551e-05 1.58128314e+02] [ 3.09654999e-03 9.99994406e-01 1.26503625e-03 -2.41014457e+00] [ 7.16962019e-05 -1.26526433e-03 9.99999197e-01 -2.94663641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91800114499998 meters 0.1151109006519648 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99994715e-01 -3.24261018e-03 -2.34688546e-04 1.58128443e+02] [ 3.24281501e-03 9.99994357e-01 8.77721712e-04 -2.40911297e+00] [ 2.31841112e-04 -8.78478125e-04 9.99999587e-01 -2.94626910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94800114499998 meters 0.11490596392756597 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99995185e-01 -3.07175062e-03 -4.41150223e-04 1.58129047e+02] [ 3.07219829e-03 9.99994763e-01 1.01772156e-03 -2.40912738e+00] [ 4.38021726e-04 -1.01907196e-03 9.99999385e-01 -2.94651886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97800114499998 meters 0.1161841278839641 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99995141e-01 -3.09041151e-03 -4.08454231e-04 1.58128892e+02] [ 3.09083672e-03 9.99994678e-01 1.04450978e-03 -2.40940932e+00] [ 4.05224092e-04 -1.04576717e-03 9.99999371e-01 -2.94638692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00800114499998 meters 0.10958070212271617 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99996231e-01 -2.68178994e-03 -5.87576124e-04 1.58129576e+02] [ 2.68275566e-03 9.99995042e-01 1.64898864e-03 -2.41084072e+00] [ 5.83150970e-04 -1.65055875e-03 9.99998468e-01 -2.94689327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03800114499998 meters 0.11935977882905938 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99996276e-01 -2.65504550e-03 -6.31557712e-04 1.58129626e+02] [ 2.65611338e-03 9.99995034e-01 1.69608395e-03 -2.41108906e+00] [ 6.27051396e-04 -1.69775512e-03 9.99998362e-01 -2.94682975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06800114499998 meters 0.11869684034106032 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99995847e-01 -2.79411204e-03 -7.06997410e-04 1.58129456e+02] [ 2.79514044e-03 9.99995031e-01 1.45782620e-03 -2.41084374e+00] [ 7.02920567e-04 -1.45979630e-03 9.99998687e-01 -2.94632659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09800114499998 meters 0.12071102373771074 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99996422e-01 -2.51811595e-03 -9.02645437e-04 1.58130172e+02] [ 2.51973786e-03 9.99995205e-01 1.80022016e-03 -2.41117139e+00] [ 8.98107946e-04 -1.80248815e-03 9.99997972e-01 -2.94678092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12800114499998 meters 0.11683241112081562 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99996715e-01 -2.30188878e-03 -1.12725281e-03 1.58130704e+02] [ 2.30415663e-03 9.99995316e-01 2.01469247e-03 -2.41156798e+00] [ 1.12260993e-03 -2.01728322e-03 9.99997335e-01 -2.94683285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.158001145 meters 0.1230440442053131 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99996988e-01 -2.08884537e-03 -1.28883344e-03 1.58131183e+02] [ 2.09183632e-03 9.99995112e-01 2.32370079e-03 -2.41224356e+00] [ 1.28397329e-03 -2.32638982e-03 9.99996470e-01 -2.94706923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.188001145 meters 0.11428050947199166 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.41, Z:-2.95 [[ 9.99997301e-01 -1.88921604e-03 -1.35241162e-03 1.58131467e+02] [ 1.89280920e-03 9.99994669e-01 2.66052177e-03 -2.41320592e+00] [ 1.34737811e-03 -2.66307445e-03 9.99995546e-01 -2.94734081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.218001145 meters 0.11412601073815364 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.42, Z:-2.95 [[ 9.99997930e-01 -1.54593567e-03 -1.32325320e-03 1.58131709e+02] [ 1.55038713e-03 9.99993121e-01 3.36963298e-03 -2.41532041e+00] [ 1.31803486e-03 -3.37167756e-03 9.99993447e-01 -2.94790021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24800114499996 meters 0.12036390833828692 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.42, Z:-2.95 [[ 9.99997734e-01 -1.51295644e-03 -1.49736574e-03 1.58131938e+02] [ 1.51802768e-03 9.99993097e-01 3.39145328e-03 -2.41551331e+00] [ 1.49222428e-03 -3.39371863e-03 9.99993128e-01 -2.94770570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27800114499996 meters 0.10880299495129866 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.42, Z:-2.95 [[ 9.99997690e-01 -1.52420729e-03 -1.51581575e-03 1.58131812e+02] [ 1.52940199e-03 9.99992942e-01 3.43176406e-03 -2.41595362e+00] [ 1.51057433e-03 -3.43407442e-03 9.99992963e-01 -2.94746908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30800114499996 meters 0.1047030385863125 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.42, Z:-2.95 [[ 9.99998092e-01 -1.01552260e-03 -1.66862876e-03 1.58132674e+02] [ 1.02260556e-03 9.99990448e-01 4.24941909e-03 -2.41752754e+00] [ 1.66429744e-03 -4.25111733e-03 9.99989579e-01 -2.94833698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33800114499996 meters 0.10624496870197102 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.42, Z:-2.95 [[ 9.99998546e-01 -8.37796276e-04 -1.48502048e-03 1.58132043e+02] [ 8.45049639e-04 9.99987685e-01 4.89047343e-03 -2.42027682e+00] [ 1.48090497e-03 -4.89172124e-03 9.99986939e-01 -2.94802939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36800114499997 meters 0.10709965008495646 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.42, Z:-2.95 [[ 9.99998653e-01 -8.06919343e-04 -1.42904546e-03 1.58131671e+02] [ 8.14198907e-04 9.99986660e-01 5.10077040e-03 -2.42146061e+00] [ 1.42491049e-03 -5.10192705e-03 9.99985970e-01 -2.94765753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39800114499997 meters 0.10824202180254841 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.42, Z:-2.95 [[ 9.99998804e-01 -8.29450477e-04 -1.30512386e-03 1.58131140e+02] [ 8.36325336e-04 9.99985733e-01 5.27589224e-03 -2.42265802e+00] [ 1.30072915e-03 -5.27697744e-03 9.99985231e-01 -2.94725527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42800114499997 meters 0.10778400793307297 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.42, Z:-2.95 [[ 9.99988117e-01 -4.48264159e-03 -1.91596021e-03 1.58132521e+02] [ 4.48604854e-03 9.99988358e-01 1.77761091e-03 -2.42424314e+00] [ 1.90796951e-03 -1.78618488e-03 9.99996585e-01 -2.94742395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45800114499997 meters 0.11118790176812855 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.43, Z:-2.95 [[ 9.99989044e-01 -4.29088030e-03 -1.87074463e-03 1.58132402e+02] [ 4.29506608e-03 9.99988269e-01 2.23924397e-03 -2.42588607e+00] [ 1.86111435e-03 -2.24725441e-03 9.99995743e-01 -2.94744739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48800114499997 meters 0.11270902710465927 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.43, Z:-2.95 [[ 9.99990488e-01 -3.87914413e-03 -1.99389151e-03 1.58132887e+02] [ 3.88498090e-03 9.99988156e-01 2.93183616e-03 -2.42768385e+00] [ 1.98249488e-03 -2.93955451e-03 9.99993714e-01 -2.94783682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51800114499997 meters 0.10822316413572017 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.43, Z:-2.95 [[ 9.99990921e-01 -3.78637911e-03 -1.95487729e-03 1.58132634e+02] [ 3.79268989e-03 9.99987576e-01 3.23466903e-03 -2.42907155e+00] [ 1.94260532e-03 -3.24205390e-03 9.99992858e-01 -2.94762878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54800114499997 meters 0.10302367605610128 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.43, Z:-2.95 [[ 9.99992207e-01 -3.47100995e-03 -1.88080831e-03 1.58132384e+02] [ 3.47860292e-03 9.99985753e-01 4.04896084e-03 -2.43198603e+00] [ 1.86672753e-03 -4.05547187e-03 9.99990034e-01 -2.94761269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57800114499997 meters 0.11248908227608961 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.43, Z:-2.95 [[ 9.99991995e-01 -3.48653921e-03 -1.96336121e-03 1.58132321e+02] [ 3.49449428e-03 9.99985640e-01 4.06301123e-03 -2.43238144e+00] [ 1.94916717e-03 -4.06983966e-03 9.99989819e-01 -2.94727070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60800114499997 meters 0.1019392845753365 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.43, Z:-2.95 [[ 9.99991422e-01 -3.59735271e-03 -2.05288489e-03 1.58132078e+02] [ 3.60537524e-03 9.99985826e-01 3.91770361e-03 -2.43253884e+00] [ 2.03876243e-03 -3.92507142e-03 9.99990219e-01 -2.94661443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63800114499998 meters 0.10619081003230563 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.43, Z:-2.95 [[ 9.99992218e-01 -3.15341444e-03 -2.37075288e-03 1.58133064e+02] [ 3.16407073e-03 9.99984848e-01 4.50466549e-03 -2.43352288e+00] [ 2.35651189e-03 -4.51213166e-03 9.99987044e-01 -2.94712716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66800114499998 meters 0.1010222767517201 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.44, Z:-2.95 [[ 9.99993484e-01 -2.72182608e-03 -2.37132500e-03 1.58133087e+02] [ 2.73454455e-03 9.99981806e-01 5.37681169e-03 -2.43634725e+00] [ 2.35664711e-03 -5.38326115e-03 9.99982733e-01 -2.94727976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69800114499998 meters 0.10556648814902102 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.44, Z:-2.95 [[ 9.99994067e-01 -2.41399536e-03 -2.45728882e-03 1.58133505e+02] [ 2.42840984e-03 9.99979764e-01 5.88002695e-03 -2.43765748e+00] [ 2.44304473e-03 -5.88595937e-03 9.99979693e-01 -2.94767941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72800114499998 meters 0.09678741113611179 Centerline is valid? [False, True] Translation: X:158.13, Y:-2.44, Z:-2.95 [[ 9.99994249e-01 -2.29463892e-03 -2.49750616e-03 1.58133526e+02] [ 2.30999324e-03 9.99978344e-01 6.16243641e-03 -2.43874211e+00] [ 2.48331150e-03 -6.16817019e-03 9.99977893e-01 -2.94762944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75800114499998 meters 0.10731902120954658 Centerline is valid? [True, False] Translation: X:158.13, Y:-2.44, Z:-2.95 [[ 9.99994591e-01 -2.21115280e-03 -2.43482851e-03 1.58133198e+02] [ 2.22695983e-03 9.99976339e-01 6.50858912e-03 -2.44030779e+00] [ 2.42037941e-03 -6.51397619e-03 9.99975855e-01 -2.94739813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78800114499998 meters 0.09579657012275375 Centerline is valid? [False, True] Translation: X:158.13, Y:-2.44, Z:-2.95 [[ 9.99994544e-01 -2.20614210e-03 -2.45859406e-03 1.58133112e+02] [ 2.22231610e-03 9.99975781e-01 6.59535596e-03 -2.44086878e+00] [ 2.44398423e-03 -6.60078375e-03 9.99975228e-01 -2.94723242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81800114499998 meters 0.10915572334749078 Centerline is valid? [True, False] Translation: X:158.14, Y:-2.44, Z:-2.95 [[ 9.99977665e-01 -5.83466381e-03 -3.25979113e-03 1.58135339e+02] [ 5.84364138e-03 9.99979141e-01 2.75133003e-03 -2.44030337e+00] [ 3.24367005e-03 -2.77031763e-03 9.99990902e-01 -2.94806574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84800114499998 meters 0.10572740433426842 Centerline is valid? [False, False] Translation: X:158.14, Y:-2.44, Z:-2.95 [[ 9.99977964e-01 -5.77895926e-03 -3.26733905e-03 1.58135230e+02] [ 5.78858040e-03 9.99978916e-01 2.94289221e-03 -2.44118377e+00] [ 3.25026330e-03 -2.96174061e-03 9.99990332e-01 -2.94791615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87800114499998 meters 0.09856434492443461 Centerline is valid? [False, True] Translation: X:158.13, Y:-2.44, Z:-2.95 [[ 9.99978622e-01 -5.73525874e-03 -3.14038064e-03 1.58134542e+02] [ 5.74563617e-03 9.99978030e-01 3.30552260e-03 -2.44313457e+00] [ 3.12135362e-03 -3.32349542e-03 9.99989606e-01 -2.94730361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.908001145 meters 0.10009739625982589 Centerline is valid? [True, False] Translation: X:158.14, Y:-2.44, Z:-2.95 [[ 9.99981081e-01 -5.21367365e-03 -3.26432331e-03 1.58135306e+02] [ 5.22728090e-03 9.99977627e-01 4.17391177e-03 -2.44483858e+00] [ 3.24248886e-03 -4.19089634e-03 9.99985961e-01 -2.94811982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.938001145 meters 0.10091473835107055 Centerline is valid? [False, False] Translation: X:158.14, Y:-2.45, Z:-2.95 [[ 9.99981801e-01 -5.12395689e-03 -3.18472406e-03 1.58135064e+02] [ 5.13818770e-03 9.99976780e-01 4.47645946e-03 -2.44604435e+00] [ 3.16171292e-03 -4.49274170e-03 9.99984909e-01 -2.94802789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.968001145 meters 0.10203149268132351 Centerline is valid? [False, False] Translation: X:158.13, Y:-2.45, Z:-2.95 [[ 9.99982471e-01 -5.04559920e-03 -3.09836804e-03 1.58134766e+02] [ 5.06038301e-03 9.99975761e-01 4.78232699e-03 -2.44732299e+00] [ 3.07416323e-03 -4.79792209e-03 9.99983765e-01 -2.94787510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99800114499996 meters 0.09497408857954223 Centerline is valid? [False, True] Translation: X:158.13, Y:-2.45, Z:-2.95 [[ 9.99985344e-01 -4.49717608e-03 -3.01438986e-03 1.58134706e+02] [ 4.51523622e-03 9.99971737e-01 6.01152438e-03 -2.45111475e+00] [ 2.98726978e-03 -6.02504696e-03 9.99977387e-01 -2.94816139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02800114499996 meters 0.10402776825623689 Centerline is valid? [True, False] Translation: X:158.13, Y:-2.45, Z:-2.95 [[ 9.99986002e-01 -4.40088219e-03 -2.93737130e-03 1.58134366e+02] [ 4.41951802e-03 9.99969956e-01 6.36834348e-03 -2.45268371e+00] [ 2.90925672e-03 -6.38123610e-03 9.99975408e-01 -2.94794783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05800114499996 meters 0.09877131720516315 Centerline is valid? [False, True] Translation: X:158.13, Y:-2.46, Z:-2.95 [[ 9.99988400e-01 -3.98711900e-03 -2.70246069e-03 1.58134021e+02] [ 4.00735717e-03 9.99963655e-01 7.52521301e-03 -2.45657942e+00] [ 2.67235855e-03 -7.53595544e-03 9.99968033e-01 -2.94825456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08800114499996 meters 0.0995516301930222 Centerline is valid? [True, True] Translation: X:158.16, Y:-2.46, Z:-2.95 [[ 9.99984271e-01 -4.40624044e-03 -3.47028878e-03 1.58163928e+02] [ 4.40758339e-03 9.99990215e-01 3.79434907e-04 -2.45906586e+00] [ 3.46858294e-03 -3.94724526e-04 9.99993907e-01 -2.94632410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11800114499997 meters 0.10145695779682458 Centerline is valid? [True, False] Translation: X:158.16, Y:-2.46, Z:-2.95 [[ 9.99985288e-01 -4.19049746e-03 -3.44424194e-03 1.58163925e+02] [ 4.19364094e-03 9.99990796e-01 9.05961419e-04 -2.46061758e+00] [ 3.44041381e-03 -9.20392005e-04 9.99993658e-01 -2.94644735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14800114499997 meters 0.10190741807252916 Centerline is valid? [False, False] Translation: X:158.16, Y:-2.46, Z:-2.95 [[ 9.99986513e-01 -3.90951776e-03 -3.41885879e-03 1.58163973e+02] [ 3.91477464e-03 9.99991163e-01 1.53227400e-03 -2.46241321e+00] [ 3.41283813e-03 -1.54563740e-03 9.99992982e-01 -2.94665981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17800114499997 meters 0.09502794903233182 Centerline is valid? [False, True] Translation: X:158.16, Y:-2.47, Z:-2.95 [[ 9.99988478e-01 -3.64341378e-03 -3.12560337e-03 1.58163009e+02] [ 3.65117054e-03 9.99990260e-01 2.47957721e-03 -2.46645352e+00] [ 3.11653880e-03 -2.49096075e-03 9.99992041e-01 -2.94621857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20800114499997 meters 0.09326256684961835 Centerline is valid? [True, True] Translation: X:158.19, Y:-2.47, Z:-2.95 [[ 9.99989302e-01 -3.41223682e-03 -3.12305928e-03 1.58193410e+02] [ 3.41334162e-03 9.99994114e-01 3.48491793e-04 -2.46885128e+00] [ 3.12185176e-03 -3.59148133e-04 9.99995063e-01 -2.94633115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23800114499997 meters 0.09427680279077527 Centerline is valid? [True, True] Translation: X:158.22, Y:-2.48, Z:-2.95 [[ 9.99989964e-01 -3.37869638e-03 -2.94202812e-03 1.58223755e+02] [ 3.37967667e-03 9.99994235e-01 3.28291128e-04 -2.47591293e+00] [ 2.94090196e-03 -3.38230937e-04 9.99995618e-01 -2.94781366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26800114499997 meters 0.09369875878828512 Centerline is valid? [True, True] Translation: X:158.25, Y:-2.48, Z:-2.95 [[ 9.99991333e-01 -2.79133052e-03 -3.08908914e-03 1.58253574e+02] [ 2.79240709e-03 9.99996042e-01 3.44250549e-04 -2.47995645e+00] [ 3.08811600e-03 -3.52873560e-04 9.99995169e-01 -2.94815515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29800114499997 meters 0.09533901446557881 Centerline is valid? [True, True] Translation: X:158.28, Y:-2.49, Z:-2.95 [[ 9.99994455e-01 -9.40186991e-04 -3.19462153e-03 1.58281997e+02] [ 9.41328612e-04 9.99999494e-01 3.55872373e-04 -2.48655751e+00] [ 3.19428532e-03 -3.58877589e-04 9.99994834e-01 -2.94899448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32800114499997 meters 0.0947168607973436 Centerline is valid? [True, True] Translation: X:158.31, Y:-2.49, Z:-2.95 [[ 9.99994704e-01 8.42583317e-04 -3.14370994e-03 1.58311580e+02] [-8.41488049e-04 9.99999585e-01 3.49706380e-04 -2.48933726e+00] [ 3.14400329e-03 -3.47059134e-04 9.99994997e-01 -2.94861037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35800114499997 meters 0.09164550577510101 Centerline is valid? [True, True] Translation: X:158.34, Y:-2.49, Z:-2.95 [[ 9.99991984e-01 2.50443622e-03 -3.12398742e-03 1.58341788e+02] [-2.50336305e-03 9.99996806e-01 3.47389006e-04 -2.48858003e+00] [ 3.12484746e-03 -3.39565747e-04 9.99995060e-01 -2.94790856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38800114499998 meters 0.09350763061944425 Centerline is valid? [True, True] Translation: X:158.37, Y:-2.50, Z:-2.95 [[ 9.99979040e-01 6.11199045e-03 -2.13604178e-03 1.58370555e+02] [-6.11149611e-03 9.99981296e-01 2.37877629e-04 -2.49729543e+00] [ 2.13745573e-03 -2.24818232e-04 9.99997690e-01 -2.94975672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41800114499998 meters 0.09142554137298818 Centerline is valid? [True, True] Translation: X:158.40, Y:-2.50, Z:-2.95 [[ 9.99969592e-01 7.56520416e-03 -1.89288225e-03 1.58400139e+02] [-7.56481971e-03 9.99971364e-01 2.10176661e-04 -2.49855630e+00] [ 1.89441807e-03 -1.95850957e-04 9.99998186e-01 -2.94993179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44800114499998 meters 0.0879147525372976 Centerline is valid? [True, True] Translation: X:158.43, Y:-2.50, Z:-2.95 [[ 9.99960235e-01 8.84472026e-03 -1.14032016e-03 1.58430358e+02] [-8.84458150e-03 9.99960878e-01 1.26668456e-04 -2.49709196e+00] [ 1.14139590e-03 -1.16577764e-04 9.99999342e-01 -2.94884915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47800114499998 meters 0.08934618935619205 Centerline is valid? [True, True] Translation: X:158.46, Y:-2.50, Z:-2.95 [[ 9.99950603e-01 9.91926168e-03 -6.31938257e-04 1.58458231e+02] [-9.91921989e-03 9.99950801e-01 6.92382291e-05 -2.50344013e+00] [ 6.32593958e-04 -6.29664744e-05 9.99999798e-01 -2.94965976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50800114499998 meters 0.0908398573235566 Centerline is valid? [True, True] Translation: X:158.49, Y:-2.51, Z:-2.95 [[ 9.99945859e-01 1.03903169e-02 -5.65716899e-04 1.58485518e+02] [-1.03902840e-02 9.99946018e-01 6.10848878e-05 -2.51003117e+00] [ 5.66321052e-04 -5.52036214e-05 9.99999838e-01 -2.95048533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53800114499998 meters 0.08987539200109684 Centerline is valid? [True, True] Translation: X:158.51, Y:-2.51, Z:-2.95 [[ 9.99936483e-01 1.12319816e-02 -9.34624824e-04 1.58514295e+02] [-1.12318906e-02 9.99936915e-01 1.02462194e-04 -2.51225798e+00] [ 9.35716717e-04 -9.19580819e-05 9.99999558e-01 -2.95183692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56800114499998 meters 0.08471754602631955 Centerline is valid? [True, True] Translation: X:158.54, Y:-2.51, Z:-2.95 [[ 9.99924280e-01 1.22081960e-02 -1.54715701e-03 1.58543712e+02] [-1.22079468e-02 9.99925466e-01 1.70430279e-04 -2.50770280e+00] [ 1.54912234e-03 -1.51529764e-04 9.99998789e-01 -2.95173599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59800114499998 meters 0.08406981457458283 Centerline is valid? [True, True] Translation: X:158.57, Y:-2.51, Z:-2.95 [[ 9.99900888e-01 1.38892725e-02 -2.30269648e-03 1.58571883e+02] [-1.38887224e-02 9.99903515e-01 2.54697368e-04 -2.51202359e+00] [ 2.30601186e-03 -2.22690612e-04 9.99997316e-01 -2.95345832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62800114499998 meters 0.08492066979405678 Centerline is valid? [True, True] Translation: X:158.60, Y:-2.52, Z:-2.95 [[ 9.99895250e-01 1.43003555e-02 -2.23342615e-03 1.58599122e+02] [-1.42998412e-02 9.99897722e-01 2.46072847e-04 -2.51723890e+00] [ 2.23671665e-03 -2.14109432e-04 9.99997476e-01 -2.95388405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.658001145 meters 0.08511827557675375 Centerline is valid? [True, True] Translation: X:158.63, Y:-2.52, Z:-2.95 [[ 9.99893293e-01 1.43197046e-02 -2.88925431e-03 1.58627581e+02] [-1.43188418e-02 9.99897429e-01 3.19103939e-04 -2.52154896e+00] [ 2.89352743e-03 -2.77699113e-04 9.99995775e-01 -2.95447594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.688001145 meters 0.0858540612734736 Centerline is valid? [True, True] Translation: X:158.66, Y:-2.53, Z:-2.96 [[ 9.99895191e-01 1.42685189e-02 -2.45268803e-03 1.58656103e+02] [-1.42678979e-02 9.99898172e-01 2.70509306e-04 -2.52720463e+00] [ 2.45629805e-03 -2.35486252e-04 9.99996956e-01 -2.95545598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.718001145 meters 0.08731687714033191 Centerline is valid? [True, True] Translation: X:158.68, Y:-2.53, Z:-2.96 [[ 9.99908689e-01 1.30635313e-02 -3.45808790e-03 1.58684290e+02] [-1.30622867e-02 9.99914612e-01 3.82248212e-04 -2.53485083e+00] [ 3.46278613e-03 -3.37042773e-04 9.99993948e-01 -2.95726657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74800114499996 meters 0.08731687714033191 Centerline is valid? [True, True] Translation: X:158.71, Y:-2.54, Z:-2.96 [[ 9.99909902e-01 1.29703051e-02 -3.45824747e-03 1.58711727e+02] [-1.29690649e-02 9.99915826e-01 3.80807734e-04 -2.53778300e+00] [ 3.46289557e-03 -3.35923188e-04 9.99993948e-01 -2.95793009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77800114499996 meters 0.08830720317348566 Centerline is valid? [True, True] Translation: X:158.74, Y:-2.54, Z:-2.96 [[ 9.99926528e-01 1.16060647e-02 -3.49814702e-03 1.58740542e+02] [-1.16047840e-02 9.99932588e-01 3.86192080e-04 -2.54333548e+00] [ 3.50239337e-03 -3.45568466e-04 9.99993807e-01 -2.95890987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80800114499996 meters 0.08777030996258582 Centerline is valid? [True, True] Translation: X:158.77, Y:-2.55, Z:-2.96 [[ 9.99940093e-01 1.05159032e-02 -3.03746771e-03 1.58769943e+02] [-1.05149323e-02 9.99944660e-01 3.35456474e-04 -2.54610312e+00] [ 3.04082724e-03 -3.03497611e-04 9.99995331e-01 -2.95866809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83800114499996 meters 0.09125993942066517 Centerline is valid? [True, True] Translation: X:158.80, Y:-2.55, Z:-2.96 [[ 9.99954752e-01 8.92019890e-03 -3.30503044e-03 1.58797802e+02] [-8.91904082e-03 9.99960158e-01 3.64974568e-04 -2.55491201e+00] [ 3.30815440e-03 -3.35480353e-04 9.99994472e-01 -2.96040004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86800114499997 meters 0.083918592051279 Centerline is valid? [True, True] Translation: X:158.83, Y:-2.55, Z:-2.96 [[ 9.99974572e-01 6.53315285e-03 -2.85873273e-03 1.58828996e+02] [-6.53227557e-03 9.99978614e-01 3.16107622e-04 -2.54671826e+00] [ 2.86073678e-03 -2.97425554e-04 9.99995864e-01 -2.95638519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89800114499997 meters 0.09563220043833887 Centerline is valid? [True, True] Translation: X:158.86, Y:-2.57, Z:-2.96 [[ 9.99982682e-01 5.27592298e-03 -2.60759321e-03 1.58855200e+02] [-5.27519177e-03 9.99986045e-01 2.87212064e-04 -2.56990781e+00] [ 2.60907213e-03 -2.73451536e-04 9.99996559e-01 -2.96257618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92800114499997 meters 0.08639176231236027 Centerline is valid? [True, True] Translation: X:158.89, Y:-2.56, Z:-2.96 [[ 9.99986348e-01 4.52843818e-03 -2.60719961e-03 1.58886401e+02] [-4.52770387e-03 9.99989709e-01 2.87480543e-04 -2.55951068e+00] [ 2.60847462e-03 -2.75671991e-04 9.99996560e-01 -2.96036674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95800114499997 meters 0.08839255543182559 Centerline is valid? [True, True] Translation: X:158.91, Y:-2.57, Z:-2.96 [[ 9.99989510e-01 3.33058683e-03 -3.14445539e-03 1.58914744e+02] [-3.32951406e-03 9.99994397e-01 3.46337671e-04 -2.56570839e+00] [ 3.14559128e-03 -3.35864529e-04 9.99994996e-01 -2.96100513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98800114499997 meters 0.08866936358587911 Centerline is valid? [True, True] Translation: X:158.94, Y:-2.57, Z:-2.96 [[ 9.99987112e-01 3.70303981e-03 -3.47314641e-03 1.58943454e+02] [-3.70173489e-03 9.99993076e-01 3.82068500e-04 -2.56792156e+00] [ 3.47453717e-03 -3.69206909e-04 9.99993896e-01 -2.96113144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01800114499997 meters 0.08799611929776016 Centerline is valid? [True, True] Translation: X:158.97, Y:-2.57, Z:-2.96 [[ 9.99986020e-01 2.97129241e-03 -4.37392933e-03 1.58972920e+02] [-2.96921345e-03 9.99995476e-01 4.81724000e-04 -2.56839505e+00] [ 4.37534088e-03 -4.68730136e-04 9.99990318e-01 -2.96114074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04800114499997 meters 0.08592481913278342 Centerline is valid? [True, True] Translation: X:159.00, Y:-2.57, Z:-2.96 [[ 9.99986565e-01 3.69857136e-03 -3.63179054e-03 1.59001857e+02] [-3.69714580e-03 9.99993086e-01 3.99157726e-04 -2.56736268e+00] [ 3.63324174e-03 -3.85725105e-04 9.99993325e-01 -2.96099828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07800114499997 meters 0.09025321283754748 Centerline is valid? [True, True] Translation: X:159.03, Y:-2.58, Z:-2.96 [[ 9.99982579e-01 4.83453549e-03 -3.38665933e-03 1.59029996e+02] [-4.83330040e-03 9.99988250e-01 3.72781154e-04 -2.57854692e+00] [ 3.38842176e-03 -3.56405918e-04 9.99994196e-01 -2.96461866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10800114499997 meters 0.08885417365384582 Centerline is valid? [True, True] Translation: X:159.06, Y:-2.58, Z:-2.97 [[ 9.99976520e-01 6.40630380e-03 -2.43278274e-03 1.59060195e+02] [-6.40567073e-03 9.99979448e-01 2.67926699e-04 -2.57990629e+00] [ 2.43444916e-03 -2.52336803e-04 9.99997005e-01 -2.96505316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13800114499998 meters 0.09083645702929086 Centerline is valid? [True, True] Translation: X:159.09, Y:-2.58, Z:-2.97 [[ 9.99971378e-01 7.01345648e-03 -2.83812621e-03 1.59087818e+02] [-7.01260205e-03 9.99975363e-01 3.10892455e-04 -2.58476895e+00] [ 2.84023672e-03 -2.90980906e-04 9.99995924e-01 -2.96617116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16800114499998 meters 0.08378946702680254 Centerline is valid? [True, True] Translation: X:159.12, Y:-2.57, Z:-2.96 [[ 9.99948827e-01 9.49576765e-03 -3.48915778e-03 1.59119802e+02] [-9.49448339e-03 9.99954852e-01 3.84449280e-04 -2.57146304e+00] [ 3.49265090e-03 -3.51301856e-04 9.99993839e-01 -2.96310922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19800114499998 meters 0.08539948185837024 Centerline is valid? [True, True] Translation: X:159.15, Y:-2.58, Z:-2.97 [[ 9.99933991e-01 1.09488919e-02 -3.48348564e-03 1.59148697e+02] [-1.09476233e-02 9.99940000e-01 3.83013460e-04 -2.57573358e+00] [ 3.48747020e-03 -3.44852289e-04 9.99993859e-01 -2.96511962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22800114499998 meters 0.08387705304944786 Centerline is valid? [True, True] Translation: X:159.18, Y:-2.58, Z:-2.96 [[ 9.99922601e-01 1.17197445e-02 -4.17616485e-03 1.59177777e+02] [-1.17179318e-02 9.99931238e-01 4.58279484e-04 -2.57540239e+00] [ 4.18124861e-03 -4.09307999e-04 9.99991175e-01 -2.96468137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25800114499998 meters 0.08455200331856466 Centerline is valid? [True, True] Translation: X:159.21, Y:-2.58, Z:-2.97 [[ 9.99902717e-01 1.31949138e-02 -4.52234728e-03 1.59206013e+02] [-1.31928016e-02 9.99912848e-01 4.96575664e-04 -2.57928038e+00] [ 4.52850542e-03 -4.36864925e-04 9.99989651e-01 -2.96722250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28800114499998 meters 0.08101357242337946 Centerline is valid? [True, True] Translation: X:159.24, Y:-2.58, Z:-2.97 [[ 9.99884986e-01 1.45041498e-02 -4.43230696e-03 1.59236242e+02] [-1.45021327e-02 9.99894720e-01 4.86888170e-04 -2.57566218e+00] [ 4.43890222e-03 -4.22554268e-04 9.99990059e-01 -2.96632329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31800114499998 meters 0.08432633188024667 Centerline is valid? [True, True] Translation: X:159.26, Y:-2.58, Z:-2.97 [[ 9.99869033e-01 1.56558181e-02 -4.10015786e-03 1.59264185e+02] [-1.56541043e-02 9.99877366e-01 4.49749276e-04 -2.58321104e+00] [ 4.10669623e-03 -3.85506075e-04 9.99991493e-01 -2.96861210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34800114499998 meters 0.08329369231067828 Centerline is valid? [True, True] Translation: X:159.29, Y:-2.58, Z:-2.97 [[ 9.99849339e-01 1.71642096e-02 -2.58654050e-03 1.59294663e+02] [-1.71635329e-02 9.99852655e-01 2.83612270e-04 -2.58298287e+00] [ 2.59102737e-03 -2.39175368e-04 9.99996615e-01 -2.96793512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37800114499998 meters 0.08518126923721474 Centerline is valid? [True, True] Translation: X:159.32, Y:-2.59, Z:-2.97 [[ 9.99836361e-01 1.78594312e-02 -2.87965600e-03 1.59322097e+02] [-1.78585988e-02 9.99840473e-01 3.14498380e-04 -2.58692139e+00] [ 2.88481338e-03 -2.63020294e-04 9.99995804e-01 -2.96880963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.408001145 meters 0.08404123836874632 Centerline is valid? [True, True] Translation: X:159.35, Y:-2.58, Z:-2.97 [[ 9.99790024e-01 2.03136888e-02 -2.69486732e-03 1.59352552e+02] [-2.03129644e-02 9.99793627e-01 2.95913834e-04 -2.58464348e+00] [ 2.70032228e-03 -2.41110955e-04 9.99996325e-01 -2.96891919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.438001145 meters 0.08363007403568883 Centerline is valid? [True, True] Translation: X:159.38, Y:-2.59, Z:-2.97 [[ 9.99771934e-01 2.11944642e-02 -2.62179994e-03 1.59381137e+02] [-2.11937855e-02 9.99775345e-01 2.86391511e-04 -2.58585958e+00] [ 2.62728086e-03 -2.30760330e-04 9.99996522e-01 -2.96977551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.468001145 meters 0.07594778190809759 Centerline is valid? [True, True] Translation: X:159.41, Y:-2.57, Z:-2.97 [[ 9.99753249e-01 2.20440178e-02 -2.73915127e-03 1.59411776e+02] [-2.20432807e-02 9.99756973e-01 2.98979559e-04 -2.57392655e+00] [ 2.74507630e-03 -2.38525904e-04 9.99996204e-01 -2.96697905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49800114499996 meters 0.07913125842152643 Centerline is valid? [True, True] Translation: X:159.44, Y:-2.58, Z:-2.97 [[ 9.99749778e-01 2.21963782e-02 -2.77521215e-03 1.59439060e+02] [-2.21956265e-02 9.99753601e-01 3.01362061e-04 -2.57983356e+00] [ 2.78121749e-03 -2.39689081e-04 9.99996104e-01 -2.96891774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52800114499996 meters 0.07793608608345158 Centerline is valid? [True, True] Translation: X:159.47, Y:-2.58, Z:-2.97 [[ 9.99745530e-01 2.23776971e-02 -2.84865940e-03 1.59468280e+02] [-2.23769025e-02 9.99749558e-01 3.10512523e-04 -2.57879328e+00] [ 2.85489453e-03 -2.46689333e-04 9.99995894e-01 -2.96848670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55800114499996 meters 0.07767006178924041 Centerline is valid? [True, True] Translation: X:159.50, Y:-2.58, Z:-2.97 [[ 9.99747095e-01 2.22746728e-02 -3.09602981e-03 1.59496720e+02] [-2.22737339e-02 9.99751853e-01 3.37400802e-04 -2.57996616e+00] [ 3.10277703e-03 -2.68355328e-04 9.99995150e-01 -2.96885023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58800114499996 meters 0.07999456066364603 Centerline is valid? [True, True] Translation: X:159.52, Y:-2.59, Z:-2.97 [[ 9.99763416e-01 2.14136003e-02 -3.81709767e-03 1.59524900e+02] [-2.14121647e-02 9.99770647e-01 4.16562685e-04 -2.58605070e+00] [ 3.82514231e-03 -3.34731809e-04 9.99992628e-01 -2.97153775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61800114499997 meters 0.08037421040728819 Centerline is valid? [True, True] Translation: X:159.55, Y:-2.59, Z:-2.97 [[ 9.99771893e-01 2.10040329e-02 -3.87197212e-03 1.59553665e+02] [-2.10025551e-02 9.99779333e-01 4.21942881e-04 -2.58927991e+00] [ 3.87998020e-03 -3.40525325e-04 9.99992415e-01 -2.97262325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64800114499997 meters 0.0808144959248856 Centerline is valid? [True, True] Translation: X:159.58, Y:-2.59, Z:-2.97 [[ 9.99786093e-01 2.02737622e-02 -4.09188830e-03 1.59582481e+02] [-2.02721063e-02 9.99794400e-01 4.45741437e-04 -2.59142559e+00] [ 4.10008386e-03 -3.62694895e-04 9.99991529e-01 -2.97425038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67800114499997 meters 0.0820520857080392 Centerline is valid? [True, True] Translation: X:159.61, Y:-2.60, Z:-2.98 [[ 9.99781532e-01 2.04345444e-02 -4.39530017e-03 1.59611374e+02] [-2.04326432e-02 9.99791118e-01 4.77014088e-04 -2.59588200e+00] [ 4.40412963e-03 -3.87102275e-04 9.99990227e-01 -2.97585585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70800114499997 meters 0.08286574025901287 Centerline is valid? [True, True] Translation: X:159.64, Y:-2.60, Z:-2.98 [[ 9.99773744e-01 2.08287154e-02 -4.31567640e-03 1.59638814e+02] [-2.08268836e-02 9.99782987e-01 4.68982050e-04 -2.59866144e+00] [ 4.32450814e-03 -3.78993850e-04 9.99990577e-01 -2.97778102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73800114499997 meters 0.08249260395800297 Centerline is valid? [True, True] Translation: X:159.67, Y:-2.60, Z:-2.98 [[ 9.99760238e-01 2.15873956e-02 -3.66760956e-03 1.59667685e+02] [-2.15860781e-02 9.99766914e-01 3.98430171e-04 -2.60052326e+00] [ 3.67535576e-03 -3.19165336e-04 9.99993195e-01 -2.97918225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76800114499997 meters 0.07697096556651199 Centerline is valid? [True, True] Translation: X:159.70, Y:-2.59, Z:-2.98 [[ 9.99749563e-01 2.20077397e-02 -4.05845769e-03 1.59698084e+02] [-2.20061288e-02 9.99757738e-01 4.41162234e-04 -2.59271005e+00] [ 4.06718346e-03 -3.51740808e-04 9.99991667e-01 -2.97672515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79800114499997 meters 0.07685009469795696 Centerline is valid? [True, True] Translation: X:159.73, Y:-2.59, Z:-2.98 [[ 9.99697147e-01 2.44259667e-02 -2.99776161e-03 1.59727540e+02] [-2.44250976e-02 9.99701610e-01 3.26195552e-04 -2.59222562e+00] [ 3.00483474e-03 -2.52876143e-04 9.99995454e-01 -2.97543643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82800114499997 meters 0.0830950003558458 Centerline is valid? [True, True] Translation: X:159.75, Y:-2.60, Z:-2.98 [[ 9.99675241e-01 2.53100743e-02 -2.96849047e-03 1.59753878e+02] [-2.53092311e-02 9.99679618e-01 3.21301873e-04 -2.60389823e+00] [ 2.97567159e-03 -2.46067317e-04 9.99995542e-01 -2.97876126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85800114499997 meters 0.07553547037649376 Centerline is valid? [True, True] Translation: X:159.78, Y:-2.59, Z:-2.97 [[ 9.99657303e-01 2.60366252e-02 -2.71481564e-03 1.59784624e+02] [-2.60359225e-02 9.99660965e-01 2.93869828e-04 -2.59153238e+00] [ 2.72154660e-03 -2.23086390e-04 9.99996272e-01 -2.97430870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88800114499998 meters 0.07875460171829078 Centerline is valid? [True, True] Translation: X:159.81, Y:-2.60, Z:-2.98 [[ 9.99658344e-01 2.60803215e-02 -1.73545391e-03 1.59811485e+02] [-2.60800363e-02 9.99659841e-01 1.86758418e-04 -2.59994896e+00] [ 1.73973430e-03 -1.41433910e-04 9.99998477e-01 -2.97696616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91800114499998 meters 0.0777946608929133 Centerline is valid? [True, True] Translation: X:159.84, Y:-2.60, Z:-2.98 [[ 9.99673612e-01 2.54623618e-02 -2.08252380e-03 1.59839688e+02] [-2.54619515e-02 9.99675767e-01 2.23324567e-04 -2.60198564e+00] [ 2.08753495e-03 -1.70226557e-04 9.99997807e-01 -2.97701344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94800114499998 meters 0.07854075903896773 Centerline is valid? [True, True] Translation: X:159.87, Y:-2.61, Z:-2.98 [[ 9.99687908e-01 2.49446130e-02 -1.36104881e-03 1.59867618e+02] [-2.49444388e-02 9.99688829e-01 1.44813496e-04 -2.60616912e+00] [ 1.36423761e-03 -1.10817702e-04 9.99999063e-01 -2.97864180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97800114499998 meters 0.0791504746302637 Centerline is valid? [True, True] Translation: X:159.90, Y:-2.61, Z:-2.98 [[ 9.99695983e-01 2.46316749e-02 -1.10572479e-03 1.59895021e+02] [-2.46315594e-02 9.99696590e-01 1.17960198e-04 -2.60869328e+00] [ 1.10829485e-03 -9.06886100e-05 9.99999382e-01 -2.97912912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00800114499998 meters 0.07974471439583351 Centerline is valid? [True, True] Translation: X:159.92, Y:-2.61, Z:-2.98 [[ 9.99647587e-01 2.65094190e-02 -1.39734271e-03 1.59924304e+02] [-2.65092341e-02 9.99648557e-01 1.50696231e-04 -2.60843215e+00] [ 1.40084649e-03 -1.13600639e-04 9.99999012e-01 -2.97909954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03800114499998 meters 0.08124332722093443 Centerline is valid? [True, True] Translation: X:159.95, Y:-2.61, Z:-2.98 [[ 9.99612752e-01 2.77636258e-02 -1.87804343e-03 1.59952252e+02] [-2.77632951e-02 9.99614505e-01 2.01928812e-04 -2.61228196e+00] [ 1.88292573e-03 -1.49709942e-04 9.99998216e-01 -2.98130690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06800114499998 meters 0.07647664520091847 Centerline is valid? [True, True] Translation: X:159.98, Y:-2.61, Z:-2.98 [[ 9.99568680e-01 2.93222045e-02 -1.63165273e-03 1.59982685e+02] [-2.93219562e-02 9.99570004e-01 1.75911040e-04 -2.60601647e+00] [ 1.63610923e-03 -1.27991917e-04 9.99998653e-01 -2.98008630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09800114499998 meters 0.07634847080296794 Centerline is valid? [True, True] Translation: X:160.01, Y:-2.61, Z:-2.98 [[ 9.99530778e-01 3.06068146e-02 -1.20317715e-03 1.60011578e+02] [-3.06066808e-02 9.99531497e-01 1.29476267e-04 -2.60918094e+00] [ 1.20657631e-03 -9.25902552e-05 9.99999268e-01 -2.98189076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12800114499998 meters 0.07498867333539988 Centerline is valid? [True, True] Translation: X:160.04, Y:-2.61, Z:-2.98 [[ 9.99470598e-01 3.25222820e-02 -9.08024355e-04 1.60041444e+02] [-3.25222068e-02 9.99471008e-01 9.74988892e-05 -2.60899321e+00] [ 9.10714904e-04 -6.79163173e-05 9.99999583e-01 -2.98184441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.158001145 meters 0.07324553161135121 Centerline is valid? [True, True] Translation: X:160.07, Y:-2.61, Z:-2.98 [[ 9.99444309e-01 3.33309997e-02 -3.43016345e-04 1.60071062e+02] [-3.33309893e-02 9.99444368e-01 3.59259134e-05 -2.60689965e+00] [ 3.44023200e-04 -2.44728756e-05 9.99999941e-01 -2.98062401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.188001145 meters 0.07412142173273352 Centerline is valid? [True, True] Translation: X:160.10, Y:-2.61, Z:-2.98 [[ 9.99409017e-01 3.43655390e-02 -7.91957119e-04 1.60099172e+02] [-3.43654831e-02 9.99409329e-01 8.40466834e-05 -2.60993485e+00] [ 7.94377643e-04 -5.67810242e-05 9.99999683e-01 -2.98084220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.218001145 meters 0.07076702503006885 Centerline is valid? [True, True] Translation: X:160.13, Y:-2.60, Z:-2.98 [[ 9.99385348e-01 3.50467347e-02 -8.07924824e-04 1.60128760e+02] [-3.50466769e-02 9.99385673e-01 8.56879659e-05 -2.60484364e+00] [ 8.10431577e-04 -5.73202174e-05 9.99999670e-01 -2.97949700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24800114499996 meters 0.07116907714194816 Centerline is valid? [True, True] Translation: X:160.16, Y:-2.61, Z:-2.98 [[ 9.99355507e-01 3.58786277e-02 -1.13777528e-03 1.60157621e+02] [-3.58785170e-02 9.99356152e-01 1.17511826e-04 -2.60843918e+00] [ 1.14125889e-03 -7.66144007e-05 9.99999346e-01 -2.98224485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27800114499996 meters 0.07388307105753905 Centerline is valid? [True, True] Translation: X:160.18, Y:-2.62, Z:-2.99 [[ 9.99350801e-01 3.59754380e-02 -1.93501154e-03 1.60184202e+02] [-3.59751053e-02 9.99352665e-01 2.06514054e-04 -2.61830629e+00] [ 1.94118837e-03 -1.36767742e-04 9.99998107e-01 -2.98608735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30800114499996 meters 0.07416142725742626 Centerline is valid? [True, True] Translation: X:160.21, Y:-2.62, Z:-2.99 [[ 9.99366269e-01 3.55048549e-02 -2.54289869e-03 1.60212522e+02] [-3.55042764e-02 9.99369487e-01 2.72294933e-04 -2.62288733e+00] [ 2.55096315e-03 -1.81838594e-04 9.99996730e-01 -2.98749700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33800114499996 meters 0.0724196114580751 Centerline is valid? [True, True] Translation: X:160.24, Y:-2.62, Z:-2.99 [[ 9.99335848e-01 3.63944715e-02 -1.81785323e-03 1.60242194e+02] [-3.63941853e-02 9.99337494e-01 1.90286868e-04 -2.62182181e+00] [ 1.82357428e-03 -1.24001201e-04 9.99998330e-01 -2.98625695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36800114499997 meters 0.0718449578696838 Centerline is valid? [True, True] Translation: X:160.27, Y:-2.62, Z:-2.99 [[ 9.99281814e-01 3.78399344e-02 -1.99891989e-03 1.60270937e+02] [-3.78395834e-02 9.99283804e-01 2.13138397e-04 -2.62249810e+00] [ 2.00555341e-03 -1.37347029e-04 9.99997979e-01 -2.98628953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39800114499997 meters 0.07174010690581827 Centerline is valid? [True, True] Translation: X:160.30, Y:-2.62, Z:-2.99 [[ 9.99233140e-01 3.91400910e-02 -1.08890627e-03 1.60300765e+02] [-3.91399867e-02 9.99233730e-01 1.16953938e-04 -2.62487409e+00] [ 1.09264946e-03 -7.42444739e-05 9.99999400e-01 -2.98626985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42800114499997 meters 0.07132288739420574 Centerline is valid? [True, True] Translation: X:160.33, Y:-2.63, Z:-2.99 [[ 9.99175942e-01 4.05874918e-02 -3.02774178e-04 1.60329897e+02] [-4.05874840e-02 9.99175988e-01 3.17319419e-05 -2.62730830e+00] [ 3.03812609e-04 -1.94169508e-05 9.99999954e-01 -2.98642742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45800114499997 meters 0.06923036789723169 Centerline is valid? [True, True] Translation: X:160.36, Y:-2.63, Z:-2.99 [[ 9.99035905e-01 4.38616922e-02 1.84706249e-03 1.60360404e+02] [-4.38614001e-02 9.99037606e-01 -1.98391533e-04 -2.62732713e+00] [-1.85398667e-03 1.17185518e-04 9.99998274e-01 -2.98546068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48800114499997 meters 0.06876695154357526 Centerline is valid? [True, True] Translation: X:160.39, Y:-2.63, Z:-2.99 [[ 9.99005248e-01 4.45908933e-02 4.08728045e-04 1.60388749e+02] [-4.45908784e-02 9.99005331e-01 -4.54235024e-05 -2.62980032e+00] [-4.10346970e-04 2.71527748e-05 9.99999915e-01 -2.98661968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51800114499997 meters 0.07100859172412916 Centerline is valid? [True, True] Translation: X:160.42, Y:-2.64, Z:-2.99 [[ 9.98951254e-01 4.57818504e-02 -6.43106044e-04 1.60416101e+02] [-4.57818190e-02 9.98951461e-01 6.34336139e-05 -2.63808126e+00] [ 6.45335830e-04 -3.39245236e-05 9.99999791e-01 -2.98966052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54800114499997 meters 0.0674425861447069 Centerline is valid? [True, True] Translation: X:160.45, Y:-2.63, Z:-2.99 [[ 9.98911177e-01 4.66423672e-02 -9.74725169e-04 1.60446113e+02] [-4.66422927e-02 9.98911651e-01 9.90354247e-05 -2.63325467e+00] [ 9.78283574e-04 -5.34641761e-05 9.99999520e-01 -2.98821714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57800114499997 meters 0.07083684048758322 Centerline is valid? [True, True] Translation: X:160.47, Y:-2.64, Z:-2.99 [[ 9.98857789e-01 4.77355252e-02 -2.10641538e-03 1.60472827e+02] [-4.77351608e-02 9.98860003e-01 2.22968745e-04 -2.64449642e+00] [ 2.11465760e-03 -1.22163990e-04 9.99997757e-01 -2.99292605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60800114499997 meters 0.07110143459413516 Centerline is valid? [True, True] Translation: X:160.50, Y:-2.65, Z:-2.99 [[ 9.98853992e-01 4.77757043e-02 -2.86083976e-03 1.60500436e+02] [-4.77750435e-02 9.98858076e-01 2.98936343e-04 -2.64788846e+00] [ 2.87185479e-03 -1.61917016e-04 9.99995863e-01 -2.99361792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63800114499998 meters 0.07110143459413516 Centerline is valid? [True, True] Translation: X:160.53, Y:-2.65, Z:-2.99 [[ 9.98865510e-01 4.75342900e-02 -2.86091191e-03 1.60527717e+02] [-4.75336301e-02 9.98869594e-01 2.98251643e-04 -2.65067002e+00] [ 2.87185510e-03 -1.61923751e-04 9.99995863e-01 -2.99427958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66800114499998 meters 0.06748156432494032 Centerline is valid? [True, True] Translation: X:160.56, Y:-2.65, Z:-2.99 [[ 9.98864584e-01 4.75668965e-02 -2.63310560e-03 1.60557348e+02] [-4.75663395e-02 9.98868044e-01 2.73796235e-04 -2.64597703e+00] [ 2.64314868e-03 -1.48238167e-04 9.99996496e-01 -2.99095423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69800114499998 meters 0.06870003578512851 Centerline is valid? [True, True] Translation: X:160.58, Y:-2.65, Z:-2.99 [[ 9.98870717e-01 4.74342642e-02 -2.69831506e-03 1.60584211e+02] [-4.74336695e-02 9.98874350e-01 2.84025062e-04 -2.65272170e+00] [ 2.70875022e-03 -1.55713332e-04 9.99996319e-01 -2.99281903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72800114499998 meters 0.06881098788738493 Centerline is valid? [True, True] Translation: X:160.61, Y:-2.66, Z:-2.99 [[ 9.98865929e-01 4.76113623e-02 -1.14734773e-04 1.60612160e+02] [-4.76113614e-02 9.98865936e-01 1.06401298e-05 -2.65949126e+00] [ 1.15111248e-04 -5.16538442e-06 9.99999993e-01 -2.99324866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75800114499998 meters 0.06922277301875521 Centerline is valid? [True, True] Translation: X:160.64, Y:-2.66, Z:-2.99 [[ 9.98870814e-01 4.75086239e-02 1.68928131e-04 1.60639766e+02] [-4.75086212e-02 9.98870828e-01 -1.97515986e-05 -2.66429413e+00] [-1.69675753e-04 1.17037527e-05 9.99999986e-01 -2.99400924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78800114499998 meters 0.06780258974986242 Centerline is valid? [True, True] Translation: X:160.67, Y:-2.66, Z:-2.99 [[ 9.98881852e-01 4.72513818e-02 1.53369457e-03 1.60668463e+02] [-4.72511803e-02 9.98883025e-01 -1.67361645e-04 -2.66424087e+00] [-1.53988955e-03 9.47056313e-05 9.99998810e-01 -2.99246848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81800114499998 meters 0.06816397113463533 Centerline is valid? [True, True] Translation: X:160.70, Y:-2.67, Z:-2.99 [[ 9.98847866e-01 4.79082606e-02 2.78179238e-03 1.60695903e+02] [-4.79076229e-02 9.98851727e-01 -2.95478855e-04 -2.66750595e+00] [-2.79275400e-03 1.61869364e-04 9.99996087e-01 -2.99277701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84800114499998 meters 0.06801649242125606 Centerline is valid? [True, True] Translation: X:160.72, Y:-2.67, Z:-2.99 [[ 9.98839566e-01 4.80966297e-02 2.49731467e-03 1.60724941e+02] [-4.80961095e-02 9.98842677e-01 -2.67974494e-04 -2.67069525e+00] [-2.50731314e-03 1.47552407e-04 9.99996846e-01 -2.99327732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87800114499998 meters 0.06834465096108922 Centerline is valid? [True, True] Translation: X:160.75, Y:-2.68, Z:-2.99 [[ 9.98850180e-01 4.78799670e-02 2.41382859e-03 1.60752322e+02] [-4.78794788e-02 9.98853086e-01 -2.59670628e-04 -2.67548567e+00] [-2.42349316e-03 1.43799199e-04 9.99997053e-01 -2.99498015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.908001145 meters 0.06841457656352974 Centerline is valid? [True, True] Translation: X:160.78, Y:-2.68, Z:-3.00 [[ 9.98824332e-01 4.84007648e-02 2.70547886e-03 1.60781059e+02] [-4.84001651e-02 9.98827984e-01 -2.86718391e-04 -2.68109465e+00] [-2.71618538e-03 1.55435681e-04 9.99996299e-01 -2.99711718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.938001145 meters 0.06771580991573065 Centerline is valid? [True, True] Translation: X:160.81, Y:-2.68, Z:-3.00 [[ 9.98840117e-01 4.81228320e-02 1.61661955e-03 1.60809881e+02] [-4.81226121e-02 9.98841421e-01 -1.74661646e-04 -2.68413739e+00] [-1.62315179e-03 9.66631037e-05 9.99998678e-01 -2.99808145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.968001145 meters 0.06966502587042617 Centerline is valid? [True, True] Translation: X:160.84, Y:-2.69, Z:-3.00 [[ 9.98852526e-01 4.78632043e-02 1.65687547e-03 1.60836870e+02] [-4.78629792e-02 9.98853895e-01 -1.75291556e-04 -2.69078861e+00] [-1.66336653e-03 9.57874175e-05 9.99998612e-01 -3.00018992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99800114499996 meters 0.0674255968414259 Centerline is valid? [True, True] Translation: X:160.87, Y:-2.69, Z:-3.00 [[ 9.98832748e-01 4.82442175e-02 2.37409878e-03 1.60866650e+02] [-4.82437522e-02 9.98835560e-01 -2.52927616e-04 -2.68745391e+00] [-2.38353658e-03 1.38096952e-04 9.99997150e-01 -2.99751615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02800114499996 meters 0.06597266026276848 Centerline is valid? [True, True] Translation: X:160.90, Y:-2.69, Z:-3.00 [[ 9.98818307e-01 4.85446302e-02 2.32552088e-03 1.60895794e+02] [-4.85441842e-02 9.98821005e-01 -2.47865632e-04 -2.68596987e+00] [-2.33481165e-03 1.34682217e-04 9.99997265e-01 -2.99610097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05800114499996 meters 0.06602956310890311 Centerline is valid? [True, True] Translation: X:160.92, Y:-2.69, Z:-3.00 [[ 9.98794228e-01 4.90294127e-02 2.49120004e-03 1.60924109e+02] [-4.90289049e-02 9.98797325e-01 -2.64546693e-04 -2.69059325e+00] [-2.50117450e-03 1.42086901e-04 9.99996862e-01 -2.99865389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08800114499996 meters 0.06700489044183688 Centerline is valid? [True, True] Translation: X:160.95, Y:-2.70, Z:-3.00 [[ 9.98781888e-01 4.92949517e-02 2.17884356e-03 1.60951125e+02] [-4.92945705e-02 9.98784258e-01 -2.28340880e-04 -2.69762671e+00] [-2.18745070e-03 1.20657578e-04 9.99997600e-01 -3.00168493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11800114499997 meters 0.06632705550170286 Centerline is valid? [True, True] Translation: X:160.98, Y:-2.70, Z:-3.00 [[ 9.98773068e-01 4.95057422e-02 1.24104586e-03 1.60979345e+02] [-4.95056178e-02 9.98773837e-01 -1.30789021e-04 -2.69970703e+00] [-1.24599894e-03 6.91898094e-05 9.99999221e-01 -3.00263468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14800114499997 meters 0.06652803967474478 Centerline is valid? [True, True] Translation: X:161.01, Y:-2.70, Z:-3.00 [[ 9.98753709e-01 4.98918566e-02 1.35357722e-03 1.61007895e+02] [-4.98917049e-02 9.98754623e-01 -1.45636604e-04 -2.70154358e+00] [-1.35915759e-03 7.79228232e-05 9.99999073e-01 -3.00397655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17800114499997 meters 0.06688122261075496 Centerline is valid? [True, True] Translation: X:161.04, Y:-2.70, Z:-3.01 [[ 9.98756334e-01 4.98560855e-02 3.94728648e-04 1.61035279e+02] [-4.98560724e-02 9.98756412e-01 -4.27812394e-05 -2.70329371e+00] [-3.96370674e-04 2.30484137e-05 9.99999921e-01 -3.00508939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20800114499997 meters 0.06752537588344396 Centerline is valid? [True, True] Translation: X:161.06, Y:-2.71, Z:-3.01 [[ 9.98781894e-01 4.93369116e-02 -7.72773101e-04 1.61062335e+02] [-4.93368663e-02 9.98782192e-01 7.76451403e-05 -2.70617063e+00] [ 7.75662783e-04 -3.94243572e-05 9.99999698e-01 -3.00593397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23800114499997 meters 0.06712374840125804 Centerline is valid? [True, True] Translation: X:161.09, Y:-2.71, Z:-3.01 [[ 9.98793891e-01 4.90861441e-02 -1.14657751e-03 1.61091569e+02] [-4.90860467e-02 9.98794547e-01 1.12980520e-04 -2.70713249e+00] [ 1.15074114e-03 -5.65632960e-05 9.99999336e-01 -3.00594452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26800114499997 meters 0.0657273484363204 Centerline is valid? [True, True] Translation: X:161.12, Y:-2.71, Z:-3.01 [[ 9.98744743e-01 5.00891744e-02 1.12598845e-04 1.61120146e+02] [-5.00891732e-02 9.98744749e-01 -1.31872808e-05 -2.70749366e+00] [-1.13118046e-04 7.53074435e-06 9.99999994e-01 -3.00601948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29800114499997 meters 0.06588884009926836 Centerline is valid? [True, True] Translation: X:161.15, Y:-2.71, Z:-3.01 [[ 9.98772214e-01 4.95384548e-02 -7.17847994e-05 1.61148628e+02] [-4.95384548e-02 9.98772217e-01 1.81880168e-06 -2.71091292e+00] [ 7.17867639e-05 1.73953946e-06 9.99999997e-01 -3.00729979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32800114499997 meters 0.0659933021130569 Centerline is valid? [True, True] Translation: X:161.18, Y:-2.71, Z:-3.01 [[ 9.98760509e-01 4.97717381e-02 4.69546964e-04 1.61177465e+02] [-4.97717195e-02 9.98760619e-01 -5.12592925e-05 -2.71398804e+00] [-4.71516280e-04 2.78255973e-05 9.99999888e-01 -3.00822763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35800114499997 meters 0.06689416283401166 Centerline is valid? [True, True] Translation: X:161.20, Y:-2.72, Z:-3.01 [[ 9.98735740e-01 5.02659226e-02 5.08531302e-04 1.61204863e+02] [-5.02658997e-02 9.98735869e-01 -5.77545233e-05 -2.71805392e+00] [-5.10791537e-04 3.21197231e-05 9.99999869e-01 -3.00942751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38800114499998 meters 0.06656309699833012 Centerline is valid? [True, True] Translation: X:161.23, Y:-2.72, Z:-3.01 [[ 9.98756883e-01 4.98437543e-02 5.37394476e-04 1.61232909e+02] [-4.98437308e-02 9.98757027e-01 -5.70426128e-05 -2.71609051e+00] [-5.39569727e-04 3.01859566e-05 9.99999854e-01 -3.00869248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41800114499998 meters 0.0703235451731912 Centerline is valid? [True, True] Translation: X:161.26, Y:-2.73, Z:-3.01 [[ 9.98791099e-01 4.91518318e-02 6.62323699e-04 1.61259927e+02] [-4.91517963e-02 9.98791318e-01 -6.97076794e-05 -2.72644513e+00] [-6.64949420e-04 3.70690101e-05 9.99999778e-01 -3.01264862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44800114499998 meters 0.06889658339313061 Centerline is valid? [True, True] Translation: X:161.29, Y:-2.73, Z:-3.01 [[ 9.98836901e-01 4.82127909e-02 6.10638641e-04 1.61288700e+02] [-4.82127586e-02 9.98837086e-01 -6.75429922e-05 -2.72571173e+00] [-6.13184957e-04 3.80238596e-05 9.99999811e-01 -3.01225946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47800114499998 meters 0.06730734652609577 Centerline is valid? [True, True] Translation: X:161.32, Y:-2.73, Z:-3.01 [[ 9.98893603e-01 4.70226834e-02 6.60499634e-04 1.61317550e+02] [-4.70226456e-02 9.98893821e-01 -7.26990780e-05 -2.72562026e+00] [-6.63187509e-04 4.15602038e-05 9.99999779e-01 -3.01202544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50800114499998 meters 0.06644728731862272 Centerline is valid? [True, True] Translation: X:161.35, Y:-2.73, Z:-3.01 [[ 9.98977718e-01 4.51809407e-02 1.48342168e-03 1.61346523e+02] [-4.51807641e-02 9.98978816e-01 -1.52325400e-04 -2.72834815e+00] [-1.48878904e-03 8.51475556e-05 9.99998888e-01 -3.01247072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53800114499998 meters 0.06790941485341481 Centerline is valid? [True, True] Translation: X:161.37, Y:-2.73, Z:-3.01 [[ 9.99025344e-01 4.40947277e-02 2.00447515e-03 1.61374013e+02] [-4.40944027e-02 9.99027348e-01 -2.06026058e-04 -2.73407445e+00] [-2.01161015e-03 1.17439118e-04 9.99997970e-01 -3.01376315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56800114499998 meters 0.06734474971108591 Centerline is valid? [True, True] Translation: X:161.40, Y:-2.73, Z:-3.01 [[ 9.99077908e-01 4.28262739e-02 3.04031685e-03 1.61403101e+02] [-4.28255149e-02 9.99082517e-01 -3.14328315e-04 -2.73338138e+00] [-3.05098892e-03 1.83835341e-04 9.99995329e-01 -3.01186221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59800114499998 meters 0.06882259349077727 Centerline is valid? [True, True] Translation: X:161.43, Y:-2.74, Z:-3.01 [[ 9.99165788e-01 4.07779259e-02 2.21125670e-03 1.61431449e+02] [-4.07775260e-02 9.99168225e-01 -2.25667030e-04 -2.73627790e+00] [-2.21861967e-03 1.35309199e-04 9.99997530e-01 -3.01192217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62800114499998 meters 0.06902683527537203 Centerline is valid? [True, True] Translation: X:161.46, Y:-2.74, Z:-3.01 [[ 9.99202011e-01 3.98969189e-02 1.89121271e-03 1.61459578e+02] [-3.98966233e-02 9.99203794e-01 -1.93786305e-04 -2.73925758e+00] [-1.89743839e-03 1.18178665e-04 9.99998193e-01 -3.01374177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.658001145 meters 0.07058236370562056 Centerline is valid? [True, True] Translation: X:161.49, Y:-2.75, Z:-3.02 [[ 9.99244756e-01 3.88422101e-02 1.09549219e-03 1.61486347e+02] [-3.88421080e-02 9.99245354e-01 -1.14347443e-04 -2.74607846e+00] [-1.09910699e-03 7.17098566e-05 9.99999393e-01 -3.01640669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.688001145 meters 0.07133422679035174 Centerline is valid? [True, True] Translation: X:161.51, Y:-2.75, Z:-3.02 [[ 9.99303018e-01 3.72998020e-02 1.48448374e-03 1.61514915e+02] [-3.72996180e-02 9.99304116e-01 -1.51446842e-04 -2.75130551e+00] [-1.48909965e-03 9.59706093e-05 9.99998887e-01 -3.01859957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71800114499996 meters 0.07241929692602572 Centerline is valid? [True, True] Translation: X:161.54, Y:-2.76, Z:-3.02 [[ 9.99411067e-01 3.42955791e-02 1.15464314e-03 1.61544317e+02] [-3.42954664e-02 9.99411731e-01 -1.17274184e-04 -2.75636947e+00] [-1.15798588e-03 7.76060921e-05 9.99999327e-01 -3.01900812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74800114499996 meters 0.07321405902429647 Centerline is valid? [True, True] Translation: X:161.57, Y:-2.76, Z:-3.02 [[ 9.99450268e-01 3.30899622e-02 2.05350016e-03 1.61573205e+02] [-3.30896017e-02 9.99452367e-01 -2.09282919e-04 -2.75959927e+00] [-2.05930076e-03 1.41218367e-04 9.99997870e-01 -3.01915621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77800114499996 meters 0.07522235775701994 Centerline is valid? [True, True] Translation: X:161.60, Y:-2.76, Z:-3.02 [[ 9.99485767e-01 3.20128580e-02 1.83786198e-03 1.61600296e+02] [-3.20125651e-02 9.99487449e-01 -1.88552343e-04 -2.76483411e+00] [-1.84295608e-03 1.29620707e-04 9.99998293e-01 -3.02022209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80800114499996 meters 0.07376156306069749 Centerline is valid? [True, True] Translation: X:161.63, Y:-2.76, Z:-3.02 [[ 9.99508133e-01 3.12948394e-02 2.03100938e-03 1.61628759e+02] [-3.12944831e-02 9.99510186e-01 -2.06998501e-04 -2.76417922e+00] [-2.03649255e-03 1.43337296e-04 9.99997916e-01 -3.01930541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83800114499996 meters 0.07430975175254226 Centerline is valid? [True, True] Translation: X:161.66, Y:-2.77, Z:-3.02 [[ 9.99556810e-01 2.97536251e-02 9.51747426e-04 1.61657658e+02] [-2.97535459e-02 9.99557261e-01 -9.72074289e-05 -2.76828024e+00] [-9.54218323e-04 6.88464868e-05 9.99999542e-01 -3.02138699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86800114499997 meters 0.07981925197722921 Centerline is valid? [True, True] Translation: X:161.68, Y:-2.78, Z:-3.03 [[ 9.99595926e-01 2.84228513e-02 3.55325972e-04 1.61684779e+02] [-2.84228401e-02 9.99595989e-01 -3.66113469e-05 -2.78150707e+00] [-3.56223016e-04 2.64971799e-05 9.99999936e-01 -3.02578698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89800114499997 meters 0.07713578020907672 Centerline is valid? [True, True] Translation: X:161.72, Y:-2.78, Z:-3.02 [[ 9.99665706e-01 2.58541483e-02 1.98034481e-04 1.61715966e+02] [-2.58541449e-02 9.99665726e-01 -1.99812733e-05 -2.77816038e+00] [-1.98484882e-04 1.48545816e-05 9.99999980e-01 -3.02372404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92800114499997 meters 0.08027778858417757 Centerline is valid? [True, True] Translation: X:161.74, Y:-2.79, Z:-3.03 [[ 9.99699004e-01 2.45331038e-02 -1.67702150e-04 1.61743302e+02] [-2.45331016e-02 9.99699018e-01 1.53900625e-05 -2.78544356e+00] [ 1.68029240e-04 -1.12711763e-05 9.99999986e-01 -3.02517763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95800114499997 meters 0.08034439633518556 Centerline is valid? [True, True] Translation: X:161.77, Y:-2.79, Z:-3.03 [[ 9.99733317e-01 2.30921580e-02 2.15228497e-04 1.61772536e+02] [-2.30921536e-02 9.99733340e-01 -2.28210007e-05 -2.78767213e+00] [-2.15698090e-04 1.78448252e-05 9.99999977e-01 -3.02544239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98800114499997 meters 0.07873954793571356 Centerline is valid? [True, True] Translation: X:161.80, Y:-2.79, Z:-3.02 [[ 9.99767895e-01 2.15376398e-02 5.34340530e-04 1.61801727e+02] [-2.15376135e-02 9.99768037e-01 -5.49946864e-05 -2.78725902e+00] [-5.35401039e-04 4.34735021e-05 9.99999856e-01 -3.02448441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01800114499997 meters 0.0832578487125102 Centerline is valid? [True, True] Translation: X:161.83, Y:-2.80, Z:-3.03 [[ 9.99796963e-01 2.01493875e-02 1.85452149e-04 1.61829062e+02] [-2.01493840e-02 9.99796980e-01 -2.02168043e-05 -2.79839729e+00] [-1.85821855e-04 1.64759529e-05 9.99999983e-01 -3.02776542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04800114499997 meters 0.0859253995775644 Centerline is valid? [True, True] Translation: X:161.86, Y:-2.81, Z:-3.03 [[ 9.99844960e-01 1.75351158e-02 -1.60489939e-03 1.61858166e+02] [-1.75348796e-02 9.99846239e-01 1.61149108e-04 -2.80775463e+00] [ 1.60747839e-03 -1.32982406e-04 9.99998699e-01 -3.03215825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07800114499997 meters 0.08229887297668073 Centerline is valid? [True, True] Translation: X:161.89, Y:-2.80, Z:-3.03 [[ 9.99862165e-01 1.65232762e-02 -1.62261239e-03 1.61888297e+02] [-1.65230341e-02 9.99863472e-01 1.62500642e-04 -2.80422381e+00] [ 1.62507590e-03 -1.35667764e-04 9.99998670e-01 -3.03083389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10800114499997 meters 0.08826302721908524 Centerline is valid? [True, True] Translation: X:161.91, Y:-2.82, Z:-3.03 [[ 9.99868083e-01 1.61413186e-02 -1.80946426e-03 1.61914833e+02] [-1.61410201e-02 9.99869709e-01 1.79414289e-04 -2.81515859e+00] [ 1.81212448e-03 -1.50184022e-04 9.99998347e-01 -3.03329481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13800114499998 meters 0.08940880205695821 Centerline is valid? [True, True] Translation: X:161.94, Y:-2.82, Z:-3.03 [[ 9.99879255e-01 1.55256575e-02 -6.55320067e-04 1.61943608e+02] [-1.55256186e-02 9.99879468e-01 6.43680213e-05 -2.81701705e+00] [ 6.56240436e-04 -5.41859997e-05 9.99999783e-01 -3.03192296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16800114499998 meters 0.09021901684022092 Centerline is valid? [True, True] Translation: X:161.97, Y:-2.82, Z:-3.03 [[ 9.99890381e-01 1.47849988e-02 7.93304876e-04 1.61972773e+02] [-1.47849390e-02 9.99890694e-01 -8.11146718e-05 -2.81905198e+00] [-7.94417443e-04 6.93768159e-05 9.99999682e-01 -3.03095823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19800114499998 meters 0.09179331912663498 Centerline is valid? [True, True] Translation: X:162.00, Y:-2.83, Z:-3.03 [[ 9.99903730e-01 1.38131254e-02 1.31444624e-03 1.62000468e+02] [-1.38129622e-02 9.99904588e-01 -1.33155664e-04 -2.82529039e+00] [-1.31616012e-03 1.14986449e-04 9.99999127e-01 -3.03225664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22800114499998 meters 0.09323502794163159 Centerline is valid? [True, True] Translation: X:162.03, Y:-2.83, Z:-3.03 [[ 9.99913690e-01 1.30696339e-02 1.34042060e-03 1.62028263e+02] [-1.30694629e-02 9.99914582e-01 -1.36213358e-04 -2.83127404e+00] [-1.34208636e-03 1.18683024e-04 9.99999092e-01 -3.03423677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25800114499998 meters 0.08263101508381412 Centerline is valid? [True, True] Translation: X:162.06, Y:-2.82, Z:-3.03 [[ 9.99930385e-01 1.17253965e-02 1.31954120e-03 1.62059967e+02] [-1.17252310e-02 9.99931248e-01 -1.33072985e-04 -2.81535591e+00] [-1.32101081e-03 1.17591795e-04 9.99999121e-01 -3.02967208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28800114499998 meters 0.08380205070117039 Centerline is valid? [True, True] Translation: X:162.09, Y:-2.82, Z:-3.03 [[ 9.99939099e-01 1.10094482e-02 7.68965765e-04 1.62087286e+02] [-1.10093907e-02 9.99939392e-01 -7.88874673e-05 -2.81764856e+00] [-7.69787667e-04 7.04168183e-05 9.99999701e-01 -3.03038767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31800114499998 meters 0.08482308442876339 Centerline is valid? [True, True] Translation: X:162.11, Y:-2.82, Z:-3.03 [[ 9.99938023e-01 1.11302778e-02 2.57513026e-04 1.62114882e+02] [-1.11302710e-02 9.99938056e-01 -2.77498957e-05 -2.82061262e+00] [-2.57805939e-04 2.48819860e-05 9.99999966e-01 -3.03254889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34800114499998 meters 0.08957172470694347 Centerline is valid? [True, True] Translation: X:162.14, Y:-2.83, Z:-3.04 [[ 9.99940294e-01 1.09186401e-02 -4.36996662e-04 1.62141248e+02] [-1.09186230e-02 9.99940389e-01 4.13239780e-05 -2.83028056e+00] [ 4.37421814e-04 -3.65501089e-05 9.99999904e-01 -3.03645844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37800114499998 meters 0.08556068603184036 Centerline is valid? [True, True] Translation: X:162.17, Y:-2.83, Z:-3.04 [[ 9.99935954e-01 1.11907506e-02 -1.68953026e-03 1.62170396e+02] [-1.11904839e-02 9.99937371e-01 1.67225452e-04 -2.82644537e+00] [ 1.69129583e-03 -1.48308080e-04 9.99998559e-01 -3.03750798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.408001145 meters 0.0916591136674044 Centerline is valid? [True, True] Translation: X:162.20, Y:-2.84, Z:-3.04 [[ 9.99945342e-01 1.01620505e-02 -2.45898873e-03 1.62197293e+02] [-1.01614811e-02 9.99948341e-01 2.43950950e-04 -2.83829903e+00] [ 2.46134075e-03 -2.18950649e-04 9.99996947e-01 -3.04104504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.438001145 meters 0.08780041404912445 Centerline is valid? [True, True] Translation: X:162.23, Y:-2.83, Z:-3.04 [[ 9.99949581e-01 9.86573853e-03 -1.87143141e-03 1.62226905e+02] [-9.86540912e-03 9.99951319e-01 1.85170790e-04 -2.83337186e+00] [ 1.87316716e-03 -1.66699017e-04 9.99998232e-01 -3.03894148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46800114499996 meters 0.0893403253788367 Centerline is valid? [True, True] Translation: X:162.26, Y:-2.84, Z:-3.04 [[ 9.99964562e-01 8.34662917e-03 -1.09909734e-03 1.62255205e+02] [-8.34651542e-03 9.99965161e-01 1.08039826e-04 -2.83563053e+00] [ 1.09996082e-03 -9.88623642e-05 9.99999390e-01 -3.03799972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49800114499996 meters 0.09013340214744453 Centerline is valid? [True, True] Translation: X:162.28, Y:-2.84, Z:-3.04 [[ 9.99967122e-01 8.10157734e-03 -3.46554901e-04 1.62283865e+02] [-8.10156639e-03 9.99967181e-01 3.29902159e-05 -2.83924135e+00] [ 3.46810800e-04 -3.01814937e-05 9.99999939e-01 -3.03833893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52800114499996 meters 0.09090760952586638 Centerline is valid? [True, True] Translation: X:162.31, Y:-2.84, Z:-3.04 [[ 9.99970481e-01 7.66635324e-03 5.14688645e-04 1.62312586e+02] [-7.66632708e-03 9.99970612e-01 -5.27944797e-05 -2.84302674e+00] [-5.15078261e-04 4.88471497e-05 9.99999866e-01 -3.03890566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55800114499996 meters 0.09090760952586638 Centerline is valid? [True, True] Translation: X:162.34, Y:-2.85, Z:-3.04 [[ 9.99970967e-01 7.60267122e-03 5.14692142e-04 1.62340874e+02] [-7.60264507e-03 9.99971098e-01 -5.27598443e-05 -2.84576501e+00] [-5.15078382e-04 4.88452908e-05 9.99999866e-01 -3.03958933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58800114499996 meters 0.09236216023789125 Centerline is valid? [True, True] Translation: X:162.37, Y:-2.85, Z:-3.04 [[ 9.99981060e-01 6.12445744e-03 6.08353964e-04 1.62369015e+02] [-6.12442105e-03 9.99981244e-01 -6.16598617e-05 -2.85114940e+00] [-6.08720186e-04 5.79328781e-05 9.99999813e-01 -3.04080385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61800114499997 meters 0.09461938223135805 Centerline is valid? [True, True] Translation: X:162.40, Y:-2.86, Z:-3.04 [[ 9.99986127e-01 5.18179965e-03 9.45671187e-04 1.62398040e+02] [-5.18171264e-03 9.99986570e-01 -9.44319828e-05 -2.85779038e+00] [-9.46147815e-04 8.95304764e-05 9.99999548e-01 -3.04276464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64800114499997 meters 0.09502967277844804 Centerline is valid? [True, True] Translation: X:162.43, Y:-2.86, Z:-3.04 [[ 9.99989411e-01 4.57707283e-03 4.77711913e-04 1.62427667e+02] [-4.57705029e-03 9.99989524e-01 -4.82542973e-05 -2.86070657e+00] [-4.77927772e-04 4.60672749e-05 9.99999885e-01 -3.04371371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67800114499997 meters 0.0970608277587983 Centerline is valid? [True, True] Translation: X:162.46, Y:-2.87, Z:-3.04 [[ 9.99994169e-01 3.39729649e-03 3.48290478e-04 1.62456470e+02] [-3.39728438e-03 9.99994229e-01 -3.53692325e-05 -2.86522088e+00] [-3.48408628e-04 3.41857845e-05 9.99999939e-01 -3.04440356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70800114499997 meters 0.10001447965125332 Centerline is valid? [True, False] Translation: X:162.46, Y:-2.86, Z:-3.04 [[ 9.99995131e-01 3.09540841e-03 3.96013372e-04 1.62456089e+02] [-3.09521750e-03 9.99995094e-01 -4.81801913e-04 -2.86431976e+00] [-3.97502803e-04 4.80573820e-04 9.99999806e-01 -3.04395353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73800114499997 meters 0.09409434992028416 Centerline is valid? [False, True] Translation: X:162.46, Y:-2.87, Z:-3.04 [[ 9.99995265e-01 3.00830582e-03 6.48178592e-04 1.62455511e+02] [-3.00812330e-03 9.99995436e-01 -2.82390677e-04 -2.86522911e+00] [-6.49025151e-04 2.80439539e-04 9.99999750e-01 -3.04389084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76800114499997 meters 0.0961215418504727 Centerline is valid? [True, True] Translation: X:162.49, Y:-2.87, Z:-3.05 [[ 9.99998979e-01 1.33836311e-03 5.01156828e-04 1.62485455e+02] [-1.33833735e-03 9.99999103e-01 -5.17308480e-05 -2.87275331e+00] [-5.01225613e-04 5.10600783e-05 9.99999873e-01 -3.04575944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79800114499997 meters 0.09792916636859166 Centerline is valid? [True, True] Translation: X:162.51, Y:-2.88, Z:-3.05 [[ 9.99999668e-01 1.95960566e-04 7.90927766e-04 1.62514565e+02] [-1.95896054e-04 9.99999977e-01 -8.16418370e-05 -2.87973759e+00] [-7.90943747e-04 8.14868703e-05 9.99999684e-01 -3.04784425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82800114499997 meters 0.09850904768664753 Centerline is valid? [True, True] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99997262e-01 -2.16229139e-03 8.94981006e-04 1.62545056e+02] [ 2.16237486e-03 9.99997658e-01 -9.23042220e-05 -2.88364388e+00] [-8.94779321e-04 9.42392537e-05 9.99999595e-01 -3.04876318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85800114499997 meters 0.10161869487578604 Centerline is valid? [True, False] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99997783e-01 -1.98319662e-03 7.07758389e-04 1.62545741e+02] [ 1.98312076e-03 9.99998028e-01 1.07864916e-04 -2.88347787e+00] [-7.07970911e-04 -1.06461107e-04 9.99999744e-01 -3.04921396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88800114499998 meters 0.10195738201497512 Centerline is valid? [False, False] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99998230e-01 -1.79964116e-03 5.48999989e-04 1.62546431e+02] [ 1.79947630e-03 9.99998336e-01 3.00649764e-04 -2.88329425e+00] [-5.49540137e-04 -2.99661319e-04 9.99999804e-01 -3.04976068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91800114499998 meters 0.10396998095632981 Centerline is valid? [False, False] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99998098e-01 -1.89905169e-03 4.45203080e-04 1.62546496e+02] [ 1.89901111e-03 9.99998193e-01 9.15502865e-05 -2.88281677e+00] [-4.45376134e-04 -9.07046667e-05 9.99999897e-01 -3.04950122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94800114499998 meters 0.10432958230051102 Centerline is valid? [False, False] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99998680e-01 -1.61212616e-03 2.01187315e-04 1.62547275e+02] [ 1.61205019e-03 9.99998629e-01 3.77222365e-04 -2.88296007e+00] [-2.01795170e-04 -3.76897543e-04 9.99999909e-01 -3.04990504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97800114499998 meters 0.10555323341612559 Centerline is valid? [False, False] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99999037e-01 -1.38640088e-03 5.57244713e-05 1.62547769e+02] [ 1.38636616e-03 9.99998848e-01 6.18317992e-04 -2.88347203e+00] [-5.65816437e-05 -6.18240142e-04 9.99999807e-01 -3.05019650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00800114499998 meters 0.10502252239093988 Centerline is valid? [False, False] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99999274e-01 -1.20399504e-03 -5.53237610e-05 1.62548174e+02] [ 1.20404107e-03 9.99998923e-01 8.39709569e-04 -2.88398754e+00] [ 5.43126952e-05 -8.39775571e-04 9.99999646e-01 -3.05048568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03800114499998 meters 0.09718238425580183 Centerline is valid? [False, True] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99999423e-01 -1.02827264e-03 -3.11172388e-04 1.62548950e+02] [ 1.02855798e-03 9.99999049e-01 9.18195775e-04 -2.88375541e+00] [ 3.10227937e-04 -9.18515304e-04 9.99999530e-01 -3.05084005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06800114499998 meters 0.10522294701868755 Centerline is valid? [True, False] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99999286e-01 -8.42729116e-04 -8.47720115e-04 1.62550560e+02] [ 8.43342258e-04 9.99999383e-01 7.23185406e-04 -2.88186043e+00] [ 8.47110142e-04 -7.23899808e-04 9.99999379e-01 -3.05152244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09800114499998 meters 0.1065634554512212 Centerline is valid? [False, False] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99999168e-01 -6.72965400e-04 -1.10023365e-03 1.62551407e+02] [ 6.73856229e-04 9.99999445e-01 8.09502489e-04 -2.88134004e+00] [ 1.09968827e-03 -8.10243215e-04 9.99999067e-01 -3.05198155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12800114499998 meters 0.09501298051715468 Centerline is valid? [False, True] Translation: X:162.55, Y:-2.88, Z:-3.05 [[ 9.99998996e-01 -7.81271502e-04 -1.18253112e-03 1.62551367e+02] [ 7.81955983e-04 9.99999527e-01 5.78475156e-04 -2.88099600e+00] [ 1.18207861e-03 -5.79399262e-04 9.99999133e-01 -3.05163780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.158001145 meters 0.09887143068003845 Centerline is valid? [True, True] Translation: X:162.58, Y:-2.89, Z:-3.05 [[ 9.99999994e-01 6.21722521e-05 8.92538184e-05 1.62580177e+02] [-6.21714115e-05 9.99999998e-01 -9.42073094e-06 -2.89037101e+00] [-8.92544040e-05 9.41518185e-06 9.99999996e-01 -3.05324025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.188001145 meters 0.09769824450083057 Centerline is valid? [True, True] Translation: X:162.61, Y:-2.89, Z:-3.05 [[ 9.99996697e-01 5.47579761e-04 2.51135719e-03 1.62610381e+02] [-5.46944255e-04 9.99999818e-01 -2.53732737e-04 -2.89271321e+00] [-2.51149568e-03 2.52358326e-04 9.99996814e-01 -3.05192068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21800114499996 meters 0.09545283447213952 Centerline is valid? [True, True] Translation: X:162.64, Y:-2.89, Z:-3.05 [[ 9.99997228e-01 8.51954948e-05 2.35323203e-03 1.62641777e+02] [-8.46379346e-05 9.99999968e-01 -2.37032361e-04 -2.89252697e+00] [-2.35325215e-03 2.36832531e-04 9.99997203e-01 -3.05137675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24800114499996 meters 0.10133475717618601 Centerline is valid? [True, False] Translation: X:162.64, Y:-2.89, Z:-3.05 [[ 9.99997292e-01 7.70076520e-05 2.32605461e-03 1.62641724e+02] [-7.64514838e-05 9.99999968e-01 -2.39191653e-04 -2.89275771e+00] [-2.32607295e-03 2.39013175e-04 9.99997266e-01 -3.05119510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27800114499996 meters 0.10147297036051908 Centerline is valid? [False, False] Translation: X:162.64, Y:-2.89, Z:-3.05 [[ 9.99997555e-01 3.79575472e-04 2.17831900e-03 1.62642404e+02] [-3.80004541e-04 9.99999908e-01 1.96562014e-04 -2.89349295e+00] [-2.17824419e-03 -1.97389305e-04 9.99997608e-01 -3.05177191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30800114499996 meters 0.09104655841348702 Centerline is valid? [False, True] Translation: X:162.64, Y:-2.90, Z:-3.05 [[ 9.99997168e-01 5.71899657e-04 2.31029622e-03 1.62642326e+02] [-5.73495739e-04 9.99999597e-01 6.90252636e-04 -2.89531677e+00] [-2.30990053e-03 -6.91575626e-04 9.99997093e-01 -3.05210001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33800114499996 meters 0.09376198197752722 Centerline is valid? [True, True] Translation: X:162.67, Y:-2.90, Z:-3.05 [[ 9.99997690e-01 2.97642742e-04 2.12857364e-03 1.62671938e+02] [-2.97176577e-04 9.99999932e-01 -2.19316628e-04 -2.90243139e+00] [-2.12863878e-03 2.18683559e-04 9.99997711e-01 -3.05372999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36800114499997 meters 0.09735150388759789 Centerline is valid? [True, True] Translation: X:162.70, Y:-2.91, Z:-3.06 [[ 9.99999660e-01 7.63973883e-05 8.20886190e-04 1.62701485e+02] [-7.63292807e-05 9.99999994e-01 -8.29993268e-05 -2.91113256e+00] [-8.20892526e-04 8.29366409e-05 9.99999660e-01 -3.05610871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39800114499997 meters 0.0944341949780001 Centerline is valid? [True, True] Translation: X:162.73, Y:-2.91, Z:-3.06 [[ 9.99999466e-01 -1.57415232e-04 1.02173535e-03 1.62732330e+02] [ 1.57523173e-04 9.99999982e-01 -1.05565914e-04 -2.91073365e+00] [-1.02171872e-03 1.05726804e-04 9.99999472e-01 -3.05680326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42800114499997 meters 0.10653061445915009 Centerline is valid? [True, False] Translation: X:162.73, Y:-2.91, Z:-3.06 [[ 9.99999450e-01 -1.39753417e-04 1.03968094e-03 1.62732204e+02] [ 1.39769766e-04 9.99999990e-01 -1.56522783e-05 -2.91135749e+00] [-1.03967874e-03 1.57975856e-05 9.99999459e-01 -3.05668156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45800114499997 meters 0.09108705082867505 Centerline is valid? [False, True] Translation: X:162.73, Y:-2.91, Z:-3.06 [[ 9.99999597e-01 1.66257506e-04 8.81890922e-04 1.62732798e+02] [-1.66625472e-04 9.99999899e-01 4.17189347e-04 -2.91215773e+00] [-8.81821472e-04 -4.17336125e-04 9.99999524e-01 -3.05708085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48800114499997 meters 0.09405411024689622 Centerline is valid? [True, True] Translation: X:162.76, Y:-2.92, Z:-3.06 [[ 9.99998446e-01 7.14181751e-04 1.61153847e-03 1.62762709e+02] [-7.13913456e-04 9.99999731e-01 -1.67053036e-04 -2.92008165e+00] [-1.61165734e-03 1.65902277e-04 9.99998688e-01 -3.05774589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51800114499997 meters 0.0972034438955284 Centerline is valid? [True, True] Translation: X:162.79, Y:-2.93, Z:-3.06 [[ 9.99997289e-01 1.68571324e-03 1.60616376e-03 1.62792081e+02] [-1.68544727e-03 9.99998566e-01 -1.66933019e-04 -2.92813101e+00] [-1.60644286e-03 1.64225462e-04 9.99998696e-01 -3.05854548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54800114499997 meters 0.0940863165342452 Centerline is valid? [True, True] Translation: X:162.82, Y:-2.93, Z:-3.06 [[ 9.99997115e-01 2.15023251e-03 1.07066547e-03 1.62822408e+02] [-2.15011459e-03 9.99997682e-01 -1.11277208e-04 -2.92710148e+00] [-1.07090226e-03 1.08974833e-04 9.99999421e-01 -3.05888426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57800114499997 meters 0.09503538823576146 Centerline is valid? [True, True] Translation: X:162.85, Y:-2.93, Z:-3.06 [[ 9.99996162e-01 2.57662758e-03 1.01825014e-03 1.62852698e+02] [-2.57652114e-03 9.99996675e-01 -1.05829538e-04 -2.93277085e+00] [-1.01851943e-03 1.03205589e-04 9.99999476e-01 -3.06096453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60800114499997 meters 0.09127780605093666 Centerline is valid? [True, True] Translation: X:162.88, Y:-2.93, Z:-3.06 [[ 9.99997862e-01 2.01176149e-03 4.78846938e-04 1.62883115e+02] [-2.01173748e-03 9.99997975e-01 -5.06217250e-05 -2.93062428e+00] [-4.78947807e-04 4.96583024e-05 9.99999884e-01 -3.06125712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63800114499998 meters 0.09206240257198957 Centerline is valid? [True, True] Translation: X:162.91, Y:-2.94, Z:-3.06 [[ 9.99998479e-01 1.73931678e-03 -1.27328193e-04 1.62911823e+02] [-1.73931517e-03 9.99998487e-01 1.27940761e-05 -2.93620004e+00] [ 1.27350254e-04 -1.25725927e-05 9.99999992e-01 -3.06154479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66800114499998 meters 0.09731789761106589 Centerline is valid? [True, True] Translation: X:162.94, Y:-2.95, Z:-3.06 [[ 9.99998434e-01 1.74800901e-03 -2.75842823e-04 1.62940439e+02] [-1.74800129e-03 9.99998472e-01 2.82244198e-05 -2.94837445e+00] [ 2.75891738e-04 -2.77422020e-05 9.99999962e-01 -3.06391420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69800114499998 meters 0.09849437001962492 Centerline is valid? [True, True] Translation: X:162.97, Y:-2.95, Z:-3.06 [[ 9.99999498e-01 8.90559290e-04 4.58734182e-04 1.62969943e+02] [-8.90537153e-04 9.99999602e-01 -4.84568519e-05 -2.95445945e+00] [-4.58777153e-04 4.80483078e-05 9.99999894e-01 -3.06425354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72800114499998 meters 0.09322317144608493 Centerline is valid? [True, True] Translation: X:163.00, Y:-2.95, Z:-3.06 [[ 9.99999645e-01 3.21148924e-04 7.78620673e-04 1.63001066e+02] [-3.21086072e-04 9.99999945e-01 -8.08453227e-05 -2.95132007e+00] [-7.78646594e-04 8.05952897e-05 9.99999694e-01 -3.06332971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75800114499998 meters 0.09580034578107134 Centerline is valid? [True, True] Translation: X:163.03, Y:-2.96, Z:-3.06 [[ 9.99997688e-01 -7.57315471e-04 2.01246011e-03 1.63030581e+02] [ 7.57736721e-04 9.99999691e-01 -2.08566748e-04 -2.96251592e+00] [-2.01230154e-03 2.10091181e-04 9.99997953e-01 -3.06451127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78800114499998 meters 0.09647497719578067 Centerline is valid? [True, True] Translation: X:163.06, Y:-2.97, Z:-3.07 [[ 9.99997392e-01 -1.92782636e-03 1.22488663e-03 1.63061466e+02] [ 1.92798262e-03 9.99998133e-01 -1.26400317e-04 -2.96838336e+00] [-1.22464067e-03 1.28761548e-04 9.99999242e-01 -3.06623902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81800114499998 meters 0.09748151594957077 Centerline is valid? [True, True] Translation: X:163.09, Y:-2.98, Z:-3.07 [[ 9.99991280e-01 -4.11992139e-03 -6.83334769e-04 1.63091329e+02] [ 4.11997088e-03 9.99991510e-01 7.10434834e-05 -2.97625809e+00] [ 6.83036274e-04 -7.38581832e-05 9.99999764e-01 -3.06830030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84800114499998 meters 0.10154249604738153 Centerline is valid? [True, False] Translation: X:163.09, Y:-2.98, Z:-3.07 [[ 9.99993301e-01 -3.60056959e-03 -6.59328890e-04 1.63091686e+02] [ 3.60126983e-03 9.99992949e-01 1.06395635e-03 -2.97881522e+00] [ 6.55493392e-04 -1.06632364e-03 9.99999217e-01 -3.06896322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87800114499998 meters 0.09916694644443673 Centerline is valid? [False, True] Translation: X:163.09, Y:-2.98, Z:-3.07 [[ 9.99995258e-01 -3.01406637e-03 -6.32208892e-04 1.63092068e+02] [ 3.01541566e-03 9.99993155e-01 2.14426215e-03 -2.98162369e+00] [ 6.25741616e-04 -2.14615836e-03 9.99997501e-01 -3.06964319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.908001145 meters 0.0973924800863324 Centerline is valid? [True, True] Translation: X:163.12, Y:-2.98, Z:-3.07 [[ 9.99993151e-01 -3.69921638e-03 1.18049311e-04 1.63123245e+02] [ 3.69921780e-03 9.99993158e-01 -1.18577930e-05 -2.98375961e+00] [-1.18004639e-04 1.22944019e-05 9.99999993e-01 -3.06831398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.938001145 meters 0.10173538886176589 Centerline is valid? [True, False] Translation: X:163.12, Y:-2.99, Z:-3.07 [[ 9.99995120e-01 -3.09841952e-03 3.98672537e-04 1.63123030e+02] [ 3.09778711e-03 9.99993958e-01 1.57723482e-03 -2.98869372e+00] [-4.03557063e-04 -1.57599212e-03 9.99998677e-01 -3.06892729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96800114499996 meters 0.10570969226260514 Centerline is valid? [False, False] Translation: X:163.12, Y:-2.99, Z:-3.07 [[ 9.99995446e-01 -2.95715288e-03 6.03445279e-04 1.63122546e+02] [ 2.95585957e-03 9.99993357e-01 2.13296679e-03 -2.99080497e+00] [-6.09748779e-04 -2.13117338e-03 9.99997543e-01 -3.06886228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99800114499996 meters 0.10681927062007764 Centerline is valid? [False, False] Translation: X:163.12, Y:-2.99, Z:-3.07 [[ 9.99996222e-01 -2.65806167e-03 7.01104803e-04 1.63122418e+02] [ 2.65604153e-03 9.99992364e-01 2.86673012e-03 -2.99314054e+00] [-7.08719395e-04 -2.86485712e-03 9.99995645e-01 -3.06902291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02800114499996 meters 0.0988943080616123 Centerline is valid? [False, True] Translation: X:163.12, Y:-3.00, Z:-3.07 [[ 9.99996383e-01 -2.53102735e-03 9.09705109e-04 1.63121891e+02] [ 2.52793846e-03 9.99991090e-01 3.38074758e-03 -2.99528720e+00] [-9.18253768e-04 -3.37843567e-03 9.99993871e-01 -3.06892161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05800114499996 meters 0.10904941450781257 Centerline is valid? [True, False] Translation: X:163.12, Y:-3.00, Z:-3.07 [[ 9.99983654e-01 -5.69812090e-03 4.71718186e-04 1.63123557e+02] [ 5.69773230e-03 9.99983431e-01 8.21097189e-04 -2.99919483e+00] [-4.76389081e-04 -8.18396044e-04 9.99999552e-01 -3.07005246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08800114499996 meters 0.09855578741476717 Centerline is valid? [False, True] Translation: X:163.12, Y:-3.00, Z:-3.07 [[ 9.99986951e-01 -5.08503296e-03 4.90180769e-04 1.63123952e+02] [ 5.08405425e-03 9.99985121e-01 1.97761642e-03 -3.00224640e+00] [-5.00229720e-04 -1.97509850e-03 9.99997924e-01 -3.07076783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11800114499997 meters 0.10959584595001434 Centerline is valid? [True, False] Translation: X:163.12, Y:-3.00, Z:-3.07 [[ 9.99988913e-01 -4.68596092e-03 4.64243763e-04 1.63124053e+02] [ 4.68466364e-03 9.99985226e-01 2.75712864e-03 -3.00468995e+00] [-4.77156701e-04 -2.75492324e-03 9.99996091e-01 -3.07089186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14800114499997 meters 0.09993402561022988 Centerline is valid? [False, True] Translation: X:163.12, Y:-3.01, Z:-3.07 [[ 9.99988852e-01 -4.68932072e-03 5.53733384e-04 1.63123061e+02] [ 4.68762165e-03 9.99984420e-01 3.03082191e-03 -3.00691141e+00] [-5.67937253e-04 -3.02819243e-03 9.99995254e-01 -3.06971697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17800114499997 meters 0.09974740581601102 Centerline is valid? [True, True] Translation: X:163.15, Y:-3.01, Z:-3.07 [[ 9.99991372e-01 -4.09445798e-03 -7.00267980e-04 1.63154963e+02] [ 4.09451803e-03 9.99991614e-01 8.43467763e-05 -3.00978726e+00] [ 6.99916753e-04 -8.72133085e-05 9.99999751e-01 -3.06875147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20800114499997 meters 0.10029731319069338 Centerline is valid? [True, False] Translation: X:163.16, Y:-3.01, Z:-3.07 [[ 9.99993665e-01 -3.46872852e-03 -7.98637063e-04 1.63155789e+02] [ 3.46960375e-03 9.99993379e-01 1.09713818e-03 -3.01189192e+00] [ 7.94826101e-04 -1.09990218e-03 9.99999079e-01 -3.06970063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23800114499997 meters 0.10028579642752322 Centerline is valid? [False, False] Translation: X:163.16, Y:-3.01, Z:-3.07 [[ 9.99995634e-01 -2.84531919e-03 -7.97715073e-04 1.63156322e+02] [ 2.84703660e-03 9.99993614e-01 2.16011034e-03 -3.01453839e+00] [ 7.91563775e-04 -2.16237204e-03 9.99997349e-01 -3.07051684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26800114499997 meters 0.10285012360016124 Centerline is valid? [False, False] Translation: X:163.15, Y:-3.02, Z:-3.07 [[ 9.99995834e-01 -2.86822215e-03 -3.24498161e-04 1.63154640e+02] [ 2.86909990e-03 9.99992137e-01 2.73761751e-03 -3.01860448e+00] [ 3.16643514e-04 -2.73853712e-03 9.99996200e-01 -3.06947829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29800114499997 meters 0.10437543523034487 Centerline is valid? [False, False] Translation: X:163.15, Y:-3.02, Z:-3.07 [[ 9.99997065e-01 -2.39912523e-03 -3.38824263e-04 1.63154926e+02] [ 2.40032556e-03 9.99990683e-01 3.58782386e-03 -3.02100342e+00] [ 3.30213467e-04 -3.58862661e-03 9.99993506e-01 -3.06987736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32800114499997 meters 0.10506254874045684 Centerline is valid? [False, False] Translation: X:163.15, Y:-3.02, Z:-3.07 [[ 9.99997735e-01 -2.11296787e-03 -2.55670340e-04 1.63154835e+02] [ 2.11401911e-03 9.99989014e-01 4.18375124e-03 -3.02296629e+00] [ 2.46827399e-04 -4.18428225e-03 9.99991215e-01 -3.07002603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35800114499997 meters 0.10191161818241035 Centerline is valid? [False, False] Translation: X:163.15, Y:-3.02, Z:-3.07 [[ 9.99998048e-01 -1.96827084e-03 -1.73457639e-04 1.63154598e+02] [ 1.96904736e-03 9.99987498e-01 4.59637971e-03 -3.02452443e+00] [ 1.64408550e-04 -4.59671229e-03 9.99989422e-01 -3.06996837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38800114499998 meters 0.10721174597575826 Centerline is valid? [False, False] Translation: X:163.16, Y:-3.03, Z:-3.07 [[ 9.99987105e-01 -4.99196324e-03 -9.33285741e-04 1.63157311e+02] [ 4.99360215e-03 9.99985979e-01 1.76206088e-03 -3.02589873e+00] [ 9.24476513e-04 -1.76669861e-03 9.99998012e-01 -3.07168924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41800114499998 meters 0.10627805258729159 Centerline is valid? [False, False] Translation: X:163.16, Y:-3.03, Z:-3.07 [[ 9.99989183e-01 -4.54630387e-03 -9.82350855e-04 1.63157818e+02] [ 4.54874258e-03 9.99986543e-01 2.49472102e-03 -3.02768942e+00] [ 9.70995875e-04 -2.49916249e-03 9.99996406e-01 -3.07229350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44800114499998 meters 0.10627805258729159 Centerline is valid? [False, False] Translation: X:163.16, Y:-3.03, Z:-3.07 [[ 9.99989183e-01 -4.54630387e-03 -9.82350855e-04 1.63157818e+02] [ 4.54874258e-03 9.99986543e-01 2.49472102e-03 -3.02768942e+00] [ 9.70995875e-04 -2.49916249e-03 9.99996406e-01 -3.07229350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47800114499998 meters 0.10531645711072994 Centerline is valid? [False, False] Translation: X:163.16, Y:-3.03, Z:-3.07 [[ 9.99990393e-01 -4.27638800e-03 -9.62431725e-04 1.63157845e+02] [ 4.27928912e-03 9.99986245e-01 3.03276330e-03 -3.02939794e+00] [ 9.49449214e-04 -3.03685269e-03 9.99994938e-01 -3.07244735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50800114499998 meters 0.09895523728351632 Centerline is valid? [False, True] Translation: X:163.16, Y:-3.03, Z:-3.07 [[ 9.99992908e-01 -3.65750197e-03 -8.97920722e-04 1.63157904e+02] [ 3.66125183e-03 9.99984433e-01 4.21065240e-03 -3.03324068e+00] [ 8.82506274e-04 -4.21391005e-03 9.99990732e-01 -3.07281394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53800114499998 meters 0.10181117284222857 Centerline is valid? [True, False] Translation: X:163.16, Y:-3.03, Z:-3.07 [[ 9.99975702e-01 -6.75041212e-03 -1.73970916e-03 1.63160957e+02] [ 6.75237970e-03 9.99976567e-01 1.12759940e-03 -3.03375326e+00] [ 1.73205663e-03 -1.13931918e-03 9.99997851e-01 -3.07481615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56800114499998 meters 0.10243636540644066 Centerline is valid? [False, False] Translation: X:163.16, Y:-3.04, Z:-3.07 [[ 9.99988326e-01 -4.70207935e-03 -1.11297309e-03 1.63158661e+02] [ 4.70580731e-03 9.99983246e-01 3.37097783e-03 -3.03599427e+00] [ 1.09710384e-03 -3.37617591e-03 9.99993699e-01 -3.07335323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59800114499998 meters 0.10005653939220666 Centerline is valid? [False, False] Translation: X:163.16, Y:-3.04, Z:-3.07 [[ 9.99990134e-01 -4.22963221e-03 -1.35698588e-03 1.63159299e+02] [ 4.23509946e-03 9.99982824e-01 4.05171318e-03 -3.03740180e+00] [ 1.33982532e-03 -4.05742018e-03 9.99990871e-01 -3.07355723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62800114499998 meters 0.10054661156601685 Centerline is valid? [False, False] Translation: X:163.16, Y:-3.04, Z:-3.07 [[ 9.99990501e-01 -4.13277800e-03 -1.38478447e-03 1.63159299e+02] [ 4.13863565e-03 9.99982387e-01 4.25418907e-03 -3.03819606e+00] [ 1.36717846e-03 -4.25987977e-03 9.99989992e-01 -3.07351767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.658001145 meters 0.09841633118841862 Centerline is valid? [False, True] Translation: X:163.16, Y:-3.04, Z:-3.07 [[ 9.99991041e-01 -3.99146258e-03 -1.40957212e-03 1.63159330e+02] [ 3.99782446e-03 9.99981704e-01 4.53973951e-03 -3.03923771e+00] [ 1.39142613e-03 -4.54533406e-03 9.99988702e-01 -3.07354109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.688001145 meters 0.0948532102570348 Centerline is valid? [True, True] Translation: X:163.19, Y:-3.04, Z:-3.07 [[ 9.99995034e-01 -2.81655561e-03 -1.41388308e-03 1.63190128e+02] [ 2.81677810e-03 9.99996021e-01 1.55398561e-04 -3.03731449e+00] [ 1.41343977e-03 -1.59380384e-04 9.99998988e-01 -3.07231893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71800114499996 meters 0.09301537261164275 Centerline is valid? [True, True] Translation: X:163.22, Y:-3.04, Z:-3.07 [[ 9.99998157e-01 -1.64007091e-03 -9.98030086e-04 1.63220554e+02] [ 1.64018119e-03 9.99998649e-01 1.09692549e-04 -3.04074866e+00] [ 9.97848834e-04 -1.11329297e-04 9.99999496e-01 -3.07306452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74800114499996 meters 0.09654324744678688 Centerline is valid? [True, True] Translation: X:163.25, Y:-3.05, Z:-3.07 [[ 9.99998855e-01 -6.67236329e-04 -1.35854544e-03 1.63249465e+02] [ 6.67439791e-04 9.99999766e-01 1.49316453e-04 -3.05074378e+00] [ 1.35844550e-03 -1.50223029e-04 9.99999066e-01 -3.07466176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77800114499996 meters 0.09195689667967061 Centerline is valid? [True, True] Translation: X:163.28, Y:-3.05, Z:-3.07 [[ 9.99999204e-01 -2.40222814e-05 -1.26115440e-03 1.63280312e+02] [ 2.41965640e-05 9.99999990e-01 1.38177868e-04 -3.04719061e+00] [ 1.26115106e-03 -1.38208274e-04 9.99999195e-01 -3.07379387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80800114499996 meters 0.09244344586143473 Centerline is valid? [True, True] Translation: X:163.31, Y:-3.05, Z:-3.08 [[ 9.99998837e-01 8.05935489e-04 -1.29444132e-03 1.63310077e+02] [-8.05753785e-04 9.99999665e-01 1.40887281e-04 -3.05165920e+00] [ 1.29455443e-03 -1.39844116e-04 9.99999152e-01 -3.07506814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83800114499996 meters 0.08566150410193474 Centerline is valid? [True, True] Translation: X:163.34, Y:-3.05, Z:-3.07 [[ 9.99993108e-01 3.57740101e-03 -9.92578356e-04 1.63341566e+02] [-3.57729461e-03 9.99993596e-01 1.08949200e-04 -3.04598626e+00] [ 9.92961754e-04 -1.05397704e-04 9.99999501e-01 -3.07410869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86800114499997 meters 0.09138067974055786 Centerline is valid? [True, True] Translation: X:163.37, Y:-3.06, Z:-3.08 [[ 9.99982886e-01 5.78235656e-03 -8.90336303e-04 1.63369036e+02] [-5.78227224e-03 9.99983278e-01 9.72487717e-05 -3.06043019e+00] [ 8.90883741e-04 -9.20989404e-05 9.99999599e-01 -3.07772786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89800114499997 meters 0.08626586431936621 Centerline is valid? [True, True] Translation: X:163.40, Y:-3.06, Z:-3.08 [[ 9.99970525e-01 7.48165537e-03 -1.72459552e-03 1.63399387e+02] [-7.48134128e-03 9.99971997e-01 1.88502502e-04 -3.05509307e+00] [ 1.72595754e-03 -1.75594658e-04 9.99998495e-01 -3.07619030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92800114499997 meters 0.09083900230732564 Centerline is valid? [True, True] Translation: X:163.43, Y:-3.06, Z:-3.08 [[ 9.99939458e-01 1.09322520e-02 -1.25185130e-03 1.63427658e+02] [-1.09320893e-02 9.99940234e-01 1.36664814e-04 -3.06402870e+00] [ 1.25327054e-03 -1.22971190e-04 9.99999207e-01 -3.07788433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95800114499997 meters 0.08510802736728595 Centerline is valid? [True, True] Translation: X:163.46, Y:-3.06, Z:-3.08 [[ 9.99923376e-01 1.23635684e-02 -6.20671251e-04 1.63458829e+02] [-1.23635288e-02 9.99923566e-01 6.77005538e-05 -3.05682065e+00] [ 6.21460831e-04 -6.00216794e-05 9.99999805e-01 -3.07588197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98800114499997 meters 0.08566433907042599 Centerline is valid? [True, True] Translation: X:163.49, Y:-3.06, Z:-3.08 [[ 9.99908408e-01 1.35323230e-02 2.26416958e-04 1.63487062e+02] [-1.35323175e-02 9.99908434e-01 -2.54685162e-05 -3.06133825e+00] [-2.26740874e-04 2.24022373e-05 9.99999974e-01 -3.07633843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01800114499997 meters 0.08651644779122394 Centerline is valid? [True, True] Translation: X:163.51, Y:-3.07, Z:-3.08 [[ 9.99904234e-01 1.38166384e-02 7.89042416e-04 1.63514008e+02] [-1.38165729e-02 9.99904543e-01 -8.84741604e-05 -3.06837135e+00] [-7.90189511e-04 7.75638255e-05 9.99999685e-01 -3.07789662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04800114499997 meters 0.08753258895967626 Centerline is valid? [True, True] Translation: X:163.54, Y:-3.07, Z:-3.08 [[ 9.99914980e-01 1.30305225e-02 -4.88190625e-04 1.63542540e+02] [-1.30304985e-02 9.99915098e-01 5.22980842e-05 -3.07420216e+00] [ 4.88830648e-04 -4.59322706e-05 9.99999879e-01 -3.08004717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07800114499997 meters 0.08826436095829135 Centerline is valid? [True, True] Translation: X:163.57, Y:-3.08, Z:-3.08 [[ 9.99927648e-01 1.20056782e-02 -7.49465538e-04 1.63572059e+02] [-1.20056206e-02 9.99927927e-01 8.13091525e-05 -3.07907435e+00] [ 7.50387693e-04 -7.23054708e-05 9.99999716e-01 -3.08130762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10800114499997 meters 0.09050890430374779 Centerline is valid? [True, True] Translation: X:163.60, Y:-3.09, Z:-3.08 [[ 9.99947920e-01 9.98736325e-03 -2.09996339e-03 1.63600776e+02] [-9.98690179e-03 9.99950103e-01 2.30117094e-04 -3.08678709e+00] [ 2.10215687e-03 -2.09132981e-04 9.99997769e-01 -3.08248899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13800114499998 meters 0.09229120273773334 Centerline is valid? [True, True] Translation: X:163.63, Y:-3.09, Z:-3.08 [[ 9.99958207e-01 9.06447190e-03 -1.19108625e-03 1.63627806e+02] [-9.06432528e-03 9.99958910e-01 1.28430579e-04 -3.09282125e+00] [ 1.19220146e-03 -1.17628819e-04 9.99999282e-01 -3.08333336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16800114499998 meters 0.09378422177240503 Centerline is valid? [True, True] Translation: X:163.66, Y:-3.10, Z:-3.08 [[ 9.99971880e-01 7.37186710e-03 -1.37647078e-03 1.63657958e+02] [-7.37166658e-03 9.99972818e-01 1.50699219e-04 -3.09893236e+00] [ 1.37754430e-03 -1.40548098e-04 9.99999041e-01 -3.08382909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19800114499998 meters 0.09725256592258275 Centerline is valid? [True, True] Translation: X:163.69, Y:-3.11, Z:-3.08 [[ 9.99991544e-01 4.04486469e-03 -7.41786617e-04 1.63686660e+02] [-4.04480582e-03 9.99991816e-01 8.08361902e-05 -3.10872331e+00] [ 7.42107518e-04 -7.78351239e-05 9.99999722e-01 -3.08408431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22800114499998 meters 0.08870719780989976 Centerline is valid? [True, True] Translation: X:163.72, Y:-3.10, Z:-3.08 [[ 9.99997058e-01 2.29351536e-03 -7.90033673e-04 1.63718286e+02] [-2.29344808e-03 9.99997366e-01 8.60548838e-05 -3.09919141e+00] [ 7.90228960e-04 -8.42427294e-05 9.99999684e-01 -3.08082712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25800114499998 meters 0.1002983502387714 Centerline is valid? [True, False] Translation: X:163.72, Y:-3.10, Z:-3.08 [[ 9.99997289e-01 2.27026889e-03 -5.17782710e-04 1.63717664e+02] [-2.27010575e-03 9.99997374e-01 3.15452607e-04 -3.10046563e+00] [ 5.18497512e-04 -3.14276331e-04 9.99999816e-01 -3.08076196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28800114499998 meters 0.10344106307241369 Centerline is valid? [False, False] Translation: X:163.72, Y:-3.10, Z:-3.08 [[ 9.99996977e-01 2.43204222e-03 -3.63063681e-04 1.63717580e+02] [-2.43176229e-03 9.99996747e-01 7.69482261e-04 -3.10189161e+00] [ 3.64933914e-04 -7.68597050e-04 9.99999638e-01 -3.08113812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31800114499998 meters 0.09513190817617131 Centerline is valid? [False, True] Translation: X:163.72, Y:-3.10, Z:-3.08 [[ 9.99997959e-01 2.01629901e-03 1.26861178e-04 1.63716283e+02] [-2.01636931e-03 9.99997812e-01 5.56424076e-04 -3.10268036e+00] [-1.25738983e-04 -5.56678739e-04 9.99999837e-01 -3.08055591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34800114499998 meters 0.09428514385064456 Centerline is valid? [True, True] Translation: X:163.75, Y:-3.10, Z:-3.08 [[ 9.99999302e-01 1.13722017e-03 -3.20819513e-04 1.63746684e+02] [-1.13720817e-03 9.99999353e-01 3.75997720e-05 -3.10377379e+00] [ 3.20862064e-04 -3.72349072e-05 9.99999948e-01 -3.08004620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37800114499998 meters 0.0956814478218105 Centerline is valid? [True, True] Translation: X:163.78, Y:-3.11, Z:-3.08 [[ 9.99999557e-01 8.00066691e-04 -4.95917554e-04 1.63775554e+02] [-8.00038182e-04 9.99999678e-01 5.76829400e-05 -3.10909576e+00] [ 4.95963544e-04 -5.72861615e-05 9.99999875e-01 -3.08078673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.408001145 meters 0.0982061540312935 Centerline is valid? [True, True] Translation: X:163.80, Y:-3.12, Z:-3.08 [[ 9.99996194e-01 2.30214498e-03 1.52029402e-03 1.63804424e+02] [-2.30187612e-03 9.99997335e-01 -1.78573611e-04 -3.11707361e+00] [-1.52070107e-03 1.75073403e-04 9.99998828e-01 -3.08192469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.438001145 meters 0.09691271178591185 Centerline is valid? [True, True] Translation: X:163.83, Y:-3.12, Z:-3.08 [[ 9.99993824e-01 3.13525657e-03 1.58786428e-03 1.63834901e+02] [-3.13496505e-03 9.99995069e-01 -1.86043925e-04 -3.11865605e+00] [-1.58843974e-03 1.81064877e-04 9.99998722e-01 -3.08225518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46800114499996 meters 0.11167173356846252 Centerline is valid? [True, False] Translation: X:163.84, Y:-3.12, Z:-3.08 [[ 9.99994347e-01 3.02087410e-03 1.47665363e-03 1.63835116e+02] [-3.02018972e-03 9.99995331e-01 -4.65481151e-04 -3.11781488e+00] [-1.47805290e-03 4.61018746e-04 9.99998801e-01 -3.08226131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49800114499996 meters 0.09570894798534495 Centerline is valid? [False, True] Translation: X:163.84, Y:-3.12, Z:-3.08 [[ 9.99995283e-01 2.82193795e-03 1.21240407e-03 1.63835659e+02] [-2.82058951e-03 9.99995403e-01 -1.11247830e-03 -3.11555208e+00] [-1.21553784e-03 1.10905336e-03 9.99998646e-01 -3.08224891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52800114499996 meters 0.1118972691714814 Centerline is valid? [True, False] Translation: X:163.84, Y:-3.11, Z:-3.08 [[ 9.99995245e-01 2.93593345e-03 9.43407641e-04 1.63836536e+02] [-2.93484582e-03 9.99995030e-01 -1.15219366e-03 -3.11462208e+00] [-9.46785716e-04 1.14941942e-03 9.99998891e-01 -3.08272291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55800114499996 meters 0.09561618375350923 Centerline is valid? [False, True] Translation: X:163.84, Y:-3.11, Z:-3.08 [[ 9.99996036e-01 2.68287170e-03 8.54549333e-04 1.63836523e+02] [-2.68142796e-03 9.99994983e-01 -1.68617402e-03 -3.11330626e+00] [-8.59068835e-04 1.68387592e-03 9.99998213e-01 -3.08240531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58800114499996 meters 0.09627539846115928 Centerline is valid? [True, True] Translation: X:163.87, Y:-3.12, Z:-3.08 [[ 9.99993620e-01 3.22219092e-03 1.54196708e-03 1.63866968e+02] [-3.22193322e-03 9.99994795e-01 -1.69576455e-04 -3.11765331e+00] [-1.54250547e-03 1.64607258e-04 9.99998797e-01 -3.08401433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61800114499997 meters 0.09682940362134662 Centerline is valid? [True, True] Translation: X:163.90, Y:-3.12, Z:-3.09 [[ 9.99983506e-01 5.43752549e-03 1.84979026e-03 1.63895604e+02] [-5.43715776e-03 9.99985198e-01 -2.03765570e-04 -3.12227389e+00] [-1.85087086e-03 1.93704608e-04 9.99998268e-01 -3.08738436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64800114499997 meters 0.09678256751872838 Centerline is valid? [True, True] Translation: X:163.93, Y:-3.13, Z:-3.09 [[ 9.99977473e-01 6.40039225e-03 2.02223895e-03 1.63925535e+02] [-6.39995478e-03 9.99979495e-01 -2.22728195e-04 -3.12582897e+00] [-2.02362303e-03 2.09780940e-04 9.99997930e-01 -3.08899891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67800114499997 meters 0.09320119718624101 Centerline is valid? [True, True] Translation: X:163.96, Y:-3.12, Z:-3.09 [[ 9.99965600e-01 7.89028459e-03 2.55790981e-03 1.63955643e+02] [-7.88958890e-03 9.99968837e-01 -2.81952932e-04 -3.12203498e+00] [-2.56005479e-03 2.61762375e-04 9.99996689e-01 -3.08842049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70800114499997 meters 0.09694539478280423 Centerline is valid? [True, True] Translation: X:163.98, Y:-3.13, Z:-3.09 [[ 9.99956991e-01 9.01555284e-03 2.17644620e-03 1.63984143e+02] [-9.01505171e-03 9.99959335e-01 -2.39952955e-04 -3.12866966e+00] [-2.17852100e-03 2.20321859e-04 9.99997603e-01 -3.08979456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73800114499997 meters 0.08653169444125756 Centerline is valid? [True, True] Translation: X:164.02, Y:-3.11, Z:-3.09 [[ 9.99940656e-01 1.06734375e-02 2.18208582e-03 1.64016412e+02] [-1.06729386e-02 9.99943014e-01 -2.40156614e-04 -3.11010208e+00] [-2.18452477e-03 2.16853094e-04 9.99997590e-01 -3.08588365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76800114499997 meters 0.09839297740498643 Centerline is valid? [True, True] Translation: X:164.04, Y:-3.13, Z:-3.09 [[ 9.99926627e-01 1.18663959e-02 2.43506900e-03 1.64042828e+02] [-1.18657792e-02 9.99929563e-01 -2.67552893e-04 -3.13219442e+00] [-2.43807237e-03 2.38639271e-04 9.99996999e-01 -3.09107086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79800114499997 meters 0.08664610070107094 Centerline is valid? [True, True] Translation: X:164.07, Y:-3.12, Z:-3.09 [[ 9.99917006e-01 1.25075672e-02 3.08885838e-03 1.64073445e+02] [-1.25065735e-02 9.99921732e-01 -3.40817620e-04 -3.11657618e+00] [-3.09287942e-03 3.02158300e-04 9.99995171e-01 -3.08766051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82800114499997 meters 0.08764798353900385 Centerline is valid? [True, True] Translation: X:164.10, Y:-3.12, Z:-3.09 [[ 9.99889616e-01 1.41332278e-02 4.58339772e-03 1.64102294e+02] [-1.41310649e-02 9.99900025e-01 -5.03941943e-04 -3.12082377e+00] [-4.59006182e-03 4.39118025e-04 9.99989369e-01 -3.08855267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85800114499997 meters 0.08117946671768396 Centerline is valid? [True, True] Translation: X:164.13, Y:-3.11, Z:-3.09 [[ 9.99874123e-01 1.52679424e-02 4.31598721e-03 1.64132982e+02] [-1.52660352e-02 9.99883355e-01 -4.74485658e-04 -3.11052896e+00] [-4.32272819e-03 4.08537919e-04 9.99990574e-01 -3.08716248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88800114499998 meters 0.08308239773020683 Centerline is valid? [True, True] Translation: X:164.16, Y:-3.11, Z:-3.09 [[ 9.99873829e-01 1.55678477e-02 3.15735703e-03 1.64160315e+02] [-1.55668247e-02 9.99878769e-01 -3.48350895e-04 -3.11462222e+00] [-3.16239733e-03 2.99156920e-04 9.99994955e-01 -3.08867366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91800114499998 meters 0.08382977982694666 Centerline is valid? [True, True] Translation: X:164.19, Y:-3.12, Z:-3.09 [[ 9.99855485e-01 1.67297948e-02 3.02054085e-03 1.64189194e+02] [-1.67288676e-02 9.99860008e-01 -3.31954897e-04 -3.11744815e+00] [-3.02567153e-03 2.81376696e-04 9.99995383e-01 -3.09039805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94800114499998 meters 0.08294404577947374 Centerline is valid? [True, True] Translation: X:164.22, Y:-3.12, Z:-3.09 [[ 9.99820250e-01 1.88349291e-02 2.17106852e-03 1.64219557e+02] [-1.88344555e-02 9.99822587e-01 -2.38379574e-04 -3.11823413e+00] [-2.17517321e-03 1.97445832e-04 9.99997615e-01 -3.09212368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97800114499998 meters 0.08298687633400419 Centerline is valid? [True, True] Translation: X:164.25, Y:-3.12, Z:-3.09 [[ 9.99787414e-01 2.05314204e-02 1.89384151e-03 1.64249678e+02] [-2.05310630e-02 9.99789194e-01 -2.07959768e-04 -3.12164001e+00] [-1.89771198e-03 1.69032980e-04 9.99998185e-01 -3.09390646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00800114499998 meters 0.08212753296497682 Centerline is valid? [True, True] Translation: X:164.28, Y:-3.12, Z:-3.10 [[ 9.99750956e-01 2.21955434e-02 2.32045239e-03 1.64280065e+02] [-2.21950116e-02 9.99753628e-01 -2.54675978e-04 -3.12322206e+00] [-2.32553337e-03 2.03110084e-04 9.99997275e-01 -3.09520422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03800114499998 meters 0.0825688344565257 Centerline is valid? [True, True] Translation: X:164.31, Y:-3.13, Z:-3.10 [[ 9.99703350e-01 2.42089139e-02 2.67214964e-03 1.64308526e+02] [-2.42082164e-02 9.99706895e-01 -2.93052447e-04 -3.12548853e+00] [-2.67846090e-03 2.28277537e-04 9.99996387e-01 -3.09513665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06800114499998 meters 0.08206327577391348 Centerline is valid? [True, True] Translation: X:164.34, Y:-3.13, Z:-3.09 [[ 9.99663695e-01 2.57321274e-02 3.21786673e-03 1.64338728e+02] [-2.57311237e-02 9.99668838e-01 -3.52918417e-04 -3.12640676e+00] [-3.22588243e-03 2.70000402e-04 9.99994760e-01 -3.09454852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09800114499998 meters 0.09594014137441739 Centerline is valid? [True, True] Translation: X:164.37, Y:-3.15, Z:-3.10 [[ 9.99636519e-01 2.65180458e-02 4.86033351e-03 1.64365002e+02] [-2.65157651e-02 9.99648253e-01 -5.33096653e-04 -3.15133040e+00] [-4.87276058e-03 4.04027421e-04 9.99988046e-01 -3.10003491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12800114499998 meters 0.08215136190178926 Centerline is valid? [True, True] Translation: X:164.40, Y:-3.13, Z:-3.09 [[ 9.99638792e-01 2.65975727e-02 3.85413435e-03 1.64396215e+02] [-2.65961363e-02 9.99646171e-01 -4.23462487e-04 -3.13049572e+00] [-3.86403372e-03 3.20804447e-04 9.99992483e-01 -3.09457692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.158001145 meters 0.07497658686565209 Centerline is valid? [True, True] Translation: X:164.43, Y:-3.12, Z:-3.09 [[ 9.99648635e-01 2.62301202e-02 3.81930903e-03 1.64425663e+02] [-2.62287060e-02 9.99655880e-01 -4.19909151e-04 -3.12192581e+00] [-3.82900900e-03 3.19586076e-04 9.99992618e-01 -3.09202595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.188001145 meters 0.08275641671437402 Centerline is valid? [True, True] Translation: X:164.45, Y:-3.14, Z:-3.10 [[ 9.99630566e-01 2.68520049e-02 4.20726755e-03 1.64451811e+02] [-2.68502983e-02 9.99639359e-01 -4.61610554e-04 -3.14138996e+00] [-4.21814540e-03 3.48473631e-04 9.99991043e-01 -3.09755887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21800114499996 meters 0.0769171787258468 Centerline is valid? [True, True] Translation: X:164.48, Y:-3.13, Z:-3.10 [[ 9.99644342e-01 2.65457057e-02 2.55239606e-03 1.64481745e+02] [-2.65450754e-02 9.99647578e-01 -2.80525317e-04 -3.13363246e+00] [-2.55894328e-03 2.12672000e-04 9.99996703e-01 -3.09590418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24800114499996 meters 0.08472930589958921 Centerline is valid? [True, True] Translation: X:164.51, Y:-3.15, Z:-3.10 [[ 9.99661919e-01 2.59590838e-02 1.47414433e-03 1.64507459e+02] [-2.59588714e-02 9.99662998e-01 -1.63025235e-04 -3.15012894e+00] [-1.47787953e-03 1.24702996e-04 9.99998900e-01 -3.10089108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27800114499996 meters 0.08318835730593707 Centerline is valid? [True, True] Translation: X:164.54, Y:-3.15, Z:-3.10 [[ 9.99668935e-01 2.56969640e-02 1.29867130e-03 1.64536014e+02] [-2.56967989e-02 9.99669772e-01 -1.43651345e-04 -3.14956350e+00] [-1.30193385e-03 1.10232092e-04 9.99999146e-01 -3.10001052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30800114499996 meters 0.08598808650671962 Centerline is valid? [True, True] Translation: X:164.56, Y:-3.16, Z:-3.10 [[ 9.99674359e-01 2.54895648e-02 1.20760960e-03 1.64562834e+02] [-2.54894219e-02 9.99675083e-01 -1.33612974e-04 -3.15737611e+00] [-1.21062297e-03 1.02788194e-04 9.99999262e-01 -3.10234134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33800114499996 meters 0.07825144136848233 Centerline is valid? [True, True] Translation: X:164.59, Y:-3.15, Z:-3.10 [[ 9.99693458e-01 2.47056553e-02 1.61905147e-03 1.64592823e+02] [-2.47053991e-02 9.99694759e-01 -1.78069023e-04 -3.14701723e+00] [-1.62295659e-03 1.38015124e-04 9.99998673e-01 -3.09862494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36800114499997 meters 0.07825144136848233 Centerline is valid? [True, True] Translation: X:164.62, Y:-3.15, Z:-3.10 [[ 9.99695839e-01 2.46091238e-02 1.61897804e-03 1.64620226e+02] [-2.46088664e-02 9.99697140e-01 -1.78744136e-04 -3.14989885e+00] [-1.62288646e-03 1.38848555e-04 9.99998673e-01 -3.09934414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39800114499997 meters 0.07978033936936386 Centerline is valid? [True, True] Translation: X:164.65, Y:-3.16, Z:-3.10 [[ 9.99715871e-01 2.37191747e-02 2.36185559e-03 1.64647137e+02] [-2.37186285e-02 9.99718640e-01 -2.58972504e-04 -3.15813361e+00] [-2.36733367e-03 2.02878947e-04 9.99997177e-01 -3.10087417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42800114499997 meters 0.08073097393963764 Centerline is valid? [True, True] Translation: X:164.68, Y:-3.16, Z:-3.10 [[ 9.99750302e-01 2.22821268e-02 1.68536284e-03 1.64675726e+02] [-2.22818472e-02 9.99751712e-01 -1.84465397e-04 -3.16313496e+00] [-1.68905467e-03 1.46866339e-04 9.99998563e-01 -3.10251011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45800114499997 meters 0.08193788879306292 Centerline is valid? [True, True] Translation: X:164.70, Y:-3.17, Z:-3.10 [[ 9.99760835e-01 2.18390749e-02 1.15183266e-03 1.64702949e+02] [-2.18389427e-02 9.99761494e-01 -1.27187493e-04 -3.16859702e+00] [-1.15433560e-03 1.02002266e-04 9.99999329e-01 -3.10309595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48800114499997 meters 0.08359187210909369 Centerline is valid? [True, True] Translation: X:164.73, Y:-3.17, Z:-3.10 [[ 9.99810219e-01 1.94774704e-02 3.92063069e-04 1.64732174e+02] [-1.94774552e-02 9.99810295e-01 -4.25945297e-05 -3.17398023e+00] [-3.92818326e-04 3.49500553e-05 9.99999922e-01 -3.10452047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51800114499997 meters 0.08474603922195342 Centerline is valid? [True, True] Translation: X:164.76, Y:-3.18, Z:-3.11 [[ 9.99834819e-01 1.81494478e-02 9.65717790e-04 1.64761508e+02] [-1.81493541e-02 9.99835281e-01 -1.05691146e-04 -3.17877225e+00] [-9.67476954e-04 8.81465335e-05 9.99999528e-01 -3.10576090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54800114499997 meters 0.08549236423242092 Centerline is valid? [True, True] Translation: X:164.79, Y:-3.18, Z:-3.11 [[ 9.99841701e-01 1.77915811e-02 1.82516480e-04 1.64789521e+02] [-1.77915774e-02 9.99841717e-01 -2.18285827e-05 -3.18332380e+00] [-1.82875956e-04 1.85778712e-05 9.99999983e-01 -3.10745076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57800114499997 meters 0.08020308265261619 Centerline is valid? [True, True] Translation: X:164.82, Y:-3.18, Z:-3.11 [[ 9.99851134e-01 1.72236156e-02 1.02823916e-03 1.64819162e+02] [-1.72235082e-02 9.99851658e-01 -1.13227854e-04 -3.17712089e+00] [-1.03003683e-03 9.55011126e-05 9.99999465e-01 -3.10574203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60800114499997 meters 0.08150427057389223 Centerline is valid? [True, True] Translation: X:164.85, Y:-3.18, Z:-3.11 [[ 9.99871183e-01 1.59522433e-02 1.77267206e-03 1.64846780e+02] [-1.59519245e-02 9.99872741e-01 -1.93839633e-04 -3.18372305e+00] [-1.77553865e-03 1.65537132e-04 9.99998410e-01 -3.10623559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63800114499998 meters 0.0814211174206133 Centerline is valid? [True, True] Translation: X:164.88, Y:-3.19, Z:-3.11 [[ 9.99880943e-01 1.51993978e-02 2.66055176e-03 1.64875392e+02] [-1.51986798e-02 9.99884451e-01 -2.89909206e-04 -3.18632946e+00] [-2.66465078e-03 2.49437816e-04 9.99996419e-01 -3.10623861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66800114499998 meters 0.08484975897320182 Centerline is valid? [True, True] Translation: X:164.90, Y:-3.19, Z:-3.11 [[ 9.99884917e-01 1.48735907e-02 2.98803468e-03 1.64902138e+02] [-1.48726836e-02 9.99889343e-01 -3.25554316e-04 -3.19389876e+00] [-2.99254619e-03 2.81076756e-04 9.99995483e-01 -3.10759679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69800114499998 meters 0.08553319224036866 Centerline is valid? [True, True] Translation: X:164.93, Y:-3.20, Z:-3.11 [[ 9.99882920e-01 1.50337987e-02 2.85156164e-03 1.64930541e+02] [-1.50329748e-02 9.99886950e-01 -3.10128200e-04 -3.19609517e+00] [-2.85590167e-03 2.67224436e-04 9.99995886e-01 -3.10813834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72800114499998 meters 0.08188302150243697 Centerline is valid? [True, True] Translation: X:164.96, Y:-3.19, Z:-3.11 [[ 9.99857076e-01 1.66678804e-02 2.82990595e-03 1.64961431e+02] [-1.66670790e-02 9.99861048e-01 -3.06518845e-04 -3.18986669e+00] [-2.83462175e-03 2.59308770e-04 9.99995949e-01 -3.10683311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75800114499998 meters 0.08427691055417551 Centerline is valid? [True, True] Translation: X:164.99, Y:-3.20, Z:-3.11 [[ 9.99841085e-01 1.74371529e-02 3.70808914e-03 1.64988465e+02] [-1.74357777e-02 9.99847904e-01 -4.02872538e-04 -3.19627450e+00] [-3.71455010e-03 3.38155097e-04 9.99993044e-01 -3.10896481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78800114499998 meters 0.08499787142084961 Centerline is valid? [True, True] Translation: X:165.02, Y:-3.20, Z:-3.11 [[ 9.99838206e-01 1.74786407e-02 4.24950303e-03 1.65016885e+02] [-1.74768394e-02 9.99847162e-01 -4.60664251e-04 -3.20000094e+00] [-4.25690533e-03 3.86321837e-04 9.99990865e-01 -3.11102774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81800114499998 meters 0.08553467531141128 Centerline is valid? [True, True] Translation: X:165.05, Y:-3.20, Z:-3.11 [[ 9.99832146e-01 1.77659233e-02 4.47795011e-03 1.65045269e+02] [-1.77639276e-02 9.99842091e-01 -4.85054927e-04 -3.20301921e+00] [-4.48586045e-03 4.05427527e-04 9.99989856e-01 -3.11269522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84800114499998 meters 0.08164742367710152 Centerline is valid? [True, True] Translation: X:165.07, Y:-3.20, Z:-3.11 [[ 9.99837121e-01 1.74712133e-02 4.52645791e-03 1.65074488e+02] [-1.74691722e-02 9.99847282e-01 -4.90059638e-04 -3.19782983e+00] [-4.53432858e-03 4.10906345e-04 9.99989635e-01 -3.11201221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87800114499998 meters 0.08499581885355689 Centerline is valid? [True, True] Translation: X:165.10, Y:-3.20, Z:-3.11 [[ 9.99843136e-01 1.72250771e-02 4.12318432e-03 1.65101626e+02] [-1.72233805e-02 9.99851567e-01 -4.46619872e-04 -3.20480250e+00] [-4.13026537e-03 3.75534641e-04 9.99991400e-01 -3.11342999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.908001145 meters 0.08229830207566731 Centerline is valid? [True, True] Translation: X:165.13, Y:-3.20, Z:-3.11 [[ 9.99871839e-01 1.56944821e-02 3.16048600e-03 1.65132370e+02] [-1.56934816e-02 9.99876792e-01 -3.41117722e-04 -3.19929878e+00] [-3.16545027e-03 2.91474975e-04 9.99994947e-01 -3.11274491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.938001145 meters 0.08529835227366382 Centerline is valid? [True, True] Translation: X:165.16, Y:-3.21, Z:-3.12 [[ 9.99887915e-01 1.47637944e-02 2.48741198e-03 1.65159754e+02] [-1.47631704e-02 9.99890982e-01 -2.69060683e-04 -3.20685098e+00] [-2.49111317e-03 2.32308438e-04 9.99996870e-01 -3.11613582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96800114499996 meters 0.08751826162164127 Centerline is valid? [True, True] Translation: X:165.19, Y:-3.21, Z:-3.12 [[ 9.99916175e-01 1.27381664e-02 2.32003818e-03 1.65189768e+02] [-1.27376203e-02 9.99918842e-01 -2.50006719e-04 -3.21389494e+00] [-2.32303451e-03 2.20433997e-04 9.99997277e-01 -3.11886094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99800114499996 meters 0.08535061201922818 Centerline is valid? [True, True] Translation: X:165.22, Y:-3.21, Z:-3.12 [[ 9.99936526e-01 1.10749044e-02 2.07154301e-03 1.65219787e+02] [-1.10744647e-02 9.99938651e-01 -2.23615124e-04 -3.21359000e+00] [-2.07389244e-03 2.00659700e-04 9.99997829e-01 -3.11936735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02800114499996 meters 0.08927276456796977 Centerline is valid? [True, True] Translation: X:165.25, Y:-3.22, Z:-3.12 [[ 9.99952922e-01 9.54001779e-03 1.77266476e-03 1.65248137e+02] [-9.53969268e-03 9.99954478e-01 -1.91767929e-04 -3.22300042e+00] [-1.77441353e-03 1.74848224e-04 9.99998410e-01 -3.12221442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05800114499996 meters 0.08925496162567939 Centerline is valid? [True, True] Translation: X:165.28, Y:-3.22, Z:-3.12 [[ 9.99973586e-01 6.50418493e-03 3.24397785e-03 1.65279084e+02] [-6.50308524e-03 9.99978794e-01 -3.49427921e-04 -3.22324215e+00] [-3.24618180e-03 3.28322827e-04 9.99994677e-01 -3.12113271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08800114499996 meters 0.09115139123793038 Centerline is valid? [True, True] Translation: X:165.31, Y:-3.23, Z:-3.12 [[ 9.99981638e-01 5.21028337e-03 3.09464169e-03 1.65309409e+02] [-5.20927651e-03 9.99986376e-01 -3.33326387e-04 -3.22761237e+00] [-3.09633626e-03 3.17199422e-04 9.99995156e-01 -3.12190966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11800114499997 meters 0.09407688296231748 Centerline is valid? [True, True] Translation: X:165.34, Y:-3.23, Z:-3.12 [[ 9.99991587e-01 2.92344481e-03 2.87740185e-03 1.65338813e+02] [-2.92256617e-03 9.99995681e-01 -3.09514811e-04 -3.23264151e+00] [-2.87829428e-03 3.01102810e-04 9.99995812e-01 -3.12261605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14800114499997 meters 0.09545385654253183 Centerline is valid? [True, True] Translation: X:165.37, Y:-3.24, Z:-3.12 [[ 9.99993330e-01 1.37769641e-03 3.38244693e-03 1.65369141e+02] [-1.37647288e-03 9.99998986e-01 -3.64030372e-04 -3.23742199e+00] [-3.38294502e-03 3.59372097e-04 9.99994213e-01 -3.12440468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17800114499997 meters 0.08826518789100102 Centerline is valid? [True, True] Translation: X:165.40, Y:-3.23, Z:-3.12 [[ 9.99992991e-01 -3.24042486e-04 3.73010121e-03 1.65401080e+02] [ 3.25542457e-04 9.99999866e-01 -4.01525735e-04 -3.22893146e+00] [-3.72997060e-03 4.02737227e-04 9.99992963e-01 -3.12257165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20800114499997 meters 0.09466941286665978 Centerline is valid? [True, True] Translation: X:165.43, Y:-3.24, Z:-3.12 [[ 9.99981012e-01 -4.30813403e-03 4.40632344e-03 1.65429359e+02] [ 4.31026783e-03 9.99990598e-01 -4.74876914e-04 -3.24273352e+00] [-4.40423618e-03 4.93860332e-04 9.99990179e-01 -3.12450196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23800114499997 meters 0.09085774379279625 Centerline is valid? [True, True] Translation: X:165.46, Y:-3.24, Z:-3.12 [[ 9.99972511e-01 -5.84818129e-03 4.55817905e-03 1.65461074e+02] [ 5.85047858e-03 9.99982765e-01 -4.90821452e-04 -3.23925073e+00] [-4.55523008e-03 5.17475488e-04 9.99989491e-01 -3.12373497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26800114499997 meters 0.09511940535759009 Centerline is valid? [True, True] Translation: X:165.49, Y:-3.25, Z:-3.13 [[ 9.99967541e-01 -6.89991134e-03 4.16028138e-03 1.65490706e+02] [ 6.90183419e-03 9.99976082e-01 -4.48011016e-04 -3.24769333e+00] [-4.15709064e-03 4.76710047e-04 9.99991246e-01 -3.12539817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29800114499997 meters 0.09763263378794458 Centerline is valid? [True, True] Translation: X:165.52, Y:-3.25, Z:-3.13 [[ 9.99964945e-01 -7.37788613e-03 3.95921059e-03 1.65521380e+02] [ 7.37962860e-03 9.99972680e-01 -4.25677003e-04 -3.25366515e+00] [-3.95596183e-03 4.54879585e-04 9.99992072e-01 -3.12670860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32800114499997 meters 0.09670620216447902 Centerline is valid? [True, True] Translation: X:165.55, Y:-3.25, Z:-3.13 [[ 9.99960932e-01 -7.78153678e-03 4.19320816e-03 1.65553986e+02] [ 7.78349449e-03 9.99969607e-01 -4.50759770e-04 -3.25450229e+00] [-4.18957311e-03 4.83379972e-04 9.99991107e-01 -3.12731169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35800114499997 meters 0.09607086490605848 Centerline is valid? [True, True] Translation: X:165.59, Y:-3.26, Z:-3.13 [[ 9.99971522e-01 -6.45831764e-03 3.90456606e-03 1.65585709e+02] [ 6.46000555e-03 9.99979046e-01 -4.19835070e-04 -3.25529975e+00] [-3.90177282e-03 4.45046632e-04 9.99992289e-01 -3.12807011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38800114499998 meters 0.09881917032213207 Centerline is valid? [True, True] Translation: X:165.62, Y:-3.26, Z:-3.13 [[ 9.99973505e-01 -6.20187860e-03 3.81117576e-03 1.65615851e+02] [ 6.20348591e-03 9.99980674e-01 -4.10059529e-04 -3.26281353e+00] [-3.80855896e-03 4.33691240e-04 9.99992653e-01 -3.13048709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41800114499998 meters 0.09772059560800292 Centerline is valid? [True, True] Translation: X:165.65, Y:-3.26, Z:-3.13 [[ 9.99975811e-01 -5.30874796e-03 4.49389855e-03 1.65646944e+02] [ 5.31097969e-03 9.99985779e-01 -4.84826691e-04 -3.26483277e+00] [-4.49126082e-03 5.08681968e-04 9.99989785e-01 -3.13186154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44800114499998 meters 0.0987389049289882 Centerline is valid? [True, True] Translation: X:165.68, Y:-3.27, Z:-3.13 [[ 9.99981187e-01 -4.10235129e-03 4.56032163e-03 1.65677884e+02] [ 4.10463789e-03 9.99991455e-01 -4.92165621e-04 -3.26737645e+00] [-4.55826363e-03 5.10874831e-04 9.99989481e-01 -3.13230263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47800114499998 meters 0.1000199128552105 Centerline is valid? [True, False] Translation: X:165.68, Y:-3.27, Z:-3.13 [[ 9.99982672e-01 -4.04979374e-03 4.27266373e-03 1.65678815e+02] [ 4.05289535e-03 9.99991530e-01 -7.17512466e-04 -3.26572909e+00] [-4.26972176e-03 7.34816692e-04 9.99990615e-01 -3.13275512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50800114499998 meters 0.09931271910619362 Centerline is valid? [False, True] Translation: X:165.68, Y:-3.26, Z:-3.13 [[ 9.99984842e-01 -3.86571190e-03 3.92061118e-03 1.65679994e+02] [ 3.86864637e-03 9.99992242e-01 -7.41166107e-04 -3.26447756e+00] [-3.91771563e-03 7.56322331e-04 9.99992040e-01 -3.13343146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53800114499998 meters 0.09149836051951839 Centerline is valid? [True, True] Translation: X:165.71, Y:-3.26, Z:-3.13 [[ 9.99988034e-01 -3.23699314e-03 3.66805296e-03 1.65713702e+02] [ 3.23844172e-03 9.99994681e-01 -3.89047707e-04 -3.25528863e+00] [-3.66677410e-03 4.00921827e-04 9.99993197e-01 -3.13209354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56800114499998 meters 0.1002107438297614 Centerline is valid? [True, False] Translation: X:165.72, Y:-3.26, Z:-3.13 [[ 9.99991413e-01 -2.52308828e-03 3.28752011e-03 1.65715488e+02] [ 2.52172744e-03 9.99996733e-01 4.18020098e-04 -3.25585938e+00] [-3.28856407e-03 -4.09726279e-04 9.99994509e-01 -3.13370009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59800114499998 meters 0.09178009775632713 Centerline is valid? [False, True] Translation: X:165.72, Y:-3.26, Z:-3.13 [[ 9.99992223e-01 -2.45485196e-03 3.08676363e-03 1.65716112e+02] [ 2.45387811e-03 9.99996938e-01 3.19238808e-04 -3.25504254e+00] [-3.08753786e-03 -3.11661783e-04 9.99995185e-01 -3.13400222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62800114499998 meters 0.09406840747094454 Centerline is valid? [True, True] Translation: X:165.75, Y:-3.26, Z:-3.13 [[ 9.99993495e-01 -1.52876746e-03 3.26685260e-03 1.65746184e+02] [ 1.52988911e-03 9.99998772e-01 -3.40870093e-04 -3.25942437e+00] [-3.26632748e-03 3.45865798e-04 9.99994606e-01 -3.13463624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.658001145 meters 0.10266642527498128 Centerline is valid? [True, False] Translation: X:165.75, Y:-3.26, Z:-3.14 [[ 9.99995488e-01 -1.19098203e-03 2.75768774e-03 1.65748074e+02] [ 1.19193505e-03 9.99999230e-01 -3.43966314e-04 -3.25723183e+00] [-2.75727596e-03 3.47251747e-04 9.99996138e-01 -3.13589060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.688001145 meters 0.09424863951497556 Centerline is valid? [False, True] Translation: X:165.75, Y:-3.26, Z:-3.14 [[ 9.99996496e-01 -7.67464817e-04 2.53341119e-03 1.65749350e+02] [ 7.67086043e-04 9.99999694e-01 1.50479945e-04 -3.25729587e+00] [-2.53352590e-03 -1.48536074e-04 9.99996780e-01 -3.13715886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71800114499996 meters 0.09553966190135575 Centerline is valid? [True, True] Translation: X:165.78, Y:-3.26, Z:-3.14 [[ 9.99994843e-01 -4.87729885e-04 3.17432968e-03 1.65780407e+02] [ 4.88771658e-04 9.99999827e-01 -3.27419241e-04 -3.26207637e+00] [-3.17416944e-03 3.28969075e-04 9.99994908e-01 -3.13870118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74800114499996 meters 0.09690602257822375 Centerline is valid? [True, True] Translation: X:165.81, Y:-3.27, Z:-3.14 [[ 9.99993016e-01 -6.10641303e-05 3.73684587e-03 1.65811852e+02] [ 6.25128159e-05 9.99999923e-01 -3.87560469e-04 -3.26621683e+00] [-3.73682191e-03 3.87791363e-04 9.99992943e-01 -3.13929289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77800114499996 meters 0.08809034305755332 Centerline is valid? [True, True] Translation: X:165.85, Y:-3.25, Z:-3.14 [[ 9.99992655e-01 6.93520519e-05 3.83209505e-03 1.65845805e+02] [-6.78287501e-05 9.99999919e-01 -3.97640020e-04 -3.25409586e+00] [-3.83212232e-03 3.97377173e-04 9.99992578e-01 -3.13680704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80800114499996 meters 0.09671266651997532 Centerline is valid? [True, True] Translation: X:165.88, Y:-3.27, Z:-3.14 [[ 9.99993078e-01 1.37047703e-04 3.71811103e-03 1.65875605e+02] [-1.35611967e-04 9.99999916e-01 -3.86396108e-04 -3.26929852e+00] [-3.71816367e-03 3.85889214e-04 9.99993013e-01 -3.14052537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83800114499996 meters 0.0917379401063692 Centerline is valid? [True, True] Translation: X:165.91, Y:-3.26, Z:-3.14 [[ 9.99994453e-01 8.90707637e-04 3.20958984e-03 1.65908812e+02] [-8.89642829e-04 9.99999549e-01 -3.33170767e-04 -3.26359178e+00] [-3.20988515e-03 3.30313530e-04 9.99994794e-01 -3.13983565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86800114499997 meters 0.09165292619973804 Centerline is valid? [True, True] Translation: X:165.94, Y:-3.26, Z:-3.14 [[ 9.99991244e-01 9.61046704e-04 4.07285881e-03 1.65940400e+02] [-9.59326672e-04 9.99999450e-01 -4.24248260e-04 -3.26397053e+00] [-4.07326429e-03 4.20337343e-04 9.99991616e-01 -3.14070312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89800114499997 meters 0.09174832628062356 Centerline is valid? [True, True] Translation: X:165.97, Y:-3.27, Z:-3.14 [[ 9.99987176e-01 1.17445912e-03 4.92626940e-03 1.65973060e+02] [-1.17196412e-03 9.99999184e-01 -5.09324730e-04 -3.26598660e+00] [-4.92686355e-03 5.03544788e-04 9.99987736e-01 -3.14055898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92800114499997 meters 0.09323320487750177 Centerline is valid? [True, True] Translation: X:166.01, Y:-3.27, Z:-3.14 [[ 9.99988500e-01 1.16175289e-03 4.65307891e-03 1.66005229e+02] [-1.15952320e-03 9.99999212e-01 -4.81856270e-04 -3.26984934e+00] [-4.65363504e-03 4.76455375e-04 9.99989058e-01 -3.14146516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95800114499997 meters 0.09632779678705257 Centerline is valid? [True, True] Translation: X:166.04, Y:-3.28, Z:-3.14 [[ 9.99987931e-01 1.52521765e-03 4.67038810e-03 1.66036346e+02] [-1.52296849e-03 9.99998723e-01 -4.85097701e-04 -3.27648103e+00] [-4.67112202e-03 4.77978992e-04 9.99988976e-01 -3.14380521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98800114499997 meters 0.09642209835478528 Centerline is valid? [True, True] Translation: X:166.07, Y:-3.28, Z:-3.15 [[ 9.99986220e-01 1.36586393e-03 5.06904510e-03 1.66067928e+02] [-1.36320434e-03 9.99998931e-01 -5.28091086e-04 -3.27950509e+00] [-5.06976098e-03 5.21173664e-04 9.99987013e-01 -3.14527866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01800114499997 meters 0.09739049305017071 Centerline is valid? [True, True] Translation: X:166.10, Y:-3.28, Z:-3.15 [[ 9.99988248e-01 1.54660233e-03 4.59469234e-03 1.66099711e+02] [-1.54441837e-03 9.99998693e-01 -4.78831383e-04 -3.28311856e+00] [-4.59542689e-03 4.71729629e-04 9.99989330e-01 -3.14695387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04800114499997 meters 0.09718451876335994 Centerline is valid? [True, True] Translation: X:166.13, Y:-3.28, Z:-3.15 [[ 9.99988647e-01 1.90386891e-03 4.36822095e-03 1.66132417e+02] [-1.90189533e-03 9.99998087e-01 -4.55913851e-04 -3.28425187e+00] [-4.36908059e-03 4.47600776e-04 9.99990355e-01 -3.14747437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07800114499997 meters 0.09287842428316015 Centerline is valid? [True, True] Translation: X:166.16, Y:-3.28, Z:-3.15 [[ 9.99992245e-01 2.25357614e-03 3.22984203e-03 1.66164985e+02] [-2.25248746e-03 9.99997405e-01 -3.40665561e-04 -3.27757814e+00] [-3.23060136e-03 3.33387741e-04 9.99994726e-01 -3.14772676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10800114499997 meters 0.09489194363200765 Centerline is valid? [True, True] Translation: X:166.20, Y:-3.28, Z:-3.15 [[ 9.99989604e-01 2.60805167e-03 3.74030981e-03 1.66195221e+02] [-2.60659177e-03 9.99996525e-01 -3.95137039e-04 -3.28344231e+00] [-3.74132735e-03 3.85383470e-04 9.99992927e-01 -3.14957048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13800114499998 meters 0.09946637006414866 Centerline is valid? [True, True] Translation: X:166.22, Y:-3.29, Z:-3.15 [[ 9.99993787e-01 2.41402307e-03 2.56890003e-03 1.66224367e+02] [-2.41333400e-03 9.99997051e-01 -2.71303258e-04 -3.29344048e+00] [-2.56954739e-03 2.65101958e-04 9.99996664e-01 -3.15302649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16800114499998 meters 0.09512863965179187 Centerline is valid? [True, True] Translation: X:166.26, Y:-3.29, Z:-3.15 [[ 9.99983785e-01 4.31897163e-03 3.71165299e-03 1.66255764e+02] [-4.31754451e-03 9.99990602e-01 -3.92424463e-04 -3.28918717e+00] [-3.71331298e-03 3.76392873e-04 9.99993035e-01 -3.15210097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19800114499998 meters 0.09509296800262491 Centerline is valid? [True, True] Translation: X:166.29, Y:-3.29, Z:-3.15 [[ 9.99984745e-01 4.50392504e-03 3.19768422e-03 1.66286275e+02] [-4.50286618e-03 9.99989805e-01 -3.38255540e-04 -3.29091501e+00] [-3.19917510e-03 3.23851636e-04 9.99994830e-01 -3.15305934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22800114499998 meters 0.09582043066929594 Centerline is valid? [True, True] Translation: X:166.32, Y:-3.29, Z:-3.15 [[ 9.99984212e-01 4.78598662e-03 2.94442920e-03 1.66316677e+02] [-4.78509005e-03 9.99988503e-01 -3.11465867e-04 -3.29387573e+00] [-2.94588601e-03 2.97371591e-04 9.99995617e-01 -3.15398739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25800114499998 meters 0.09582043066929594 Centerline is valid? [True, True] Translation: X:166.35, Y:-3.30, Z:-3.15 [[ 9.99984365e-01 4.75409161e-03 2.94435143e-03 1.66345816e+02] [-4.75319276e-03 9.99988655e-01 -3.12201171e-04 -3.29691841e+00] [-2.94580225e-03 2.98201220e-04 9.99995617e-01 -3.15475332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28800114499998 meters 0.09816802663951561 Centerline is valid? [True, True] Translation: X:166.38, Y:-3.30, Z:-3.16 [[ 9.99981758e-01 5.60425169e-03 2.25302408e-03 1.66375261e+02] [-5.60372896e-03 9.99984271e-01 -2.38255346e-04 -3.30268612e+00] [-2.25432389e-03 2.25625663e-04 9.99997434e-01 -3.15706899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31800114499998 meters 0.09681411022620423 Centerline is valid? [True, True] Translation: X:166.41, Y:-3.30, Z:-3.16 [[ 9.99973839e-01 6.93451270e-03 2.05779923e-03 1.66405435e+02] [-6.93407864e-03 9.99975935e-01 -2.17990613e-04 -3.30338715e+00] [-2.05926137e-03 2.03715968e-04 9.99997859e-01 -3.15844317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34800114499998 meters 0.09673896622616521 Centerline is valid? [True, True] Translation: X:166.43, Y:-3.31, Z:-3.16 [[ 9.99974015e-01 7.10044920e-03 1.24616251e-03 1.66434009e+02] [-7.10028851e-03 9.99974784e-01 -1.33325766e-04 -3.30598867e+00] [-1.24707776e-03 1.24474188e-04 9.99999215e-01 -3.16035795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37800114499998 meters 0.0882458892275814 Centerline is valid? [True, True] Translation: X:166.46, Y:-3.30, Z:-3.16 [[ 9.99966749e-01 8.10806539e-03 8.71345135e-04 1.66464786e+02] [-8.10798711e-03 9.99967125e-01 -9.33372347e-05 -3.29523978e+00] [-8.72073275e-04 8.62692760e-05 9.99999616e-01 -3.15859016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.408001145 meters 0.09790415420218884 Centerline is valid? [True, True] Translation: X:166.49, Y:-3.31, Z:-3.16 [[ 9.99954867e-01 9.44090310e-03 1.06414431e-03 1.66491370e+02] [-9.44078825e-03 9.99955428e-01 -1.12905943e-04 -3.31263246e+00] [-1.06516282e-03 1.02854486e-04 9.99999427e-01 -3.16333598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.438001145 meters 0.09854640249200058 Centerline is valid? [True, True] Translation: X:166.52, Y:-3.32, Z:-3.16 [[ 9.99945784e-01 1.03861971e-02 7.45552650e-04 1.66518845e+02] [-1.03861398e-02 9.99946059e-01 -8.06722445e-05 -3.31610343e+00] [-7.46350312e-04 7.29244567e-05 9.99999719e-01 -3.16452944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46800114499996 meters 0.08673070335370281 Centerline is valid? [True, True] Translation: X:166.55, Y:-3.30, Z:-3.16 [[ 9.99924070e-01 1.23145365e-02 4.55107635e-04 1.66550865e+02] [-1.23145158e-02 9.99924172e-01 -4.84474759e-05 -3.30011264e+00] [-4.55669733e-04 4.28393672e-05 9.99999895e-01 -3.16059918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49800114499996 meters 0.09297090489995363 Centerline is valid? [True, True] Translation: X:166.58, Y:-3.31, Z:-3.16 [[ 9.99904077e-01 1.38305513e-02 7.43891788e-04 1.66578355e+02] [-1.38304957e-02 9.99904351e-01 -7.97267275e-05 -3.31287558e+00] [-7.44923301e-04 6.94306876e-05 9.99999720e-01 -3.16459869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52800114499996 meters 0.08460098253472483 Centerline is valid? [True, True] Translation: X:166.61, Y:-3.30, Z:-3.16 [[ 9.99846513e-01 1.75156343e-02 3.89897740e-04 1.66610519e+02] [-1.75156198e-02 9.99846589e-01 -4.07651460e-05 -3.30203466e+00] [-3.90551953e-04 3.39295886e-05 9.99999923e-01 -3.16217306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55800114499996 meters 0.08397610329126969 Centerline is valid? [True, True] Translation: X:166.64, Y:-3.30, Z:-3.16 [[ 9.99821153e-01 1.89064601e-02 4.54885357e-04 1.66640609e+02] [-1.89064397e-02 9.99821256e-01 -4.91284698e-05 -3.30366684e+00] [-4.55732894e-04 4.05194208e-05 9.99999895e-01 -3.16214708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58800114499996 meters 0.08221229107551671 Centerline is valid? [True, True] Translation: X:166.67, Y:-3.30, Z:-3.16 [[ 9.99780807e-01 2.09134167e-02 9.83169686e-04 1.66671136e+02] [-2.09133244e-02 9.99781287e-01 -1.04063916e-04 -3.30313810e+00] [-9.85130986e-04 8.34797597e-05 9.99999511e-01 -3.16117742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61800114499997 meters 0.08026800788971214 Centerline is valid? [True, True] Translation: X:166.70, Y:-3.30, Z:-3.16 [[ 9.99708577e-01 2.40626767e-02 1.93593111e-03 1.66701972e+02] [-2.40623262e-02 9.99710439e-01 -2.04105208e-04 -3.30172232e+00] [-1.94028186e-03 1.57462721e-04 9.99998105e-01 -3.15965796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64800114499997 meters 0.07655489642980229 Centerline is valid? [True, True] Translation: X:166.73, Y:-3.30, Z:-3.16 [[ 9.99666440e-01 2.57468786e-02 2.02634968e-03 1.66732023e+02] [-2.57464966e-02 9.99668481e-01 -2.14411451e-04 -3.29823765e+00] [-2.03119833e-03 1.62168527e-04 9.99997924e-01 -3.15815896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67800114499997 meters 0.07734731961095205 Centerline is valid? [True, True] Translation: X:166.76, Y:-3.30, Z:-3.16 [[ 9.99628029e-01 2.71735764e-02 2.32370166e-03 1.66760775e+02] [-2.71730784e-02 9.99630714e-01 -2.45655291e-04 -3.30374786e+00] [-2.32951889e-03 1.82421787e-04 9.99997270e-01 -3.16005552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70800114499997 meters 0.07573547748141396 Centerline is valid? [True, True] Translation: X:166.79, Y:-3.30, Z:-3.16 [[ 9.99558583e-01 2.96690627e-02 1.54480366e-03 1.66790605e+02] [-2.96688458e-02 9.99559770e-01 -1.63141341e-04 -3.30495266e+00] [-1.54896384e-03 1.17236786e-04 9.99998793e-01 -3.16052500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73800114499997 meters 0.08366007191853407 Centerline is valid? [True, True] Translation: X:166.82, Y:-3.32, Z:-3.17 [[ 9.99528325e-01 3.07022310e-02 7.07465263e-04 1.66817061e+02] [-3.07021847e-02 9.99528574e-01 -7.62032671e-05 -3.32316466e+00] [-7.09471356e-04 5.44465948e-05 9.99999747e-01 -3.16689844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76800114499997 meters 0.07528588170397703 Centerline is valid? [True, True] Translation: X:166.85, Y:-3.31, Z:-3.16 [[ 9.99469889e-01 3.25543541e-02 3.92517021e-04 1.66848414e+02] [-3.25543401e-02 9.99469966e-01 -4.21689507e-05 -3.31133207e+00] [-3.93681757e-04 2.93684639e-05 9.99999922e-01 -3.16287320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79800114499997 meters 0.07651595823139165 Centerline is valid? [True, True] Translation: X:166.88, Y:-3.32, Z:-3.16 [[ 9.99430748e-01 3.37367873e-02 9.52978735e-05 1.66876141e+02] [-3.37367864e-02 9.99430753e-01 -1.17350070e-05 -3.31682055e+00] [-9.56395269e-05 8.51328279e-06 9.99999995e-01 -3.16442028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82800114499997 meters 0.07279777783146214 Centerline is valid? [True, True] Translation: X:166.91, Y:-3.31, Z:-3.16 [[ 9.99353828e-01 3.59421698e-02 -2.95289210e-04 1.66906254e+02] [-3.59421625e-02 9.99353871e-01 3.01722422e-05 -3.31351834e+00] [ 2.96182871e-04 -1.95394130e-05 9.99999956e-01 -3.16282659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85800114499997 meters 0.07473949387141306 Centerline is valid? [True, True] Translation: X:166.93, Y:-3.32, Z:-3.17 [[ 9.99331998e-01 3.65175144e-02 -1.42459402e-03 1.66933092e+02] [-3.65173426e-02 9.99333009e-01 1.46377389e-04 -3.32136235e+00] [ 1.42898916e-03 -9.42572205e-05 9.99998975e-01 -3.16566570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88800114499998 meters 0.07500355471182978 Centerline is valid? [True, True] Translation: X:166.96, Y:-3.33, Z:-3.17 [[ 9.99313990e-01 3.70203854e-02 -1.02004894e-03 1.66960320e+02] [-3.70202975e-02 9.99314508e-01 1.04931435e-04 -3.32571152e+00] [ 1.02323431e-03 -6.70969354e-05 9.99999474e-01 -3.16694134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91800114499998 meters 0.07624962218924584 Centerline is valid? [True, True] Translation: X:166.99, Y:-3.33, Z:-3.17 [[ 9.99296290e-01 3.75059670e-02 -4.77291688e-04 1.66987887e+02] [-3.75059482e-02 9.99296403e-01 4.83880969e-05 -3.33283554e+00] [ 4.78770709e-04 -3.04527684e-05 9.99999885e-01 -3.16820414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94800114499998 meters 0.0753415079432177 Centerline is valid? [True, True] Translation: X:167.02, Y:-3.34, Z:-3.17 [[ 9.99281122e-01 3.78968588e-02 -1.03332569e-03 1.67016418e+02] [-3.78967687e-02 9.99281654e-01 1.06626913e-04 -3.33514799e+00] [ 1.03662422e-03 -6.73905566e-05 9.99999460e-01 -3.16857384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97800114499998 meters 0.0778647137182362 Centerline is valid? [True, True] Translation: X:167.04, Y:-3.34, Z:-3.17 [[ 9.99309766e-01 3.71304988e-02 -1.14807827e-03 1.67043565e+02] [-3.71303874e-02 9.99310422e-01 1.18165173e-04 -3.34384128e+00] [ 1.15167411e-03 -7.54550201e-05 9.99999334e-01 -3.17147350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00800114499998 meters 0.07429343962480127 Centerline is valid? [True, True] Translation: X:167.07, Y:-3.34, Z:-3.17 [[ 9.99351847e-01 3.59734574e-02 -1.34052597e-03 1.67073168e+02] [-3.59733031e-02 9.99352742e-01 1.39022796e-04 -3.34110329e+00] [ 1.34465944e-03 -9.07095408e-05 9.99999092e-01 -3.16834857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03800114499998 meters 0.07738368927318509 Centerline is valid? [True, True] Translation: X:167.10, Y:-3.35, Z:-3.17 [[ 9.99391650e-01 3.48565148e-02 -1.16331175e-03 1.67100055e+02] [-3.48563991e-02 9.99392324e-01 1.19563252e-04 -3.35086326e+00] [ 1.16677239e-03 -7.89416574e-05 9.99999316e-01 -3.17089431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.06800114499998 meters 0.07903551326331378 Centerline is valid? [True, True] Translation: X:167.13, Y:-3.36, Z:-3.17 [[ 9.99439180e-01 3.34527742e-02 -1.49559721e-03 1.67127384e+02] [-3.34525800e-02 9.99440294e-01 1.54712669e-04 -3.35804064e+00] [ 1.49993568e-03 -1.04594318e-04 9.99998870e-01 -3.17229310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09800114499998 meters 0.08008313783830623 Centerline is valid? [True, True] Translation: X:167.16, Y:-3.36, Z:-3.17 [[ 9.99480483e-01 3.21923680e-02 -1.55432267e-03 1.67156140e+02] [-3.21921560e-02 9.99481685e-01 1.61184697e-04 -3.36466042e+00] [ 1.55870595e-03 -1.11063961e-04 9.99998779e-01 -3.17345832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12800114499998 meters 0.07837568079234083 Centerline is valid? [True, True] Translation: X:167.19, Y:-3.37, Z:-3.17 [[ 9.99607617e-01 2.79675105e-02 -1.55897802e-03 1.67186519e+02] [-2.79672902e-02 9.99608826e-01 1.62887657e-04 -3.36718440e+00] [ 1.56292375e-03 -1.19223352e-04 9.99998772e-01 -3.17080899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.158001145 meters 0.08721539779147201 Centerline is valid? [True, True] Translation: X:167.21, Y:-3.39, Z:-3.18 [[ 9.99668173e-01 2.57480499e-02 -7.62493462e-04 1.67213983e+02] [-2.57479969e-02 9.99668462e-01 7.92290316e-05 -3.38734759e+00] [ 7.64280660e-04 -5.95700620e-05 9.99999706e-01 -3.17648267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18800114499996 meters 0.08413551183305891 Centerline is valid? [True, True] Translation: X:167.24, Y:-3.39, Z:-3.17 [[ 9.99768664e-01 2.15072030e-02 -2.42201378e-04 1.67244166e+02] [-2.15071976e-02 9.99768693e-01 2.49111862e-05 -3.38737634e+00] [ 2.42681125e-04 -1.96963505e-05 9.99999970e-01 -3.17417287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21800114499996 meters 0.08384591895604138 Centerline is valid? [True, True] Translation: X:167.27, Y:-3.39, Z:-3.17 [[ 9.99809210e-01 1.95196098e-02 -7.26598248e-04 1.67273815e+02] [-1.95195601e-02 9.99809472e-01 7.54580352e-05 -3.39037210e+00] [ 7.27932723e-04 -6.12607604e-05 9.99999733e-01 -3.17417015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24800114499996 meters 0.08425694331059862 Centerline is valid? [True, True] Translation: X:167.30, Y:-3.39, Z:-3.17 [[ 9.99840239e-01 1.78690468e-02 -4.40132418e-04 1.67303320e+02] [-1.78690287e-02 9.99840335e-01 4.51032489e-05 -3.39489504e+00] [ 4.40868097e-04 -3.72313044e-05 9.99999902e-01 -3.17430860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27800114499996 meters 0.08546152824025051 Centerline is valid? [True, True] Translation: X:167.33, Y:-3.40, Z:-3.18 [[ 9.99868600e-01 1.61270243e-02 -1.64394535e-03 1.67332899e+02] [-1.61267645e-02 9.99869941e-01 1.71169933e-04 -3.40101601e+00] [ 1.64649200e-03 -1.44635922e-04 9.99998634e-01 -3.17626722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30800114499996 meters 0.08363353091530239 Centerline is valid? [True, True] Translation: X:167.36, Y:-3.40, Z:-3.18 [[ 9.99907348e-01 1.33832383e-02 -2.48684915e-03 1.67363763e+02] [-1.33826339e-02 9.99910415e-01 2.59528426e-04 -3.40312398e+00] [ 2.49009970e-03 -2.26223789e-04 9.99996874e-01 -3.17737185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33800114499996 meters 0.08542906572033436 Centerline is valid? [True, True] Translation: X:167.39, Y:-3.41, Z:-3.18 [[ 9.99925113e-01 1.21648927e-02 -1.33576890e-03 1.67391078e+02] [-1.21647203e-02 9.99925998e-01 1.37158756e-04 -3.41045887e+00] [ 1.33733857e-03 -1.20899229e-04 9.99999098e-01 -3.17869450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36800114499997 meters 0.08575761378507166 Centerline is valid? [True, True] Translation: X:167.42, Y:-3.42, Z:-3.18 [[ 9.99933257e-01 1.14877493e-02 -1.23043346e-03 1.67419394e+02] [-1.14876022e-02 9.99934007e-01 1.26524307e-04 -3.41510333e+00] [ 1.23180574e-03 -1.12381132e-04 9.99999235e-01 -3.17832147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39800114499997 meters 0.08740598012965253 Centerline is valid? [True, True] Translation: X:167.45, Y:-3.42, Z:-3.18 [[ 9.99938937e-01 1.10478885e-02 -2.59518902e-04 1.67446851e+02] [-1.10478824e-02 9.99938970e-01 2.48942447e-05 -3.42143564e+00] [ 2.59778092e-04 -2.20255903e-05 9.99999966e-01 -3.17850052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42800114499997 meters 0.08673583113859142 Centerline is valid? [True, True] Translation: X:167.48, Y:-3.42, Z:-3.18 [[ 9.99927521e-01 1.20306475e-02 -4.65528135e-04 1.67475855e+02] [-1.20306268e-02 9.99927628e-01 4.71773073e-05 -3.42460787e+00] [ 4.66062018e-04 -4.15732926e-05 9.99999891e-01 -3.17903989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45800114499997 meters 0.0909820010513399 Centerline is valid? [True, True] Translation: X:167.50, Y:-3.44, Z:-3.18 [[ 9.99921245e-01 1.23718664e-02 -2.10711240e-03 1.67503068e+02] [-1.23714363e-02 9.99923447e-01 2.17050319e-04 -3.43511958e+00] [ 2.10963641e-03 -1.90965219e-04 9.99997756e-01 -3.18295436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48800114499997 meters 0.08613766235267623 Centerline is valid? [True, True] Translation: X:167.53, Y:-3.43, Z:-3.18 [[ 9.99908813e-01 1.33789230e-02 -1.83554050e-03 1.67532600e+02] [-1.33785982e-02 9.99910485e-01 1.89135115e-04 -3.43044672e+00] [ 1.83790661e-03 -1.64560910e-04 9.99998298e-01 -3.18272287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51800114499997 meters 0.08460123162945205 Centerline is valid? [True, True] Translation: X:167.56, Y:-3.43, Z:-3.18 [[ 9.99868206e-01 1.60667551e-02 -2.33037578e-03 1.67562998e+02] [-1.60662340e-02 9.99870900e-01 2.42137058e-04 -3.43218455e+00] [ 2.33396528e-03 -2.04664783e-04 9.99997255e-01 -3.18369076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54800114499997 meters 0.08256503597929606 Centerline is valid? [True, True] Translation: X:167.59, Y:-3.43, Z:-3.18 [[ 9.99853210e-01 1.69637585e-02 -2.40600364e-03 1.67591752e+02] [-1.69632100e-02 9.99856084e-01 2.48221348e-04 -3.43232108e+00] [ 2.40986814e-03 -2.07371366e-04 9.99997075e-01 -3.18368204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57800114499997 meters 0.08667519737238295 Centerline is valid? [True, True] Translation: X:167.62, Y:-3.44, Z:-3.19 [[ 9.99829351e-01 1.84136154e-02 -1.48591134e-03 1.67619498e+02] [-1.84134076e-02 9.99830447e-01 1.53453819e-04 -3.44344631e+00] [ 1.48848504e-03 -1.26066941e-04 9.99998884e-01 -3.18672707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60800114499997 meters 0.08299880559992875 Centerline is valid? [True, True] Translation: X:167.65, Y:-3.44, Z:-3.19 [[ 9.99794902e-01 2.02172723e-02 -1.19030169e-03 1.67649849e+02] [-2.02171406e-02 9.99795605e-01 1.22560850e-04 -3.44044913e+00] [ 1.19253625e-03 -9.84712165e-05 9.99999284e-01 -3.18538271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63800114499998 meters 0.07747931405781483 Centerline is valid? [True, True] Translation: X:167.68, Y:-3.43, Z:-3.18 [[ 9.99707393e-01 2.41817436e-02 -6.09290606e-04 1.67681200e+02] [-2.41817096e-02 9.99707578e-01 6.30221772e-05 -3.43347528e+00] [ 6.10636422e-04 -4.82700479e-05 9.99999812e-01 -3.18317344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66800114499998 meters 0.0785024887377649 Centerline is valid? [True, True] Translation: X:167.71, Y:-3.44, Z:-3.19 [[ 9.99655834e-01 2.62183852e-02 -9.00039988e-04 1.67709913e+02] [-2.62183125e-02 9.99656237e-01 9.25292397e-05 -3.43917085e+00] [ 9.02156555e-04 -6.88998646e-05 9.99999591e-01 -3.18537062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69800114499998 meters 0.08078931277712756 Centerline is valid? [True, True] Translation: X:167.74, Y:-3.45, Z:-3.19 [[ 9.99586575e-01 2.87511621e-02 -2.22440919e-04 1.67738620e+02] [-2.87511578e-02 9.99586600e-01 2.25153969e-05 -3.44821643e+00] [ 2.22996306e-04 -1.61106545e-05 9.99999975e-01 -3.18945326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72800114499998 meters 0.07577145373732214 Centerline is valid? [True, True] Translation: X:167.77, Y:-3.44, Z:-3.19 [[ 9.99511992e-01 3.12189955e-02 -1.07324504e-03 1.67769446e+02] [-3.12188943e-02 9.99512565e-01 1.10904332e-04 -3.44322546e+00] [ 1.07618423e-03 -7.73446865e-05 9.99999418e-01 -3.18813835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75800114499998 meters 0.07215073522467579 Centerline is valid? [True, True] Translation: X:167.80, Y:-3.44, Z:-3.19 [[ 9.99338492e-01 3.63415409e-02 -1.36799793e-03 1.67800132e+02] [-3.63413809e-02 9.99339424e-01 1.41638035e-04 -3.44008214e+00] [ 1.37224160e-03 -9.18294065e-05 9.99999054e-01 -3.18617195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78800114499998 meters 0.07195880485813684 Centerline is valid? [True, True] Translation: X:167.83, Y:-3.44, Z:-3.19 [[ 9.99254336e-01 3.86102335e-02 -1.47704019e-04 1.67828743e+02] [-3.86102317e-02 9.99254347e-01 1.44588197e-05 -3.44294653e+00] [ 1.48152142e-04 -8.74515186e-06 9.99999989e-01 -3.18665831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81800114499998 meters 0.07147852253355046 Centerline is valid? [True, True] Translation: X:167.86, Y:-3.45, Z:-3.19 [[ 9.99142637e-01 4.13967344e-02 5.49237864e-04 1.67857270e+02] [-4.13967086e-02 9.99142787e-01 -5.81964217e-05 -3.44556267e+00] [-5.51176192e-04 3.54098864e-05 9.99999847e-01 -3.18656964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84800114499998 meters 0.07012213569233687 Centerline is valid? [True, True] Translation: X:167.89, Y:-3.45, Z:-3.19 [[ 9.98958477e-01 4.56280590e-02 2.01242904e-04 1.67887049e+02] [-4.56280557e-02 9.98958498e-01 -2.09452256e-05 -3.44878788e+00] [-2.01988999e-04 1.17410882e-05 9.99999980e-01 -3.18744364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87800114499998 meters 0.06979507879991957 Centerline is valid? [True, True] Translation: X:167.92, Y:-3.45, Z:-3.19 [[ 9.98854448e-01 4.78503880e-02 3.62430011e-04 1.67915664e+02] [-4.78503772e-02 9.98854514e-01 -3.83950034e-05 -3.45357943e+00] [-3.63852068e-04 2.10086072e-05 9.99999934e-01 -3.18851359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.908001145 meters 0.06904654622579617 Centerline is valid? [True, True] Translation: X:167.95, Y:-3.46, Z:-3.19 [[ 9.98762480e-01 4.97304966e-02 6.21666473e-04 1.67945186e+02] [-4.97304656e-02 9.98762673e-01 -6.52334160e-05 -3.45665182e+00] [-6.24141359e-04 3.42369251e-05 9.99999805e-01 -3.18881588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93800114499996 meters 0.07245613178128268 Centerline is valid? [True, True] Translation: X:167.97, Y:-3.47, Z:-3.19 [[ 9.98672642e-01 5.14991366e-02 8.90171035e-04 1.67971695e+02] [-5.14990730e-02 9.98673038e-01 -9.42156626e-05 -3.46957890e+00] [-8.93841837e-04 4.82476217e-05 9.99999599e-01 -3.19328165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96800114499996 meters 0.06864112651754405 Centerline is valid? [True, True] Translation: X:168.00, Y:-3.47, Z:-3.19 [[ 9.98541913e-01 5.39774838e-02 6.92559033e-04 1.68002662e+02] [-5.39774468e-02 9.98542152e-01 -7.20773421e-05 -3.46578817e+00] [-6.95439941e-04 3.45896787e-05 9.99999758e-01 -3.18934385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99800114499996 meters 0.06822422098679161 Centerline is valid? [True, True] Translation: X:168.03, Y:-3.47, Z:-3.19 [[ 9.98459408e-01 5.54768322e-02 1.06382260e-03 1.68031464e+02] [-5.54767446e-02 9.98459973e-01 -1.11683190e-04 -3.46964097e+00] [-1.06838012e-03 5.24937164e-05 9.99999428e-01 -3.18964912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02800114499996 meters 0.06851786558431672 Centerline is valid? [True, True] Translation: X:168.06, Y:-3.48, Z:-3.19 [[ 9.98458418e-01 5.54758881e-02 1.79233484e-03 1.68059200e+02] [-5.54756348e-02 9.98460023e-01 -1.90766173e-04 -3.47578896e+00] [-1.80015761e-03 9.10411778e-05 9.99998376e-01 -3.18994056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05800114499996 meters 0.06742849519461389 Centerline is valid? [True, True] Translation: X:168.09, Y:-3.48, Z:-3.19 [[ 9.98459926e-01 5.53782728e-02 3.32024086e-03 1.68087446e+02] [-5.53774216e-02 9.98465433e-01 -3.47847620e-04 -3.48055994e+00] [-3.33440892e-03 1.63445531e-04 9.99994427e-01 -3.18822602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08800114499996 meters 0.0672151166956059 Centerline is valid? [True, True] Translation: X:168.12, Y:-3.49, Z:-3.19 [[ 9.98523131e-01 5.42089370e-02 3.59826678e-03 1.68116112e+02] [-5.42079342e-02 9.98529598e-01 -3.75717331e-04 -3.48544935e+00] [-3.61334312e-03 1.80107837e-04 9.99993456e-01 -3.18773904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11800114499997 meters 0.06814327050981989 Centerline is valid? [True, True] Translation: X:168.14, Y:-3.49, Z:-3.19 [[ 9.98580973e-01 5.30741823e-02 4.37843350e-03 1.68143221e+02] [-5.30727113e-02 9.98590548e-01 -4.51540301e-04 -3.49337150e+00] [-4.39622745e-03 2.18524216e-04 9.99990313e-01 -3.18888258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14800114499997 meters 0.0693662844777968 Centerline is valid? [True, True] Translation: X:168.17, Y:-3.50, Z:-3.19 [[ 9.98715048e-01 5.04787770e-02 4.48842472e-03 1.68171077e+02] [-5.04772103e-02 9.98725106e-01 -4.61716719e-04 -3.50363112e+00] [-4.50600935e-03 2.34560277e-04 9.99989820e-01 -3.18756015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17800114499997 meters 0.0693662844777968 Centerline is valid? [True, True] Translation: X:168.20, Y:-3.51, Z:-3.19 [[ 9.98719898e-01 5.03827403e-02 4.48834198e-03 1.68198433e+02] [-5.03811691e-02 9.98729955e-01 -4.62524254e-04 -3.50633618e+00] [-4.50594482e-03 2.35804260e-04 9.99989820e-01 -3.18827933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20800114499997 meters 0.07012382190089173 Centerline is valid? [True, True] Translation: X:168.23, Y:-3.51, Z:-3.19 [[ 9.98798332e-01 4.87967612e-02 4.55710420e-03 1.68226325e+02] [-4.87951320e-02 9.98808698e-01 -4.68079576e-04 -3.51360535e+00] [-4.57451608e-03 2.45152599e-04 9.99989507e-01 -3.18905042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23800114499997 meters 0.07100480013279022 Centerline is valid? [True, True] Translation: X:168.26, Y:-3.52, Z:-3.19 [[ 9.98894550e-01 4.67569306e-02 4.84432442e-03 1.68255459e+02] [-4.67550688e-02 9.98906260e-01 -4.96925058e-04 -3.52122380e+00] [-4.86226068e-03 2.69879010e-04 9.99988143e-01 -3.18996350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26800114499997 meters 0.07228762477387991 Centerline is valid? [True, True] Translation: X:168.28, Y:-3.53, Z:-3.19 [[ 9.99054654e-01 4.32169429e-02 4.70035013e-03 1.68284638e+02] [-4.32151533e-02 9.99065673e-01 -4.81688708e-04 -3.53296102e+00] [-4.71677558e-03 2.78106995e-04 9.99988837e-01 -3.19209957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29800114499997 meters 0.07415506862176288 Centerline is valid? [True, True] Translation: X:168.31, Y:-3.54, Z:-3.19 [[ 9.99136747e-01 4.12041161e-02 5.28974929e-03 1.68311968e+02] [-4.12018160e-02 9.99150697e-01 -5.43123138e-04 -3.54239414e+00] [-5.30763560e-03 3.24707008e-04 9.99985862e-01 -3.19422529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32800114499997 meters 0.07529275781469204 Centerline is valid? [True, True] Translation: X:168.34, Y:-3.55, Z:-3.20 [[ 9.99244408e-01 3.85055077e-02 5.28575665e-03 1.68341260e+02] [-3.85031816e-02 9.99258331e-01 -5.41152754e-04 -3.54950616e+00] [-5.30267373e-03 3.37225415e-04 9.99985884e-01 -3.19536356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35800114499997 meters 0.07843084437735127 Centerline is valid? [True, True] Translation: X:168.37, Y:-3.56, Z:-3.20 [[ 9.99424696e-01 3.33380143e-02 6.23324860e-03 1.68369279e+02] [-3.33346808e-02 9.99444041e-01 -6.37963177e-04 -3.56333713e+00] [-6.25105160e-03 4.29812802e-04 9.99980370e-01 -3.19595807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38800114499998 meters 0.07409669594976148 Centerline is valid? [True, True] Translation: X:168.40, Y:-3.56, Z:-3.19 [[ 9.99507067e-01 3.07427138e-02 6.36470974e-03 1.68400559e+02] [-3.07391882e-02 9.99527227e-01 -6.51037057e-04 -3.55846922e+00] [-6.38171533e-03 4.55070128e-04 9.99979533e-01 -3.19357411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41800114499998 meters 0.08200777700966147 Centerline is valid? [True, True] Translation: X:168.43, Y:-3.58, Z:-3.20 [[ 9.99609355e-01 2.73930874e-02 5.54584200e-03 1.68427524e+02] [-2.73903572e-02 9.99624653e-01 -5.67664263e-04 -3.57984191e+00] [-5.55931046e-03 4.15539915e-04 9.99984461e-01 -3.19895331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44800114499998 meters 0.08165471066145497 Centerline is valid? [True, True] Translation: X:168.46, Y:-3.58, Z:-3.20 [[ 9.99766655e-01 2.07960026e-02 5.84485685e-03 1.68457684e+02] [-2.07928609e-02 9.99783626e-01 -5.97769835e-04 -3.58382027e+00] [-5.85602340e-03 4.76099053e-04 9.99982740e-01 -3.19841344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47800114499998 meters 0.08288278253257497 Centerline is valid? [True, True] Translation: X:168.49, Y:-3.59, Z:-3.20 [[ 9.99825561e-01 1.75300405e-02 6.44563688e-03 1.68487414e+02] [-1.75261520e-02 9.99846188e-01 -6.59266592e-04 -3.59036930e+00] [-6.45620243e-03 5.46184378e-04 9.99979009e-01 -3.19973554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50800114499998 meters 0.08029388765080463 Centerline is valid? [True, True] Translation: X:168.52, Y:-3.59, Z:-3.20 [[ 9.99869527e-01 1.50268214e-02 5.92654115e-03 1.68518075e+02] [-1.50234892e-02 9.99886957e-01 -6.06366753e-04 -3.58906543e+00] [-5.93498296e-03 5.17250311e-04 9.99982254e-01 -3.19947775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53800114499998 meters 0.08161755899536234 Centerline is valid? [True, True] Translation: X:168.55, Y:-3.59, Z:-3.20 [[ 9.99906747e-01 1.23907582e-02 5.74159670e-03 1.68548090e+02] [-1.23875887e-02 9.99923098e-01 -5.87260116e-04 -3.59480508e+00] [-5.74843176e-03 5.16080814e-04 9.99983344e-01 -3.20055828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.56800114499998 meters 0.08456616979730547 Centerline is valid? [True, True] Translation: X:168.58, Y:-3.60, Z:-3.20 [[ 9.99960086e-01 7.66041718e-03 4.59827326e-03 1.68577250e+02] [-7.65833446e-03 9.99970564e-01 -4.70372273e-04 -3.60149929e+00] [-4.60174115e-03 4.35138384e-04 9.99989317e-01 -3.20279206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59800114499998 meters 0.08614349001718898 Centerline is valid? [True, True] Translation: X:168.61, Y:-3.61, Z:-3.21 [[ 9.99981113e-01 4.98187617e-03 3.59935349e-03 1.68606839e+02] [-4.98058260e-03 9.99987529e-01 -3.68264442e-04 -3.60664580e+00] [-3.60114325e-03 3.50330609e-04 9.99993454e-01 -3.20553857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62800114499998 meters 0.08834489639468596 Centerline is valid? [True, True] Translation: X:168.64, Y:-3.61, Z:-3.21 [[ 9.99989408e-01 3.20213763e-03 3.30619481e-03 1.68635916e+02] [-3.20104286e-03 9.99994820e-01 -3.36364959e-04 -3.61297636e+00] [-3.30725477e-03 3.25778125e-04 9.99994478e-01 -3.20778920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.658001145 meters 0.08804174555198384 Centerline is valid? [True, True] Translation: X:168.67, Y:-3.61, Z:-3.21 [[ 9.99993729e-01 1.27962471e-03 3.30227881e-03 1.68666995e+02] [-1.27851741e-03 9.99999126e-01 -3.37405290e-04 -3.61492209e+00] [-3.30270767e-03 3.33181153e-04 9.99994491e-01 -3.20918649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68800114499996 meters 0.09309617514695566 Centerline is valid? [True, True] Translation: X:168.70, Y:-3.62, Z:-3.21 [[ 9.99988529e-01 -1.46974022e-03 4.55861482e-03 1.68696203e+02] [ 1.47187986e-03 9.99998808e-01 -4.66043447e-04 -3.62314307e+00] [-4.55792443e-03 4.72747835e-04 9.99989501e-01 -3.21118623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71800114499996 meters 0.09229487442945043 Centerline is valid? [True, True] Translation: X:168.73, Y:-3.62, Z:-3.21 [[ 9.99983094e-01 -2.39744027e-03 5.29757529e-03 1.68728910e+02] [ 2.40033798e-03 9.99996973e-01 -5.40696857e-04 -3.62160695e+00] [-5.29626297e-03 5.53403687e-04 9.99985822e-01 -3.21088999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74800114499996 meters 0.09613903476715956 Centerline is valid? [True, True] Translation: X:168.76, Y:-3.63, Z:-3.21 [[ 9.99981901e-01 -3.63269733e-03 4.79588927e-03 1.68758853e+02] [ 3.63508630e-03 9.99993273e-01 -4.89505345e-04 -3.62511523e+00] [-4.79407878e-03 5.06929957e-04 9.99988380e-01 -3.21397732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77800114499996 meters 0.0962872866401347 Centerline is valid? [True, True] Translation: X:168.79, Y:-3.63, Z:-3.22 [[ 9.99985485e-01 -3.60186446e-03 4.00715305e-03 1.68790847e+02] [ 3.60353264e-03 9.99993424e-01 -4.09158547e-04 -3.62597807e+00] [-4.00565297e-03 4.23592515e-04 9.99991888e-01 -3.21696385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80800114499996 meters 0.0934164227540546 Centerline is valid? [True, True] Translation: X:168.82, Y:-3.62, Z:-3.22 [[ 9.99989048e-01 -3.06439781e-03 3.53748570e-03 1.68823913e+02] [ 3.06569454e-03 9.99995236e-01 -3.61203790e-04 -3.62194172e+00] [-3.53636198e-03 3.72044685e-04 9.99993678e-01 -3.21808528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83800114499996 meters 0.0867973157438542 Centerline is valid? [True, True] Translation: X:168.86, Y:-3.61, Z:-3.22 [[ 9.99989544e-01 -3.34893697e-03 3.11390656e-03 1.68857728e+02] [ 3.34994283e-03 9.99994338e-01 -3.17862319e-04 -3.60963430e+00] [-3.11282443e-03 3.28290405e-04 9.99995101e-01 -3.21719496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86800114499997 meters 0.09659148671646643 Centerline is valid? [True, True] Translation: X:168.89, Y:-3.62, Z:-3.22 [[ 9.99993669e-01 -3.06199951e-03 1.81250410e-03 1.68887704e+02] [ 3.06233948e-03 9.99995294e-01 -1.84820966e-04 -3.62106960e+00] [-1.81192965e-03 1.90370299e-04 9.99998340e-01 -3.22273728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89800114499997 meters 0.09121748026608462 Centerline is valid? [True, True] Translation: X:168.92, Y:-3.61, Z:-3.22 [[ 9.99995438e-01 -2.72552630e-03 1.30180717e-03 1.68921125e+02] [ 2.72570051e-03 9.99996277e-01 -1.32069309e-04 -3.61112543e+00] [-1.30144237e-03 1.35617043e-04 9.99999144e-01 -3.22216322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92800114499997 meters 0.08924522593116652 Centerline is valid? [True, True] Translation: X:168.95, Y:-3.61, Z:-3.22 [[ 9.99996405e-01 -2.53105501e-03 8.84755766e-04 1.68954059e+02] [ 2.53113495e-03 9.99996793e-01 -8.92440532e-05 -3.60718318e+00] [-8.84527046e-04 9.14831687e-05 9.99999605e-01 -3.22301009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95800114499997 meters 0.09086944943529131 Centerline is valid? [True, True] Translation: X:168.99, Y:-3.61, Z:-3.23 [[ 9.99997264e-01 -2.08293526e-03 1.06488144e-03 1.68985029e+02] [ 2.08304998e-03 9.99997825e-01 -1.06637309e-04 -3.60963653e+00] [-1.06465700e-03 1.08855219e-04 9.99999427e-01 -3.22505420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98800114499997 meters 0.09172337854425264 Centerline is valid? [True, True] Translation: X:169.02, Y:-3.61, Z:-3.23 [[ 9.99998057e-01 -1.96558803e-03 -1.49646101e-04 1.69016763e+02] [ 1.96559055e-03 9.99998068e-01 1.67027148e-05 -3.61054097e+00] [ 1.49612981e-04 -1.69968253e-05 9.99999989e-01 -3.22732934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01800114499997 meters 0.09413448163293482 Centerline is valid? [True, True] Translation: X:169.05, Y:-3.61, Z:-3.23 [[ 9.99998225e-01 -1.85209635e-03 -3.45685150e-04 1.69047114e+02] [ 1.85210892e-03 9.99998284e-01 3.60363988e-05 -3.60909972e+00] [ 3.45617814e-04 -3.66765814e-05 9.99999940e-01 -3.23006097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04800114499997 meters 0.10471685001953891 Centerline is valid? [True, False] Translation: X:169.05, Y:-3.61, Z:-3.23 [[ 9.99997935e-01 -1.90548482e-03 -7.06737761e-04 1.69048401e+02] [ 1.90505720e-03 9.99998002e-01 -6.05236270e-04 -3.60589237e+00] [ 7.07889617e-04 6.03888645e-04 9.99999567e-01 -3.23075315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07800114499997 meters 0.09799309151445261 Centerline is valid? [False, True] Translation: X:169.05, Y:-3.60, Z:-3.23 [[ 9.99998278e-01 1.69741875e-03 -7.49602269e-04 1.69049258e+02] [-1.69584397e-03 9.99996364e-01 2.09648505e-03 -3.60008755e+00] [ 7.53158156e-04 -2.09521023e-03 9.99997521e-01 -3.23163551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10800114499997 meters 0.10872355207073633 Centerline is valid? [True, False] Translation: X:169.05, Y:-3.60, Z:-3.23 [[ 9.99997988e-01 1.64564511e-03 -1.14735125e-03 1.69050828e+02] [-1.64406050e-03 9.99997695e-01 1.38068636e-03 -3.59633749e+00] [ 1.14962072e-03 -1.37879727e-03 9.99998389e-01 -3.23262148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13800114499998 meters 0.09870627923799734 Centerline is valid? [False, True] Translation: X:169.05, Y:-3.59, Z:-3.23 [[ 9.99985548e-01 5.31312564e-03 -8.20683610e-04 1.69050003e+02] [-5.30928279e-03 9.99975253e-01 4.61576816e-03 -3.59384960e+00] [ 8.45187457e-04 -4.61134421e-03 9.99989011e-01 -3.23224657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16800114499998 meters 0.09279095382763576 Centerline is valid? [True, True] Translation: X:169.08, Y:-3.58, Z:-3.23 [[ 9.99987064e-01 4.79556925e-03 -1.69528031e-03 1.69080370e+02] [-4.79526171e-03 9.99988485e-01 1.85427246e-04 -3.57950353e+00] [ 1.69615002e-03 -1.77295534e-04 9.99998546e-01 -3.22893992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19800114499998 meters 0.09486351153803875 Centerline is valid? [True, True] Translation: X:169.11, Y:-3.58, Z:-3.23 [[ 9.99993683e-01 3.51710602e-03 5.14230981e-04 1.69109417e+02] [-3.51707638e-03 9.99993813e-01 -5.85236274e-05 -3.57680048e+00] [-5.14433633e-04 5.67146681e-05 9.99999866e-01 -3.22950465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22800114499998 meters 0.09574132670168917 Centerline is valid? [True, True] Translation: X:169.14, Y:-3.58, Z:-3.23 [[ 9.99993295e-01 3.29768519e-03 1.59213741e-03 1.69138787e+02] [-3.29740823e-03 9.99994548e-01 -1.76544016e-04 -3.57661536e+00] [-1.59271091e-03 1.71292905e-04 9.99998717e-01 -3.22995070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25800114499998 meters 0.10540020903401094 Centerline is valid? [True, False] Translation: X:169.14, Y:-3.57, Z:-3.23 [[ 9.99994495e-01 3.10508838e-03 1.16951891e-03 1.69140177e+02] [-3.10380278e-03 9.99994579e-01 -1.09946964e-03 -3.57232266e+00] [-1.17292652e-03 1.09583363e-03 9.99998712e-01 -3.23054967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28800114499998 meters 0.09822636370135307 Centerline is valid? [False, True] Translation: X:169.14, Y:-3.57, Z:-3.23 [[ 9.99995532e-01 2.91071664e-03 6.80597230e-04 1.69141709e+02] [-2.90930281e-03 9.99993627e-01 -2.06917653e-03 -3.56775130e+00] [-6.86615679e-04 2.06718722e-03 9.99997628e-01 -3.23114294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31800114499998 meters 0.1015812633007437 Centerline is valid? [True, False] Translation: X:169.14, Y:-3.56, Z:-3.23 [[ 9.99980189e-01 6.22247493e-03 9.49440062e-04 1.69142141e+02] [-6.22290907e-03 9.99980534e-01 4.54992404e-04 -3.56111153e+00] [-9.46590402e-04 -4.60891669e-04 9.99999446e-01 -3.23229242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34800114499998 meters 0.1019867297416364 Centerline is valid? [False, False] Translation: X:169.14, Y:-3.56, Z:-3.23 [[ 9.99981478e-01 6.03667557e-03 7.76012707e-04 1.69143057e+02] [-6.03655240e-03 9.99981767e-01 -1.60970085e-04 -3.55812597e+00] [-7.76970282e-04 1.56282662e-04 9.99999686e-01 -3.23300826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37800114499998 meters 0.10385604732759156 Centerline is valid? [False, False] Translation: X:169.14, Y:-3.56, Z:-3.23 [[ 9.99983034e-01 5.77651074e-03 7.51242956e-04 1.69143506e+02] [-5.77592486e-03 9.99983015e-01 -7.79735506e-04 -3.55556148e+00] [-7.55734347e-04 7.75383154e-04 9.99999414e-01 -3.23352528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.408001145 meters 0.10877707088018712 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.55, Z:-3.23 [[ 9.99980047e-01 -2.18256112e-04 -6.31335562e-03 1.69154331e+02] [ 2.25746517e-04 9.99999272e-01 1.18574970e-03 -3.54895537e+00] [ 6.31309223e-03 -1.18715126e-03 9.99979368e-01 -3.23083647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43800114499996 meters 0.10998014811865273 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.55, Z:-3.23 [[ 9.99980271e-01 -7.47526111e-04 -6.23683764e-03 1.69154092e+02] [ 7.49204094e-04 9.99999684e-01 2.66711820e-04 -3.54604227e+00] [ 6.23663629e-03 -2.71379223e-04 9.99980515e-01 -3.23066976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46800114499996 meters 0.1172925420733048 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99952748e-01 -1.06965075e-03 9.66213313e-03 1.69153054e+02] [ 1.05590874e-03 9.99998424e-01 1.42724390e-03 -3.54125663e+00] [-9.66364456e-03 -1.41697412e-03 9.99952302e-01 -3.23773944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49800114499996 meters 0.11861559921449707 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99952581e-01 -1.35140647e-03 9.64413479e-03 1.69153075e+02] [ 1.34323226e-03 9.99998733e-01 8.54010775e-04 -3.53930888e+00] [-9.64527669e-03 -8.41015966e-04 9.99953130e-01 -3.23765897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52800114499996 meters 0.11826419431616517 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99952296e-01 -1.57083260e-03 9.64043808e-03 1.69153091e+02] [ 1.56693133e-03 9.99998687e-01 4.12217660e-04 -3.53786812e+00] [-9.64107295e-03 -3.97092091e-04 9.99953445e-01 -3.23763717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55800114499996 meters 0.12141321375288414 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99949942e-01 -1.83340504e-03 9.83625415e-03 1.69152869e+02] [ 1.83297963e-03 9.99998319e-01 5.22646034e-05 -3.53637855e+00] [-9.83633344e-03 -3.42323336e-05 9.99951622e-01 -3.23792053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58800114499996 meters 0.1219100740811176 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99949357e-01 -1.93555578e-03 9.87613013e-03 1.69152887e+02] [ 1.93658556e-03 9.99998120e-01 -9.47075464e-05 -3.53564438e+00] [-9.87592825e-03 1.13828721e-04 9.99951225e-01 -3.23807272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61800114499997 meters 0.12402826094934337 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99949487e-01 -1.91946064e-03 9.86607957e-03 1.69153081e+02] [ 1.92047878e-03 9.99998151e-01 -9.37226816e-05 -3.53525575e+00] [-9.86588143e-03 1.12665544e-04 9.99951325e-01 -3.23832075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64800114499997 meters 0.12881813970069914 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99947752e-01 -1.72949384e-03 1.00748399e-02 1.69153130e+02] [ 1.72561278e-03 9.99998434e-01 3.93903536e-04 -3.53629235e+00] [-1.00755054e-02 -3.76497683e-04 9.99949170e-01 -3.23914046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67800114499997 meters 0.13017721961232456 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99947907e-01 -1.32451039e-03 1.01206828e-02 1.69153637e+02] [ 1.31320674e-03 9.99998507e-01 1.12344947e-03 -3.53772760e+00] [-1.01221557e-02 -1.11010040e-03 9.99948153e-01 -3.24013399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70800114499997 meters 0.13117821491087664 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99946940e-01 -1.21383638e-03 1.02295322e-02 1.69153528e+02] [ 1.19920933e-03 9.99998250e-01 1.43589764e-03 -3.53870739e+00] [-1.02312573e-02 -1.42355410e-03 9.99946646e-01 -3.24037280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73800114499997 meters 0.1325429276579759 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99946638e-01 -1.19301604e-03 1.02614767e-02 1.69153378e+02] [ 1.17735732e-03 9.99998134e-01 1.53187717e-03 -3.53919613e+00] [-1.02632851e-02 -1.51971400e-03 9.99946176e-01 -3.24025689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76800114499997 meters 0.13466998840285566 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99944862e-01 -1.36176409e-03 1.04124540e-02 1.69152479e+02] [ 1.34643205e-03 9.99997999e-01 1.47933869e-03 -3.54009933e+00] [-1.04144477e-02 -1.46523746e-03 9.99944695e-01 -3.23935910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79800114499997 meters 0.13578638358527972 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99945270e-01 -1.07887167e-03 1.04063679e-02 1.69152547e+02] [ 1.05804459e-03 9.99997427e-01 2.00667577e-03 -3.54182310e+00] [-1.04085061e-02 -1.99555554e-03 9.99943839e-01 -3.23946590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82800114499997 meters 0.1255197510514074 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.54, Z:-3.24 [[ 9.99945650e-01 -6.39302786e-04 1.04061729e-02 1.69152732e+02] [ 6.10164408e-04 9.99995885e-01 2.80303918e-03 -3.54425199e+00] [-1.04079221e-02 -2.79653735e-03 9.99941926e-01 -3.23979279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85800114499997 meters 0.13810571113745906 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.55, Z:-3.24 [[ 9.99945188e-01 -3.12682547e-04 1.04653578e-02 1.69152633e+02] [ 2.76552569e-04 9.99993998e-01 3.45360963e-03 -3.54653101e+00] [-1.04663748e-02 -3.45052611e-03 9.99939273e-01 -3.23987194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88800114499998 meters 0.12774126213068204 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.55, Z:-3.24 [[ 9.99942667e-01 -2.72400656e-04 1.07045719e-02 1.69151543e+02] [ 2.30673115e-04 9.99992372e-01 3.89914587e-03 -3.54942013e+00] [-1.07055524e-02 -3.89645307e-03 9.99935102e-01 -3.23898965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91800114499998 meters 0.1288611026673023 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.55, Z:-3.24 [[ 9.99943219e-01 -6.89936790e-05 1.06562065e-02 1.69151613e+02] [ 2.32724416e-05 9.99990795e-01 4.29063791e-03 -3.55070405e+00] [-1.06564045e-02 -4.29014629e-03 9.99934016e-01 -3.23897159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94800114499998 meters 0.12637518299707895 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.55, Z:-3.24 [[ 9.99945052e-01 3.41927569e-04 1.04773950e-02 1.69152105e+02] [-3.93591625e-04 9.99987773e-01 4.92933692e-03 -3.55257197e+00] [-1.04755815e-02 -4.93318988e-03 9.99932961e-01 -3.23918442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97800114499998 meters 0.1259836855181988 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.56, Z:-3.24 [[ 9.99949167e-01 -2.82509133e-03 9.67892042e-03 1.69153967e+02] [ 2.80641780e-03 9.99994176e-01 1.94233764e-03 -3.55613973e+00] [-9.68435133e-03 -1.91507581e-03 9.99951272e-01 -3.23949575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00800114499998 meters 0.12052773503929405 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.56, Z:-3.24 [[ 9.99950270e-01 -2.34235754e-03 9.69381654e-03 1.69154076e+02] [ 2.31450331e-03 9.99993164e-01 2.88362320e-03 -3.55911137e+00] [-9.70050475e-03 -2.86104343e-03 9.99948856e-01 -3.23979064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03800114499998 meters 0.12815921962084914 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.56, Z:-3.24 [[ 9.99950610e-01 -1.89527247e-03 9.75630837e-03 1.69154131e+02] [ 1.85798332e-03 9.99990941e-01 3.82970119e-03 -3.56196897e+00] [-9.76347831e-03 -3.81138498e-03 9.99945072e-01 -3.24015884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.06800114499998 meters 0.12815921962084914 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.56, Z:-3.24 [[ 9.99950610e-01 -1.89527247e-03 9.75630837e-03 1.69154131e+02] [ 1.85798332e-03 9.99990941e-01 3.82970119e-03 -3.56196897e+00] [-9.76347831e-03 -3.81138498e-03 9.99945072e-01 -3.24015884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09800114499998 meters 0.12777308156005399 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.56, Z:-3.24 [[ 9.99951898e-01 -1.36468276e-03 9.71283799e-03 1.69154472e+02] [ 1.31813555e-03 9.99987625e-01 4.79712787e-03 -3.56471929e+00] [-9.71926435e-03 -4.78409428e-03 9.99941322e-01 -3.24059461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12800114499998 meters 0.12305235736859417 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.57, Z:-3.24 [[ 9.99950200e-01 -8.34022191e-04 9.94493314e-03 1.69153571e+02] [ 7.73350721e-04 9.99981077e-01 6.10302747e-03 -3.57037508e+00] [-9.94983502e-03 -6.09503262e-03 9.99931923e-01 -3.23998792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.158001145 meters 0.1144074148700939 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.57, Z:-3.24 [[ 9.99944563e-01 -4.69087917e-03 9.42691956e-03 1.69154452e+02] [ 4.66977562e-03 9.99986544e-01 2.25941410e-03 -3.57185272e+00] [-9.43739135e-03 -2.21526725e-03 9.99953013e-01 -3.23967980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18800114499996 meters 0.1428598064443403 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.58, Z:-3.24 [[ 9.99947840e-01 -3.92389730e-03 9.42976044e-03 1.69154907e+02] [ 3.88916813e-03 9.99985598e-01 3.69845215e-03 -3.57577758e+00] [-9.44413698e-03 -3.66158532e-03 9.99948699e-01 -3.24045178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21800114499996 meters 0.12329124318570311 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.58, Z:-3.24 [[ 9.99947889e-01 -3.51683145e-03 9.58393582e-03 1.69154564e+02] [ 3.47204495e-03 9.99982994e-01 4.68571907e-03 -3.57924754e+00] [-9.60025173e-03 -4.65219903e-03 9.99943094e-01 -3.24047773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24800114499996 meters 0.11290362525634809 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.58, Z:-3.24 [[ 9.99932141e-01 -6.99810687e-03 9.31343732e-03 1.69154667e+02] [ 6.98212245e-03 9.99974097e-01 1.74768467e-03 -3.58427480e+00] [-9.32542656e-03 -1.68253852e-03 9.99955102e-01 -3.23981297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27800114499996 meters 0.11472276528754351 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.59, Z:-3.24 [[ 9.99933258e-01 -6.65579558e-03 9.44354122e-03 1.69154253e+02] [ 6.63119540e-03 9.99974545e-01 2.63389912e-03 -3.58745850e+00] [-9.46083152e-03 -2.57110136e-03 9.99951940e-01 -3.23964405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30800114499996 meters 0.1480346483682096 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.59, Z:-3.24 [[ 9.99935673e-01 -6.21829478e-03 9.48594680e-03 1.69154198e+02] [ 6.18424965e-03 9.99974346e-01 3.61412812e-03 -3.59052955e+00] [-9.50817716e-03 -3.55523217e-03 9.99948476e-01 -3.23975670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33800114499996 meters 0.11108598961299308 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.60, Z:-3.24 [[ 9.99938220e-01 -5.52674520e-03 9.64422953e-03 1.69153416e+02] [ 5.47655597e-03 9.99971365e-01 5.22274129e-03 -3.59703853e+00] [-9.67281812e-03 -5.16960147e-03 9.99939854e-01 -3.23917920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36800114499997 meters 0.1457845026917955 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.60, Z:-3.24 [[ 9.99941211e-01 -4.99015858e-03 9.62668773e-03 1.69153569e+02] [ 4.92947299e-03 9.99967895e-01 6.31735306e-03 -3.60040377e+00] [-9.65790326e-03 -6.26952718e-03 9.99933707e-01 -3.23948071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39800114499997 meters 0.11120382228163901 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.60, Z:-3.24 [[ 9.99944636e-01 -4.39743306e-03 9.55968651e-03 1.69153945e+02] [ 4.32624704e-03 9.99962857e-01 7.45444968e-03 -3.60359100e+00] [-9.59211188e-03 -7.41267941e-03 9.99926519e-01 -3.23996071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42800114499997 meters 0.10834610435233274 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.61, Z:-3.24 [[ 9.99997686e-01 -1.52166238e-03 1.52088183e-03 1.69149290e+02] [ 1.52554871e-03 9.99995566e-01 -2.55743123e-03 -3.60663178e+00] [-1.51698354e-03 2.55974549e-03 9.99995573e-01 -3.23650192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45800114499997 meters 0.10462510453314768 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.61, Z:-3.24 [[ 9.99998598e-01 -9.20830494e-04 1.39848402e-03 1.69149831e+02] [ 9.22842856e-04 9.99998539e-01 -1.43899614e-03 -3.60950712e+00] [-1.39715690e-03 1.44028470e-03 9.99997987e-01 -3.23708574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48800114499997 meters 0.13957819238343816 Centerline is valid? [False, False] Translation: X:169.15, Y:-3.61, Z:-3.24 [[ 9.99998939e-01 -4.52160390e-04 1.38472509e-03 1.69149990e+02] [ 4.52814798e-04 9.99999786e-01 -4.72313428e-04 -3.61228821e+00] [-1.38451123e-03 4.72939951e-04 9.99998930e-01 -3.23741909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51800114499997 meters 0.09791709460672779 Centerline is valid? [False, True] Translation: X:169.15, Y:-3.62, Z:-3.24 [[ 9.99999094e-01 2.02524846e-04 1.33074140e-03 1.69150440e+02] [-2.03543536e-04 9.99999686e-01 7.65415183e-04 -3.61546088e+00] [-1.33058596e-03 -7.65685354e-04 9.99998822e-01 -3.23805590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54800114499997 meters 0.09794848333402942 Centerline is valid? [True, True] Translation: X:169.18, Y:-3.63, Z:-3.24 [[ 9.99997329e-01 2.16124854e-03 8.19490148e-04 1.69179939e+02] [-2.16117151e-03 9.99997660e-01 -9.48781290e-05 -3.62652227e+00] [-8.19693286e-04 9.31068168e-05 9.99999660e-01 -3.23781210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57800114499997 meters 0.0946122776931104 Centerline is valid? [True, True] Translation: X:169.21, Y:-3.63, Z:-3.24 [[ 9.99994216e-01 3.09820407e-03 1.40297493e-03 1.69209903e+02] [-3.09797778e-03 9.99995188e-01 -1.63434166e-04 -3.62847405e+00] [-1.40347453e-03 1.59086835e-04 9.99999002e-01 -3.23702760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60800114499997 meters 0.09592032018102942 Centerline is valid? [True, True] Translation: X:169.24, Y:-3.64, Z:-3.24 [[ 9.99992766e-01 3.57599872e-03 1.29638380e-03 1.69238328e+02] [-3.57580591e-03 9.99993595e-01 -1.51021508e-04 -3.63745151e+00] [-1.29691555e-03 1.46384798e-04 9.99999148e-01 -3.23737497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63800114499998 meters 0.0917906300733769 Centerline is valid? [True, True] Translation: X:169.27, Y:-3.64, Z:-3.24 [[ 9.99983153e-01 5.70239132e-03 1.08427739e-03 1.69268200e+02] [-5.70225794e-03 9.99983734e-01 -1.26068322e-04 -3.64069866e+00] [-1.08497864e-03 1.19883369e-04 9.99999404e-01 -3.23508313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66800114499998 meters 0.09127810259585684 Centerline is valid? [True, True] Translation: X:169.30, Y:-3.65, Z:-3.24 [[ 9.99979377e-01 6.37313567e-03 7.92416441e-04 1.69297212e+02] [-6.37306409e-03 9.99979688e-01 -9.28152222e-05 -3.64674203e+00] [-7.92991869e-04 8.77631874e-05 9.99999682e-01 -3.23542337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69800114499998 meters 0.0890451873837384 Centerline is valid? [True, True] Translation: X:169.33, Y:-3.65, Z:-3.24 [[ 9.99978828e-01 6.46937461e-03 6.99822969e-04 1.69326284e+02] [-6.46931758e-03 9.99979070e-01 -8.37228314e-05 -3.65030756e+00] [-7.00349957e-04 7.91936818e-05 9.99999752e-01 -3.23557943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72800114499998 meters 0.09552546267264375 Centerline is valid? [True, True] Translation: X:169.35, Y:-3.67, Z:-3.24 [[ 9.99979113e-01 6.46313943e-03 2.42066604e-05 1.69352061e+02] [-6.46313933e-03 9.99979114e-01 -3.96528101e-06 -3.67378047e+00] [-2.42317830e-05 3.80874717e-06 1.00000000e+00 -3.23804222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75800114499998 meters 0.09360495250982738 Centerline is valid? [True, True] Translation: X:169.38, Y:-3.68, Z:-3.24 [[ 9.99979158e-01 6.45633335e-03 1.38007213e-05 1.69380895e+02] [-6.45633331e-03 9.99979158e-01 -3.09252948e-06 -3.67816610e+00] [-1.38204001e-05 3.00336297e-06 1.00000000e+00 -3.23788842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78800114499998 meters 0.0971621439401565 Centerline is valid? [True, True] Translation: X:169.41, Y:-3.69, Z:-3.24 [[ 9.99971565e-01 7.52840270e-03 -4.38227446e-04 1.69407689e+02] [-7.52838165e-03 9.99971660e-01 4.96740569e-05 -3.69427604e+00] [ 4.38588993e-04 -4.63735010e-05 9.99999903e-01 -3.24000580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81800114499998 meters 0.08843164062627894 Centerline is valid? [True, True] Translation: X:169.44, Y:-3.69, Z:-3.24 [[ 9.99962371e-01 8.67326047e-03 -1.75605224e-04 1.69438429e+02] [-8.67325717e-03 9.99962386e-01 1.95726904e-05 -3.68590635e+00] [ 1.75768378e-04 -1.80488846e-05 9.99999984e-01 -3.23756569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84800114499998 meters 0.08832580242189345 Centerline is valid? [True, True] Translation: X:169.47, Y:-3.69, Z:-3.24 [[ 9.99948242e-01 1.01585080e-02 -5.63844378e-04 1.69468081e+02] [-1.01584730e-02 9.99948399e-01 6.49298457e-05 -3.69192091e+00] [ 5.64474874e-04 -5.91986872e-05 9.99999839e-01 -3.23778980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87800114499998 meters 0.08774788175850406 Centerline is valid? [True, True] Translation: X:169.50, Y:-3.70, Z:-3.24 [[ 9.99932378e-01 1.16262958e-02 -2.60837659e-04 1.69497486e+02] [-1.16262886e-02 9.99932412e-01 2.93285947e-05 -3.69699345e+00] [ 2.61161012e-04 -2.62940376e-05 9.99999966e-01 -3.23848347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.908001145 meters 0.08823166579353496 Centerline is valid? [True, True] Translation: X:169.53, Y:-3.71, Z:-3.24 [[ 9.99901141e-01 1.40562817e-02 -3.59680284e-04 1.69526001e+02] [-1.40562678e-02 9.99901205e-01 4.11881183e-05 -3.70744980e+00] [ 3.60223701e-04 -3.61282841e-05 9.99999934e-01 -3.24009487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93800114499996 meters 0.08801714525317793 Centerline is valid? [True, True] Translation: X:169.55, Y:-3.71, Z:-3.24 [[ 9.99887611e-01 1.49901090e-02 -2.47738057e-04 1.69554666e+02] [-1.49901026e-02 9.99887642e-01 2.75448568e-05 -3.71332143e+00] [ 2.48123122e-04 -2.38281422e-05 9.99999969e-01 -3.24114368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96800114499996 meters 0.08867901333160669 Centerline is valid? [True, True] Translation: X:169.58, Y:-3.72, Z:-3.24 [[ 9.99868473e-01 1.61982843e-02 8.07473164e-04 1.69583399e+02] [-1.61982135e-02 9.99868796e-01 -9.41675602e-05 -3.72033652e+00] [-8.08892573e-04 8.10755520e-05 9.99999670e-01 -3.24250535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99800114499996 meters 0.08817846221681205 Centerline is valid? [True, True] Translation: X:169.61, Y:-3.72, Z:-3.24 [[ 9.99852611e-01 1.71595144e-02 -5.53900823e-04 1.69611844e+02] [-1.71594824e-02 9.99852763e-01 6.25556542e-05 -3.72463732e+00] [ 5.54892693e-04 -5.30417828e-05 9.99999845e-01 -3.24336649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02800114499996 meters 0.08958946580138608 Centerline is valid? [True, True] Translation: X:169.64, Y:-3.73, Z:-3.25 [[ 9.99833862e-01 1.82236935e-02 3.81511145e-04 1.69639253e+02] [-1.82236776e-02 9.99833934e-01 -4.52060149e-05 -3.73433434e+00] [-3.82271609e-04 3.82459684e-05 9.99999926e-01 -3.24515986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05800114499996 meters 0.08517924298459924 Centerline is valid? [True, True] Translation: X:169.67, Y:-3.73, Z:-3.24 [[ 9.99836980e-01 1.80424191e-02 6.95852142e-04 1.69668357e+02] [-1.80423664e-02 9.99837220e-01 -8.19113672e-05 -3.73176843e+00] [-6.97216750e-04 6.93431947e-05 9.99999755e-01 -3.24387492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08800114499996 meters 0.08556096116665314 Centerline is valid? [True, True] Translation: X:169.70, Y:-3.74, Z:-3.24 [[ 9.99837539e-01 1.79759252e-02 1.32722676e-03 1.69696197e+02] [-1.79757354e-02 9.99838411e-01 -1.54748872e-04 -3.73778235e+00] [-1.32979405e-03 1.30865854e-04 9.99999107e-01 -3.24419918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11800114499997 meters 0.08552651766792294 Centerline is valid? [True, True] Translation: X:169.73, Y:-3.74, Z:-3.24 [[ 9.99833215e-01 1.80931758e-02 2.48581206e-03 1.69725058e+02] [-1.80925143e-02 9.99836275e-01 -2.88341537e-04 -3.74253413e+00] [-2.49062208e-03 2.43318856e-04 9.99996869e-01 -3.24396456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14800114499997 meters 0.08673021571827783 Centerline is valid? [True, True] Translation: X:169.75, Y:-3.75, Z:-3.25 [[ 9.99843382e-01 1.75470033e-02 2.30514037e-03 1.69752282e+02] [-1.75464324e-02 9.99846014e-01 -2.67672052e-04 -3.75160324e+00] [-2.30948225e-03 2.27183141e-04 9.99997307e-01 -3.24550275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17800114499997 meters 0.0883645129320778 Centerline is valid? [True, True] Translation: X:169.78, Y:-3.76, Z:-3.25 [[ 9.99857475e-01 1.67095235e-02 2.41268506e-03 1.69779503e+02] [-1.67088972e-02 9.99860358e-01 -2.79525543e-04 -3.76066433e+00] [-2.41701888e-03 2.39172398e-04 9.99997050e-01 -3.24801883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20800114499997 meters 0.0902430001379362 Centerline is valid? [True, True] Translation: X:169.81, Y:-3.77, Z:-3.25 [[ 9.99872909e-01 1.57274107e-02 2.61043205e-03 1.69807452e+02] [-1.57266759e-02 9.99876283e-01 -3.01795672e-04 -3.76994849e+00] [-2.61485556e-03 2.60703898e-04 9.99996547e-01 -3.24943951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23800114499997 meters 0.09195033619658562 Centerline is valid? [True, True] Translation: X:169.84, Y:-3.78, Z:-3.25 [[ 9.99904624e-01 1.34957798e-02 2.93368031e-03 1.69836261e+02] [-1.34948450e-02 9.99908883e-01 -3.38182953e-04 -3.77932140e+00] [-2.93797704e-03 2.98561137e-04 9.99995640e-01 -3.24998054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26800114499997 meters 0.08770959406377715 Centerline is valid? [True, True] Translation: X:169.87, Y:-3.78, Z:-3.25 [[ 9.99917368e-01 1.25452148e-02 2.80631454e-03 1.69865928e+02] [-1.25443537e-02 9.99921264e-01 -3.24252706e-04 -3.77625308e+00] [-2.81016140e-03 2.89022510e-04 9.99996010e-01 -3.24924215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29800114499997 meters 0.08906876535460481 Centerline is valid? [True, True] Translation: X:169.89, Y:-3.78, Z:-3.25 [[ 9.99927353e-01 1.17568786e-02 2.65787223e-03 1.69894173e+02] [-1.17561036e-02 9.99930847e-01 -3.06993976e-04 -3.78371166e+00] [-2.66129772e-03 2.75725453e-04 9.99996421e-01 -3.25065449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32800114499997 meters 0.08665684979104937 Centerline is valid? [True, True] Translation: X:169.92, Y:-3.79, Z:-3.25 [[ 9.99946962e-01 1.00150933e-02 2.40244158e-03 1.69923865e+02] [-1.00144568e-02 9.99949816e-01 -2.76800732e-04 -3.78767480e+00] [-2.40509320e-03 2.52726903e-04 9.99997076e-01 -3.25163075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35800114499997 meters 0.08860733159103834 Centerline is valid? [True, True] Translation: X:169.95, Y:-3.80, Z:-3.25 [[ 9.99955862e-01 8.95604372e-03 2.83973447e-03 1.69951929e+02] [-8.95514965e-03 9.99959848e-01 -3.27401411e-04 -3.79629909e+00] [-2.84255267e-03 3.01956713e-04 9.99995914e-01 -3.25280990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38800114499998 meters 0.08965274651182153 Centerline is valid? [True, True] Translation: X:169.98, Y:-3.80, Z:-3.25 [[ 9.99962788e-01 8.34167397e-03 2.19988761e-03 1.69980891e+02] [-8.34113574e-03 9.99965180e-01 -2.53721876e-04 -3.80248821e+00] [-2.20192748e-03 2.35362873e-04 9.99997548e-01 -3.25352167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41800114499998 meters 0.09045101458590078 Centerline is valid? [True, True] Translation: X:170.01, Y:-3.81, Z:-3.25 [[ 9.99961978e-01 8.23967413e-03 2.85475644e-03 1.70009740e+02] [-8.23876828e-03 9.99966007e-01 -3.28925156e-04 -3.80755016e+00] [-2.85736964e-03 3.05392973e-04 9.99995871e-01 -3.25366479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44800114499998 meters 0.0899365478826345 Centerline is valid? [True, True] Translation: X:170.04, Y:-3.81, Z:-3.25 [[ 9.99951651e-01 9.01725605e-03 3.92227442e-03 1.70038842e+02] [-9.01555360e-03 9.99959257e-01 -4.51510427e-04 -3.81136442e+00] [-3.92618600e-03 4.16127122e-04 9.99992206e-01 -3.25382594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47800114499998 meters 0.08817984648284179 Centerline is valid? [True, True] Translation: X:170.07, Y:-3.81, Z:-3.25 [[ 9.99949754e-01 9.24710773e-03 3.87047094e-03 1.70068435e+02] [-9.24545208e-03 9.99957161e-01 -4.45437971e-04 -3.81276992e+00] [-3.87442414e-03 4.09631336e-04 9.99992410e-01 -3.25378783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50800114499998 meters 0.0856351994306564 Centerline is valid? [True, True] Translation: X:170.10, Y:-3.81, Z:-3.25 [[ 9.99946255e-01 9.61770214e-03 3.87134794e-03 1.70097921e+02] [-9.61604894e-03 9.99953666e-01 -4.45422299e-04 -3.81231603e+00] [-3.87545250e-03 4.08171288e-04 9.99992407e-01 -3.25415377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53800114499998 meters 0.08408892699252918 Centerline is valid? [True, True] Translation: X:170.13, Y:-3.81, Z:-3.25 [[ 9.99944628e-01 9.89899851e-03 3.57083312e-03 1.70127579e+02] [-9.89759397e-03 9.99950933e-01 -4.10793283e-04 -3.81319573e+00] [-3.57472435e-03 3.75427880e-04 9.99993540e-01 -3.25429785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.56800114499998 meters 0.08509049873517709 Centerline is valid? [True, True] Translation: X:170.16, Y:-3.82, Z:-3.26 [[ 9.99931353e-01 1.10001870e-02 4.03542997e-03 1.70156252e+02] [-1.09984044e-02 9.99939408e-01 -4.63666516e-04 -3.82006575e+00] [-4.04028587e-03 4.19251396e-04 9.99991750e-01 -3.25662111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59800114499998 meters 0.0871037936697785 Centerline is valid? [True, True] Translation: X:170.18, Y:-3.83, Z:-3.26 [[ 9.99926747e-01 1.17592586e-02 2.86710154e-03 1.70183694e+02] [-1.17583612e-02 9.99930814e-01 -3.29656492e-04 -3.82844130e+00] [-2.87077969e-03 2.95919928e-04 9.99995836e-01 -3.25908849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62800114499998 meters 0.0857613895690677 Centerline is valid? [True, True] Translation: X:170.21, Y:-3.83, Z:-3.26 [[ 9.99923434e-01 1.21908944e-02 2.12315267e-03 1.70212264e+02] [-1.21904011e-02 9.99925664e-01 -2.45094498e-04 -3.83014638e+00] [-2.12598277e-03 2.19193650e-04 9.99997716e-01 -3.25946470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.658001145 meters 0.0861803032424918 Centerline is valid? [True, True] Translation: X:170.24, Y:-3.83, Z:-3.26 [[ 9.99910025e-01 1.33165061e-02 1.61616903e-03 1.70240262e+02] [-1.33162220e-02 9.99911318e-01 -1.86461154e-04 -3.83448766e+00] [-1.61850871e-03 1.64923112e-04 9.99998677e-01 -3.26057558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68800114499996 meters 0.08623963897661174 Centerline is valid? [True, True] Translation: X:170.27, Y:-3.84, Z:-3.26 [[ 9.99874645e-01 1.58044278e-02 9.56525445e-04 1.70269661e+02] [-1.58043296e-02 9.99875098e-01 -1.10129660e-04 -3.83712324e+00] [-9.58146509e-04 9.49986115e-05 9.99999536e-01 -3.26259684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71800114499996 meters 0.08542328210235169 Centerline is valid? [True, True] Translation: X:170.30, Y:-3.84, Z:-3.26 [[ 9.99840260e-01 1.78246909e-02 1.31694554e-03 1.70299667e+02] [-1.78245070e-02 9.99841119e-01 -1.51316479e-04 -3.83839007e+00] [-1.31943347e-03 1.27818403e-04 9.99999121e-01 -3.26255785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74800114499996 meters 0.0859870451315056 Centerline is valid? [True, True] Translation: X:170.33, Y:-3.84, Z:-3.26 [[ 9.99807362e-01 1.95497161e-02 1.74550767e-03 1.70327845e+02] [-1.95493945e-02 9.99808872e-01 -2.01111590e-04 -3.84249466e+00] [-1.74910573e-03 1.66949230e-04 9.99998456e-01 -3.26301011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77800114499996 meters 0.0826288989918516 Centerline is valid? [True, True] Translation: X:170.36, Y:-3.84, Z:-3.26 [[ 9.99769181e-01 2.14481939e-02 1.24855667e-03 1.70358683e+02] [-2.14480314e-02 9.99769954e-01 -1.43410953e-04 -3.84010798e+00] [-1.25134535e-03 1.16598769e-04 9.99999210e-01 -3.26251181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80800114499996 meters 0.0861252019131613 Centerline is valid? [True, True] Translation: X:170.39, Y:-3.85, Z:-3.27 [[ 9.99765930e-01 2.16031390e-02 1.17916759e-03 1.70385438e+02] [-2.16029924e-02 9.99766619e-01 -1.36880874e-04 -3.84995663e+00] [-1.18184945e-03 1.11375286e-04 9.99999295e-01 -3.26527598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83800114499996 meters 0.08261049574793092 Centerline is valid? [True, True] Translation: X:170.41, Y:-3.85, Z:-3.26 [[ 9.99763330e-01 2.17532515e-02 2.81825832e-04 1.70414783e+02] [-2.17532428e-02 9.99763370e-01 -3.37696536e-05 -3.84640680e+00] [-2.82493743e-04 2.76310356e-05 9.99999960e-01 -3.26469064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86800114499997 meters 0.08714137555878765 Centerline is valid? [True, True] Translation: X:170.44, Y:-3.86, Z:-3.27 [[ 9.99757347e-01 2.20119342e-02 8.49353033e-04 1.70441888e+02] [-2.20118583e-02 9.99757705e-01 -9.86299354e-05 -3.85774303e+00] [-8.51318275e-04 7.99101640e-05 9.99999634e-01 -3.26737128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89800114499997 meters 0.08282769706482368 Centerline is valid? [True, True] Translation: X:170.47, Y:-3.85, Z:-3.27 [[ 9.99762945e-01 2.17434264e-02 1.13002904e-03 1.70471565e+02] [-2.17432925e-02 9.99763578e-01 -1.30653673e-04 -3.85225264e+00] [-1.13260273e-03 1.06052149e-04 9.99999353e-01 -3.26554399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92800114499997 meters 0.0841234523783432 Centerline is valid? [True, True] Translation: X:170.50, Y:-3.86, Z:-3.27 [[ 9.99774411e-01 2.11856045e-02 1.51576125e-03 1.70498362e+02] [-2.11853636e-02 9.99775550e-01 -1.74839128e-04 -3.85773424e+00] [-1.51912511e-03 1.42687733e-04 9.99998836e-01 -3.26669925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95800114499997 meters 0.08420366729274764 Centerline is valid? [True, True] Translation: X:170.53, Y:-3.86, Z:-3.27 [[ 9.99778813e-01 2.09709059e-02 1.59546261e-03 1.70527379e+02] [-2.09706394e-02 9.99780075e-01 -1.83598786e-04 -3.86098995e+00] [-1.59896196e-03 1.50100305e-04 9.99998710e-01 -3.26726231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98800114499997 meters 0.08420366729274764 Centerline is valid? [True, True] Translation: X:170.56, Y:-3.86, Z:-3.27 [[ 9.99780166e-01 2.09063004e-02 1.59547484e-03 1.70555635e+02] [-2.09060340e-02 9.99781428e-01 -1.83492013e-04 -3.86414537e+00] [-1.59896226e-03 1.50096624e-04 9.99998710e-01 -3.26791971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01800114499997 meters 0.08532376301836454 Centerline is valid? [True, True] Translation: X:170.58, Y:-3.87, Z:-3.27 [[ 9.99777907e-01 2.10517401e-02 9.80470231e-04 1.70582774e+02] [-2.10516387e-02 9.99778383e-01 -1.13623543e-04 -3.86864539e+00] [-9.82644915e-04 9.29578028e-05 9.99999513e-01 -3.27011915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04800114499997 meters 0.08572672574025571 Centerline is valid? [True, True] Translation: X:170.61, Y:-3.87, Z:-3.27 [[ 9.99780089e-01 2.09662534e-02 -4.36381624e-04 1.70611817e+02] [-2.09662343e-02 9.99780183e-01 4.82393720e-05 -3.87160306e+00] [ 4.37297099e-04 -3.90794842e-05 9.99999904e-01 -3.27121193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07800114499997 meters 0.08627068808693472 Centerline is valid? [True, True] Translation: X:170.64, Y:-3.87, Z:-3.27 [[ 9.99764104e-01 2.17140648e-02 -4.84844193e-04 1.70639458e+02] [-2.17140415e-02 9.99764221e-01 5.33664061e-05 -3.87452809e+00] [ 4.85888678e-04 -4.28258903e-05 9.99999881e-01 -3.27282238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10800114499997 meters 0.08641455329476398 Centerline is valid? [True, True] Translation: X:170.67, Y:-3.88, Z:-3.27 [[ 9.99747268e-01 2.24713587e-02 -6.62117541e-04 1.70668596e+02] [-2.24713147e-02 9.99747485e-01 7.38818437e-05 -3.87529692e+00] [ 6.63610572e-04 -5.89845197e-05 9.99999778e-01 -3.27237514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13800114499998 meters 0.08600945090657806 Centerline is valid? [True, True] Translation: X:170.70, Y:-3.88, Z:-3.27 [[ 9.99734833e-01 2.29986769e-02 -1.15061487e-03 1.70697918e+02] [-2.29985427e-02 9.99735490e-01 1.29769707e-04 -3.87734422e+00] [ 1.15329505e-03 -1.03272831e-04 9.99999330e-01 -3.27306176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16800114499998 meters 0.08748654199925018 Centerline is valid? [True, True] Translation: X:170.73, Y:-3.88, Z:-3.28 [[ 9.99728570e-01 2.32953069e-02 -3.39068408e-04 1.70725262e+02] [-2.32952957e-02 9.99728627e-01 3.67307796e-05 -3.88273513e+00] [ 3.39832049e-04 -2.88221109e-05 9.99999942e-01 -3.27510867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19800114499998 meters 0.08813846872595833 Centerline is valid? [True, True] Translation: X:170.75, Y:-3.89, Z:-3.28 [[ 9.99709621e-01 2.40732668e-02 -1.07290166e-03 1.70753057e+02] [-2.40731517e-02 9.99710192e-01 1.20088086e-04 -3.88592737e+00] [ 1.07548164e-03 -9.42250905e-05 9.99999417e-01 -3.27680619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22800114499998 meters 0.07921105346723849 Centerline is valid? [True, True] Translation: X:170.78, Y:-3.87, Z:-3.27 [[ 9.99693977e-01 2.46908771e-02 -1.52064196e-03 1.70783762e+02] [-2.46906453e-02 9.99695125e-01 1.71053903e-04 -3.87067519e+00] [ 1.52440182e-03 -1.33455926e-04 9.99998829e-01 -3.27228418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25800114499998 meters 0.07946707273481163 Centerline is valid? [True, True] Translation: X:170.81, Y:-3.87, Z:-3.27 [[ 9.99683215e-01 2.51240543e-02 -1.50033721e-03 1.70812580e+02] [-2.51238292e-02 9.99684333e-01 1.68661947e-04 -3.87229313e+00] [ 1.50410107e-03 -1.30914302e-04 9.99998860e-01 -3.27329894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28800114499998 meters 0.0799637450991729 Centerline is valid? [True, True] Translation: X:170.84, Y:-3.88, Z:-3.27 [[ 9.99667548e-01 2.57750968e-02 -6.61780064e-04 1.70840186e+02] [-2.57750540e-02 9.99667765e-01 7.31125476e-05 -3.87509036e+00] [ 6.63444681e-04 -5.60308243e-05 9.99999778e-01 -3.27420216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31800114499998 meters 0.07943150880407299 Centerline is valid? [True, True] Translation: X:170.87, Y:-3.88, Z:-3.28 [[ 9.99628806e-01 2.72139094e-02 -1.28573204e-03 1.70869946e+02] [-2.72137453e-02 9.99629627e-01 1.44942745e-04 -3.87614245e+00] [ 1.28920029e-03 -1.09899359e-04 9.99999163e-01 -3.27544606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34800114499998 meters 0.07962793644688565 Centerline is valid? [True, True] Translation: X:170.90, Y:-3.88, Z:-3.28 [[ 9.99593095e-01 2.85096556e-02 -9.18481004e-04 1.70898233e+02] [-2.85095730e-02 9.99593514e-01 1.02907124e-04 -3.87864602e+00] [ 9.21041502e-04 -7.66797489e-05 9.99999573e-01 -3.27652162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37800114499998 meters 0.07917151820809847 Centerline is valid? [True, True] Translation: X:170.93, Y:-3.88, Z:-3.28 [[ 9.99562532e-01 2.95400324e-02 -1.45963489e-03 1.70927783e+02] [-2.95398240e-02 9.99563591e-01 1.64136637e-04 -3.87872228e+00] [ 1.46384649e-03 -1.20947475e-04 9.99998921e-01 -3.27713478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.408001145 meters 0.07914515716416197 Centerline is valid? [True, True] Translation: X:170.96, Y:-3.88, Z:-3.28 [[ 9.99497088e-01 3.16805961e-02 -1.38232536e-03 1.70957029e+02] [-3.16804109e-02 9.99498038e-01 1.55721019e-04 -3.87989221e+00] [ 1.38656482e-03 -1.11850070e-04 9.99999032e-01 -3.27781641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43800114499996 meters 0.07797390759816236 Centerline is valid? [True, True] Translation: X:170.99, Y:-3.88, Z:-3.28 [[ 9.99413384e-01 3.42284555e-02 -1.14084382e-03 1.70987373e+02] [-3.42283309e-02 9.99414031e-01 1.28557357e-04 -3.87631117e+00] [ 1.14457564e-03 -8.94327638e-05 9.99999341e-01 -3.27762032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46800114499996 meters 0.07781670398860746 Centerline is valid? [True, True] Translation: X:171.02, Y:-3.88, Z:-3.28 [[ 9.99366281e-01 3.55945195e-02 2.59204992e-04 1.71017775e+02] [-3.55945130e-02 9.99366314e-01 -2.97004962e-05 -3.87750774e+00] [-2.60097913e-04 2.04553989e-05 9.99999966e-01 -3.27822410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49800114499996 meters 0.07418969611703166 Centerline is valid? [True, True] Translation: X:171.05, Y:-3.87, Z:-3.28 [[ 9.99320437e-01 3.68593880e-02 2.24863245e-04 1.71047718e+02] [-3.68593828e-02 9.99320462e-01 -2.69830031e-05 -3.87079993e+00] [-2.25705019e-04 1.86763460e-05 9.99999974e-01 -3.27665527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52800114499996 meters 0.07755968619838889 Centerline is valid? [True, True] Translation: X:171.07, Y:-3.88, Z:-3.28 [[ 9.99276066e-01 3.80376203e-02 6.95894443e-04 1.71074860e+02] [-3.80375734e-02 9.99276306e-01 -8.05635619e-05 -3.87796708e+00] [-6.98455275e-04 5.40351032e-05 9.99999755e-01 -3.28036072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55800114499996 meters 0.07466040986647189 Centerline is valid? [True, True] Translation: X:171.10, Y:-3.87, Z:-3.28 [[ 9.99260383e-01 3.84479832e-02 -6.63381823e-04 1.71104769e+02] [-3.84479429e-02 9.99260602e-01 7.33903224e-05 -3.87325328e+00] [ 6.65713029e-04 -4.78303752e-05 9.99999777e-01 -3.28018120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58800114499996 meters 0.07834774229046294 Centerline is valid? [True, True] Translation: X:171.13, Y:-3.88, Z:-3.28 [[ 9.99221262e-01 3.94462256e-02 -9.30014042e-04 1.71131569e+02] [-3.94461467e-02 9.99221693e-01 1.03058277e-04 -3.88249672e+00] [ 9.33355465e-04 -6.62925512e-05 9.99999562e-01 -3.28450128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61800114499997 meters 0.07495703234789218 Centerline is valid? [True, True] Translation: X:171.16, Y:-3.88, Z:-3.28 [[ 9.99193918e-01 4.01308935e-02 -1.01229018e-03 1.71161615e+02] [-4.01307998e-02 9.99194429e-01 1.12666130e-04 -3.87595520e+00] [ 1.01599610e-03 -7.19512973e-05 9.99999481e-01 -3.28296211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64800114499997 meters 0.07535523833049956 Centerline is valid? [True, True] Translation: X:171.19, Y:-3.87, Z:-3.28 [[ 9.99174815e-01 4.06156875e-02 -2.33268618e-04 1.71189812e+02] [-4.06156829e-02 9.99174842e-01 2.44223102e-05 -3.87434107e+00] [ 2.34068063e-04 -1.49277931e-05 9.99999972e-01 -3.28277875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67800114499997 meters 0.07366410913077785 Centerline is valid? [True, True] Translation: X:171.22, Y:-3.87, Z:-3.28 [[ 9.99180980e-01 4.04628663e-02 -3.55236751e-04 1.71219579e+02] [-4.04628552e-02 9.99181043e-01 3.84863464e-05 -3.87165698e+00] [ 3.56503095e-04 -2.40809321e-05 9.99999936e-01 -3.28240319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70800114499997 meters 0.07352031037823789 Centerline is valid? [True, True] Translation: X:171.25, Y:-3.87, Z:-3.28 [[ 9.99183747e-01 4.03824093e-02 -1.04936421e-03 1.71248421e+02] [-4.03823090e-02 9.99184295e-01 1.16589652e-04 -3.87263697e+00] [ 1.05321641e-03 -7.41187353e-05 9.99999443e-01 -3.28334921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73800114499997 meters 0.07275129678361905 Centerline is valid? [True, True] Translation: X:171.28, Y:-3.87, Z:-3.28 [[ 9.99215328e-01 3.95879082e-02 -1.23549329e-03 1.71277002e+02] [-3.95877689e-02 9.99216088e-01 1.37021931e-04 -3.87203415e+00] [ 1.23994918e-03 -8.80039910e-05 9.99999227e-01 -3.28406313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76800114499997 meters 0.07395758971194673 Centerline is valid? [True, True] Translation: X:171.31, Y:-3.87, Z:-3.29 [[ 9.99275524e-01 3.80566102e-02 -3.49272080e-04 1.71305608e+02] [-3.80565994e-02 9.99275585e-01 3.76930174e-05 -3.87441039e+00] [ 3.50453530e-04 -2.43736021e-05 9.99999938e-01 -3.28553160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79800114499997 meters 0.0761804390556584 Centerline is valid? [True, True] Translation: X:171.33, Y:-3.88, Z:-3.29 [[ 9.99319749e-01 3.68780848e-02 2.13722679e-04 1.71332515e+02] [-3.68780800e-02 9.99319772e-01 -2.62907159e-05 -3.88021402e+00] [-2.14546850e-04 1.83911496e-05 9.99999977e-01 -3.28668357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82800114499997 meters 0.08056571130607806 Centerline is valid? [True, True] Translation: X:171.36, Y:-3.89, Z:-3.29 [[ 9.99418032e-01 3.40915833e-02 1.16668526e-03 1.71361359e+02] [-3.40914530e-02 9.99418709e-01 -1.31391320e-04 -3.88811764e+00] [-1.17048642e-03 9.15408585e-05 9.99999311e-01 -3.28872008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85800114499997 meters 0.07641331011676472 Centerline is valid? [True, True] Translation: X:171.39, Y:-3.88, Z:-3.29 [[ 9.99449729e-01 3.30877666e-02 2.33203880e-03 1.71391486e+02] [-3.30872419e-02 9.99452433e-01 -2.63252901e-04 -3.88112703e+00] [-2.33947230e-03 1.85947309e-04 9.99997246e-01 -3.28663206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88800114499998 meters 0.08003642296763111 Centerline is valid? [True, True] Translation: X:171.42, Y:-3.89, Z:-3.29 [[ 9.99499971e-01 3.15745765e-02 1.68924492e-03 1.71418960e+02] [-3.15742985e-02 9.99501389e-01 -1.90986652e-04 -3.89028361e+00] [-1.69443297e-03 1.37554430e-04 9.99998555e-01 -3.29008456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91800114499998 meters 0.07941918245545339 Centerline is valid? [True, True] Translation: X:171.45, Y:-3.89, Z:-3.29 [[ 9.99545932e-01 3.00949075e-02 1.49220064e-03 1.71448959e+02] [-3.00946899e-02 9.99547038e-01 -1.68071372e-04 -3.89101922e+00] [-1.49658282e-03 1.23087741e-04 9.99998873e-01 -3.29089950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94800114499998 meters 0.08176398049153905 Centerline is valid? [True, True] Translation: X:171.48, Y:-3.89, Z:-3.29 [[ 9.99626659e-01 2.72928225e-02 1.28262634e-03 1.71478160e+02] [-2.72926597e-02 9.99627476e-01 -1.44269960e-04 -3.89382922e+00] [-1.28608606e-03 1.09209814e-04 9.99999167e-01 -3.29285003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97800114499998 meters 0.07664503130811727 Centerline is valid? [True, True] Translation: X:171.51, Y:-3.88, Z:-3.29 [[ 9.99648945e-01 2.64524120e-02 1.50239260e-03 1.71508123e+02] [-2.64521863e-02 9.99650065e-01 -1.69896088e-04 -3.88432871e+00] [-1.50636103e-03 1.30094876e-04 9.99998857e-01 -3.29059431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00800114499998 meters 0.07671388465595744 Centerline is valid? [True, True] Translation: X:171.54, Y:-3.88, Z:-3.29 [[ 9.99664877e-01 2.57280364e-02 2.86402626e-03 1.71537072e+02] [-2.57272179e-02 9.99668948e-01 -3.22274702e-04 -3.88499544e+00] [-2.87136962e-03 2.48483273e-04 9.99995847e-01 -3.29087206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03800114499998 meters 0.0784198619302215 Centerline is valid? [True, True] Translation: X:171.56, Y:-3.89, Z:-3.29 [[ 9.99679525e-01 2.51099323e-02 3.21546299e-03 1.71564893e+02] [-2.51088977e-02 9.99684656e-01 -3.61733868e-04 -3.88702062e+00] [-3.22353213e-03 2.80881210e-04 9.99994765e-01 -3.29257664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.06800114499998 meters 0.07817014535102268 Centerline is valid? [True, True] Translation: X:171.59, Y:-3.89, Z:-3.29 [[ 9.99695086e-01 2.43795715e-02 3.92057709e-03 1.71593506e+02] [-2.43780321e-02 9.99702715e-01 -4.39978415e-04 -3.88681236e+00] [-3.93013805e-03 3.44268306e-04 9.99992218e-01 -3.29348181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09800114499998 meters 0.07799840150682756 Centerline is valid? [True, True] Translation: X:171.62, Y:-3.89, Z:-3.29 [[ 9.99711304e-01 2.37422459e-02 3.68975794e-03 1.71622548e+02] [-2.37408786e-02 9.99718060e-01 -4.13925524e-04 -3.88678420e+00] [-3.69854517e-03 3.26207930e-04 9.99993107e-01 -3.29459717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12800114499998 meters 0.07867547924069496 Centerline is valid? [True, True] Translation: X:171.65, Y:-3.89, Z:-3.30 [[ 9.99727267e-01 2.29749086e-02 4.18880570e-03 1.71651490e+02] [-2.29731418e-02 9.99735972e-01 -4.69411807e-04 -3.88808634e+00] [-4.19848443e-03 3.73053755e-04 9.99991117e-01 -3.29533234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.158001145 meters 0.0769043760882374 Centerline is valid? [True, True] Translation: X:171.68, Y:-3.88, Z:-3.29 [[ 9.99744192e-01 2.21538902e-02 4.55581531e-03 1.71681641e+02] [-2.21517937e-02 9.99754489e-01 -5.10133384e-04 -3.88051566e+00] [-4.56599824e-03 4.09083407e-04 9.99989492e-01 -3.29496701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18800114499996 meters 0.07888447710043756 Centerline is valid? [True, True] Translation: X:171.71, Y:-3.88, Z:-3.30 [[ 9.99752125e-01 2.19502559e-02 3.72487771e-03 1.71709038e+02] [-2.19488517e-02 9.99759008e-01 -4.17442260e-04 -3.88497249e+00] [-3.73314301e-03 3.35581998e-04 9.99992975e-01 -3.29690252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21800114499996 meters 0.08595706870165033 Centerline is valid? [True, True] Translation: X:171.74, Y:-3.90, Z:-3.30 [[ 9.99751695e-01 2.17791275e-02 4.71349495e-03 1.71735842e+02] [-2.17768808e-02 9.99762716e-01 -5.27460287e-04 -3.89876351e+00] [-4.72386414e-03 4.24684099e-04 9.99988752e-01 -3.30031988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24800114499996 meters 0.08130651109493897 Centerline is valid? [True, True] Translation: X:171.77, Y:-3.89, Z:-3.30 [[ 9.99766011e-01 2.07902291e-02 5.97402512e-03 1.71765571e+02] [-2.07866104e-02 9.99783712e-01 -6.67205300e-04 -3.88757974e+00] [-5.98660437e-03 5.42869449e-04 9.99981933e-01 -3.29819690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27800114499996 meters 0.0795660663510203 Centerline is valid? [True, True] Translation: X:171.80, Y:-3.88, Z:-3.30 [[ 9.99800703e-01 1.92310381e-02 5.35915708e-03 1.71795843e+02] [-1.92281097e-02 9.99814944e-01 -5.97424408e-04 -3.88393564e+00] [-5.36965443e-03 4.94258883e-04 9.99985461e-01 -3.29800033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30800114499996 meters 0.07915638322126457 Centerline is valid? [True, True] Translation: X:171.83, Y:-3.88, Z:-3.30 [[ 9.99822645e-01 1.80575341e-02 5.34834732e-03 1.71825833e+02] [-1.80546017e-02 9.99836825e-01 -5.96060822e-04 -3.88358984e+00] [-5.35823799e-03 4.99392827e-04 9.99985520e-01 -3.29844837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33800114499996 meters 0.0822926886201005 Centerline is valid? [True, True] Translation: X:171.86, Y:-3.89, Z:-3.30 [[ 9.99868556e-01 1.53906877e-02 5.09871860e-03 1.71855044e+02] [-1.53879923e-02 9.99881437e-01 -5.67459242e-04 -3.88864993e+00] [-5.10684767e-03 4.88925610e-04 9.99986840e-01 -3.30132154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36800114499997 meters 0.08228160690490566 Centerline is valid? [True, True] Translation: X:171.89, Y:-3.89, Z:-3.30 [[ 9.99881236e-01 1.42522387e-02 5.86406121e-03 1.71885016e+02] [-1.42486502e-02 9.99898269e-01 -6.53271248e-04 -3.89019753e+00] [-5.87277523e-03 5.69638707e-04 9.99982593e-01 -3.30237221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39800114499997 meters 0.08254913923684994 Centerline is valid? [True, True] Translation: X:171.91, Y:-3.89, Z:-3.30 [[ 9.99902387e-01 1.28791421e-02 5.41706291e-03 1.71914761e+02] [-1.28760605e-02 9.99916918e-01 -6.03355460e-04 -3.89171372e+00] [-5.42438355e-03 5.33546135e-04 9.99985146e-01 -3.30251455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42800114499997 meters 0.09010591038831878 Centerline is valid? [True, True] Translation: X:171.94, Y:-3.90, Z:-3.30 [[ 9.99927931e-01 1.05331235e-02 5.76072731e-03 1.71942474e+02] [-1.05296044e-02 9.99944357e-01 -6.40863565e-04 -3.90277661e+00] [-5.76715706e-03 5.80159199e-04 9.99983202e-01 -3.30433230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45800114499997 meters 0.09250318505273522 Centerline is valid? [True, True] Translation: X:171.97, Y:-3.91, Z:-3.31 [[ 9.99930739e-01 9.92326106e-03 6.32815378e-03 1.71970660e+02] [-9.91899802e-03 9.99950557e-01 -7.04693309e-04 -3.90815345e+00] [-6.33483376e-03 6.41875556e-04 9.99979729e-01 -3.30596454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48800114499997 meters 0.08826606978640623 Centerline is valid? [True, True] Translation: X:172.00, Y:-3.90, Z:-3.30 [[ 9.99936148e-01 8.94300082e-03 6.90817340e-03 1.72001126e+02] [-8.93790204e-03 9.99959761e-01 -7.68599432e-04 -3.90266448e+00] [-6.91476900e-03 7.06805778e-04 9.99975843e-01 -3.30495450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51800114499997 meters 0.08659322141123146 Centerline is valid? [True, True] Translation: X:172.03, Y:-3.90, Z:-3.31 [[ 9.99948103e-01 7.72657025e-03 6.64019382e-03 1.72032244e+02] [-7.72183965e-03 9.99969914e-01 -7.37761694e-04 -3.89951695e+00] [-6.64569441e-03 6.86448894e-04 9.99977682e-01 -3.30537746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54800114499997 meters 0.08867219469106029 Centerline is valid? [True, True] Translation: X:172.06, Y:-3.90, Z:-3.31 [[ 9.99957353e-01 7.20962358e-03 5.77177968e-03 1.72062615e+02] [-7.20604065e-03 9.99973830e-01 -6.41323564e-04 -3.90394027e+00] [-5.77625233e-03 5.99704535e-04 9.99983137e-01 -3.30757243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57800114499997 meters 0.09542925980808241 Centerline is valid? [True, True] Translation: X:172.09, Y:-3.92, Z:-3.31 [[ 9.99970409e-01 6.41341049e-03 4.24849517e-03 1.72091401e+02] [-6.41146769e-03 9.99979336e-01 -4.70755607e-04 -3.91562011e+00] [-4.25142653e-03 4.43502587e-04 9.99990864e-01 -3.31106049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60800114499997 meters 0.09174230542021959 Centerline is valid? [True, True] Translation: X:172.12, Y:-3.91, Z:-3.31 [[ 9.99971948e-01 6.12401637e-03 4.31277198e-03 1.72122601e+02] [-6.12200306e-03 9.99981145e-01 -4.79872166e-04 -3.91083722e+00] [-4.31562941e-03 4.53455901e-04 9.99990585e-01 -3.31136680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63800114499998 meters 0.09244044663498731 Centerline is valid? [True, True] Translation: X:172.15, Y:-3.91, Z:-3.31 [[ 9.99966247e-01 6.63931475e-03 4.83986520e-03 1.72153020e+02] [-6.63678521e-03 9.99977831e-01 -5.38520609e-04 -3.91140278e+00] [-4.84333331e-03 5.06381287e-04 9.99988143e-01 -3.31239628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66800114499998 meters 0.09234974568957283 Centerline is valid? [True, True] Translation: X:172.18, Y:-3.91, Z:-3.31 [[ 9.99954761e-01 7.60532811e-03 5.71264578e-03 1.72183821e+02] [-7.60181957e-03 9.99970904e-01 -6.35632887e-04 -3.91238704e+00] [-5.71731376e-03 5.92177629e-04 9.99983481e-01 -3.31272327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69800114499998 meters 0.08713851681291632 Centerline is valid? [True, True] Translation: X:172.21, Y:-3.90, Z:-3.31 [[ 9.99940331e-01 9.41625173e-03 5.53789620e-03 1.72214771e+02] [-9.41298036e-03 9.99955507e-01 -6.16492556e-04 -3.90452705e+00] [-5.54345485e-03 5.64327662e-04 9.99984476e-01 -3.31176169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72800114499998 meters 0.09066322466898755 Centerline is valid? [True, True] Translation: X:172.24, Y:-3.91, Z:-3.31 [[ 9.99883266e-01 1.39734842e-02 6.18024269e-03 1.72243984e+02] [-1.39694971e-02 9.99902185e-01 -6.87841821e-04 -3.90847278e+00] [-6.18924971e-03 6.01426645e-04 9.99980666e-01 -3.31324887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75800114499998 meters 0.08822898573771669 Centerline is valid? [True, True] Translation: X:172.27, Y:-3.90, Z:-3.31 [[ 9.99843679e-01 1.65650598e-02 6.18190438e-03 1.72274934e+02] [-1.65611217e-02 9.99862619e-01 -6.87686234e-04 -3.90495850e+00] [-6.19244667e-03 5.85199463e-04 9.99980655e-01 -3.31347171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78800114499998 meters 0.08855000628735024 Centerline is valid? [True, True] Translation: X:172.30, Y:-3.91, Z:-3.31 [[ 9.99792079e-01 1.94761942e-02 6.03955169e-03 1.72304613e+02] [-1.94724865e-02 9.99810167e-01 -6.72109392e-04 -3.90668671e+00] [-6.05149532e-03 5.54364558e-04 9.99981536e-01 -3.31440058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81800114499998 meters 0.0840404342720637 Centerline is valid? [True, True] Translation: X:172.34, Y:-3.90, Z:-3.31 [[ 9.99745543e-01 2.16462579e-02 6.34735310e-03 1.72335694e+02] [-2.16422055e-02 9.99765530e-01 -7.06436237e-04 -3.89976762e+00] [-6.36115654e-03 5.68885760e-04 9.99979606e-01 -3.31334161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84800114499998 meters 0.08280467260153873 Centerline is valid? [True, True] Translation: X:172.37, Y:-3.90, Z:-3.31 [[ 9.99628352e-01 2.64217388e-02 6.71192088e-03 1.72366520e+02] [-2.64173200e-02 9.99650723e-01 -7.46172388e-04 -3.89693797e+00] [-6.72929174e-03 5.68584113e-04 9.99977196e-01 -3.31392952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87800114499998 meters 0.08280467260153873 Centerline is valid? [True, True] Translation: X:172.39, Y:-3.90, Z:-3.31 [[ 9.99630964e-01 2.63227787e-02 6.71173558e-03 1.72393908e+02] [-2.63183466e-02 9.99653333e-01 -7.47839806e-04 -3.89987108e+00] [-6.72909406e-03 5.70922043e-04 9.99977196e-01 -3.31456595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.908001145 meters 0.08191077207888195 Centerline is valid? [True, True] Translation: X:172.42, Y:-3.90, Z:-3.31 [[ 9.99586257e-01 2.77514368e-02 7.56131803e-03 1.72423851e+02] [-2.77458679e-02 9.99614656e-01 -8.40424602e-04 -3.89945068e+00] [-7.58172731e-03 6.30281550e-04 9.99971060e-01 -3.31484890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93800114499996 meters 0.08082560218701744 Centerline is valid? [True, True] Translation: X:172.45, Y:-3.90, Z:-3.32 [[ 9.99547965e-01 2.92024490e-02 7.14723651e-03 1.72453626e+02] [-2.91975116e-02 9.99573346e-01 -7.94204270e-04 -3.89869948e+00] [-7.16737983e-03 5.85163741e-04 9.99974143e-01 -3.31540067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96800114499996 meters 0.08092035784327775 Centerline is valid? [True, True] Translation: X:172.48, Y:-3.90, Z:-3.32 [[ 9.99515066e-01 3.06390735e-02 5.55699541e-03 1.72482985e+02] [-3.06361094e-02 9.99530413e-01 -6.17765910e-04 -3.89798702e+00] [-5.57331369e-03 4.47221615e-04 9.99984369e-01 -3.31752835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99800114499996 meters 0.08080460126190636 Centerline is valid? [True, True] Translation: X:172.51, Y:-3.90, Z:-3.32 [[ 9.99490498e-01 3.14697953e-02 5.32890849e-03 1.72511982e+02] [-3.14670808e-02 9.99504613e-01 -5.92478855e-04 -3.89968108e+00] [-5.34491381e-03 4.24491791e-04 9.99985626e-01 -3.31971955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02800114499996 meters 0.08390969411503423 Centerline is valid? [True, True] Translation: X:172.54, Y:-3.91, Z:-3.32 [[ 9.99485724e-01 3.17489905e-02 4.50424862e-03 1.72538585e+02] [-3.17470530e-02 9.99495810e-01 -5.01017741e-04 -3.90711309e+00] [-4.51788442e-03 3.57763461e-04 9.99989730e-01 -3.32198978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05800114499996 meters 0.0825802416035407 Centerline is valid? [True, True] Translation: X:172.57, Y:-3.91, Z:-3.32 [[ 9.99496337e-01 3.13976652e-02 4.61081215e-03 1.72567216e+02] [-3.13956333e-02 9.99506904e-01 -5.12439469e-04 -3.90564162e+00] [-4.62462798e-03 3.67422005e-04 9.99989239e-01 -3.32204554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08800114499996 meters 0.08318936666216839 Centerline is valid? [True, True] Translation: X:172.59, Y:-3.91, Z:-3.32 [[ 9.99501975e-01 3.10869386e-02 5.42258247e-03 1.72594583e+02] [-3.10841263e-02 9.99516590e-01 -6.02166390e-04 -3.90884846e+00] [-5.43868065e-03 4.33310257e-04 9.99985116e-01 -3.32229343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11800114499997 meters 0.08393214767893521 Centerline is valid? [True, True] Translation: X:172.62, Y:-3.91, Z:-3.32 [[ 9.99518133e-01 3.05063380e-02 5.73273306e-03 1.72621801e+02] [-3.05031908e-02 9.99534467e-01 -6.35639345e-04 -3.91183155e+00] [-5.74945531e-03 4.60466402e-04 9.99983366e-01 -3.32204532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14800114499997 meters 0.0794222433489984 Centerline is valid? [True, True] Translation: X:172.65, Y:-3.90, Z:-3.32 [[ 9.99542649e-01 2.99398344e-02 4.25422264e-03 1.72652107e+02] [-2.99380966e-02 9.99551643e-01 -4.71603958e-04 -3.90348000e+00] [-4.26643497e-03 3.44024942e-04 9.99990840e-01 -3.32129708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17800114499997 meters 0.0856184339594016 Centerline is valid? [True, True] Translation: X:172.68, Y:-3.92, Z:-3.33 [[ 9.99548860e-01 2.97600055e-02 4.05199073e-03 1.72678135e+02] [-2.97584271e-02 9.99557019e-01 -4.49296508e-04 -3.91608978e+00] [-4.06356684e-03 3.28512942e-04 9.99991690e-01 -3.32509698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20800114499997 meters 0.0875437001848759 Centerline is valid? [True, True] Translation: X:172.70, Y:-3.92, Z:-3.33 [[ 9.99548790e-01 2.98392424e-02 3.44029517e-03 1.72704537e+02] [-2.98381032e-02 9.99554672e-01 -3.81987739e-04 -3.92104741e+00] [-3.45016134e-03 2.79163500e-04 9.99994009e-01 -3.32642144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23800114499997 meters 0.08085934618213929 Centerline is valid? [True, True] Translation: X:172.73, Y:-3.91, Z:-3.32 [[ 9.99539277e-01 3.00838151e-02 4.02460255e-03 1.72734965e+02] [-3.00822650e-02 9.99547327e-01 -4.45153441e-04 -3.91114180e+00] [-4.03617263e-03 3.23879188e-04 9.99991802e-01 -3.32384972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26800114499997 meters 0.08486468953120517 Centerline is valid? [True, True] Translation: X:172.76, Y:-3.92, Z:-3.33 [[ 9.99548794e-01 2.96335506e-02 4.90530525e-03 1.72762308e+02] [-2.96312442e-02 9.99560751e-01 -5.42198605e-04 -3.92010214e+00] [-4.91921787e-03 3.96603664e-04 9.99987822e-01 -3.32650060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29800114499997 meters 0.08943347651800203 Centerline is valid? [True, True] Translation: X:172.79, Y:-3.93, Z:-3.33 [[ 9.99548820e-01 2.95732454e-02 5.25163353e-03 1.72789543e+02] [-2.95706046e-02 9.99562526e-01 -5.79820077e-04 -3.93023897e+00] [-5.26648324e-03 4.24264495e-04 9.99986042e-01 -3.32823905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32800114499997 meters 0.0859041872918339 Centerline is valid? [True, True] Translation: X:172.82, Y:-3.93, Z:-3.33 [[ 9.99541692e-01 2.97435145e-02 5.63291303e-03 1.72818665e+02] [-2.97404838e-02 9.99557461e-01 -6.21048798e-04 -3.92609535e+00] [-5.64889242e-03 4.53238607e-04 9.99983942e-01 -3.32754149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35800114499997 meters 0.08461481353153612 Centerline is valid? [True, True] Translation: X:172.85, Y:-3.92, Z:-3.33 [[ 9.99546368e-01 2.96355811e-02 5.36572521e-03 1.72848219e+02] [-2.96328309e-02 9.99560676e-01 -5.91338354e-04 -3.92484885e+00] [-5.38089258e-03 4.32068476e-04 9.99985430e-01 -3.32751205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38800114499998 meters 0.08847499574670246 Centerline is valid? [True, True] Translation: X:172.88, Y:-3.93, Z:-3.33 [[ 9.99557259e-01 2.92633377e-02 5.37980725e-03 1.72875318e+02] [-2.92605681e-02 9.99571642e-01 -5.92822312e-04 -3.93425980e+00] [-5.39485073e-03 4.35143629e-04 9.99985353e-01 -3.33030426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41800114499998 meters 0.08488156714220117 Centerline is valid? [True, True] Translation: X:172.90, Y:-3.93, Z:-3.33 [[ 9.99565828e-01 2.89975972e-02 5.22438487e-03 1.72904233e+02] [-2.89949851e-02 9.99579392e-01 -5.75051793e-04 -3.93188804e+00] [-5.23886257e-03 4.23321160e-04 9.99986187e-01 -3.33020371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44800114499998 meters 0.08373666382955117 Centerline is valid? [True, True] Translation: X:172.93, Y:-3.93, Z:-3.33 [[ 9.99581764e-01 2.84979581e-02 4.91567108e-03 1.72933380e+02] [-2.84956406e-02 9.99593770e-01 -5.40860659e-04 -3.93365579e+00] [-4.92908761e-03 4.00559256e-04 9.99987772e-01 -3.33093915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47800114499998 meters 0.08652397953796208 Centerline is valid? [True, True] Translation: X:172.96, Y:-3.94, Z:-3.33 [[ 9.99593376e-01 2.82372885e-02 3.96706658e-03 1.72960805e+02] [-2.82357758e-02 9.99601196e-01 -4.36823937e-04 -3.94055774e+00] [-3.97781922e-03 3.24633112e-04 9.99992036e-01 -3.33214571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50800114499998 meters 0.08618462142851029 Centerline is valid? [True, True] Translation: X:172.99, Y:-3.94, Z:-3.33 [[ 9.99594027e-01 2.82124348e-02 3.97981774e-03 1.72989614e+02] [-2.82109148e-02 9.99601897e-01 -4.37550019e-04 -3.94206886e+00] [-3.99057772e-03 3.25098086e-04 9.99991985e-01 -3.33202147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53800114499998 meters 0.08173607147135788 Centerline is valid? [True, True] Translation: X:173.02, Y:-3.94, Z:-3.33 [[ 9.99587091e-01 2.85294448e-02 3.42333750e-03 1.73019424e+02] [-2.85283218e-02 9.99592914e-01 -3.76419701e-04 -3.93677635e+00] [-3.43268295e-03 2.78602200e-04 9.99994070e-01 -3.33086411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56800114499998 meters 0.08930777511746499 Centerline is valid? [True, True] Translation: X:173.05, Y:-3.95, Z:-3.34 [[ 9.99585124e-01 2.84704413e-02 4.36047199e-03 1.73045229e+02] [-2.84686207e-02 9.99594572e-01 -4.79049638e-04 -3.95390685e+00] [-4.37234288e-03 3.54714269e-04 9.99990378e-01 -3.33563207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59800114499998 meters 0.0879236574108405 Centerline is valid? [True, True] Translation: X:173.07, Y:-3.96, Z:-3.34 [[ 9.99592252e-01 2.82290428e-02 4.29554352e-03 1.73074008e+02] [-2.82272768e-02 9.99601420e-01 -4.71209568e-04 -3.95537212e+00] [-4.30713320e-03 3.49765937e-04 9.99990663e-01 -3.33672489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62800114499998 meters 0.09038565514854004 Centerline is valid? [True, True] Translation: X:173.10, Y:-3.96, Z:-3.34 [[ 9.99605111e-01 2.78536614e-02 3.71428369e-03 1.73101252e+02] [-2.78523375e-02 9.99611965e-01 -4.07697675e-04 -3.96311640e+00] [-3.72419829e-03 3.04085197e-04 9.99993019e-01 -3.33887352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65800114499996 meters 0.09078599606968586 Centerline is valid? [True, True] Translation: X:173.13, Y:-3.97, Z:-3.34 [[ 9.99603311e-01 2.78969084e-02 3.87075659e-03 1.73129539e+02] [-2.78954748e-02 9.99610756e-01 -4.23880398e-04 -3.96659050e+00] [-3.88107487e-03 3.15735656e-04 9.99992419e-01 -3.34006130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68800114499996 meters 0.08483389901127761 Centerline is valid? [True, True] Translation: X:173.16, Y:-3.96, Z:-3.34 [[ 9.99596612e-01 2.81314946e-02 3.90296443e-03 1.73159491e+02] [-2.81300381e-02 9.99604181e-01 -4.27585152e-04 -3.95707660e+00] [-3.91344817e-03 3.17622131e-04 9.99992292e-01 -3.33766953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71800114499996 meters 0.08421115288474065 Centerline is valid? [True, True] Translation: X:173.19, Y:-3.96, Z:-3.34 [[ 9.99598277e-01 2.81292291e-02 3.46857476e-03 1.73187054e+02] [-2.81280768e-02 9.99604255e-01 -3.80568661e-04 -3.95773643e+00] [-3.47790719e-03 2.82851441e-04 9.99993912e-01 -3.33821703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74800114499996 meters 0.09238448342637737 Centerline is valid? [True, True] Translation: X:173.21, Y:-3.97, Z:-3.34 [[ 9.99568048e-01 2.90947987e-02 4.14861003e-03 1.73213278e+02] [-2.90931634e-02 9.99576601e-01 -4.54010600e-04 -3.97460829e+00] [-4.16006287e-03 3.33118300e-04 9.99991291e-01 -3.34214784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77800114499996 meters 0.08211189788519029 Centerline is valid? [True, True] Translation: X:173.24, Y:-3.96, Z:-3.34 [[ 9.99546754e-01 2.97101889e-02 4.85698275e-03 1.73243877e+02] [-2.97079594e-02 9.99558480e-01 -5.30562714e-04 -3.95991941e+00] [-4.87060142e-03 3.86031192e-04 9.99988064e-01 -3.33792385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80800114499996 meters 0.08257804088720261 Centerline is valid? [True, True] Translation: X:173.27, Y:-3.96, Z:-3.34 [[ 9.99533761e-01 3.01329734e-02 4.92590788e-03 1.73271969e+02] [-3.01306870e-02 9.99545823e-01 -5.37728638e-04 -3.96267853e+00] [-4.93987401e-03 3.89056939e-04 9.99987723e-01 -3.33905122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83800114499996 meters 0.07995337171398055 Centerline is valid? [True, True] Translation: X:173.30, Y:-3.96, Z:-3.34 [[ 9.99544462e-01 2.97439933e-02 5.11505584e-03 1.73300902e+02] [-2.97415247e-02 9.99557467e-01 -5.58023389e-04 -3.95979987e+00] [-5.12939011e-03 4.05639628e-04 9.99986762e-01 -3.33800127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86800114499997 meters 0.08352784428897797 Centerline is valid? [True, True] Translation: X:173.33, Y:-3.97, Z:-3.34 [[ 9.99558195e-01 2.94341643e-02 4.12863063e-03 1.73327622e+02] [-2.94325520e-02 9.99566667e-01 -4.50744828e-04 -3.96845938e+00] [-4.14010885e-03 3.29029551e-04 9.99991376e-01 -3.33984336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89800114499997 meters 0.08245530991487937 Centerline is valid? [True, True] Translation: X:173.36, Y:-3.97, Z:-3.34 [[ 9.99592748e-01 2.82921331e-02 3.72730854e-03 1.73357031e+02] [-2.82908165e-02 9.99599652e-01 -4.05500622e-04 -3.96976438e+00] [-3.73728880e-03 2.99886879e-04 9.99992971e-01 -3.34102937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92800114499997 meters 0.08679973263611977 Centerline is valid? [True, True] Translation: X:173.38, Y:-3.98, Z:-3.34 [[ 9.99589802e-01 2.83964698e-02 3.72399083e-03 1.73384124e+02] [-2.83951517e-02 9.99596694e-01 -4.06365538e-04 -3.98105924e+00] [-3.73402827e-03 3.00455563e-04 9.99992983e-01 -3.34448151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95800114499997 meters 0.08787937665403403 Centerline is valid? [True, True] Translation: X:173.41, Y:-3.99, Z:-3.35 [[ 9.99603724e-01 2.78815361e-02 3.87492668e-03 1.73411373e+02] [-2.78801070e-02 9.99611185e-01 -4.22354567e-04 -3.98600068e+00] [-3.88519595e-03 3.14153828e-04 9.99992403e-01 -3.34590627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98800114499997 meters 0.08061989569148575 Centerline is valid? [True, True] Translation: X:173.44, Y:-3.98, Z:-3.34 [[ 9.99632488e-01 2.68237683e-02 3.92096592e-03 1.73441791e+02] [-2.68222991e-02 9.99640126e-01 -4.26818731e-04 -3.97616417e+00] [-3.93100375e-03 3.21492549e-04 9.99992222e-01 -3.34320531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01800114499997 meters 0.08960757146335194 Centerline is valid? [True, True] Translation: X:173.47, Y:-3.99, Z:-3.35 [[ 9.99622416e-01 2.69635216e-02 5.29092688e-03 1.73468260e+02] [-2.69608531e-02 9.99636325e-01 -5.75045047e-04 -3.99420283e+00] [-5.30450794e-03 4.32180017e-04 9.99985838e-01 -3.34582892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04800114499997 meters 0.08968754191694821 Centerline is valid? [True, True] Translation: X:173.50, Y:-4.00, Z:-3.34 [[ 9.99618425e-01 2.69541505e-02 6.03974585e-03 1.73496724e+02] [-2.69506775e-02 9.99636549e-01 -6.55699242e-04 -3.99672437e+00] [-6.05522451e-03 4.92673801e-04 9.99981546e-01 -3.34496284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07800114499997 meters 0.08097323535056355 Centerline is valid? [True, True] Translation: X:173.53, Y:-3.98, Z:-3.34 [[ 9.99629281e-01 2.62563138e-02 7.20458504e-03 1.73527429e+02] [-2.62513584e-02 9.99655068e-01 -7.81525331e-04 -3.98424293e+00] [-7.22261993e-03 5.92105460e-04 9.99973741e-01 -3.34149058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10800114499997 meters 0.08345188386929345 Centerline is valid? [True, True] Translation: X:173.55, Y:-3.99, Z:-3.34 [[ 9.99639264e-01 2.57975943e-02 7.47174025e-03 1.73553978e+02] [-2.57922523e-02 9.99666996e-01 -8.10447386e-04 -3.99251788e+00] [-7.49015972e-03 6.17442018e-04 9.99971758e-01 -3.34299197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13800114499998 meters 0.08206307312516731 Centerline is valid? [True, True] Translation: X:173.58, Y:-4.00, Z:-3.34 [[ 9.99687283e-01 2.42434086e-02 6.13134394e-03 1.73583561e+02] [-2.42397905e-02 9.99705953e-01 -6.63731131e-04 -3.99611640e+00] [-6.14563214e-03 5.14901078e-04 9.99980983e-01 -3.34439293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16800114499998 meters 0.08659475513123442 Centerline is valid? [True, True] Translation: X:173.61, Y:-4.01, Z:-3.35 [[ 9.99706674e-01 2.34477339e-02 6.06384834e-03 1.73610455e+02] [-2.34441783e-02 9.99724932e-01 -6.56792039e-04 -4.00755509e+00] [-6.07758066e-03 5.14437443e-04 9.99981399e-01 -3.34728874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19800114499998 meters 0.08640319563191125 Centerline is valid? [True, True] Translation: X:173.64, Y:-4.01, Z:-3.35 [[ 9.99751625e-01 2.18293135e-02 4.49113831e-03 1.73640856e+02] [-2.18273520e-02 9.99761637e-01 -4.85298226e-04 -4.01030425e+00] [-4.50066151e-03 3.87148033e-04 9.99989797e-01 -3.34881822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22800114499998 meters 0.08369089996288524 Centerline is valid? [True, True] Translation: X:173.67, Y:-4.01, Z:-3.35 [[ 9.99785606e-01 2.03777949e-02 3.67252721e-03 1.73671008e+02] [-2.03764712e-02 9.99792299e-01 -3.97499547e-04 -4.00813365e+00] [-3.67986458e-03 3.22581181e-04 9.99993177e-01 -3.34826348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25800114499998 meters 0.09175002350210433 Centerline is valid? [True, True] Translation: X:173.70, Y:-4.02, Z:-3.35 [[ 9.99807523e-01 1.92869123e-02 3.59603741e-03 1.73697459e+02] [-1.92856341e-02 9.99813939e-01 -3.89769797e-04 -4.02444795e+00] [-3.60288579e-03 3.20342914e-04 9.99993458e-01 -3.35122357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28800114499998 meters 0.08701031872691369 Centerline is valid? [True, True] Translation: X:173.73, Y:-4.02, Z:-3.35 [[ 9.99816199e-01 1.88286043e-02 3.61263813e-03 1.73727379e+02] [-1.88273123e-02 9.99822674e-01 -3.91295272e-04 -4.01949324e+00] [-3.61936505e-03 3.23207085e-04 9.99993398e-01 -3.34947881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31800114499998 meters 0.09181958911118915 Centerline is valid? [True, True] Translation: X:173.75, Y:-4.03, Z:-3.35 [[ 9.99816562e-01 1.86004249e-02 4.56796315e-03 1.73753889e+02] [-1.85983589e-02 9.99826913e-01 -4.94353356e-04 -4.03071786e+00] [-4.57636768e-03 4.09306055e-04 9.99989445e-01 -3.35155837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34800114499998 meters 0.08848288668683764 Centerline is valid? [True, True] Translation: X:173.78, Y:-4.03, Z:-3.35 [[ 9.99837546e-01 1.72276480e-02 5.30006202e-03 1.73783432e+02] [-1.72248545e-02 9.99851477e-01 -5.72256068e-04 -4.02960520e+00] [-5.30913347e-03 4.80870305e-04 9.99985791e-01 -3.35030936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37800114499998 meters 0.08780359901505853 Centerline is valid? [True, True] Translation: X:173.81, Y:-4.03, Z:-3.35 [[ 9.99839624e-01 1.68611977e-02 6.03546043e-03 1.73812163e+02] [-1.68575697e-02 9.99857689e-01 -6.51489206e-04 -4.03158838e+00] [-6.04558640e-03 5.49641528e-04 9.99981574e-01 -3.35001487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40800114499996 meters 0.08823612887613151 Centerline is valid? [True, True] Translation: X:173.84, Y:-4.03, Z:-3.35 [[ 9.99857298e-01 1.59248045e-02 5.63780217e-03 1.73841523e+02] [-1.59216289e-02 9.99873058e-01 -6.07705657e-04 -4.03430368e+00] [-5.64676409e-03 5.17855942e-04 9.99983923e-01 -3.34972473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43800114499996 meters 0.08816080768312538 Centerline is valid? [True, True] Translation: X:173.87, Y:-4.04, Z:-3.35 [[ 9.99871916e-01 1.51145808e-02 5.26316852e-03 1.73870294e+02] [-1.51117996e-02 9.99885649e-01 -5.67800486e-04 -4.03691634e+00] [-5.27114874e-03 4.88191812e-04 9.99985988e-01 -3.35067456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46800114499996 meters 0.08912084854202315 Centerline is valid? [True, True] Translation: X:173.90, Y:-4.04, Z:-3.35 [[ 9.99884280e-01 1.44487980e-02 4.76014780e-03 1.73898591e+02] [-1.44465164e-02 9.99895512e-01 -5.13351185e-04 -4.04212322e+00] [-4.76706773e-03 4.44524227e-04 9.99988539e-01 -3.35192777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49800114499996 meters 0.09015793805918303 Centerline is valid? [True, True] Translation: X:173.93, Y:-4.05, Z:-3.35 [[ 9.99894071e-01 1.39091528e-02 4.28745844e-03 1.73927017e+02] [-1.39072975e-02 9.99903182e-01 -4.62230145e-04 -4.04732235e+00] [-4.29347256e-03 4.02554221e-04 9.99990702e-01 -3.35399286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52800114499996 meters 0.09259853256592003 Centerline is valid? [True, True] Translation: X:173.96, Y:-4.06, Z:-3.36 [[ 9.99922747e-01 1.19132761e-02 3.54597644e-03 1.73955669e+02] [-1.19119981e-02 9.99928977e-01 -3.81305640e-04 -4.05519349e+00] [-3.55026719e-03 3.39036518e-04 9.99993640e-01 -3.35573856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55800114499996 meters 0.09430663377468203 Centerline is valid? [True, True] Translation: X:173.98, Y:-4.06, Z:-3.36 [[ 9.99938417e-01 1.06022127e-02 3.27946763e-03 1.73984655e+02] [-1.06011115e-02 9.99943744e-01 -3.52990639e-04 -4.06089499e+00] [-3.28302563e-03 3.18202899e-04 9.99994560e-01 -3.35695308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58800114499996 meters 0.1017785042684036 Centerline is valid? [True, False] Translation: X:173.99, Y:-4.06, Z:-3.36 [[ 9.99976118e-01 6.35860156e-03 2.70765459e-03 1.73985841e+02] [-6.34488981e-03 9.99967155e-01 -5.04290054e-03 -4.05874479e+00] [-2.73963146e-03 5.02560033e-03 9.99983619e-01 -3.35697915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61800114499997 meters 0.09091271456086747 Centerline is valid? [False, True] Translation: X:173.99, Y:-4.06, Z:-3.36 [[ 9.99976352e-01 6.19326189e-03 2.98979540e-03 1.73985164e+02] [-6.17822025e-03 9.99968343e-01 -5.01428314e-03 -4.05897271e+00] [-3.02075552e-03 4.99569294e-03 9.99982959e-01 -3.35686353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64800114499997 meters 0.09797807500557687 Centerline is valid? [True, True] Translation: X:174.01, Y:-4.08, Z:-3.36 [[ 9.99981555e-01 4.82586340e-03 3.68792680e-03 1.74012571e+02] [-4.82445061e-03 9.99988285e-01 -3.91886383e-04 -4.07599781e+00] [-3.68977478e-03 3.74086934e-04 9.99993123e-01 -3.36104252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67800114499997 meters 0.09667674313881505 Centerline is valid? [True, True] Translation: X:174.04, Y:-4.08, Z:-3.36 [[ 9.99982420e-01 3.44502993e-03 4.82602623e-03 1.74043115e+02] [-3.44259098e-03 9.99993942e-01 -5.13590563e-04 -4.07802619e+00] [-4.82776633e-03 4.96967500e-04 9.99988223e-01 -3.36108648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70800114499997 meters 0.10393109555694474 Centerline is valid? [True, False] Translation: X:174.04, Y:-4.08, Z:-3.36 [[ 9.99980547e-01 3.18284570e-03 5.36427556e-03 1.74041667e+02] [-3.18054601e-03 9.99994846e-01 -4.37181670e-04 -4.08016315e+00] [-5.36563940e-03 4.20111840e-04 9.99985517e-01 -3.36061898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73800114499997 meters 0.10557438773126322 Centerline is valid? [False, False] Translation: X:174.04, Y:-4.08, Z:-3.36 [[ 9.99979685e-01 3.52035681e-03 5.31388801e-03 1.74042304e+02] [-3.52114077e-03 9.99993791e-01 1.38181043e-04 -4.08117937e+00] [-5.31336857e-03 -1.56889184e-04 9.99985872e-01 -3.36147545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76800114499997 meters 0.0980981995912481 Centerline is valid? [False, True] Translation: X:174.04, Y:-4.08, Z:-3.36 [[ 9.99979515e-01 3.39335597e-03 5.42718191e-03 1.74041930e+02] [-3.39366962e-03 9.99994240e-01 4.85853678e-05 -4.08128992e+00] [-5.42698578e-03 -6.70024349e-05 9.99985272e-01 -3.36129381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79800114499997 meters 0.0980981995912481 Centerline is valid? [True, True] Translation: X:174.07, Y:-4.08, Z:-3.36 [[ 9.99979738e-01 3.44262045e-03 5.35463347e-03 1.74072805e+02] [-3.43946090e-03 9.99993906e-01 -5.99156378e-04 -4.08445545e+00] [-5.35666351e-03 5.80727186e-04 9.99985484e-01 -3.36172448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82800114499997 meters 0.10823798939706827 Centerline is valid? [True, False] Translation: X:174.07, Y:-4.08, Z:-3.36 [[ 9.99980456e-01 3.26171704e-03 5.33381740e-03 1.74072606e+02] [-3.25720399e-03 9.99994330e-01 -8.54586694e-04 -4.08406736e+00] [-5.33657458e-03 8.37196660e-04 9.99985410e-01 -3.36135355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85800114499997 meters 0.10236322340505857 Centerline is valid? [False, False] Translation: X:174.07, Y:-4.09, Z:-3.36 [[ 9.99979552e-01 3.56082423e-03 5.31195924e-03 1.74073146e+02] [-3.55891128e-03 9.99993599e-01 -3.69529751e-04 -4.08511342e+00] [-5.31324106e-03 3.50617403e-04 9.99985823e-01 -3.36210137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88800114499998 meters 0.11158856443941212 Centerline is valid? [False, False] Translation: X:174.07, Y:-4.09, Z:-3.36 [[ 9.99979187e-01 3.65500438e-03 5.31659066e-03 1.74073242e+02] [-3.65398969e-03 9.99993304e-01 -2.00555094e-04 -4.08572629e+00] [-5.31728809e-03 1.81124153e-04 9.99985847e-01 -3.36229702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91800114499998 meters 0.11342155904869047 Centerline is valid? [False, False] Translation: X:174.07, Y:-4.09, Z:-3.36 [[ 9.99979376e-01 3.61473051e-03 5.30860498e-03 1.74073157e+02] [-3.61347335e-03 9.99993441e-01 -2.46389023e-04 -4.08590178e+00] [-5.30946080e-03 2.27201439e-04 9.99985879e-01 -3.36216959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94800114499998 meters 0.10038944766934528 Centerline is valid? [False, False] Translation: X:174.07, Y:-4.09, Z:-3.36 [[ 9.99979851e-01 3.62071740e-03 5.21416959e-03 1.74073435e+02] [-3.61912843e-03 9.99993402e-01 -3.14143301e-04 -4.08556745e+00] [-5.21527261e-03 2.95266222e-04 9.99986357e-01 -3.36227914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97800114499998 meters 0.10075264522265827 Centerline is valid? [False, False] Translation: X:174.07, Y:-4.08, Z:-3.36 [[ 9.99980902e-01 3.55469312e-03 5.05559433e-03 1.74073731e+02] [-3.55190829e-03 9.99993535e-01 -5.59712661e-04 -4.08472525e+00] [-5.05755125e-03 5.41744965e-04 9.99987064e-01 -3.36218941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00800114499998 meters 0.09603460092723176 Centerline is valid? [False, True] Translation: X:174.07, Y:-4.08, Z:-3.36 [[ 9.99982880e-01 3.32310462e-03 4.81637563e-03 1.74073819e+02] [-3.31742151e-03 9.99993792e-01 -1.18746546e-03 -4.08322127e+00] [-4.82029180e-03 1.17146719e-03 9.99987696e-01 -3.36153003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03800114499998 meters 0.09320218175266247 Centerline is valid? [True, True] Translation: X:174.10, Y:-4.08, Z:-3.36 [[ 9.99970402e-01 5.09499428e-03 5.76512147e-03 1.74104964e+02] [-5.09145428e-03 9.99986841e-01 -6.28547406e-04 -4.08244247e+00] [-5.76824806e-03 5.99175950e-04 9.99983184e-01 -3.36221595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06800114499998 meters 0.10295610118510146 Centerline is valid? [True, False] Translation: X:174.11, Y:-4.08, Z:-3.36 [[ 9.99971310e-01 5.08366781e-03 5.61566791e-03 1.74105111e+02] [-5.07958246e-03 9.99986824e-01 -7.41514460e-04 -4.08240688e+00] [-5.61936353e-03 7.12967938e-04 9.99983957e-01 -3.36196210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09800114499998 meters 0.09629694629634049 Centerline is valid? [False, True] Translation: X:174.10, Y:-4.08, Z:-3.36 [[ 9.99972047e-01 4.95507800e-03 5.59937363e-03 1.74104942e+02] [-4.94982160e-03 9.99987296e-01 -9.52216230e-04 -4.08217040e+00] [-5.60402080e-03 9.24473712e-04 9.99983870e-01 -3.36165378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12800114499998 meters 0.09672647669938789 Centerline is valid? [True, True] Translation: X:174.14, Y:-4.09, Z:-3.36 [[ 9.99965230e-01 5.68215527e-03 6.10340182e-03 1.74135488e+02] [-5.67825160e-03 9.99983663e-01 -6.56727683e-04 -4.08590932e+00] [-6.10703374e-03 6.22048197e-04 9.99981158e-01 -3.36147274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15800114499996 meters 0.09376729301057611 Centerline is valid? [True, True] Translation: X:174.17, Y:-4.08, Z:-3.36 [[ 9.99964678e-01 6.03570335e-03 5.84926110e-03 1.74166823e+02] [-6.03211962e-03 9.99981608e-01 -6.30129231e-04 -4.08405196e+00] [-5.85295679e-03 5.94823531e-04 9.99982694e-01 -3.36087221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18800114499996 meters 0.09420186560668149 Centerline is valid? [True, True] Translation: X:174.20, Y:-4.09, Z:-3.36 [[ 9.99959198e-01 6.55476268e-03 6.21592011e-03 1.74196765e+02] [-6.55073555e-03 9.99978321e-01 -6.68013351e-04 -4.08774005e+00] [-6.22016403e-03 6.27267246e-04 9.99980458e-01 -3.36135794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21800114499996 meters 0.09420630342875293 Centerline is valid? [True, True] Translation: X:174.23, Y:-4.09, Z:-3.36 [[ 9.99953657e-01 7.14015079e-03 6.45768790e-03 1.74227399e+02] [-7.13580160e-03 9.99974297e-01 -6.96280740e-04 -4.09069460e+00] [-6.46249347e-03 6.50167693e-04 9.99978907e-01 -3.36183684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24800114499996 meters 0.09520802380598514 Centerline is valid? [True, True] Translation: X:174.26, Y:-4.10, Z:-3.37 [[ 9.99960101e-01 7.26536083e-03 5.19711661e-03 1.74256838e+02] [-7.26254714e-03 9.99973471e-01 -5.60060826e-04 -4.09608407e+00] [-5.20104778e-03 5.22294176e-04 9.99986338e-01 -3.36513927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27800114499996 meters 0.09656157865039602 Centerline is valid? [True, True] Translation: X:174.29, Y:-4.10, Z:-3.37 [[ 9.99964421e-01 7.17012315e-03 4.44366082e-03 1.74286413e+02] [-7.16806101e-03 9.99974194e-01 -4.79817627e-04 -4.10197891e+00] [-4.44698650e-03 4.47948124e-04 9.99990012e-01 -3.36738409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30800114499996 meters 0.09871278315482405 Centerline is valid? [True, True] Translation: X:174.32, Y:-4.11, Z:-3.37 [[ 9.99970592e-01 6.55346901e-03 3.98338070e-03 1.74315246e+02] [-6.55180857e-03 9.99978444e-01 -4.29748440e-04 -4.10832058e+00] [-3.98611118e-03 4.03637455e-04 9.99991974e-01 -3.36831394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33800114499996 meters 0.09823714968611226 Centerline is valid? [True, True] Translation: X:174.35, Y:-4.11, Z:-3.37 [[ 9.99963852e-01 6.62981907e-03 5.32352952e-03 1.74345133e+02] [-6.62685404e-03 9.99977877e-01 -5.74413965e-04 -4.11026757e+00] [-5.32722001e-03 5.39114948e-04 9.99985665e-01 -3.36728046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36800114499997 meters 0.09919723366532401 Centerline is valid? [True, True] Translation: X:174.37, Y:-4.11, Z:-3.37 [[ 9.99961422e-01 6.87186519e-03 5.47099016e-03 1.74374550e+02] [-6.86873993e-03 9.99976236e-01 -5.89827794e-04 -4.11481079e+00] [-5.47491337e-03 5.52226231e-04 9.99984860e-01 -3.36771152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39800114499997 meters 0.09462461735598934 Centerline is valid? [True, True] Translation: X:174.41, Y:-4.11, Z:-3.37 [[ 9.99957753e-01 6.87964042e-03 6.09606561e-03 1.74405564e+02] [-6.87576293e-03 9.99976146e-01 -6.56794002e-04 -4.11131727e+00] [-6.10043870e-03 6.14851153e-04 9.99981203e-01 -3.36635469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42800114499997 meters 0.10079637456220675 Centerline is valid? [True, False] Translation: X:174.41, Y:-4.11, Z:-3.37 [[ 9.99956931e-01 7.00476141e-03 6.08841820e-03 1.74405705e+02] [-7.00228056e-03 9.99975392e-01 -4.28691353e-04 -4.11201238e+00] [-6.09127125e-03 3.86040077e-04 9.99981374e-01 -3.36656091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45800114499997 meters 0.09821263617373088 Centerline is valid? [False, True] Translation: X:174.41, Y:-4.11, Z:-3.37 [[ 9.99980408e-01 2.98110186e-03 5.50416590e-03 1.74406917e+02] [-2.95515665e-03 9.99984514e-01 -4.71587252e-03 -4.11127742e+00] [-5.51813915e-03 4.69951446e-03 9.99973732e-01 -3.36664406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48800114499997 meters 0.09697455410762068 Centerline is valid? [True, True] Translation: X:174.44, Y:-4.12, Z:-3.37 [[ 9.99976888e-01 2.97967751e-03 6.11104069e-03 1.74438723e+02] [-2.97583411e-03 9.99995369e-01 -6.37923925e-04 -4.11508075e+00] [-6.11291320e-03 6.19723738e-04 9.99981124e-01 -3.36895255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51800114499997 meters 0.09968179900058106 Centerline is valid? [True, True] Translation: X:174.47, Y:-4.12, Z:-3.37 [[ 9.99988345e-01 6.75619997e-04 4.78057596e-03 1.74467655e+02] [-6.73221188e-04 9.99999647e-01 -5.03373950e-04 -4.12310721e+00] [-4.78091436e-03 5.00149698e-04 9.99988446e-01 -3.37089099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54800114499997 meters 0.10169146519142408 Centerline is valid? [True, False] Translation: X:174.47, Y:-4.12, Z:-3.37 [[ 9.99988165e-01 9.35226398e-04 4.77452513e-03 1.74467966e+02] [-9.34968409e-04 9.99999561e-01 -5.62661949e-05 -4.12430796e+00] [-4.77457566e-03 5.18014988e-05 9.99988600e-01 -3.37136490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57800114499997 meters 0.10292912823200376 Centerline is valid? [False, False] Translation: X:174.47, Y:-4.13, Z:-3.37 [[ 9.99988171e-01 1.24668126e-03 4.70139143e-03 1.74468507e+02] [-1.24879804e-03 9.99999120e-01 4.47336318e-04 -4.12545824e+00] [-4.70082961e-03 -4.53202115e-04 9.99988848e-01 -3.37196535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60800114499997 meters 0.104029477378679 Centerline is valid? [False, False] Translation: X:174.47, Y:-4.13, Z:-3.37 [[ 9.99988296e-01 1.20573375e-03 4.68541082e-03 1.74468478e+02] [-1.20762614e-03 9.99999190e-01 4.01081582e-04 -4.12560057e+00] [-4.68492343e-03 -4.06735112e-04 9.99988943e-01 -3.37187238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63800114499998 meters 0.10467480098525284 Centerline is valid? [False, False] Translation: X:174.47, Y:-4.12, Z:-3.37 [[ 9.99989060e-01 1.09543584e-03 4.54745214e-03 1.74468547e+02] [-1.09613176e-03 9.99999388e-01 1.50545714e-04 -4.12487311e+00] [-4.54728444e-03 -1.55528674e-04 9.99989649e-01 -3.37153519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66800114499998 meters 0.10647479435503436 Centerline is valid? [False, False] Translation: X:174.47, Y:-4.12, Z:-3.37 [[ 9.99989645e-01 1.29034493e-03 4.36397852e-03 1.74469217e+02] [-1.29190269e-03 9.99999103e-01 3.54157013e-04 -4.12483324e+00] [-4.36351762e-03 -3.59791182e-04 9.99990415e-01 -3.37195019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69800114499998 meters 0.09904733305396576 Centerline is valid? [False, True] Translation: X:174.47, Y:-4.12, Z:-3.37 [[ 9.99990076e-01 1.34958437e-03 4.24567177e-03 1.74469453e+02] [-1.35131503e-03 9.99999005e-01 4.04788553e-04 -4.12494422e+00] [-4.24512125e-03 -4.10521776e-04 9.99990905e-01 -3.37194587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72800114499998 meters 0.10883833543391526 Centerline is valid? [True, False] Translation: X:174.47, Y:-4.13, Z:-3.37 [[ 9.99990676e-01 1.44367704e-03 4.06978889e-03 1.74469813e+02] [-1.44547276e-03 9.99998859e-01 4.38326062e-04 -4.12515697e+00] [-4.06915145e-03 -4.44204744e-04 9.99991622e-01 -3.37194248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75800114499998 meters 0.0983514257151678 Centerline is valid? [False, True] Translation: X:174.47, Y:-4.12, Z:-3.37 [[ 9.99991007e-01 1.33757760e-03 4.02451936e-03 1.74469885e+02] [-1.33855840e-03 9.99999075e-01 2.41023049e-04 -4.12464152e+00] [-4.02419325e-03 -2.46407936e-04 9.99991873e-01 -3.37190851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78800114499998 meters 0.10109219943620988 Centerline is valid? [True, False] Translation: X:174.47, Y:-4.12, Z:-3.37 [[ 9.99991686e-01 1.51309554e-03 3.78656903e-03 1.74470592e+02] [-1.51441004e-03 9.99998794e-01 3.44303176e-04 -4.12440088e+00] [-3.78604350e-03 -3.50034731e-04 9.99992772e-01 -3.37219538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81800114499998 meters 0.09943294507110174 Centerline is valid? [False, True] Translation: X:174.47, Y:-4.12, Z:-3.37 [[ 9.99992126e-01 1.29297343e-03 3.75177558e-03 1.74470272e+02] [-1.29302274e-03 9.99999164e-01 1.07168816e-05 -4.12400099e+00] [-3.75175859e-03 -1.55679284e-05 9.99992962e-01 -3.37161460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84800114499998 meters 0.09628657199074363 Centerline is valid? [True, True] Translation: X:174.50, Y:-4.12, Z:-3.37 [[ 9.99993259e-01 1.65169212e-03 3.27940383e-03 1.74501808e+02] [-1.65057621e-03 9.99998579e-01 -3.42956601e-04 -4.12260949e+00] [-3.27996563e-03 3.37541383e-04 9.99994564e-01 -3.37209705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87800114499998 meters 0.10017944040760295 Centerline is valid? [True, False] Translation: X:174.50, Y:-4.12, Z:-3.37 [[ 9.99993458e-01 1.57588414e-03 3.25591294e-03 1.74501768e+02] [-1.57431620e-03 9.99998644e-01 -4.84073754e-04 -4.12248417e+00] [-3.25667136e-03 4.78944751e-04 9.99994582e-01 -3.37196477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90800114499996 meters 0.09349523826408591 Centerline is valid? [False, True] Translation: X:174.50, Y:-4.12, Z:-3.37 [[ 9.99993486e-01 2.04845831e-03 2.97171987e-03 1.74502938e+02] [-2.04853856e-03 9.99997901e-01 2.39611959e-05 -4.12299969e+00] [-2.97166455e-03 -3.00487226e-05 9.99995584e-01 -3.37281509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93800114499996 meters 0.10084498893104843 Centerline is valid? [True, False] Translation: X:174.50, Y:-4.12, Z:-3.37 [[ 9.99993856e-01 1.94044656e-03 2.91928165e-03 1.74502858e+02] [-1.94000611e-03 9.99998106e-01 -1.53701943e-04 -4.12277966e+00] [-2.91957437e-03 1.48037574e-04 9.99995727e-01 -3.37252991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96800114499996 meters 0.0942693061728676 Centerline is valid? [False, True] Translation: X:174.50, Y:-4.12, Z:-3.37 [[ 9.99994002e-01 2.21652015e-03 2.66130637e-03 1.74503797e+02] [-2.21685386e-03 9.99997535e-01 1.22447096e-04 -4.12281169e+00] [-2.66102841e-03 -1.28346089e-04 9.99996451e-01 -3.37312595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99800114499996 meters 0.10160793912337723 Centerline is valid? [True, False] Translation: X:174.50, Y:-4.12, Z:-3.37 [[ 9.99994406e-01 2.10011680e-03 2.60332076e-03 1.74503784e+02] [-2.09989042e-03 9.99997791e-01 -8.96877235e-05 -4.12240270e+00] [-2.60350336e-03 8.42205334e-05 9.99996607e-01 -3.37293888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02800114499996 meters 0.09967428054957123 Centerline is valid? [False, True] Translation: X:174.50, Y:-4.12, Z:-3.37 [[ 9.99994217e-01 2.27951366e-03 2.52372553e-03 1.74504253e+02] [-2.27991123e-03 9.99997389e-01 1.54665421e-04 -4.12274977e+00] [-2.52336638e-03 -1.60418397e-04 9.99996803e-01 -3.37340812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05800114499996 meters 0.099275562791688 Centerline is valid? [True, True] Translation: X:174.53, Y:-4.13, Z:-3.37 [[ 9.99991580e-01 2.30470226e-03 3.39539463e-03 1.74534338e+02] [-2.30353433e-03 9.99997286e-01 -3.47842948e-04 -4.12547317e+00] [-3.39618709e-03 3.40018611e-04 9.99994175e-01 -3.37451741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08800114499996 meters 0.09774370026337037 Centerline is valid? [True, True] Translation: X:174.57, Y:-4.13, Z:-3.37 [[ 9.99989979e-01 2.82723427e-03 3.47110488e-03 1.74565510e+02] [-2.82601889e-03 9.99995944e-01 -3.54994526e-04 -4.12693834e+00] [-3.47209445e-03 3.45181561e-04 9.99993913e-01 -3.37491882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11800114499997 meters 0.0939420958940908 Centerline is valid? [True, True] Translation: X:174.60, Y:-4.12, Z:-3.37 [[ 9.99987950e-01 3.31783179e-03 3.61819864e-03 1.74596422e+02] [-3.31651170e-03 9.99994432e-01 -3.70785724e-04 -4.12434899e+00] [-3.61940869e-03 3.58781458e-04 9.99993386e-01 -3.37427529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14800114499997 meters 0.09441521016812894 Centerline is valid? [True, True] Translation: X:174.63, Y:-4.13, Z:-3.37 [[ 9.99988734e-01 2.96229401e-03 3.70908401e-03 1.74626482e+02] [-2.96090435e-03 9.99995544e-01 -3.80099475e-04 -4.12807988e+00] [-3.71019345e-03 3.69112949e-04 9.99993049e-01 -3.37449757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17800114499997 meters 0.1021844935004948 Centerline is valid? [True, False] Translation: X:174.63, Y:-4.13, Z:-3.37 [[ 9.99989105e-01 2.87395322e-03 3.67835517e-03 1.74626327e+02] [-2.87212731e-03 9.99995750e-01 -5.01577068e-04 -4.12807474e+00] [-3.67978104e-03 4.91006899e-04 9.99993109e-01 -3.37416276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20800114499997 meters 0.0930387534673766 Centerline is valid? [False, True] Translation: X:174.63, Y:-4.13, Z:-3.37 [[ 9.99989098e-01 2.92222993e-03 3.64202563e-03 1.74626363e+02] [-2.92080535e-03 9.99995656e-01 -3.96407094e-04 -4.12853889e+00] [-3.64316821e-03 3.85765124e-04 9.99993289e-01 -3.37410289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23800114499997 meters 0.09333203386215322 Centerline is valid? [True, True] Translation: X:174.66, Y:-4.13, Z:-3.38 [[ 9.99990092e-01 2.04704899e-03 3.95282028e-03 1.74656808e+02] [-2.04546153e-03 9.99997826e-01 -4.05603665e-04 -4.13292964e+00] [-3.95364198e-03 3.97514305e-04 9.99992105e-01 -3.37506223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26800114499997 meters 0.10268808462515501 Centerline is valid? [True, False] Translation: X:174.66, Y:-4.13, Z:-3.38 [[ 9.99989360e-01 2.36476985e-03 3.96081817e-03 1.74656998e+02] [-2.36561194e-03 9.99997180e-01 2.07934196e-04 -4.13484187e+00] [-3.96031528e-03 -2.17301742e-04 9.99992134e-01 -3.37540705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29800114499997 meters 0.0922998108722391 Centerline is valid? [False, True] Translation: X:174.66, Y:-4.14, Z:-3.38 [[ 9.99989325e-01 2.38757217e-03 3.95593597e-03 1.74656909e+02] [-2.38886870e-03 9.99997094e-01 3.23051022e-04 -4.13547393e+00] [-3.95515317e-03 -3.32497785e-04 9.99992123e-01 -3.37528887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32800114499997 meters 0.09305807455303602 Centerline is valid? [True, True] Translation: X:174.69, Y:-4.14, Z:-3.38 [[ 9.99994791e-01 1.70014013e-03 2.74350343e-03 1.74687956e+02] [-1.69936292e-03 9.99998515e-01 -2.85598895e-04 -4.14030899e+00] [-2.74398491e-03 2.80935200e-04 9.99996196e-01 -3.37649195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35800114499997 meters 0.09363057708291801 Centerline is valid? [True, True] Translation: X:174.72, Y:-4.15, Z:-3.38 [[ 9.99996711e-01 1.42144363e-03 2.13485509e-03 1.74718300e+02] [-1.42097185e-03 9.99998966e-01 -2.22488499e-04 -4.14626920e+00] [-2.13516914e-03 2.19454199e-04 9.99997696e-01 -3.37837719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38800114499998 meters 0.09507432263101011 Centerline is valid? [True, True] Translation: X:174.75, Y:-4.15, Z:-3.38 [[ 9.99996594e-01 1.54903051e-03 2.10052614e-03 1.74747878e+02] [-1.54857400e-03 9.99998777e-01 -2.18943503e-04 -4.15222776e+00] [-2.10086272e-03 2.15689937e-04 9.99997770e-01 -3.37909607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41800114499998 meters 0.0986192579198388 Centerline is valid? [True, True] Translation: X:174.78, Y:-4.16, Z:-3.38 [[ 9.99996681e-01 1.40039565e-03 2.16275504e-03 1.74777180e+02] [-1.39991123e-03 9.99998995e-01 -2.25480170e-04 -4.16096870e+00] [-2.16306862e-03 2.22451757e-04 9.99997636e-01 -3.38054504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44800114499998 meters 0.10195945152139851 Centerline is valid? [True, False] Translation: X:174.78, Y:-4.16, Z:-3.38 [[ 9.99996456e-01 1.77216025e-03 1.98686378e-03 1.74777952e+02] [-1.77276506e-03 9.99998383e-01 3.02685655e-04 -4.16184495e+00] [-1.98632416e-03 -3.06206825e-04 9.99997980e-01 -3.38117487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47800114499998 meters 0.09711672730635805 Centerline is valid? [False, True] Translation: X:174.78, Y:-4.16, Z:-3.38 [[ 9.99995664e-01 2.08525246e-03 2.07914989e-03 1.74777791e+02] [-2.08736007e-03 9.99997309e-01 1.01203493e-03 -4.16445911e+00] [-2.07703395e-03 -1.01637047e-03 9.99997326e-01 -3.38129123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50800114499998 meters 0.09647623154062462 Centerline is valid? [True, True] Translation: X:174.81, Y:-4.17, Z:-3.38 [[ 9.99996991e-01 1.63438177e-03 1.82917682e-03 1.74808535e+02] [-1.63403627e-03 9.99998647e-01 -1.90364685e-04 -4.16727234e+00] [-1.82948547e-03 1.87375171e-04 9.99998309e-01 -3.38145995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53800114499998 meters 0.09732633465602945 Centerline is valid? [True, True] Translation: X:174.84, Y:-4.17, Z:-3.38 [[ 9.99994573e-01 1.79942352e-03 2.75979916e-03 1.74839128e+02] [-1.79863701e-03 9.99998341e-01 -2.87443783e-04 -4.17286902e+00] [-2.76031181e-03 2.82478346e-04 9.99996150e-01 -3.38188668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56800114499998 meters 0.10458416379121774 Centerline is valid? [True, False] Translation: X:174.84, Y:-4.17, Z:-3.38 [[ 9.99994677e-01 1.88188497e-03 2.66539240e-03 1.74839278e+02] [-1.88143226e-03 9.99998215e-01 -1.72346699e-04 -4.17336019e+00] [-2.66571198e-03 1.67331026e-04 9.99996433e-01 -3.38181224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59800114499998 meters 0.10436645946018135 Centerline is valid? [False, False] Translation: X:174.84, Y:-4.17, Z:-3.38 [[ 9.99994779e-01 1.86693883e-03 2.63756671e-03 1.74839163e+02] [-1.86659636e-03 9.99998249e-01 -1.32298180e-04 -4.17387330e+00] [-2.63780908e-03 1.27374217e-04 9.99996513e-01 -3.38158217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62800114499998 meters 0.10165206604870693 Centerline is valid? [False, False] Translation: X:174.84, Y:-4.18, Z:-3.38 [[ 9.99993842e-01 2.13203171e-03 2.78763760e-03 1.74838797e+02] [-2.13365349e-03 9.99997556e-01 5.78933605e-04 -4.17664539e+00] [-2.78639648e-03 -5.84877893e-04 9.99995947e-01 -3.38155077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65800114499996 meters 0.10378963755233196 Centerline is valid? [False, False] Translation: X:174.84, Y:-4.18, Z:-3.38 [[ 9.99993290e-01 2.17852947e-03 2.94509922e-03 1.74838394e+02] [-2.18099922e-03 9.99997272e-01 8.35646645e-04 -4.17784585e+00] [-2.94327071e-03 -8.42064297e-04 9.99995314e-01 -3.38148094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68800114499996 meters 0.10378963755233196 Centerline is valid? [False, False] Translation: X:174.84, Y:-4.18, Z:-3.38 [[ 9.99993290e-01 2.17852947e-03 2.94509922e-03 1.74838394e+02] [-2.18099922e-03 9.99997272e-01 8.35646645e-04 -4.17784585e+00] [-2.94327071e-03 -8.42064297e-04 9.99995314e-01 -3.38148094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71800114499996 meters 0.10380859047480147 Centerline is valid? [False, False] Translation: X:174.84, Y:-4.18, Z:-3.38 [[ 9.99993009e-01 2.13713439e-03 3.06826117e-03 1.74837913e+02] [-2.14004507e-03 9.99997263e-01 9.45670464e-04 -4.17876218e+00] [-3.06623175e-03 -9.52230070e-04 9.99994846e-01 -3.38117545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74800114499996 meters 0.09892015073900289 Centerline is valid? [False, True] Translation: X:174.84, Y:-4.18, Z:-3.38 [[ 9.99992755e-01 2.15387655e-03 3.13843588e-03 1.74837603e+02] [-2.15738121e-03 9.99997053e-01 1.11373307e-03 -4.17963838e+00] [-3.13602779e-03 -1.12049580e-03 9.99994455e-01 -3.38093365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77800114499996 meters 0.1068797416951662 Centerline is valid? [True, False] Translation: X:174.84, Y:-4.18, Z:-3.38 [[ 9.99992970e-01 2.22803373e-03 3.01585282e-03 1.74837920e+02] [-2.23156924e-03 9.99996826e-01 1.16945270e-03 -4.17967190e+00] [-3.01323767e-03 -1.17617456e-03 9.99994768e-01 -3.38100567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80800114499996 meters 0.09999266399036134 Centerline is valid? [False, True] Translation: X:174.84, Y:-4.18, Z:-3.38 [[ 9.99993240e-01 2.29700919e-03 2.87105149e-03 1.74838190e+02] [-2.30053907e-03 9.99996601e-01 1.22677349e-03 -4.17990289e+00] [-2.86822382e-03 -1.23337016e-03 9.99995126e-01 -3.38096056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83800114499996 meters 0.09723846676777943 Centerline is valid? [True, True] Translation: X:174.87, Y:-4.18, Z:-3.38 [[ 9.99989134e-01 2.92506395e-03 3.62984159e-03 1.74869045e+02] [-2.92365538e-03 9.99995649e-01 -3.93299039e-04 -4.17918031e+00] [-3.63097622e-03 3.82682359e-04 9.99993335e-01 -3.38005337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86800114499997 meters 0.10091321504027044 Centerline is valid? [True, False] Translation: X:174.87, Y:-4.18, Z:-3.38 [[ 9.99987661e-01 3.50091718e-03 3.52449585e-03 1.74869865e+02] [-3.50265103e-03 9.99993748e-01 4.85889952e-04 -4.18105965e+00] [-3.52277276e-03 -4.98229036e-04 9.99993671e-01 -3.38101419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89800114499997 meters 0.10248912510188374 Centerline is valid? [False, False] Translation: X:174.87, Y:-4.18, Z:-3.38 [[ 9.99987764e-01 3.53470185e-03 3.46101495e-03 1.74869931e+02] [-3.53650698e-03 9.99993614e-01 5.15578977e-04 -4.18138154e+00] [-3.45917042e-03 -5.27812571e-04 9.99993878e-01 -3.38094301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92800114499997 meters 0.09762661476667957 Centerline is valid? [False, True] Translation: X:174.87, Y:-4.18, Z:-3.38 [[ 9.99988079e-01 3.51866755e-03 3.38529703e-03 1.74870003e+02] [-3.52015411e-03 9.99993710e-01 4.33262595e-04 -4.18141836e+00] [-3.38375123e-03 -4.45174198e-04 9.99994176e-01 -3.38082554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95800114499997 meters 0.10417661926787253 Centerline is valid? [True, False] Translation: X:174.87, Y:-4.18, Z:-3.38 [[ 9.99988562e-01 3.39787443e-03 3.36605445e-03 1.74869966e+02] [-3.39849600e-03 9.99994209e-01 1.78954854e-04 -4.18091113e+00] [-3.36542689e-03 -1.90392330e-04 9.99994319e-01 -3.38069251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98800114499997 meters 0.0922050142120614 Centerline is valid? [False, True] Translation: X:174.87, Y:-4.18, Z:-3.38 [[ 9.99990181e-01 3.14830025e-03 3.11873635e-03 1.74869948e+02] [-3.14688259e-03 9.99994943e-01 -4.59365511e-04 -4.17943830e+00] [-3.12016680e-03 4.49546703e-04 9.99995031e-01 -3.37976696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01800114499997 meters 0.09303521884629098 Centerline is valid? [True, True] Translation: X:174.90, Y:-4.18, Z:-3.38 [[ 9.99985971e-01 3.91642480e-03 3.56632707e-03 1.74900107e+02] [-3.91513489e-03 9.99992268e-01 -3.68601182e-04 -4.18384097e+00] [-3.56774309e-03 3.54633360e-04 9.99993573e-01 -3.38030124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04800114499997 meters 0.09720391913575913 Centerline is valid? [True, True] Translation: X:174.93, Y:-4.19, Z:-3.38 [[ 9.99982247e-01 4.68028766e-03 3.68778013e-03 1.74929228e+02] [-4.67891327e-03 9.99988981e-01 -3.81227406e-04 -4.19459379e+00] [-3.68952375e-03 3.63965835e-04 9.99993127e-01 -3.38272394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07800114499997 meters 0.09535780544855664 Centerline is valid? [True, True] Translation: X:174.96, Y:-4.20, Z:-3.38 [[ 9.99983128e-01 4.93454311e-03 3.06498232e-03 1.74959800e+02] [-4.93359405e-03 9.99987779e-01 -3.17128360e-04 -4.19679525e+00] [-3.06650975e-03 3.02001631e-04 9.99995253e-01 -3.38427181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10800114499997 meters 0.09395783909838172 Centerline is valid? [True, True] Translation: X:174.99, Y:-4.20, Z:-3.38 [[ 9.99980402e-01 5.35755677e-03 3.23924835e-03 1.74990499e+02] [-5.35649892e-03 9.99985598e-01 -3.35159361e-04 -4.19768921e+00] [-3.24099733e-03 3.17801763e-04 9.99994697e-01 -3.38480579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13800114499998 meters 0.08761226085968697 Centerline is valid? [True, True] Translation: X:175.02, Y:-4.19, Z:-3.38 [[ 9.99980324e-01 5.50358202e-03 3.01038996e-03 1.75020690e+02] [-5.50266719e-03 9.99984812e-01 -3.12087915e-04 -4.18980996e+00] [-3.01206183e-03 2.95516601e-04 9.99995420e-01 -3.38330652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16800114499998 meters 0.09138662142221696 Centerline is valid? [True, True] Translation: X:175.05, Y:-4.20, Z:-3.39 [[ 9.99974283e-01 6.35061612e-03 3.33201609e-03 1.75049376e+02] [-6.34950510e-03 9.99979783e-01 -3.43910601e-04 -4.19887996e+00] [-3.33413277e-03 3.22745104e-04 9.99994390e-01 -3.38569651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19800114499998 meters 0.09116858847613721 Centerline is valid? [True, True] Translation: X:175.08, Y:-4.20, Z:-3.39 [[ 9.99966977e-01 7.55946324e-03 2.98328109e-03 1.75079088e+02] [-7.55857387e-03 9.99971386e-01 -3.09281108e-04 -4.20114404e+00] [-2.98553372e-03 2.86721544e-04 9.99995502e-01 -3.38723194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22800114499998 meters 0.08933527089000293 Centerline is valid? [True, True] Translation: X:175.11, Y:-4.20, Z:-3.39 [[ 9.99961345e-01 8.50615844e-03 2.22562982e-03 1.75108411e+02] [-8.50566484e-03 9.99963799e-01 -2.31148969e-04 -4.20070536e+00] [-2.22751544e-03 2.12209573e-04 9.99997497e-01 -3.38804752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25800114499998 meters 0.08950406934298866 Centerline is valid? [True, True] Translation: X:175.14, Y:-4.20, Z:-3.39 [[ 9.99955289e-01 9.28700044e-03 1.78068051e-03 1.75135833e+02] [-9.28668439e-03 9.99956861e-01 -1.85678742e-04 -4.20318745e+00] [-1.78232809e-03 1.69133822e-04 9.99998397e-01 -3.38875750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28800114499998 meters 0.0949250828941931 Centerline is valid? [True, True] Translation: X:175.16, Y:-4.21, Z:-3.39 [[ 9.99952063e-01 9.63913510e-03 1.72019940e-03 1.75162994e+02] [-9.63884083e-03 9.99953529e-01 -1.79275185e-04 -4.21410018e+00] [-1.72184752e-03 1.62685863e-04 9.99998504e-01 -3.39119373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31800114499998 meters 0.09363648521023166 Centerline is valid? [True, True] Translation: X:175.19, Y:-4.21, Z:-3.39 [[ 9.99933520e-01 1.11538700e-02 2.92346908e-03 1.75192858e+02] [-1.11530332e-02 9.99937757e-01 -3.02364299e-04 -4.21382127e+00] [-2.92665965e-03 2.69738650e-04 9.99995681e-01 -3.39065533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34800114499998 meters 0.09103797732803556 Centerline is valid? [True, True] Translation: X:175.22, Y:-4.21, Z:-3.39 [[ 9.99925923e-01 1.14378258e-02 4.16217644e-03 1.75222358e+02] [-1.14361316e-02 9.99934513e-01 -4.30619907e-04 -4.21187965e+00] [-4.16682922e-03 3.82988810e-04 9.99991245e-01 -3.38989953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37800114499998 meters 0.08461630912999435 Centerline is valid? [True, True] Translation: X:175.25, Y:-4.20, Z:-3.39 [[ 9.99925317e-01 1.15038994e-02 4.12573430e-03 1.75252475e+02] [-1.15022361e-02 9.99933756e-01 -4.26663816e-04 -4.20346972e+00] [-4.13036929e-03 3.79176782e-04 9.99991398e-01 -3.38864789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40800114499996 meters 0.09227756340747849 Centerline is valid? [True, True] Translation: X:175.28, Y:-4.22, Z:-3.39 [[ 9.99920426e-01 1.18092046e-02 4.43672678e-03 1.75278413e+02] [-1.18072847e-02 9.99930186e-01 -4.58686683e-04 -4.21871221e+00] [-4.44183376e-03 4.06264487e-04 9.99990052e-01 -3.39235319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43800114499996 meters 0.09384299499086579 Centerline is valid? [True, True] Translation: X:175.31, Y:-4.22, Z:-3.40 [[ 9.99935408e-01 1.07607890e-02 3.65847848e-03 1.75306412e+02] [-1.07594790e-02 9.99942044e-01 -3.77588481e-04 -4.22365273e+00] [-3.66232960e-03 3.38200770e-04 9.99993236e-01 -3.39535968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46800114499996 meters 0.08997282179347237 Centerline is valid? [True, True] Translation: X:175.34, Y:-4.22, Z:-3.39 [[ 9.99947902e-01 9.82782750e-03 2.75803657e-03 1.75336643e+02] [-9.82707984e-03 9.99951673e-01 -2.84503158e-04 -4.21980143e+00] [-2.76069933e-03 2.57384890e-04 9.99996156e-01 -3.39481420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49800114499996 meters 0.09645974339217092 Centerline is valid? [True, True] Translation: X:175.36, Y:-4.23, Z:-3.40 [[ 9.99956876e-01 8.92438535e-03 2.56944012e-03 1.75363814e+02] [-8.92373422e-03 9.99960148e-01 -2.64764978e-04 -4.23232531e+00] [-2.57170059e-03 2.41824559e-04 9.99996664e-01 -3.39727094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52800114499996 meters 0.09041168503971209 Centerline is valid? [True, True] Translation: X:175.39, Y:-4.23, Z:-3.40 [[ 9.99964475e-01 8.02142072e-03 2.58947919e-03 1.75394418e+02] [-8.02075588e-03 9.99967798e-01 -2.67028085e-04 -4.22535554e+00] [-2.59153775e-03 2.46249019e-04 9.99996612e-01 -3.39603929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55800114499996 meters 0.10074083608052063 Centerline is valid? [True, False] Translation: X:175.40, Y:-4.22, Z:-3.40 [[ 9.99989685e-01 4.09055970e-03 1.97409789e-03 1.75396182e+02] [-4.08165878e-03 9.99981581e-01 -4.49201515e-03 -4.22407765e+00] [-1.99243639e-03 4.48391122e-03 9.99987962e-01 -3.39678333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58800114499996 meters 0.09582006543084888 Centerline is valid? [False, True] Translation: X:175.40, Y:-4.22, Z:-3.40 [[ 9.99990055e-01 3.95299679e-03 2.06472232e-03 1.75395898e+02] [-3.94337027e-03 9.99981433e-01 -4.64582231e-03 -4.22377928e+00] [-2.08304890e-03 4.63763414e-03 9.99987077e-01 -3.39662772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61800114499997 meters 0.10268648764164483 Centerline is valid? [True, False] Translation: X:175.40, Y:-4.22, Z:-3.40 [[ 9.99989945e-01 4.02245593e-03 1.98247326e-03 1.75396250e+02] [-4.01329390e-03 9.99981348e-01 -4.60402399e-03 -4.22344328e+00] [-2.00095577e-03 4.59602145e-03 9.99987436e-01 -3.39687312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64800114499997 meters 0.09711808526883951 Centerline is valid? [False, True] Translation: X:175.40, Y:-4.22, Z:-3.40 [[ 9.99990550e-01 3.87756509e-03 1.96600530e-03 1.75396219e+02] [-3.86801859e-03 9.99980823e-01 -4.83655510e-03 -4.22269824e+00] [-1.98472166e-03 4.82890485e-03 9.99986371e-01 -3.39674964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67800114499997 meters 0.0904257239215477 Centerline is valid? [True, True] Translation: X:175.43, Y:-4.22, Z:-3.40 [[ 9.99993417e-01 3.13878700e-03 1.82056743e-03 1.75427581e+02] [-3.13845671e-03 9.99995058e-01 -1.84249384e-04 -4.21659476e+00] [-1.82113675e-03 1.78534399e-04 9.99998326e-01 -3.39848297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70800114499997 meters 0.0974639391830729 Centerline is valid? [True, True] Translation: X:175.46, Y:-4.23, Z:-3.40 [[ 9.99994930e-01 2.80510508e-03 1.50725397e-03 1.75456053e+02] [-2.80488054e-03 9.99996055e-01 -1.51064988e-04 -4.23104349e+00] [-1.50767178e-03 1.46836555e-04 9.99998853e-01 -3.40195966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73800114499997 meters 0.09075421284536865 Centerline is valid? [True, True] Translation: X:175.49, Y:-4.22, Z:-3.40 [[ 9.99994891e-01 2.82906772e-03 1.48789364e-03 1.75487618e+02] [-2.82884659e-03 9.99995987e-01 -1.50703669e-04 -4.22389886e+00] [-1.48831402e-03 1.46493877e-04 9.99998882e-01 -3.40123549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76800114499997 meters 0.09125845611708246 Centerline is valid? [True, True] Translation: X:175.52, Y:-4.23, Z:-3.40 [[ 9.99997352e-01 2.24859283e-03 4.88790081e-04 1.75517521e+02] [-2.24856874e-03 9.99997471e-01 -4.98243338e-05 -4.22747920e+00] [-4.88900880e-04 4.87251238e-05 9.99999879e-01 -3.40309712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79800114499997 meters 0.09393298677590431 Centerline is valid? [True, True] Translation: X:175.55, Y:-4.23, Z:-3.40 [[ 9.99999131e-01 1.27985778e-03 -3.17443857e-04 1.75546693e+02] [-1.27984774e-03 9.99999180e-01 3.18192650e-05 -4.23429007e+00] [ 3.17484321e-04 -3.14129575e-05 9.99999949e-01 -3.40485692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82800114499997 meters 0.09464232706473233 Centerline is valid? [True, True] Translation: X:175.58, Y:-4.24, Z:-3.41 [[ 9.99999451e-01 1.01761479e-03 -2.49897855e-04 1.75576505e+02] [-1.01760866e-03 9.99999482e-01 2.46595995e-05 -4.23779181e+00] [ 2.49922819e-04 -2.44052877e-05 9.99999968e-01 -3.40598513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85800114499997 meters 0.09513781427584247 Centerline is valid? [True, True] Translation: X:175.61, Y:-4.24, Z:-3.41 [[ 9.99999191e-01 1.17980512e-03 -4.75206630e-04 1.75606099e+02] [-1.17978270e-03 9.99999303e-01 4.74501792e-05 -4.24091659e+00] [ 4.75262281e-04 -4.68895002e-05 9.99999886e-01 -3.40731437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88800114499998 meters 0.09501639969351991 Centerline is valid? [True, True] Translation: X:175.64, Y:-4.24, Z:-3.41 [[ 9.99997439e-01 2.15492530e-03 -6.91644230e-04 1.75635569e+02] [-2.15487785e-03 9.99997676e-01 6.93328386e-05 -4.24300031e+00] [ 6.91792030e-04 -6.78422522e-05 9.99999758e-01 -3.40718716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91800114499998 meters 0.09466688064056607 Centerline is valid? [True, True] Translation: X:175.66, Y:-4.25, Z:-3.41 [[ 9.99995970e-01 2.83731632e-03 -9.36994620e-05 1.75664929e+02] [-2.83731551e-03 9.99995975e-01 8.84767014e-06 -4.24542371e+00] [ 9.37241885e-05 -8.58177955e-06 9.99999996e-01 -3.40777156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94800114499998 meters 0.09563249085002351 Centerline is valid? [True, True] Translation: X:175.69, Y:-4.25, Z:-3.41 [[ 9.99992628e-01 3.81770205e-03 4.11512825e-04 1.75693087e+02] [-3.81768487e-03 9.99992712e-01 -4.25275554e-05 -4.24949543e+00] [-4.11672184e-04 4.09562156e-05 9.99999914e-01 -3.40897965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97800114499998 meters 0.09440506514091959 Centerline is valid? [True, True] Translation: X:175.72, Y:-4.25, Z:-3.41 [[ 9.99988505e-01 4.78217097e-03 3.47607264e-04 1.75722757e+02] [-4.78215883e-03 9.99988565e-01 -3.57458561e-05 -4.25041141e+00] [-3.47774232e-04 3.40831321e-05 9.99999939e-01 -3.40970413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00800114499998 meters 0.09562098731127057 Centerline is valid? [True, True] Translation: X:175.75, Y:-4.25, Z:-3.41 [[ 9.99975152e-01 6.98830190e-03 9.26341829e-04 1.75751563e+02] [-6.98821783e-03 9.99975578e-01 -9.39643026e-05 -4.25324713e+00] [-9.26975857e-04 8.74884893e-05 9.99999567e-01 -3.41019476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03800114499998 meters 0.09484105537102779 Centerline is valid? [True, True] Translation: X:175.78, Y:-4.25, Z:-3.41 [[ 9.99961309e-01 8.66335551e-03 1.52524084e-03 1.75782002e+02] [-8.66313004e-03 9.99962462e-01 -1.54365510e-04 -4.25406314e+00] [-1.52652091e-03 1.41146178e-04 9.99998825e-01 -3.41007765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.06800114499998 meters 0.09553715879017105 Centerline is valid? [True, True] Translation: X:175.81, Y:-4.26, Z:-3.41 [[ 9.99956522e-01 9.20519499e-03 1.48979624e-03 1.75810511e+02] [-9.20497926e-03 9.99957622e-01 -1.51597405e-04 -4.25697212e+00] [-1.49112859e-03 1.37877271e-04 9.99998879e-01 -3.41060472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09800114499998 meters 0.09595611892738609 Centerline is valid? [True, True] Translation: X:175.84, Y:-4.26, Z:-3.41 [[ 9.99950096e-01 9.92570946e-03 1.13433573e-03 1.75838469e+02] [-9.92558461e-03 9.99950733e-01 -1.15638894e-04 -4.25996450e+00] [-1.13542765e-03 1.04374178e-04 9.99999350e-01 -3.41200439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12800114499998 meters 0.08513955142216174 Centerline is valid? [True, True] Translation: X:175.87, Y:-4.24, Z:-3.41 [[ 9.99947221e-01 1.02486907e-02 7.21463168e-04 1.75869244e+02] [-1.02486400e-02 9.99947479e-01 -7.40494024e-05 -4.24441153e+00] [-7.22184186e-04 6.66514778e-05 9.99999737e-01 -3.40928436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15800114499996 meters 0.09608903384392671 Centerline is valid? [True, True] Translation: X:175.90, Y:-4.26, Z:-3.41 [[ 9.99942828e-01 1.06797160e-02 5.33625752e-04 1.75895403e+02] [-1.06796880e-02 9.99942969e-01 -5.53735116e-05 -4.26484343e+00] [-5.34186692e-04 4.96713892e-05 9.99999856e-01 -3.41384068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18800114499996 meters 0.09310492481106178 Centerline is valid? [True, True] Translation: X:175.92, Y:-4.26, Z:-3.41 [[ 9.99949043e-01 1.00659636e-02 7.66334639e-04 1.75924901e+02] [-1.00659065e-02 9.99949334e-01 -7.83673189e-05 -4.26186054e+00] [-7.67084655e-04 7.06494727e-05 9.99999703e-01 -3.41348130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21800114499996 meters 0.08593132999990169 Centerline is valid? [True, True] Translation: X:175.96, Y:-4.25, Z:-3.41 [[ 9.99954612e-01 9.50257361e-03 6.89002255e-04 1.75955423e+02] [-9.50252718e-03 9.99954847e-01 -7.06258577e-05 -4.25029212e+00] [-6.89642272e-04 6.40753895e-05 9.99999760e-01 -3.41114333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24800114499996 meters 0.08801395254194962 Centerline is valid? [True, True] Translation: X:175.98, Y:-4.26, Z:-3.41 [[ 9.99958178e-01 9.14042887e-03 -3.09092242e-04 1.75982475e+02] [-9.14042021e-03 9.99958225e-01 2.94413960e-05 -4.25558841e+00] [ 3.09348436e-04 -2.66149318e-05 9.99999952e-01 -3.41286378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27800114499996 meters 0.08779141635579393 Centerline is valid? [True, True] Translation: X:176.01, Y:-4.26, Z:-3.41 [[ 9.99964547e-01 8.38931970e-03 -7.23486545e-04 1.76011466e+02] [-8.38926975e-03 9.99964807e-01 7.20517033e-05 -4.25770707e+00] [ 7.24065548e-04 -6.59796251e-05 9.99999736e-01 -3.41298326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30800114499996 meters 0.08749993715268423 Centerline is valid? [True, True] Translation: X:176.04, Y:-4.26, Z:-3.41 [[ 9.99970954e-01 7.61728952e-03 2.59629767e-04 1.76039595e+02] [-7.61728258e-03 9.99970988e-01 -2.77151600e-05 -4.26019800e+00] [-2.59833349e-04 2.57366817e-05 9.99999966e-01 -3.41432784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33800114499996 meters 0.08928040289378669 Centerline is valid? [True, True] Translation: X:176.07, Y:-4.27, Z:-3.41 [[ 9.99969091e-01 7.84829900e-03 4.70042841e-04 1.76067195e+02] [-7.84827693e-03 9.99969201e-01 -4.87882836e-05 -4.26565468e+00] [-4.70411269e-04 4.50977493e-05 9.99999888e-01 -3.41490980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36800114499997 meters 0.08859472283044764 Centerline is valid? [True, True] Translation: X:176.10, Y:-4.27, Z:-3.41 [[ 9.99975738e-01 6.81793405e-03 1.42792041e-03 1.76095617e+02] [-6.81773422e-03 9.99976749e-01 -1.44768737e-04 -4.26558391e+00] [-1.42887423e-03 1.35030043e-04 9.99998970e-01 -3.41452696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39800114499997 meters 0.09007365834212594 Centerline is valid? [True, True] Translation: X:176.12, Y:-4.27, Z:-3.41 [[ 9.99975186e-01 6.90994474e-03 1.37081168e-03 1.76123184e+02] [-6.90976075e-03 9.99976118e-01 -1.38910050e-04 -4.26938313e+00] [-1.37173880e-03 1.29434622e-04 9.99999051e-01 -3.41498850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42800114499997 meters 0.09150172961359085 Centerline is valid? [True, True] Translation: X:176.15, Y:-4.27, Z:-3.42 [[ 9.99970356e-01 7.37827333e-03 2.20205998e-03 1.76152246e+02] [-7.37780417e-03 9.99972759e-01 -2.21103888e-04 -4.27207611e+00] [-2.20363136e-03 2.04850967e-04 9.99997551e-01 -3.41511779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45800114499997 meters 0.09341517434488021 Centerline is valid? [True, True] Translation: X:176.18, Y:-4.28, Z:-3.42 [[ 9.99967968e-01 7.33123172e-03 3.21200336e-03 1.76180013e+02] [-7.33023198e-03 9.99973081e-01 -3.22913870e-04 -4.27734059e+00] [-3.21428426e-03 2.99358796e-04 9.99994789e-01 -3.41565205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48800114499997 meters 0.09245076625728077 Centerline is valid? [True, True] Translation: X:176.21, Y:-4.28, Z:-3.42 [[ 9.99968733e-01 7.13064412e-03 3.41859753e-03 1.76209086e+02] [-7.12951273e-03 9.99974526e-01 -3.43023209e-04 -4.27857764e+00] [-3.42095642e-03 3.18639549e-04 9.99994098e-01 -3.41618652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51800114499997 meters 0.09299651736352249 Centerline is valid? [True, True] Translation: X:176.24, Y:-4.28, Z:-3.42 [[ 9.99972691e-01 6.57056634e-03 3.38291331e-03 1.76238245e+02] [-6.56945775e-03 9.99978364e-01 -3.38711423e-04 -4.28244523e+00] [-3.38506564e-03 3.16478268e-04 9.99994221e-01 -3.41750708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54800114499997 meters 0.08652759506983457 Centerline is valid? [True, True] Translation: X:176.27, Y:-4.27, Z:-3.42 [[ 9.99974496e-01 6.11334287e-03 3.69261142e-03 1.76269132e+02] [-6.11201945e-03 9.99981253e-01 -3.69575040e-04 -4.27372685e+00] [-3.69480154e-03 3.46996302e-04 9.99993114e-01 -3.41590159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57800114499997 meters 0.09576539113571567 Centerline is valid? [True, True] Translation: X:176.30, Y:-4.29, Z:-3.42 [[ 9.99977486e-01 5.52204285e-03 3.81249589e-03 1.76296939e+02] [-5.52062948e-03 9.99984689e-01 -3.81146021e-04 -4.29085609e+00] [-3.81454222e-03 3.60090063e-04 9.99992660e-01 -3.41925911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60800114499997 meters 0.09576539113571567 Centerline is valid? [True, True] Translation: X:176.33, Y:-4.29, Z:-3.42 [[ 9.99977660e-01 5.49043008e-03 3.81247970e-03 1.76326076e+02] [-5.48901587e-03 9.99984863e-01 -3.81308197e-04 -4.29372610e+00] [-3.81451553e-03 3.60372917e-04 9.99992660e-01 -3.41983202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63800114499998 meters 0.09665201237242259 Centerline is valid? [True, True] Translation: X:176.36, Y:-4.30, Z:-3.42 [[ 9.99976690e-01 5.63016377e-03 3.86261815e-03 1.76356532e+02] [-5.62871558e-03 9.99984084e-01 -3.85693227e-04 -4.29720873e+00] [-3.86472819e-03 3.63942658e-04 9.99992466e-01 -3.42057556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66800114499998 meters 0.09011334775532076 Centerline is valid? [True, True] Translation: X:176.39, Y:-4.29, Z:-3.42 [[ 9.99976785e-01 6.22992690e-03 2.75979686e-03 1.76387699e+02] [-6.22918910e-03 9.99980560e-01 -2.75853546e-04 -4.28826111e+00] [-2.76146176e-03 2.58655846e-04 9.99996154e-01 -3.41989642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69800114499998 meters 0.08765767663394125 Centerline is valid? [True, True] Translation: X:176.42, Y:-4.29, Z:-3.42 [[ 9.99974897e-01 6.64302777e-03 2.46478115e-03 1.76417786e+02] [-6.64243980e-03 9.99977908e-01 -2.46655500e-04 -4.28669417e+00] [-2.46636524e-03 2.30277148e-04 9.99996932e-01 -3.42073083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72800114499998 meters 0.08846141982616114 Centerline is valid? [True, True] Translation: X:176.45, Y:-4.29, Z:-3.42 [[ 9.99970235e-01 7.30276523e-03 2.48984845e-03 1.76446330e+02] [-7.30216680e-03 9.99973308e-01 -2.49355419e-04 -4.29059425e+00] [-2.49160297e-03 2.31166708e-04 9.99996869e-01 -3.42269448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75800114499998 meters 0.09025994454695248 Centerline is valid? [True, True] Translation: X:176.47, Y:-4.30, Z:-3.42 [[ 9.99969666e-01 7.63515314e-03 1.54006454e-03 1.76473536e+02] [-7.63492321e-03 9.99970842e-01 -1.55122183e-04 -4.29558305e+00] [-1.54120402e-03 1.43359203e-04 9.99998802e-01 -3.42391389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78800114499998 meters 0.08871668761027435 Centerline is valid? [True, True] Translation: X:176.50, Y:-4.29, Z:-3.42 [[ 9.99962363e-01 8.34393593e-03 2.37706112e-03 1.76502415e+02] [-8.34339341e-03 9.99965165e-01 -2.38057020e-04 -4.29409564e+00] [-2.37896465e-03 2.18215304e-04 9.99997146e-01 -3.42384043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81800114499998 meters 0.08934347594944121 Centerline is valid? [True, True] Translation: X:176.53, Y:-4.30, Z:-3.42 [[ 9.99962482e-01 8.38250664e-03 2.18356944e-03 1.76531310e+02] [-8.38204904e-03 9.99964846e-01 -2.18631500e-04 -4.29673637e+00] [-2.18532536e-03 2.00320511e-04 9.99997592e-01 -3.42470580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84800114499998 meters 0.09033896214858757 Centerline is valid? [True, True] Translation: X:176.56, Y:-4.30, Z:-3.43 [[ 9.99961917e-01 8.49625270e-03 1.99479574e-03 1.76559766e+02] [-8.49587108e-03 9.99963889e-01 -1.99703840e-04 -4.30034356e+00] [-1.99642044e-03 1.82748707e-04 9.99997990e-01 -3.42605345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87800114499998 meters 0.09005168252151059 Centerline is valid? [True, True] Translation: X:176.59, Y:-4.30, Z:-3.43 [[ 9.99960710e-01 8.59372250e-03 2.17393820e-03 1.76588642e+02] [-8.59327005e-03 9.99963054e-01 -2.17381547e-04 -4.30170856e+00] [-2.17572599e-03 1.98691768e-04 9.99997613e-01 -3.42677684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90800114499996 meters 0.0893991654438007 Centerline is valid? [True, True] Translation: X:176.62, Y:-4.30, Z:-3.43 [[ 9.99959228e-01 8.73980729e-03 2.27099345e-03 1.76617080e+02] [-8.73931438e-03 9.99961786e-01 -2.26881496e-04 -4.30239973e+00] [-2.27288956e-03 2.07025320e-04 9.99997396e-01 -3.42757970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93800114499996 meters 0.09088904997561922 Centerline is valid? [True, True] Translation: X:176.64, Y:-4.31, Z:-3.43 [[ 9.99958181e-01 8.87514818e-03 2.20656249e-03 1.76644949e+02] [-8.87468279e-03 9.99960595e-01 -2.20613456e-04 -4.30718865e+00] [-2.20843352e-03 2.01021688e-04 9.99997541e-01 -3.42834719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96800114499996 meters 0.08881072570365688 Centerline is valid? [True, True] Translation: X:176.68, Y:-4.30, Z:-3.43 [[ 9.99943519e-01 1.01297849e-02 3.21657958e-03 1.76675176e+02] [-1.01288082e-02 9.99948651e-01 -3.19794221e-04 -4.30396544e+00] [-3.21965386e-03 2.87196041e-04 9.99994776e-01 -3.42845789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99800114499996 meters 0.08879838065870076 Centerline is valid? [True, True] Translation: X:176.70, Y:-4.30, Z:-3.43 [[ 9.99935895e-01 1.09946541e-02 2.70617189e-03 1.76704044e+02] [-1.09939643e-02 9.99939528e-01 -2.69612507e-04 -4.30498485e+00] [-2.70897254e-03 2.39843666e-04 9.99996302e-01 -3.42908309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02800114499996 meters 0.0879667301680358 Centerline is valid? [True, True] Translation: X:176.73, Y:-4.30, Z:-3.43 [[ 9.99925265e-01 1.20043756e-02 2.31492368e-03 1.76733316e+02] [-1.20038741e-02 9.99927924e-01 -2.30388986e-04 -4.30499714e+00] [-2.31752251e-03 2.02583715e-04 9.99997294e-01 -3.42957989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05800114499996 meters 0.08855228818001623 Centerline is valid? [True, True] Translation: X:176.76, Y:-4.31, Z:-3.43 [[ 9.99907168e-01 1.34300997e-02 2.29961131e-03 1.76761814e+02] [-1.34296096e-02 9.99909793e-01 -2.28433840e-04 -4.30758000e+00] [-2.30247176e-03 1.97529752e-04 9.99997330e-01 -3.43067338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08800114499996 meters 0.08649976946410025 Centerline is valid? [True, True] Translation: X:176.79, Y:-4.31, Z:-3.43 [[ 9.99882420e-01 1.50363744e-02 3.00882425e-03 1.76791681e+02] [-1.50355434e-02 9.99886915e-01 -2.98641944e-04 -4.30545401e+00] [-3.01297449e-03 2.53367523e-04 9.99995429e-01 -3.43061178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11800114499997 meters 0.08631783248846116 Centerline is valid? [True, True] Translation: X:176.82, Y:-4.31, Z:-3.43 [[ 9.99869719e-01 1.57827652e-02 3.38355201e-03 1.76820411e+02] [-1.57817174e-02 9.99875404e-01 -3.36165532e-04 -4.30761972e+00] [-3.38843606e-03 2.82723474e-04 9.99994219e-01 -3.43164816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14800114499997 meters 0.0870376379420888 Centerline is valid? [True, True] Translation: X:176.85, Y:-4.31, Z:-3.43 [[ 9.99860693e-01 1.63424847e-02 3.39377711e-03 1.76848728e+02] [-1.63414345e-02 9.99866413e-01 -3.36945029e-04 -4.31101378e+00] [-3.39883026e-03 2.81438904e-04 9.99994184e-01 -3.43254163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17800114499997 meters 0.08731034905246099 Centerline is valid? [True, True] Translation: X:176.88, Y:-4.31, Z:-3.43 [[ 9.99864756e-01 1.60930231e-02 3.38871741e-03 1.76877266e+02] [-1.60919754e-02 9.99870459e-01 -3.36227212e-04 -4.31396678e+00] [-3.39368935e-03 2.81650582e-04 9.99994202e-01 -3.43313377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20800114499997 meters 0.08866820410201806 Centerline is valid? [True, True] Translation: X:176.90, Y:-4.32, Z:-3.43 [[ 9.99877849e-01 1.51876172e-02 3.69097957e-03 1.76904515e+02] [-1.51863680e-02 9.99884613e-01 -3.66256566e-04 -4.31915122e+00] [-3.69611624e-03 3.10159253e-04 9.99993121e-01 -3.43487155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23800114499997 meters 0.0902934912179581 Centerline is valid? [True, True] Translation: X:176.93, Y:-4.32, Z:-3.44 [[ 9.99887095e-01 1.45707712e-02 3.67287537e-03 1.76932534e+02] [-1.45695328e-02 9.99893793e-01 -3.63709853e-04 -4.32492776e+00] [-3.67778482e-03 3.10156710e-04 9.99993189e-01 -3.43626995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26800114499997 meters 0.09114247798653403 Centerline is valid? [True, True] Translation: X:176.96, Y:-4.33, Z:-3.44 [[ 9.99898627e-01 1.38585884e-02 3.26724450e-03 1.76961156e+02] [-1.38576049e-02 9.99903926e-01 -3.23469294e-04 -4.32973548e+00] [-3.27141343e-03 2.78160319e-04 9.99994610e-01 -3.43765009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29800114499997 meters 0.09270325442467905 Centerline is valid? [True, True] Translation: X:176.99, Y:-4.33, Z:-3.44 [[ 9.99919327e-01 1.26122254e-02 1.50699257e-03 1.76989604e+02] [-1.26120140e-02 9.99920454e-01 -1.49644738e-04 -4.33442380e+00] [-1.50876005e-03 1.30626455e-04 9.99998853e-01 -3.43980048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32800114499997 meters 0.09397728747490028 Centerline is valid? [True, True] Translation: X:177.02, Y:-4.34, Z:-3.44 [[ 9.99920420e-01 1.25810045e-02 9.33929352e-04 1.77017178e+02] [-1.25809226e-02 9.99920853e-01 -9.35109235e-05 -4.33810758e+00] [-9.35031895e-04 8.17537890e-05 9.99999560e-01 -3.44134350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35800114499997 meters 0.09523882460909024 Centerline is valid? [True, True] Translation: X:177.05, Y:-4.34, Z:-3.44 [[ 9.99929275e-01 1.18796485e-02 5.64470576e-04 1.77045847e+02] [-1.18796183e-02 9.99929433e-01 -5.67762664e-05 -4.34201935e+00] [-5.65105225e-04 5.00665559e-05 9.99999839e-01 -3.44301540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38800114499998 meters 0.09523882460909024 Centerline is valid? [True, True] Translation: X:177.07, Y:-4.34, Z:-3.44 [[ 9.99930013e-01 1.18174188e-02 5.64473658e-04 1.77074125e+02] [-1.18173886e-02 9.99930171e-01 -5.67453306e-05 -4.34471932e+00] [-5.65104825e-04 5.00707546e-05 9.99999839e-01 -3.44357166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41800114499998 meters 0.08809743778866884 Centerline is valid? [True, True] Translation: X:177.10, Y:-4.34, Z:-3.44 [[ 9.99930182e-01 1.18153793e-02 1.69604730e-04 1.77104258e+02] [-1.18153764e-02 9.99930196e-01 -1.79785469e-05 -4.33592223e+00] [-1.69805314e-04 1.59733479e-05 9.99999985e-01 -3.44237357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44800114499998 meters 0.09330290471840783 Centerline is valid? [True, True] Translation: X:177.13, Y:-4.35, Z:-3.44 [[ 9.99935304e-01 1.13532236e-02 7.01975301e-04 1.77130985e+02] [-1.13531769e-02 9.99935548e-01 -7.05596725e-05 -4.34674517e+00] [-7.02731137e-04 6.25854578e-05 9.99999751e-01 -3.44470159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47800114499998 meters 0.09743994446526477 Centerline is valid? [True, True] Translation: X:177.16, Y:-4.35, Z:-3.45 [[ 9.99936217e-01 1.12938736e-02 9.77156550e-05 1.77157548e+02] [-1.12938725e-02 9.99936222e-01 -1.14322767e-05 -4.35490855e+00] [-9.78385376e-05 1.03279593e-05 9.99999995e-01 -3.44703880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50800114499998 meters 0.08954267950917134 Centerline is valid? [True, True] Translation: X:177.19, Y:-4.34, Z:-3.44 [[ 9.99938972e-01 1.10270419e-02 -6.75506269e-04 1.77187772e+02] [-1.10270006e-02 9.99939199e-01 6.49424615e-05 -4.34320962e+00] [ 6.76181321e-04 -5.74896902e-05 9.99999770e-01 -3.44444084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53800114499998 meters 0.09654143916066386 Centerline is valid? [True, True] Translation: X:177.21, Y:-4.36, Z:-3.45 [[ 9.99933535e-01 1.15087317e-02 6.88395369e-04 1.77214456e+02] [-1.15086868e-02 9.99933770e-01 -6.90384069e-05 -4.35642657e+00] [-6.89144321e-04 6.11112915e-05 9.99999761e-01 -3.44757351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.56800114499998 meters 0.09146194188082836 Centerline is valid? [True, True] Translation: X:177.24, Y:-4.35, Z:-3.45 [[ 9.99933253e-01 1.14803511e-02 1.30040472e-03 1.77244135e+02] [-1.14801935e-02 9.99934092e-01 -1.28578351e-04 -4.35147200e+00] [-1.30179514e-03 1.13640871e-04 9.99999146e-01 -3.44618640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59800114499998 meters 0.09247167542070704 Centerline is valid? [True, True] Translation: X:177.27, Y:-4.36, Z:-3.45 [[ 9.99935745e-01 1.11312167e-02 2.14529718e-03 1.77273056e+02] [-1.11307891e-02 9.99938029e-01 -2.11153597e-04 -4.35601347e+00] [-2.14751463e-03 1.87261179e-04 9.99997677e-01 -3.44668458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62800114499998 meters 0.09387348724660853 Centerline is valid? [True, True] Translation: X:177.30, Y:-4.36, Z:-3.45 [[ 9.99944411e-01 1.02116634e-02 2.62603414e-03 1.77300611e+02] [-1.02110200e-02 9.99947833e-01 -2.58279103e-04 -4.36055263e+00] [-2.62853461e-03 2.31450258e-04 9.99996519e-01 -3.44691221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65800114499996 meters 0.08720739544190871 Centerline is valid? [True, True] Translation: X:177.33, Y:-4.35, Z:-3.44 [[ 9.99949043e-01 9.68259864e-03 2.85636726e-03 1.77330417e+02] [-9.68183695e-03 9.99953091e-01 -2.80372517e-04 -4.35134342e+00] [-2.85894800e-03 2.52703348e-04 9.99995881e-01 -3.44486296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68800114499996 meters 0.08994589662746862 Centerline is valid? [True, True] Translation: X:177.36, Y:-4.36, Z:-3.45 [[ 9.99951849e-01 9.49405069e-03 2.48242322e-03 1.77357170e+02] [-9.49347409e-03 9.99954906e-01 -2.43953459e-04 -4.35849479e+00] [-2.48462738e-03 2.20374892e-04 9.99996889e-01 -3.44596577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71800114499996 meters 0.08882433076514142 Centerline is valid? [True, True] Translation: X:177.39, Y:-4.36, Z:-3.45 [[ 9.99958167e-01 8.75085901e-03 2.66224241e-03 1.77385826e+02] [-8.75019492e-03 9.99961682e-01 -2.60992253e-04 -4.35927005e+00] [-2.66442431e-03 2.37686195e-04 9.99996422e-01 -3.44612953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74800114499996 meters 0.0930791680823946 Centerline is valid? [True, True] Translation: X:177.41, Y:-4.37, Z:-3.45 [[ 9.99972063e-01 7.18247664e-03 2.06986318e-03 1.77413522e+02] [-7.18207281e-03 9.99974188e-01 -2.02470696e-04 -4.37123603e+00] [-2.07126400e-03 1.87599131e-04 9.99997837e-01 -3.44822322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77800114499996 meters 0.09204720184171611 Centerline is valid? [True, True] Translation: X:177.44, Y:-4.37, Z:-3.45 [[ 9.99977335e-01 6.41850573e-03 2.03294480e-03 1.77443184e+02] [-6.41811473e-03 9.99979384e-01 -1.98798200e-04 -4.37305293e+00] [-2.03417888e-03 1.85746021e-04 9.99997914e-01 -3.44891362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80800114499996 meters 0.09228366004819134 Centerline is valid? [True, True] Translation: X:177.47, Y:-4.38, Z:-3.45 [[ 9.99981358e-01 5.90233148e-03 1.56410539e-03 1.77471488e+02] [-5.90209832e-03 9.99982571e-01 -1.53643530e-04 -4.37679359e+00] [-1.56498499e-03 1.44409162e-04 9.99998765e-01 -3.44963847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83800114499996 meters 0.0940283381581548 Centerline is valid? [True, True] Translation: X:177.50, Y:-4.38, Z:-3.45 [[ 9.99985046e-01 5.46199283e-03 2.72374350e-04 1.77499957e+02] [-5.46198554e-03 9.99985083e-01 -2.74823557e-05 -4.38277072e+00] [-2.72520395e-04 2.59942400e-05 9.99999963e-01 -3.45225782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86800114499997 meters 0.09942983219782979 Centerline is valid? [True, True] Translation: X:177.53, Y:-4.39, Z:-3.46 [[ 9.99988763e-01 4.71471285e-03 -4.95386497e-04 1.77527493e+02] [-4.71469002e-03 9.99988885e-01 4.72524618e-05 -4.39425341e+00] [ 4.95603772e-04 -4.49163371e-05 9.99999876e-01 -3.45530612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89800114499997 meters 0.09308827380979161 Centerline is valid? [True, True] Translation: X:177.56, Y:-4.39, Z:-3.45 [[ 9.99988398e-01 4.80829989e-03 -2.90040362e-04 1.77557689e+02] [-4.80829219e-03 9.99988440e-01 2.72410621e-05 -4.38701661e+00] [ 2.90167993e-04 -2.58461472e-05 9.99999958e-01 -3.45402148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92800114499997 meters 0.0957929912855109 Centerline is valid? [True, True] Translation: X:177.59, Y:-4.39, Z:-3.46 [[ 9.99986120e-01 5.24952106e-03 -4.49091772e-04 1.77585250e+02] [-5.24950256e-03 9.99986220e-01 4.23607890e-05 -4.39490255e+00] [ 4.49307957e-04 -4.00026926e-05 9.99999898e-01 -3.45588627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95800114499997 meters 0.09341328710753104 Centerline is valid? [True, True] Translation: X:177.61, Y:-4.39, Z:-3.46 [[ 9.99981060e-01 6.15067069e-03 -2.19346114e-04 1.77614777e+02] [-6.15066637e-03 9.99981084e-01 2.03481713e-05 -4.39451626e+00] [ 2.19467120e-04 -1.89986611e-05 9.99999976e-01 -3.45590116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98800114499997 meters 0.09246620165897138 Centerline is valid? [True, True] Translation: X:177.64, Y:-4.39, Z:-3.46 [[ 9.99980378e-01 6.21165798e-03 8.12152165e-04 1.77644136e+02] [-6.21159437e-03 9.99980705e-01 -8.08240388e-05 -4.39469395e+00] [-8.12638546e-04 7.57776930e-05 9.99999667e-01 -3.45520464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01800114499997 meters 0.09497397777102186 Centerline is valid? [True, True] Translation: X:177.67, Y:-4.40, Z:-3.46 [[ 9.99978123e-01 6.61283988e-03 1.57113906e-04 1.77671738e+02] [-6.61283730e-03 9.99978135e-01 -1.69480879e-05 -4.40021847e+00] [-1.57222546e-04 1.59087484e-05 9.99999988e-01 -3.45671890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04800114499997 meters 0.09435199415256551 Centerline is valid? [True, True] Translation: X:177.70, Y:-4.40, Z:-3.46 [[ 9.99972430e-01 7.41699314e-03 3.55921243e-04 1.77700722e+02] [-7.41698088e-03 9.99972493e-01 -3.57486506e-05 -4.40064771e+00] [-3.56176600e-04 3.31078040e-05 9.99999936e-01 -3.45727060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07800114499997 meters 0.09451269691621315 Centerline is valid? [True, True] Translation: X:177.73, Y:-4.40, Z:-3.46 [[ 9.99971618e-01 7.51471343e-03 5.39713393e-04 1.77729232e+02] [-7.51468563e-03 9.99971763e-01 -5.35150525e-05 -4.40333313e+00] [-5.40100303e-04 4.94577572e-05 9.99999853e-01 -3.45732148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10800114499997 meters 0.0942803087782484 Centerline is valid? [True, True] Translation: X:177.76, Y:-4.41, Z:-3.46 [[ 9.99966031e-01 8.04090666e-03 1.81119577e-03 1.77758282e+02] [-8.04059924e-03 9.99967658e-01 -1.76948300e-04 -4.40577600e+00] [-1.81256001e-03 1.62379190e-04 9.99998344e-01 -3.45705588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13800114499998 meters 0.09298519264473767 Centerline is valid? [True, True] Translation: X:177.79, Y:-4.41, Z:-3.46 [[ 9.99968934e-01 7.67040803e-03 1.81522261e-03 1.77786790e+02] [-7.67009974e-03 9.99970569e-01 -1.76740949e-04 -4.40579760e+00] [-1.81652486e-03 1.62812520e-04 9.99998337e-01 -3.45673390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16800114499998 meters 0.09656051196146755 Centerline is valid? [True, True] Translation: X:177.81, Y:-4.41, Z:-3.46 [[ 9.99976060e-01 6.75048039e-03 1.51988826e-03 1.77814867e+02] [-6.75026349e-03 9.99977206e-01 -1.47791769e-04 -4.41431518e+00] [-1.52085128e-03 1.37528585e-04 9.99998834e-01 -3.45904125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19800114499998 meters 0.09377140868604558 Centerline is valid? [True, True] Translation: X:177.84, Y:-4.41, Z:-3.46 [[ 9.99978826e-01 6.20281654e-03 1.96783910e-03 1.77844281e+02] [-6.20245208e-03 9.99980746e-01 -1.91255787e-04 -4.41263812e+00] [-1.96898754e-03 1.79046309e-04 9.99998046e-01 -3.45939898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22800114499998 meters 0.0981981322543485 Centerline is valid? [True, True] Translation: X:177.87, Y:-4.42, Z:-3.46 [[ 9.99985717e-01 5.28518106e-03 7.95277420e-04 1.77872032e+02] [-5.28512093e-03 9.99986031e-01 -7.76836405e-05 -4.42250742e+00] [-7.95676883e-04 7.34793936e-05 9.99999681e-01 -3.46181037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25800114499998 meters 0.09859414370991178 Centerline is valid? [True, True] Translation: X:177.90, Y:-4.43, Z:-3.46 [[ 9.99986726e-01 4.97012749e-03 1.35858125e-03 1.77900905e+02] [-4.96995238e-03 9.99987641e-01 -1.32235689e-04 -4.42624549e+00] [-1.35922169e-03 1.25481849e-04 9.99999068e-01 -3.46252340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28800114499998 meters 0.09713260445869189 Centerline is valid? [True, True] Translation: X:177.93, Y:-4.43, Z:-3.46 [[ 9.99988715e-01 4.60580520e-03 1.16502052e-03 1.77930079e+02] [-4.60567639e-03 9.99989387e-01 -1.13226388e-04 -4.42709440e+00] [-1.16552966e-03 1.07859403e-04 9.99999315e-01 -3.46305749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31800114499998 meters 0.09574871685787534 Centerline is valid? [True, True] Translation: X:177.96, Y:-4.43, Z:-3.46 [[ 9.99989000e-01 4.59575875e-03 9.37048472e-04 1.77958646e+02] [-4.59567499e-03 9.99989436e-01 -9.15211151e-05 -4.42722353e+00] [-9.37459182e-04 8.72137381e-05 9.99999557e-01 -3.46333446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34800114499998 meters 0.09093818915211206 Centerline is valid? [True, True] Translation: X:177.99, Y:-4.42, Z:-3.46 [[ 9.99990376e-01 4.30822236e-03 8.29417662e-04 1.77988094e+02] [-4.30815652e-03 9.99990717e-01 -8.11569968e-05 -4.42194683e+00] [-8.29759605e-04 7.75829546e-05 9.99999653e-01 -3.46207047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37800114499998 meters 0.0952234759153088 Centerline is valid? [True, True] Translation: X:178.02, Y:-4.43, Z:-3.46 [[ 9.99993477e-01 3.53656607e-03 7.34374681e-04 1.78015496e+02] [-3.53651490e-03 9.99993744e-01 -7.09692071e-05 -4.43188134e+00] [-7.34621075e-04 6.83716172e-05 9.99999728e-01 -3.46396889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40800114499996 meters 0.09157941596193282 Centerline is valid? [True, True] Translation: X:178.05, Y:-4.43, Z:-3.46 [[ 9.99996391e-01 2.54790054e-03 8.52151745e-04 1.78045578e+02] [-2.54783103e-03 9.99996751e-01 -8.26476328e-05 -4.42890657e+00] [-8.52359554e-04 8.04761958e-05 9.99999634e-01 -3.46361236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43800114499996 meters 0.09357012494003879 Centerline is valid? [True, True] Translation: X:178.07, Y:-4.44, Z:-3.46 [[ 9.99998606e-01 1.43773467e-03 8.49484186e-04 1.78073987e+02] [-1.43766628e-03 9.99998963e-01 -8.11224370e-05 -4.43578514e+00] [-8.49599938e-04 7.99010491e-05 9.99999636e-01 -3.46493200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46800114499996 meters 0.09712732704378031 Centerline is valid? [True, True] Translation: X:178.10, Y:-4.45, Z:-3.47 [[ 9.99999636e-01 7.41191849e-04 4.22981919e-04 1.78102410e+02] [-7.41174562e-04 9.99999724e-01 -4.10262805e-05 -4.44539639e+00] [-4.23012211e-04 4.07127621e-05 9.99999910e-01 -3.46748393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49800114499996 meters 0.09712732704378031 Centerline is valid? [True, True] Translation: X:178.13, Y:-4.45, Z:-3.47 [[ 9.99999636e-01 7.41185493e-04 4.23013048e-04 1.78132407e+02] [-7.41168341e-04 9.99999725e-01 -4.07027676e-05 -4.44828296e+00] [-4.23043099e-04 4.03892289e-05 9.99999910e-01 -3.46807364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52800114499996 meters 0.09475983006379232 Centerline is valid? [True, True] Translation: X:178.16, Y:-4.45, Z:-3.47 [[ 9.99999799e-01 5.94623985e-04 -2.19907595e-04 1.78162895e+02] [-5.94619346e-04 9.99999823e-01 2.11597438e-05 -4.44859310e+00] [ 2.19920138e-04 -2.10289783e-05 9.99999976e-01 -3.46806735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55800114499996 meters 0.1086022431958836 Centerline is valid? [True, False] Translation: X:178.16, Y:-4.45, Z:-3.47 [[ 9.99999843e-01 5.30964438e-04 -1.78211041e-04 1.78162582e+02] [-5.30961860e-04 9.99999859e-01 1.45115487e-05 -4.44909552e+00] [ 1.78218721e-04 -1.44169232e-05 9.99999984e-01 -3.46775495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58800114499996 meters 0.09410798701339142 Centerline is valid? [False, True] Translation: X:178.16, Y:-4.45, Z:-3.47 [[ 9.99999921e-01 3.72350192e-04 -1.39193190e-04 1.78162286e+02] [-3.72379255e-04 9.99999909e-01 -2.08826547e-04 -4.44867967e+00] [ 1.39115420e-04 2.08878363e-04 9.99999969e-01 -3.46741783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61800114499997 meters 0.09164580788721116 Centerline is valid? [True, True] Translation: X:178.19, Y:-4.45, Z:-3.47 [[ 9.99998514e-01 1.07447588e-03 1.34827862e-03 1.78193202e+02] [-1.07430134e-03 9.99999414e-01 -1.30172081e-04 -4.44673507e+00] [-1.34841770e-03 1.28723430e-04 9.99999083e-01 -3.46545780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64800114499997 meters 0.09521158922936214 Centerline is valid? [True, True] Translation: X:178.22, Y:-4.46, Z:-3.47 [[ 9.99997840e-01 1.67482047e-03 1.23066006e-03 1.78222429e+02] [-1.67467589e-03 9.99998591e-01 -1.18504303e-04 -4.45653485e+00] [-1.23085680e-03 1.16443090e-04 9.99999236e-01 -3.46717921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67800114499997 meters 0.0974362115156556 Centerline is valid? [True, True] Translation: X:178.25, Y:-4.46, Z:-3.47 [[ 9.99997931e-01 1.32081750e-03 1.54715574e-03 1.78251070e+02] [-1.32058746e-03 9.99999117e-01 -1.49694692e-04 -4.46439100e+00] [-1.54735210e-03 1.47651228e-04 9.99998792e-01 -3.46898251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70800114499997 meters 0.09144825047014712 Centerline is valid? [True, True] Translation: X:178.28, Y:-4.46, Z:-3.47 [[ 9.99997043e-01 1.41121638e-03 1.98068411e-03 1.78281985e+02] [-1.41084036e-03 9.99998986e-01 -1.91230107e-04 -4.46024981e+00] [-1.98095197e-03 1.88435112e-04 9.99998020e-01 -3.46814434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73800114499997 meters 0.0932923269842425 Centerline is valid? [True, True] Translation: X:178.31, Y:-4.47, Z:-3.47 [[ 9.99996767e-01 1.35640696e-03 2.15065247e-03 1.78312361e+02] [-1.35596415e-03 9.99999059e-01 -2.07343212e-04 -4.46618152e+00] [-2.15093169e-03 2.04426334e-04 9.99997666e-01 -3.46861078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76800114499997 meters 0.09918167431609183 Centerline is valid? [True, True] Translation: X:178.34, Y:-4.48, Z:-3.47 [[ 9.99999022e-01 5.84927064e-04 1.27066463e-03 1.78341268e+02] [-5.84773602e-04 9.99999822e-01 -1.21140790e-04 -4.47812522e+00] [-1.27073527e-03 1.20397620e-04 9.99999185e-01 -3.47074450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79800114499997 meters 0.09963335026484221 Centerline is valid? [True, True] Translation: X:178.37, Y:-4.48, Z:-3.47 [[ 9.99999145e-01 9.47518748e-04 9.01144592e-04 1.78371328e+02] [-9.47440643e-04 9.99999547e-01 -8.70956264e-05 -4.48249197e+00] [-9.01226709e-04 8.62417709e-05 9.99999590e-01 -3.47177313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82800114499997 meters 0.09662188308330942 Centerline is valid? [True, True] Translation: X:178.40, Y:-4.48, Z:-3.47 [[ 9.99999792e-01 6.44587459e-04 3.33250427e-05 1.78401633e+02] [-6.44587352e-04 9.99999792e-01 -3.22086542e-06 -4.48392524e+00] [-3.33271120e-05 3.19938384e-06 9.99999999e-01 -3.47385928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85800114499997 meters 0.09565892504169929 Centerline is valid? [True, True] Translation: X:178.43, Y:-4.49, Z:-3.48 [[ 9.99999753e-01 1.86424136e-04 -6.76970587e-04 1.78431957e+02] [-1.86379884e-04 9.99999980e-01 6.54292084e-05 -4.48635014e+00] [ 6.76982771e-04 -6.53030186e-05 9.99999769e-01 -3.47515875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88800114499998 meters 0.1038397127330927 Centerline is valid? [True, False] Translation: X:178.43, Y:-4.49, Z:-3.48 [[ 9.99999709e-01 2.00056472e-04 -7.36270087e-04 1.78432147e+02] [-2.00014721e-04 9.99999978e-01 5.67799198e-05 -4.48622095e+00] [ 7.36281430e-04 -5.66326384e-05 9.99999727e-01 -3.47527475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91800114499998 meters 0.09718444765415282 Centerline is valid? [False, True] Translation: X:178.43, Y:-4.49, Z:-3.47 [[ 9.99999660e-01 -7.24453308e-05 -8.21876327e-04 1.78431982e+02] [ 7.20544006e-05 9.99999884e-01 -4.75675396e-04 -4.48502350e+00] [ 8.21910692e-04 4.75616015e-04 9.99999549e-01 -3.47467868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94800114499998 meters 0.09469901006009494 Centerline is valid? [True, True] Translation: X:178.46, Y:-4.48, Z:-3.48 [[ 9.99998470e-01 1.26148836e-03 -1.21204058e-03 1.78462227e+02] [-1.26135107e-03 9.99999198e-01 1.14028784e-04 -4.48394812e+00] [ 1.21218345e-03 -1.12499801e-04 9.99999259e-01 -3.47514587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97800114499998 meters 0.09533713403850481 Centerline is valid? [True, True] Translation: X:178.49, Y:-4.49, Z:-3.48 [[ 9.99996501e-01 2.16448309e-03 -1.52109248e-03 1.78491632e+02] [-2.16426705e-03 9.99997648e-01 1.43665108e-04 -4.48737666e+00] [ 1.52139986e-03 -1.40372555e-04 9.99998833e-01 -3.47655442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00800114499998 meters 0.09475222749662018 Centerline is valid? [True, True] Translation: X:178.52, Y:-4.49, Z:-3.48 [[ 9.99993118e-01 3.47046380e-03 -1.31159197e-03 1.78521544e+02] [-3.47030402e-03 9.99993971e-01 1.24078658e-04 -4.48926671e+00] [ 1.31201468e-03 -1.19526182e-04 9.99999132e-01 -3.47726171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03800114499998 meters 0.0941922027035538 Centerline is valid? [True, True] Translation: X:178.55, Y:-4.49, Z:-3.48 [[ 9.99984136e-01 5.61210120e-03 -4.82454715e-04 1.78551791e+02] [-5.61207982e-03 9.99984251e-01 4.56535468e-05 -4.49179926e+00] [ 4.82703329e-04 -4.29452481e-05 9.99999883e-01 -3.47745129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.06800114499998 meters 0.09459879496078746 Centerline is valid? [True, True] Translation: X:178.58, Y:-4.49, Z:-3.48 [[ 9.99979201e-01 6.40907440e-03 7.21427705e-04 1.78581060e+02] [-6.40902607e-03 9.99979460e-01 -6.92836295e-05 -4.49467815e+00] [-7.21856931e-04 6.46585395e-05 9.99999737e-01 -3.47732895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09800114499998 meters 0.09641339005049564 Centerline is valid? [True, True] Translation: X:178.61, Y:-4.50, Z:-3.48 [[ 9.99975956e-01 6.88402325e-03 8.35239601e-04 1.78608411e+02] [-6.88395830e-03 9.99976302e-01 -8.06052371e-05 -4.49897415e+00] [-8.35774696e-04 7.48535444e-05 9.99999648e-01 -3.47724061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12800114499996 meters 0.09528980357249851 Centerline is valid? [True, True] Translation: X:178.64, Y:-4.50, Z:-3.48 [[ 9.99972535e-01 7.28170652e-03 1.38051166e-03 1.78637002e+02] [-7.28153138e-03 9.99973481e-01 -1.31849886e-04 -4.49848103e+00] [-1.38143514e-03 1.21794026e-04 9.99999038e-01 -3.47657475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15800114499996 meters 0.09814891361908493 Centerline is valid? [True, True] Translation: X:178.66, Y:-4.51, Z:-3.48 [[ 9.99968394e-01 7.38068222e-03 2.95577627e-03 1.78664167e+02] [-7.37988362e-03 9.99972729e-01 -2.80999579e-04 -4.50521864e+00] [-2.95776963e-03 2.59177413e-04 9.99995592e-01 -3.47772861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18800114499996 meters 0.09132435478061054 Centerline is valid? [True, True] Translation: X:178.69, Y:-4.50, Z:-3.48 [[ 9.99974293e-01 6.77673437e-03 2.34289688e-03 1.78694747e+02] [-6.77623248e-03 9.99977016e-01 -2.22092333e-04 -4.49796619e+00] [-2.34434809e-03 2.06210610e-04 9.99997231e-01 -3.47796976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21800114499996 meters 0.09510443385526497 Centerline is valid? [True, True] Translation: X:178.72, Y:-4.51, Z:-3.48 [[ 9.99978907e-01 6.17877050e-03 2.00226927e-03 1.78722299e+02] [-6.17840215e-03 9.99980895e-01 -1.90100227e-04 -4.50678101e+00] [-2.00340561e-03 1.77725393e-04 9.99997977e-01 -3.47990348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24800114499996 meters 0.09956735299845872 Centerline is valid? [True, True] Translation: X:178.75, Y:-4.52, Z:-3.48 [[ 9.99981369e-01 5.76189321e-03 2.01541444e-03 1.78749800e+02] [-5.76151943e-03 9.99983384e-01 -1.91219061e-04 -4.51640803e+00] [-2.01648274e-03 1.79603649e-04 9.99997951e-01 -3.48203078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27800114499996 meters 0.0913602770802853 Centerline is valid? [True, True] Translation: X:178.78, Y:-4.50, Z:-3.48 [[ 9.99987608e-01 4.71812611e-03 1.58833641e-03 1.78780034e+02] [-4.71789240e-03 9.99988859e-01 -1.50854573e-04 -4.50497059e+00] [-1.58903046e-03 1.43359104e-04 9.99998727e-01 -3.48005178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30800114499996 meters 0.09521707528910588 Centerline is valid? [True, True] Translation: X:178.81, Y:-4.51, Z:-3.48 [[ 9.99991043e-01 4.12135642e-03 9.63138966e-04 1.78807859e+02] [-4.12127000e-03 9.99991503e-01 -9.17027245e-05 -4.51381810e+00] [-9.63508723e-04 8.77325474e-05 9.99999532e-01 -3.48247059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33800114499996 meters 0.09789768431505477 Centerline is valid? [True, True] Translation: X:178.84, Y:-4.52, Z:-3.48 [[ 9.99991887e-01 4.01643658e-03 3.08254447e-04 1.78836412e+02] [-4.01642753e-03 9.99991934e-01 -2.99677677e-05 -4.52031085e+00] [-3.08372324e-04 2.87294429e-05 9.99999952e-01 -3.48456607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36800114499997 meters 0.09467132819526916 Centerline is valid? [True, True] Translation: X:178.87, Y:-4.52, Z:-3.49 [[ 9.99993609e-01 3.52670905e-03 -5.87172955e-04 1.78866327e+02] [-3.52667752e-03 9.99993780e-01 5.47267465e-05 -4.51646747e+00] [ 5.87362308e-04 -5.26556271e-05 9.99999826e-01 -3.48504585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39800114499997 meters 0.09467971184226899 Centerline is valid? [True, True] Translation: X:178.90, Y:-4.52, Z:-3.49 [[ 9.99993739e-01 3.49139098e-03 -5.75892313e-04 1.78895051e+02] [-3.49136103e-03 9.99993904e-01 5.30097565e-05 -4.51856642e+00] [ 5.76073880e-04 -5.09987767e-05 9.99999833e-01 -3.48599173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42800114499997 meters 0.09542510602520354 Centerline is valid? [True, True] Translation: X:178.92, Y:-4.52, Z:-3.49 [[ 9.99987865e-01 4.90658958e-03 -4.42244055e-04 1.78923556e+02] [-4.90657205e-03 9.99987962e-01 4.07209737e-05 -4.51967562e+00] [ 4.42438532e-04 -3.85505773e-05 9.99999901e-01 -3.48666465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45800114499997 meters 0.1060318551595424 Centerline is valid? [True, False] Translation: X:178.92, Y:-4.52, Z:-3.49 [[ 9.99987087e-01 5.03355573e-03 -6.99015626e-04 1.78924601e+02] [-5.03359439e-03 9.99987330e-01 -5.35601299e-05 -4.51820332e+00] [ 6.98737171e-04 5.70779994e-05 9.99999754e-01 -3.48734329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48800114499997 meters 0.09090806739274873 Centerline is valid? [False, True] Translation: X:178.92, Y:-4.52, Z:-3.49 [[ 9.99989001e-01 4.62217210e-03 -7.96050015e-04 1.78924399e+02] [-4.62286358e-03 9.99988937e-01 -8.69004083e-04 -4.51615698e+00] [ 7.92024521e-04 8.72674555e-04 9.99999306e-01 -3.48666025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51800114499997 meters 0.09290853571976501 Centerline is valid? [True, True] Translation: X:178.95, Y:-4.52, Z:-3.49 [[ 9.99986893e-01 5.00354863e-03 -1.08521394e-03 1.78951493e+02] [-5.00344462e-03 9.99987478e-01 9.85397553e-05 -4.52131056e+00] [ 1.08569339e-03 -9.31086559e-05 9.99999406e-01 -3.48865738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54800114499997 meters 0.09781088489040074 Centerline is valid? [True, True] Translation: X:178.98, Y:-4.53, Z:-3.49 [[ 9.99986033e-01 5.26886707e-03 -4.15154829e-04 1.78978691e+02] [-5.26885223e-03 9.99986119e-01 3.68515895e-05 -4.53000005e+00] [ 4.15343232e-04 -3.46636853e-05 9.99999913e-01 -3.49147748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57800114499997 meters 0.09783894769101638 Centerline is valid? [True, True] Translation: X:179.01, Y:-4.53, Z:-3.49 [[ 9.99986074e-01 5.27562620e-03 1.37899970e-04 1.79007102e+02] [-5.27562436e-03 9.99986084e-01 -1.37072634e-05 -4.53101323e+00] [-1.37970365e-04 1.29795641e-05 9.99999990e-01 -3.49164689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60800114499997 meters 0.09539574972712081 Centerline is valid? [True, True] Translation: X:179.04, Y:-4.53, Z:-3.49 [[ 9.99988272e-01 4.78235103e-03 7.64409578e-04 1.79035985e+02] [-4.78229812e-03 9.99988562e-01 -7.10399959e-05 -4.52755169e+00] [-7.64740573e-04 6.73835283e-05 9.99999705e-01 -3.49074991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63800114499998 meters 0.09648802499745172 Centerline is valid? [True, True] Translation: X:179.06, Y:-4.53, Z:-3.49 [[ 9.99992470e-01 3.88053348e-03 2.15600145e-05 1.79064610e+02] [-3.88053342e-03 9.99992471e-01 -2.78054382e-06 -4.53006849e+00] [-2.15706422e-05 2.69685852e-06 1.00000000e+00 -3.49164758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66800114499998 meters 0.09899073206986288 Centerline is valid? [True, True] Translation: X:179.09, Y:-4.53, Z:-3.49 [[ 9.99996208e-01 2.65340950e-03 7.37226294e-04 1.79093152e+02] [-2.65335974e-03 9.99996477e-01 -6.84631601e-05 -4.53413913e+00] [-7.37405358e-04 6.65067739e-05 9.99999726e-01 -3.49351420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69800114499998 meters 0.09963190969295038 Centerline is valid? [True, True] Translation: X:179.12, Y:-4.54, Z:-3.49 [[ 9.99997103e-01 2.24939463e-03 8.56929252e-04 1.79122822e+02] [-2.24932762e-03 9.99997467e-01 -7.91579333e-05 -4.53701852e+00] [-8.57105139e-04 7.72301893e-05 9.99999630e-01 -3.49476953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72800114499998 meters 0.10062394877256234 Centerline is valid? [True, False] Translation: X:179.12, Y:-4.54, Z:-3.49 [[ 9.99997464e-01 2.08391091e-03 8.54530002e-04 1.79122774e+02] [-2.08357688e-03 9.99997753e-01 -3.91602487e-04 -4.53619481e+00] [-8.55344146e-04 3.89821015e-04 9.99999558e-01 -3.49467438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75800114499998 meters 0.09503957749644533 Centerline is valid? [False, True] Translation: X:179.12, Y:-4.54, Z:-3.49 [[ 9.99997846e-01 1.88988173e-03 8.58211419e-04 1.79122752e+02] [-1.88920916e-03 9.99997908e-01 -7.83825849e-04 -4.53504400e+00] [-8.59690962e-04 7.82202819e-04 9.99999325e-01 -3.49461669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78800114499998 meters 0.09644638857485675 Centerline is valid? [True, True] Translation: X:179.15, Y:-4.54, Z:-3.50 [[ 9.99997613e-01 2.03333043e-03 7.99978337e-04 1.79152649e+02] [-2.03327202e-03 9.99997930e-01 -7.38220931e-05 -4.53616882e+00] [-8.00126786e-04 7.21953433e-05 9.99999677e-01 -3.49635409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81800114499998 meters 0.09465026903349935 Centerline is valid? [True, True] Translation: X:179.18, Y:-4.53, Z:-3.50 [[ 9.99998045e-01 1.89253997e-03 5.72864296e-04 1.79182969e+02] [-1.89250980e-03 9.99998208e-01 -5.32109828e-05 -4.53313021e+00] [-5.72963973e-04 5.21267275e-05 9.99999834e-01 -3.49608867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84800114499998 meters 0.0925341920170829 Centerline is valid? [True, True] Translation: X:179.21, Y:-4.53, Z:-3.50 [[ 9.99997980e-01 1.99080567e-03 2.76761374e-04 1.79212864e+02] [-1.99079855e-03 9.99998018e-01 -2.59976141e-05 -4.53069910e+00] [-2.76812582e-04 2.54465854e-05 9.99999961e-01 -3.49650724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87800114499996 meters 0.10723177311654229 Centerline is valid? [True, False] Translation: X:179.21, Y:-4.53, Z:-3.50 [[ 9.99997693e-01 2.14165480e-03 1.65082942e-04 1.79213743e+02] [-2.14166812e-03 9.99997703e-01 8.05770584e-05 -4.52986734e+00] [-1.64909994e-04 -8.09304254e-05 9.99999983e-01 -3.49746782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90800114499996 meters 0.09729282260189485 Centerline is valid? [False, True] Translation: X:179.21, Y:-4.53, Z:-3.50 [[ 9.99997699e-01 2.13727310e-03 1.83946797e-04 1.79213907e+02] [-2.13728560e-03 9.99997714e-01 6.77895303e-05 -4.52947954e+00] [-1.83801492e-04 -6.81825212e-05 9.99999981e-01 -3.49778682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93800114499996 meters 0.09866900382272634 Centerline is valid? [True, True] Translation: X:179.24, Y:-4.53, Z:-3.50 [[ 9.99998099e-01 1.49140115e-03 1.25571105e-03 1.79243279e+02] [-1.49125491e-03 9.99998881e-01 -1.17387673e-04 -4.53305994e+00] [-1.25588471e-03 1.15514865e-04 9.99999205e-01 -3.49856128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96800114499996 meters 0.09590223981886808 Centerline is valid? [True, True] Translation: X:179.27, Y:-4.53, Z:-3.50 [[ 9.99999488e-01 2.58894115e-04 9.77893441e-04 1.79274648e+02] [-2.58805267e-04 9.99999962e-01 -9.09819581e-05 -4.52829088e+00] [-9.77916959e-04 9.07288276e-05 9.99999518e-01 -3.49822729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99800114499996 meters 0.09527608798001971 Centerline is valid? [True, True] Translation: X:179.31, Y:-4.53, Z:-3.50 [[ 9.99999601e-01 -1.34359887e-04 8.83136450e-04 1.79305403e+02] [ 1.34432503e-04 9.99999988e-01 -8.21658885e-05 -4.52897846e+00] [-8.83125399e-04 8.22845780e-05 9.99999607e-01 -3.49881708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02800114499996 meters 0.10067493679595574 Centerline is valid? [True, False] Translation: X:179.31, Y:-4.53, Z:-3.50 [[ 9.99999718e-01 6.76038964e-05 7.47544954e-04 1.79306088e+02] [-6.76964287e-05 9.99999990e-01 1.23757002e-04 -4.52885797e+00] [-7.47536580e-04 -1.23807573e-04 9.99999713e-01 -3.49940765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05800114499996 meters 0.09708743686251255 Centerline is valid? [False, True] Translation: X:179.31, Y:-4.53, Z:-3.50 [[ 9.99999587e-01 -4.22721846e-04 8.04941596e-04 1.79305610e+02] [ 4.23316816e-04 9.99999637e-01 -7.39119766e-04 -4.52662361e+00] [-8.04628862e-04 7.39460206e-04 9.99999403e-01 -3.49879540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08800114499996 meters 0.09497637165183108 Centerline is valid? [True, True] Translation: X:179.34, Y:-4.53, Z:-3.50 [[ 9.99997878e-01 -2.14636641e-04 2.04911427e-03 1.79336790e+02] [ 2.15027443e-04 9.99999959e-01 -1.90499099e-04 -4.52554808e+00] [-2.04907329e-03 1.90939311e-04 9.99997882e-01 -3.49860968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11800114499997 meters 0.09693200387693282 Centerline is valid? [True, True] Translation: X:179.37, Y:-4.53, Z:-3.50 [[ 9.99998025e-01 -6.30203500e-06 1.98731538e-03 1.79367983e+02] [ 6.66822368e-06 9.99999983e-01 -1.84256419e-04 -4.53110021e+00] [-1.98731418e-03 1.84269307e-04 9.99998008e-01 -3.49936240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14800114499997 meters 0.10027956431417576 Centerline is valid? [True, False] Translation: X:179.37, Y:-4.53, Z:-3.50 [[ 9.99998331e-01 -3.26854419e-05 1.82675993e-03 1.79368549e+02] [ 3.35149440e-05 9.99999896e-01 -4.54055044e-04 -4.52964040e+00] [-1.82674490e-03 4.54115510e-04 9.99998228e-01 -3.49966725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17800114499997 meters 0.09912568882862693 Centerline is valid? [False, True] Translation: X:179.37, Y:-4.53, Z:-3.50 [[ 9.99998637e-01 2.51913856e-04 1.63180155e-03 1.79369534e+02] [-2.51665576e-04 9.99999957e-01 -1.52354199e-04 -4.52954560e+00] [-1.63183986e-03 1.51943323e-04 9.99998657e-01 -3.50052722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20800114499997 meters 0.09641861371498016 Centerline is valid? [True, True] Translation: X:179.40, Y:-4.53, Z:-3.50 [[ 9.99998164e-01 6.80433923e-04 1.79144173e-03 1.79400950e+02] [-6.80137930e-04 9.99999755e-01 -1.65830454e-04 -4.52794982e+00] [-1.79155413e-03 1.64611722e-04 9.99998382e-01 -3.50152768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23800114499997 meters 0.09798163326976751 Centerline is valid? [True, True] Translation: X:179.43, Y:-4.53, Z:-3.50 [[ 9.99997651e-01 1.44080179e-03 1.61955463e-03 1.79430548e+02] [-1.44056178e-03 9.99998951e-01 -1.49347663e-04 -4.53303345e+00] [-1.61976812e-03 1.47014243e-04 9.99998677e-01 -3.50359610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26800114499997 meters 0.09756901240696358 Centerline is valid? [True, True] Translation: X:179.46, Y:-4.53, Z:-3.50 [[ 9.99997851e-01 1.59999790e-03 1.31799479e-03 1.79461351e+02] [-1.59983776e-03 9.99998713e-01 -1.22548863e-04 -4.53434685e+00] [-1.31818917e-03 1.20440022e-04 9.99999124e-01 -3.50367932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29800114499997 meters 0.0995771196522482 Centerline is valid? [True, True] Translation: X:179.49, Y:-4.54, Z:-3.50 [[ 9.99996962e-01 2.14256019e-03 1.21864260e-03 1.79490743e+02] [-2.14242334e-03 9.99997699e-01 -1.13587477e-04 -4.53935884e+00] [-1.21888317e-03 1.10976283e-04 9.99999251e-01 -3.50496375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32800114499997 meters 0.0963572983074826 Centerline is valid? [True, True] Translation: X:179.52, Y:-4.54, Z:-3.50 [[ 9.99995614e-01 2.81455963e-03 9.22348139e-04 1.79521372e+02] [-2.81448173e-03 9.99996036e-01 -8.57454787e-05 -4.53559431e+00] [-9.22585819e-04 8.31491706e-05 9.99999571e-01 -3.50480516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35800114499997 meters 0.09907667864828855 Centerline is valid? [True, True] Translation: X:179.55, Y:-4.54, Z:-3.51 [[ 9.99992437e-01 3.71229740e-03 1.16001140e-03 1.79550006e+02] [-3.71217413e-03 9.99993104e-01 -1.08393492e-04 -4.54214246e+00] [-1.16040579e-03 1.04086508e-04 9.99999321e-01 -3.50589848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38800114499998 meters 0.09709134305118869 Centerline is valid? [True, True] Translation: X:179.58, Y:-4.54, Z:-3.51 [[ 9.99990627e-01 4.27217367e-03 7.02755626e-04 1.79579459e+02] [-4.27212843e-03 9.99990872e-01 -6.58708660e-05 -4.54148907e+00] [-7.03030623e-04 6.28679863e-05 9.99999751e-01 -3.50735647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41800114499998 meters 0.09709134305118869 Centerline is valid? [True, True] Translation: X:179.61, Y:-4.54, Z:-3.51 [[ 9.99990910e-01 4.20542447e-03 7.02705436e-04 1.79607751e+02] [-4.20537883e-03 9.99991155e-01 -6.64115567e-05 -4.54403136e+00] [-7.02978509e-04 6.34558105e-05 9.99999751e-01 -3.50785670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44800114499998 meters 0.10002624885389516 Centerline is valid? [True, False] Translation: X:179.61, Y:-4.54, Z:-3.51 [[ 9.99990221e-01 4.38584983e-03 5.67401046e-04 1.79608384e+02] [-4.38590781e-03 9.99990377e-01 1.00990375e-04 -4.54391890e+00] [-5.66952657e-04 -1.03477956e-04 9.99999834e-01 -3.50836117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47800114499998 meters 0.09466317958114005 Centerline is valid? [False, True] Translation: X:179.61, Y:-4.54, Z:-3.51 [[ 9.99990772e-01 4.26811738e-03 4.88105578e-04 1.79608600e+02] [-4.26800481e-03 9.99990865e-01 -2.31437490e-04 -4.54276940e+00] [-4.89088921e-04 2.29352117e-04 9.99999854e-01 -3.50839653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50800114499998 meters 0.10139796054255558 Centerline is valid? [True, False] Translation: X:179.61, Y:-4.54, Z:-3.51 [[ 9.99991187e-01 4.17608858e-03 4.30449318e-04 1.79608692e+02] [-4.17590332e-03 9.99991188e-01 -4.30383715e-04 -4.54222699e+00] [-4.32242845e-04 4.28582408e-04 9.99999815e-01 -3.50834376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53800114499998 meters 0.09332515690210619 Centerline is valid? [False, True] Translation: X:179.61, Y:-4.54, Z:-3.51 [[ 9.99991795e-01 4.02962928e-03 4.13628551e-04 1.79608668e+02] [-4.02934446e-03 9.99991646e-01 -6.87119320e-04 -4.54148363e+00] [-4.16393932e-04 6.85447030e-04 9.99999678e-01 -3.50825557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56800114499998 meters 0.10199662074029311 Centerline is valid? [True, False] Translation: X:179.61, Y:-4.54, Z:-3.51 [[ 9.99992502e-01 3.85826160e-03 3.31431907e-04 1.79608739e+02] [-3.85791521e-03 9.99992018e-01 -1.03948756e-03 -4.54039090e+00] [-3.35439877e-04 1.03820113e-03 9.99999405e-01 -3.50806443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59800114499998 meters 0.10221189942606486 Centerline is valid? [False, False] Translation: X:179.61, Y:-4.54, Z:-3.51 [[ 9.99992934e-01 3.75146179e-03 2.40545981e-04 1.79608907e+02] [-3.75114450e-03 9.99992111e-01 -1.30621889e-03 -4.53928477e+00] [-2.45444314e-04 1.30530734e-03 9.99999118e-01 -3.50799521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62800114499996 meters 0.09295783949974956 Centerline is valid? [False, True] Translation: X:179.61, Y:-4.54, Z:-3.51 [[ 9.99992477e-01 3.87195629e-03 2.31223131e-04 1.79609239e+02] [-3.87169665e-03 9.99991886e-01 -1.11300927e-03 -4.53940348e+00] [-2.35530778e-04 1.11210567e-03 9.99999354e-01 -3.50848906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65800114499996 meters 0.09379735039435509 Centerline is valid? [True, True] Translation: X:179.64, Y:-4.54, Z:-3.51 [[ 9.99994029e-01 3.39526510e-03 6.43005552e-04 1.79637121e+02] [-3.39522873e-03 9.99994235e-01 -5.76501142e-05 -4.54388531e+00] [-6.43197582e-04 5.54666191e-05 9.99999792e-01 -3.50979090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68800114499996 meters 0.09474149062546412 Centerline is valid? [True, True] Translation: X:179.67, Y:-4.55, Z:-3.51 [[ 9.99997409e-01 2.06517622e-03 9.57861522e-04 1.79666229e+02] [-2.06509426e-03 9.99997864e-01 -8.65433858e-05 -4.54833169e+00] [-9.58038203e-04 8.45650872e-05 9.99999538e-01 -3.51014664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71800114499996 meters 0.09646227957098892 Centerline is valid? [True, True] Translation: X:179.70, Y:-4.56, Z:-3.51 [[ 9.99998654e-01 -1.51246349e-03 6.35556902e-04 1.79696153e+02] [ 1.51250003e-03 9.99998855e-01 -5.70200120e-05 -4.55553968e+00] [-6.35469933e-04 5.79812151e-05 9.99999796e-01 -3.51047562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74800114499996 meters 0.09661011937389605 Centerline is valid? [True, True] Translation: X:179.73, Y:-4.56, Z:-3.51 [[ 9.99995673e-01 -2.84237715e-03 7.58167403e-04 1.79726974e+02] [ 2.84242883e-03 9.99995958e-01 -6.70895250e-05 -4.55937226e+00] [-7.57973645e-04 6.92442716e-05 9.99999710e-01 -3.51139047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77800114499996 meters 0.10044940319798418 Centerline is valid? [True, False] Translation: X:179.73, Y:-4.56, Z:-3.51 [[ 9.99996242e-01 -2.55296562e-03 9.99342124e-04 1.79726859e+02] [ 2.55227216e-03 9.99996502e-01 6.94585224e-04 -4.56163314e+00] [-1.00111188e-03 -6.92032021e-04 9.99999259e-01 -3.51206959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80800114499996 meters 0.0998278327299766 Centerline is valid? [False, True] Translation: X:179.73, Y:-4.56, Z:-3.51 [[ 9.99996792e-01 -2.33943854e-03 9.70942874e-04 1.79727161e+02] [ 2.33839306e-03 9.99996687e-01 1.07651520e-03 -4.56251853e+00] [-9.73458098e-04 -1.07424130e-03 9.99998949e-01 -3.51246356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83800114499996 meters 0.10239071744306817 Centerline is valid? [True, False] Translation: X:179.73, Y:-4.56, Z:-3.51 [[ 9.99997500e-01 -2.06047813e-03 8.68740068e-04 1.79727745e+02] [ 2.05917272e-03 9.99996754e-01 1.50087244e-03 -4.56319687e+00] [-8.71829762e-04 -1.49907980e-03 9.99998496e-01 -3.51304899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86800114499997 meters 0.09975564683827037 Centerline is valid? [False, True] Translation: X:179.73, Y:-4.56, Z:-3.51 [[ 9.99998097e-01 -1.81189280e-03 7.22889049e-04 1.79728369e+02] [ 1.81059155e-03 9.99996747e-01 1.79668059e-03 -4.56358678e+00] [-7.26142090e-04 -1.79536831e-03 9.99998125e-01 -3.51350375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89800114499997 meters 0.10394251831103908 Centerline is valid? [True, False] Translation: X:179.73, Y:-4.56, Z:-3.51 [[ 9.99997897e-01 -1.93370682e-03 6.82610414e-04 1.79728060e+02] [ 1.93264446e-03 9.99996926e-01 1.55355652e-03 -4.56364463e+00] [-6.85612439e-04 -1.55223401e-03 9.99998560e-01 -3.51287613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92800114499997 meters 0.09966341835014855 Centerline is valid? [False, True] Translation: X:179.73, Y:-4.56, Z:-3.51 [[ 9.99997915e-01 -1.96047983e-03 5.71130658e-04 1.79728099e+02] [ 1.95966871e-03 9.99997075e-01 1.41731196e-03 -4.56357569e+00] [-5.73907599e-04 -1.41618978e-03 9.99998833e-01 -3.51253922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95800114499997 meters 0.09813164676886107 Centerline is valid? [True, True] Translation: X:179.76, Y:-4.56, Z:-3.51 [[ 9.99999476e-01 -7.58864315e-04 6.87124096e-04 1.79759362e+02] [ 7.58907777e-04 9.99999710e-01 -6.29946435e-05 -4.56360440e+00] [-6.87076092e-04 6.35160743e-05 9.99999762e-01 -3.51218972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98800114499997 meters 0.09899471426952199 Centerline is valid? [True, True] Translation: X:179.79, Y:-4.57, Z:-3.51 [[ 9.99999512e-01 7.18572080e-04 6.77395174e-04 1.79789201e+02] [-7.18529804e-04 9.99999740e-01 -6.26508993e-05 -4.56858730e+00] [-6.77440017e-04 6.21641401e-05 9.99999769e-01 -3.51310741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01800114499997 meters 0.09899471426952199 Centerline is valid? [True, True] Translation: X:179.82, Y:-4.57, Z:-3.51 [[ 9.99999512e-01 7.18572080e-04 6.77395174e-04 1.79819198e+02] [-7.18529804e-04 9.99999740e-01 -6.26508993e-05 -4.57136172e+00] [-6.77440017e-04 6.21641401e-05 9.99999769e-01 -3.51360416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04800114499997 meters 0.09983769173627217 Centerline is valid? [True, True] Translation: X:179.85, Y:-4.58, Z:-3.52 [[ 9.99996394e-01 2.66267316e-03 -3.50289151e-04 1.79849051e+02] [-2.66266197e-03 9.99996455e-01 3.23975298e-05 -4.57591350e+00] [ 3.50374173e-04 -3.14647113e-05 9.99999938e-01 -3.51587662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07800114499997 meters 0.09616718654251585 Centerline is valid? [True, True] Translation: X:179.88, Y:-4.57, Z:-3.52 [[ 9.99993535e-01 3.32045438e-03 -1.37991867e-03 1.79879230e+02] [-3.32028222e-03 9.99994480e-01 1.27032664e-04 -4.57290112e+00] [ 1.38033286e-03 -1.22450123e-04 9.99999040e-01 -3.51653791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10800114499997 meters 0.09934857521538952 Centerline is valid? [True, True] Translation: X:179.91, Y:-4.58, Z:-3.52 [[ 9.99990837e-01 3.82254304e-03 -1.92719950e-03 1.79906072e+02] [-3.82220961e-03 9.99992680e-01 1.76665035e-04 -4.58242196e+00] [ 1.92786070e-03 -1.69297256e-04 9.99998127e-01 -3.51902219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13800114499998 meters 0.09859737935368701 Centerline is valid? [True, True] Translation: X:179.93, Y:-4.58, Z:-3.52 [[ 9.99989859e-01 4.11301797e-03 -1.83465930e-03 1.79934644e+02] [-4.11271607e-03 9.99991529e-01 1.68293825e-04 -4.58450516e+00] [ 1.83533595e-03 -1.60746686e-04 9.99998303e-01 -3.51918890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16800114499998 meters 0.09989885175916671 Centerline is valid? [True, True] Translation: X:179.96, Y:-4.59, Z:-3.52 [[ 9.99991725e-01 3.73667872e-03 -1.60834081e-03 1.79962320e+02] [-3.73644707e-03 9.99993009e-01 1.47013076e-04 -4.58981899e+00] [ 1.60887891e-03 -1.41002379e-04 9.99998696e-01 -3.51946249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19800114499998 meters 0.1001643940215361 Centerline is valid? [True, False] Translation: X:179.96, Y:-4.59, Z:-3.52 [[ 9.99991794e-01 3.72914080e-03 -1.58301733e-03 1.79962164e+02] [-3.72882757e-03 9.99993028e-01 2.00772077e-04 -4.59025461e+00] [ 1.58375500e-03 -1.94867630e-04 9.99998727e-01 -3.51933066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22800114499998 meters 0.10126691481707285 Centerline is valid? [False, False] Translation: X:179.96, Y:-4.59, Z:-3.52 [[ 9.99991260e-01 3.93701609e-03 -1.40692543e-03 1.79961761e+02] [-3.93589917e-03 9.99991938e-01 7.95762266e-04 -4.59278967e+00] [ 1.41004701e-03 -7.90217795e-04 9.99998694e-01 -3.51936237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25800114499998 meters 0.09211331938114753 Centerline is valid? [False, True] Translation: X:179.96, Y:-4.59, Z:-3.52 [[ 9.99990623e-01 4.13002159e-03 -1.30251187e-03 1.79961641e+02] [-4.12834150e-03 9.99990646e-01 1.28995032e-03 -4.59446434e+00] [ 1.30782721e-03 -1.28456101e-03 9.99998320e-01 -3.51959199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28800114499998 meters 0.0946963382588174 Centerline is valid? [True, True] Translation: X:179.99, Y:-4.60, Z:-3.52 [[ 9.99990623e-01 3.61901978e-03 -2.37821263e-03 1.79989979e+02] [-3.61850168e-03 9.99993429e-01 2.22119547e-04 -4.60275179e+00] [ 2.37900085e-03 -2.13511898e-04 9.99997147e-01 -3.52126402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31800114499998 meters 0.1039912576895335 Centerline is valid? [True, False] Translation: X:179.99, Y:-4.60, Z:-3.52 [[ 9.99995316e-01 -2.48833189e-04 -3.05043010e-03 1.79991673e+02] [ 2.37131069e-04 9.99992614e-01 -3.83598154e-03 -4.60239002e+00] [ 3.05136209e-03 3.83524023e-03 9.99987990e-01 -3.52166617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34800114499998 meters 0.09259089446517806 Centerline is valid? [False, True] Translation: X:179.99, Y:-4.60, Z:-3.52 [[ 9.99995373e-01 -1.71506232e-04 -3.03711188e-03 1.79991470e+02] [ 1.60690298e-04 9.99993646e-01 -3.56114222e-03 -4.60371513e+00] [ 3.03770334e-03 3.56063771e-03 9.99989047e-01 -3.52145124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37800114499996 meters 0.09472729745724134 Centerline is valid? [True, True] Translation: X:180.02, Y:-4.61, Z:-3.52 [[ 9.99996995e-01 -2.52093318e-04 -2.43847107e-03 1.80019103e+02] [ 2.52630905e-04 9.99999944e-01 2.20154975e-04 -4.61246322e+00] [ 2.43841544e-03 -2.20770347e-04 9.99997003e-01 -3.52455677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40800114499996 meters 0.09117376901782502 Centerline is valid? [True, True] Translation: X:180.05, Y:-4.61, Z:-3.52 [[ 9.99997049e-01 1.17874188e-04 -2.42652718e-03 1.80048773e+02] [-1.17342433e-04 9.99999969e-01 2.19283926e-04 -4.61132564e+00] [ 2.42655295e-03 -2.18998544e-04 9.99997032e-01 -3.52439219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43800114499996 meters 0.09229043050413355 Centerline is valid? [True, True] Translation: X:180.08, Y:-4.62, Z:-3.53 [[ 9.99995532e-01 3.62542472e-04 -2.96720313e-03 1.80076717e+02] [-3.61749360e-04 9.99999899e-01 2.67824971e-04 -4.61789445e+00] [ 2.96729992e-03 -2.66750390e-04 9.99995562e-01 -3.52526853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46800114499996 meters 0.095530917430707 Centerline is valid? [True, True] Translation: X:180.10, Y:-4.63, Z:-3.53 [[ 9.99994014e-01 -1.38596173e-04 -3.45733449e-03 1.80104584e+02] [ 1.39675908e-04 9.99999942e-01 3.12063296e-04 -4.62754996e+00] [ 3.45729103e-03 -3.12544335e-04 9.99993975e-01 -3.52771781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49800114499996 meters 0.09222521431233546 Centerline is valid? [True, True] Translation: X:180.13, Y:-4.63, Z:-3.53 [[ 9.99994401e-01 -3.45400220e-04 -3.32834704e-03 1.80133671e+02] [ 3.46400109e-04 9.99999895e-01 2.99844126e-04 -4.62632846e+00] [ 3.32824313e-03 -3.00995387e-04 9.99994416e-01 -3.52646256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52800114499996 meters 0.092262428661054 Centerline is valid? [True, True] Translation: X:180.16, Y:-4.63, Z:-3.53 [[ 9.99996994e-01 -4.00449605e-04 -2.41899475e-03 1.80162071e+02] [ 4.00976710e-04 9.99999896e-01 2.17421632e-04 -4.63028628e+00] [ 2.41890743e-03 -2.18390939e-04 9.99997051e-01 -3.52699086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55800114499996 meters 0.09198731955906009 Centerline is valid? [True, True] Translation: X:180.19, Y:-4.64, Z:-3.53 [[ 9.99996086e-01 -1.16826492e-04 -2.79541751e-03 1.80191021e+02] [ 1.17525767e-04 9.99999962e-01 2.49987656e-04 -4.63538249e+00] [ 2.79538820e-03 -2.50315211e-04 9.99996062e-01 -3.52605149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58800114499996 meters 0.092504734472736 Centerline is valid? [True, True] Translation: X:180.22, Y:-4.64, Z:-3.53 [[ 9.99995262e-01 1.54116739e-04 -3.07448608e-03 1.80220127e+02] [-1.53266401e-04 9.99999950e-01 2.76812714e-04 -4.64015796e+00] [ 3.07452859e-03 -2.76340187e-04 9.99995235e-01 -3.52658036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61800114499997 meters 0.09204270107558504 Centerline is valid? [True, True] Translation: X:180.25, Y:-4.65, Z:-3.53 [[ 9.99995083e-01 1.10424018e-03 -2.93522037e-03 1.80249038e+02] [-1.10348099e-03 9.99999357e-01 2.60252199e-04 -4.64596765e+00] [ 2.93550586e-03 -2.57011959e-04 9.99995658e-01 -3.52812055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64800114499997 meters 0.09084683426966013 Centerline is valid? [True, True] Translation: X:180.28, Y:-4.65, Z:-3.53 [[ 9.99994649e-01 1.31251660e-03 -2.99657768e-03 1.80277823e+02] [-1.31171840e-03 9.99999104e-01 2.68319563e-04 -4.64865643e+00] [ 2.99692717e-03 -2.64387461e-04 9.99995474e-01 -3.52894514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67800114499997 meters 0.08976407017550588 Centerline is valid? [True, True] Translation: X:180.31, Y:-4.65, Z:-3.53 [[ 9.99991935e-01 2.06354809e-03 -3.44543885e-03 1.80306391e+02] [-2.06249746e-03 9.99997825e-01 3.08461680e-04 -4.65309157e+00] [ 3.44606788e-03 -3.01352984e-04 9.99994017e-01 -3.52943340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70800114499997 meters 0.0924822244745013 Centerline is valid? [True, True] Translation: X:180.33, Y:-4.66, Z:-3.53 [[ 9.99993618e-01 2.13562513e-03 -2.86398668e-03 1.80333335e+02] [-2.13490158e-03 9.99997688e-01 2.55669559e-04 -4.66117662e+00] [ 2.86452608e-03 -2.49553598e-04 9.99995866e-01 -3.53076896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73800114499997 meters 0.09137534715034593 Centerline is valid? [True, True] Translation: X:180.36, Y:-4.66, Z:-3.53 [[ 9.99993308e-01 1.69637999e-03 -3.24125240e-03 1.80361582e+02] [-1.69545113e-03 9.99998521e-01 2.89299336e-04 -4.66270279e+00] [ 3.24173837e-03 -2.83802015e-04 9.99994705e-01 -3.53024778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76800114499997 meters 0.08855373843545039 Centerline is valid? [True, True] Translation: X:180.39, Y:-4.66, Z:-3.53 [[ 9.99991288e-01 1.62280726e-03 -3.84578418e-03 1.80390679e+02] [-1.62149794e-03 9.99998626e-01 3.43550138e-04 -4.66208572e+00] [ 3.84633642e-03 -3.37311214e-04 9.99992546e-01 -3.53048620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79800114499997 meters 0.08972913808854062 Centerline is valid? [True, True] Translation: X:180.42, Y:-4.67, Z:-3.53 [[ 9.99988631e-01 6.47577272e-04 -4.72429955e-03 1.80419046e+02] [-6.45588919e-04 9.99999702e-01 4.22390582e-04 -4.67301242e+00] [ 4.72457168e-03 -4.19335825e-04 9.99988751e-01 -3.53281351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82800114499997 meters 0.08858324253167243 Centerline is valid? [True, True] Translation: X:180.45, Y:-4.68, Z:-3.53 [[ 9.99985097e-01 7.28151099e-04 -5.41072751e-03 1.80446564e+02] [-7.25551480e-04 9.99999620e-01 4.82403765e-04 -4.67596791e+00] [ 5.41107672e-03 -4.78470815e-04 9.99985246e-01 -3.53246006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85800114499997 meters 0.0937849067022501 Centerline is valid? [True, True] Translation: X:180.47, Y:-4.69, Z:-3.54 [[ 9.99989129e-01 1.36706364e-04 -4.66076419e-03 1.80473516e+02] [-1.34772577e-04 9.99999905e-01 4.15219222e-04 -4.68917191e+00] [ 4.66082051e-03 -4.14586565e-04 9.99989052e-01 -3.53563519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88800114499998 meters 0.09477037525153346 Centerline is valid? [True, True] Translation: X:180.50, Y:-4.69, Z:-3.54 [[ 9.99987204e-01 -3.26867999e-05 -5.05871328e-03 1.80501979e+02] [ 3.49680104e-05 9.99999898e-01 4.50858985e-04 -4.69483577e+00] [ 5.05869803e-03 -4.51030109e-04 9.99987103e-01 -3.53654767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91800114499998 meters 0.08858138102773168 Centerline is valid? [True, True] Translation: X:180.53, Y:-4.69, Z:-3.53 [[ 9.99986632e-01 -1.85889576e-05 -5.17058899e-03 1.80531358e+02] [ 2.09699386e-05 9.99999894e-01 4.60431619e-04 -4.68886343e+00] [ 5.17057988e-03 -4.60533891e-04 9.99986526e-01 -3.53406812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94800114499998 meters 0.09563354272696598 Centerline is valid? [True, True] Translation: X:180.56, Y:-4.71, Z:-3.54 [[ 9.99987457e-01 -2.31385792e-04 -5.00332358e-03 1.80557939e+02] [ 2.33614108e-04 9.99999874e-01 4.44787396e-04 -4.70541704e+00] [ 5.00322003e-03 -4.45950664e-04 9.99987384e-01 -3.53826318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97800114499998 meters 0.08984829858609018 Centerline is valid? [True, True] Translation: X:180.59, Y:-4.70, Z:-3.54 [[ 9.99987354e-01 -3.83594896e-04 -5.01438195e-03 1.80586936e+02] [ 3.85834857e-04 9.99999826e-01 4.45747706e-04 -4.70072279e+00] [ 5.01421010e-03 -4.47676793e-04 9.99987329e-01 -3.53621578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00800114499998 meters 0.09176663919156025 Centerline is valid? [True, True] Translation: X:180.61, Y:-4.71, Z:-3.54 [[ 9.99993377e-01 -1.62337100e-03 -3.25754789e-03 1.80614266e+02] [ 1.62432078e-03 9.99998639e-01 2.88937974e-04 -4.71183028e+00] [ 3.25707440e-03 -2.94227363e-04 9.99994652e-01 -3.53627576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03800114499998 meters 0.09076545512479187 Centerline is valid? [True, True] Translation: X:180.64, Y:-4.71, Z:-3.54 [[ 9.99994050e-01 -2.12878559e-03 -2.71449508e-03 1.80643490e+02] [ 2.12944781e-03 9.99997704e-01 2.41087638e-04 -4.71462526e+00] [ 2.71397562e-03 -2.46866579e-04 9.99996287e-01 -3.53521446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.06800114499998 meters 0.09104342616716803 Centerline is valid? [True, True] Translation: X:180.67, Y:-4.72, Z:-3.53 [[ 9.99994348e-01 -2.73196371e-03 -1.95993312e-03 1.80673283e+02] [ 2.73230963e-03 9.99996252e-01 1.73840912e-04 -4.71931154e+00] [ 1.95945085e-03 -1.79195073e-04 9.99998064e-01 -3.53409851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09800114499998 meters 0.09381599754907806 Centerline is valid? [True, True] Translation: X:180.70, Y:-4.73, Z:-3.54 [[ 9.99993727e-01 -3.25911159e-03 -1.38680263e-03 1.80702508e+02] [ 3.25928718e-03 9.99994681e-01 1.24374025e-04 -4.72867787e+00] [ 1.38638990e-03 -1.28893233e-04 9.99999031e-01 -3.53538705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12800114499996 meters 0.0910777093397018 Centerline is valid? [True, True] Translation: X:180.73, Y:-4.73, Z:-3.53 [[ 9.99989332e-01 -4.37723157e-03 -1.47500963e-03 1.80733736e+02] [ 4.37743101e-03 9.99990410e-01 1.32011790e-04 -4.73124521e+00] [ 1.47441764e-03 -1.38467135e-04 9.99998903e-01 -3.53429753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15800114499996 meters 0.09346029623813411 Centerline is valid? [True, True] Translation: X:180.76, Y:-4.74, Z:-3.54 [[ 9.99990091e-01 -4.25119083e-03 -1.32111594e-03 1.80764637e+02] [ 4.25135290e-03 9.99990956e-01 1.19894417e-04 -4.74040966e+00] [ 1.32059429e-03 -1.25509759e-04 9.99999120e-01 -3.53522164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18800114499996 meters 0.09265439160771448 Centerline is valid? [True, True] Translation: X:180.80, Y:-4.74, Z:-3.54 [[ 9.99986830e-01 -4.54676701e-03 -2.38028964e-03 1.80795571e+02] [ 4.54728677e-03 9.99989638e-01 2.12992649e-04 -4.74356027e+00] [ 2.37929655e-03 -2.23813704e-04 9.99997144e-01 -3.53621172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21800114499996 meters 0.09435837603825167 Centerline is valid? [True, True] Translation: X:180.83, Y:-4.75, Z:-3.54 [[ 9.99986617e-01 -4.54463478e-03 -2.47218271e-03 1.80825319e+02] [ 4.54519473e-03 9.99989646e-01 2.20929833e-04 -4.75124447e+00] [ 2.47115306e-03 -2.32163428e-04 9.99996920e-01 -3.53775119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24800114499996 meters 0.08937707058769306 Centerline is valid? [True, True] Translation: X:180.86, Y:-4.75, Z:-3.54 [[ 9.99979262e-01 -5.27552754e-03 -3.69394778e-03 1.80857174e+02] [ 5.27678377e-03 9.99986023e-01 3.30415753e-04 -4.74993383e+00] [ 3.69215303e-03 -3.49901064e-04 9.99993123e-01 -3.53818897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27800114499996 meters 0.10039434739112042 Centerline is valid? [True, False] Translation: X:180.86, Y:-4.75, Z:-3.54 [[ 9.99980432e-01 -5.11253374e-03 -3.60527639e-03 1.80856994e+02] [ 5.11541452e-03 9.99986604e-01 7.90278327e-04 -4.75156626e+00] [ 3.60118777e-03 -8.08705346e-04 9.99993189e-01 -3.53829095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30800114499996 meters 0.10039434739112042 Centerline is valid? [False, False] Translation: X:180.86, Y:-4.75, Z:-3.54 [[ 9.99980432e-01 -5.11253374e-03 -3.60527639e-03 1.80856994e+02] [ 5.11541452e-03 9.99986604e-01 7.90278327e-04 -4.75156626e+00] [ 3.60118777e-03 -8.08705346e-04 9.99993189e-01 -3.53829095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33800114499996 meters 0.09315999013552774 Centerline is valid? [False, True] Translation: X:180.86, Y:-4.75, Z:-3.54 [[ 9.99982123e-01 -4.77535896e-03 -3.59865630e-03 1.80857279e+02] [ 4.78059910e-03 9.99987523e-01 1.44894664e-03 -4.75319073e+00] [ 3.59169216e-03 -1.46612447e-03 9.99992475e-01 -3.53882377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36800114499997 meters 0.09180584664857373 Centerline is valid? [True, True] Translation: X:180.89, Y:-4.76, Z:-3.54 [[ 9.99973002e-01 -4.88339082e-03 -5.49062291e-03 1.80887624e+02] [ 4.88620984e-03 9.99987937e-01 5.00127500e-04 -4.75620548e+00] [ 5.48811436e-03 -5.26942333e-04 9.99984801e-01 -3.53878659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39800114499997 meters 0.09086656194543274 Centerline is valid? [True, True] Translation: X:180.92, Y:-4.76, Z:-3.54 [[ 9.99966080e-01 -5.03799359e-03 -6.51588155e-03 1.80917132e+02] [ 5.04196142e-03 9.99987114e-01 5.92663781e-04 -4.75874046e+00] [ 6.51281175e-03 -6.25496501e-04 9.99978596e-01 -3.53932801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42800114499997 meters 0.08670148093069484 Centerline is valid? [True, True] Translation: X:180.95, Y:-4.76, Z:-3.54 [[ 9.99962094e-01 -5.11550564e-03 -7.04572392e-03 1.80947678e+02] [ 5.12014543e-03 9.99986687e-01 6.40645148e-04 -4.75509316e+00] [ 7.04235289e-03 -6.76695995e-04 9.99974973e-01 -3.53807209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45800114499997 meters 0.0908752699817303 Centerline is valid? [True, True] Translation: X:180.98, Y:-4.77, Z:-3.54 [[ 9.99972269e-01 -4.37694605e-03 -6.02527740e-03 1.80975024e+02] [ 4.38031901e-03 9.99990257e-01 5.46718082e-04 -4.76633388e+00] [ 6.02282574e-03 -5.73095558e-04 9.99981698e-01 -3.54020265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48800114499997 meters 0.0911676849701817 Centerline is valid? [True, True] Translation: X:181.00, Y:-4.77, Z:-3.54 [[ 9.99974299e-01 -2.14851187e-03 -6.83993762e-03 1.81003234e+02] [ 2.15280836e-03 9.99997490e-01 6.20847307e-04 -4.77140036e+00] [ 6.83858655e-03 -6.35556426e-04 9.99976415e-01 -3.54129399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51800114499997 meters 0.08905322647344803 Centerline is valid? [True, True] Translation: X:181.03, Y:-4.77, Z:-3.54 [[ 9.99965993e-01 -1.60254545e-03 -8.08975344e-03 1.81031719e+02] [ 1.60849629e-03 9.99998441e-01 7.29148730e-04 -4.77090835e+00] [ 8.08857233e-03 -7.42136273e-04 9.99967012e-01 -3.54161235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54800114499997 meters 0.08971103644456933 Centerline is valid? [True, True] Translation: X:181.06, Y:-4.78, Z:-3.54 [[ 9.99964622e-01 2.63171259e-04 -8.40751533e-03 1.81060006e+02] [-2.56782016e-04 9.99999677e-01 7.61014725e-04 -4.77551785e+00] [ 8.40771290e-03 -7.58828903e-04 9.99964367e-01 -3.54250654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57800114499997 meters 0.08218695899265584 Centerline is valid? [True, True] Translation: X:181.09, Y:-4.76, Z:-3.54 [[ 9.99965037e-01 1.36520118e-03 -8.24996876e-03 1.81090105e+02] [-1.35909429e-03 9.99998798e-01 7.45793033e-04 -4.76388211e+00] [ 8.25097701e-03 -7.34554472e-04 9.99965690e-01 -3.53837607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60800114499997 meters 0.0812561571889709 Centerline is valid? [True, True] Translation: X:181.12, Y:-4.76, Z:-3.54 [[ 9.99955855e-01 5.08653813e-03 -7.90038943e-03 1.81120314e+02] [-5.08104853e-03 9.99986836e-01 7.14768301e-04 -4.76421547e+00] [ 7.90392113e-03 -6.74594485e-04 9.99968536e-01 -3.53747636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63800114499998 meters 0.08369184424818682 Centerline is valid? [True, True] Translation: X:181.15, Y:-4.77, Z:-3.54 [[ 9.99953214e-01 6.50897218e-03 -7.15560816e-03 1.81148886e+02] [-6.50450824e-03 9.99978636e-01 6.46932580e-04 -4.77193584e+00] [ 7.15966615e-03 -6.00358601e-04 9.99974189e-01 -3.53964167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66800114499998 meters 0.08453560887639146 Centerline is valid? [True, True] Translation: X:181.18, Y:-4.78, Z:-3.54 [[ 9.99940228e-01 8.98893699e-03 -6.22415911e-03 1.81178377e+02] [-8.98560695e-03 9.99959470e-01 5.62776654e-04 -4.77691609e+00] [ 6.22896561e-03 -5.06815168e-04 9.99980471e-01 -3.54063059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69800114499998 meters 0.08486244434381386 Centerline is valid? [True, True] Translation: X:181.21, Y:-4.78, Z:-3.54 [[ 9.99936321e-01 9.30385170e-03 -6.38695483e-03 1.81206926e+02] [-9.30035940e-03 9.99956585e-01 5.76270403e-04 -4.78038800e+00] [ 6.39203907e-03 -5.16832731e-04 9.99979437e-01 -3.54138067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72800114499998 meters 0.0800241085324698 Centerline is valid? [True, True] Translation: X:181.24, Y:-4.77, Z:-3.54 [[ 9.99932239e-01 9.51540448e-03 -6.70633905e-03 1.81236582e+02] [-9.51155919e-03 9.99954581e-01 6.05042778e-04 -4.77382778e+00] [ 6.71179168e-03 -5.41214038e-04 9.99977329e-01 -3.53926856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75800114499998 meters 0.08098811496348109 Centerline is valid? [True, True] Translation: X:181.26, Y:-4.78, Z:-3.54 [[ 9.99927342e-01 1.02059812e-02 -6.41467108e-03 1.81264398e+02] [-1.02024824e-02 9.99947786e-01 5.77923705e-04 -4.77851476e+00] [ 6.42023442e-03 -5.12436146e-04 9.99979259e-01 -3.54038974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78800114499998 meters 0.08151815881621867 Centerline is valid? [True, True] Translation: X:181.29, Y:-4.78, Z:-3.54 [[ 9.99917936e-01 1.05577507e-02 -7.25644431e-03 1.81291640e+02] [-1.05532873e-02 9.99944099e-01 6.53104569e-04 -4.78256322e+00] [ 7.26293398e-03 -5.76471630e-04 9.99973458e-01 -3.54171387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81800114499998 meters 0.08558027081018393 Centerline is valid? [True, True] Translation: X:181.32, Y:-4.79, Z:-3.55 [[ 9.99914396e-01 1.01398141e-02 -8.26955374e-03 1.81318699e+02] [-1.01340065e-02 9.99948373e-01 7.43879585e-04 -4.79266471e+00] [ 8.27666961e-03 -6.60012194e-04 9.99965530e-01 -3.54507429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84800114499998 meters 0.08761290688325926 Centerline is valid? [True, True] Translation: X:181.35, Y:-4.80, Z:-3.55 [[ 9.99913434e-01 9.83081674e-03 -8.74529479e-03 1.81346045e+02] [-9.82431457e-03 9.99951431e-01 7.86153892e-04 -4.79891441e+00] [ 8.75259857e-03 -7.00169311e-04 9.99961450e-01 -3.54745552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87800114499996 meters 0.0816015362574189 Centerline is valid? [True, True] Translation: X:181.38, Y:-4.79, Z:-3.54 [[ 9.99899150e-01 9.20225201e-03 -1.08170190e-02 1.81376677e+02] [-9.19225849e-03 9.99957277e-01 9.73226373e-04 -4.79056199e+00] [ 1.08255128e-02 -8.73695389e-04 9.99941021e-01 -3.54461066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90800114499996 meters 0.08276813427052468 Centerline is valid? [True, True] Translation: X:181.40, Y:-4.80, Z:-3.55 [[ 9.99901707e-01 8.16587541e-03 -1.13971792e-02 1.81404237e+02] [-8.15473122e-03 9.99966225e-01 1.02393322e-03 -4.79698752e+00] [ 1.14051556e-02 -9.30891640e-04 9.99934526e-01 -3.54665965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93800114499996 meters 0.08227390364875793 Centerline is valid? [True, True] Translation: X:181.43, Y:-4.80, Z:-3.55 [[ 9.99902698e-01 7.57794800e-03 -1.17119554e-02 1.81433211e+02] [-7.56614670e-03 9.99970823e-01 1.05160943e-03 -4.79892584e+00] [ 1.17195827e-02 -9.62892734e-04 9.99930860e-01 -3.54738883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96800114499996 meters 0.08277004951830956 Centerline is valid? [True, True] Translation: X:181.46, Y:-4.80, Z:-3.55 [[ 9.99891312e-01 6.50358446e-03 -1.32313137e-02 1.81462121e+02] [-6.48843116e-03 9.99978244e-01 1.18786560e-03 -4.80215716e+00] [ 1.32387513e-02 -1.10188603e-03 9.99911757e-01 -3.54813869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99800114499996 meters 0.08299209737873472 Centerline is valid? [True, True] Translation: X:181.49, Y:-4.80, Z:-3.55 [[ 9.99888634e-01 4.54920767e-03 -1.42135379e-02 1.81492338e+02] [-4.53151835e-03 9.99988918e-01 1.27649935e-03 -4.80446774e+00] [ 1.42191874e-02 -1.21194828e-03 9.99898168e-01 -3.54775294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02800114499996 meters 0.08651446370325185 Centerline is valid? [True, True] Translation: X:181.52, Y:-4.81, Z:-3.55 [[ 9.99898915e-01 2.99764658e-03 -1.38986805e-02 1.81519957e+02] [-2.98061355e-03 9.99994782e-01 1.24606703e-03 -4.81343458e+00] [ 1.39023433e-02 -1.20451447e-03 9.99902632e-01 -3.55068066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05800114499996 meters 0.0862278979004831 Centerline is valid? [True, True] Translation: X:181.55, Y:-4.82, Z:-3.55 [[ 9.99902570e-01 2.00790955e-03 -1.38136844e-02 1.81549532e+02] [-1.99098541e-03 9.99997251e-01 1.23881544e-03 -4.81588542e+00] [ 1.38161339e-02 -1.21119190e-03 9.99903819e-01 -3.55079660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08800114499996 meters 0.08351843838527714 Centerline is valid? [True, True] Translation: X:181.58, Y:-4.81, Z:-3.55 [[ 9.99910547e-01 1.18932803e-03 -1.33222748e-02 1.81578948e+02] [-1.17353508e-03 9.99998600e-01 1.19320948e-03 -4.81421574e+00] [ 1.33236753e-02 -1.17746858e-03 9.99910543e-01 -3.54904674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11800114499997 meters 0.08215997427021808 Centerline is valid? [True, True] Translation: X:181.61, Y:-4.81, Z:-3.55 [[ 9.99921757e-01 -3.43707239e-04 -1.25044908e-02 1.81608717e+02] [ 3.57741073e-04 9.99999309e-01 1.12008407e-03 -4.81490752e+00] [ 1.25040972e-02 -1.12446981e-03 9.99921188e-01 -3.54781207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14800114499997 meters 0.08405412255046198 Centerline is valid? [True, True] Translation: X:181.64, Y:-4.82, Z:-3.55 [[ 9.99923256e-01 -6.85527268e-04 -1.23698345e-02 1.81636205e+02] [ 6.99261841e-04 9.99999144e-01 1.10603709e-03 -4.82093164e+00] [ 1.23690656e-02 -1.11460196e-03 9.99922879e-01 -3.54938126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17800114499997 meters 0.09083472154211338 Centerline is valid? [True, True] Translation: X:181.66, Y:-4.83, Z:-3.55 [[ 9.99919868e-01 -1.24859139e-03 -1.25975975e-02 1.81662223e+02] [ 1.26286196e-03 9.99998570e-01 1.12490983e-03 -4.83478259e+00] [ 1.25961749e-02 -1.14072872e-03 9.99920014e-01 -3.55326076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20800114499997 meters 0.08510736989736985 Centerline is valid? [True, True] Translation: X:181.69, Y:-4.83, Z:-3.55 [[ 9.99919475e-01 -1.44406124e-03 -1.26078379e-02 1.81690672e+02] [ 1.45828989e-03 9.99998310e-01 1.11943540e-03 -4.82580782e+00] [ 1.26062000e-02 -1.13773114e-03 9.99919891e-01 -3.54942949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23800114499997 meters 0.09252972005868836 Centerline is valid? [True, True] Translation: X:181.72, Y:-4.84, Z:-3.55 [[ 9.99917283e-01 -1.11532825e-03 -1.28133761e-02 1.81717520e+02] [ 1.13002984e-03 9.99998712e-01 1.14018003e-03 -4.84078043e+00] [ 1.28120879e-02 -1.15456521e-03 9.99917255e-01 -3.55439456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26800114499997 meters 0.08286998595408793 Centerline is valid? [True, True] Translation: X:181.75, Y:-4.83, Z:-3.55 [[ 9.99920629e-01 -1.50823894e-03 -1.25084050e-02 1.81746676e+02] [ 1.52219283e-03 9.99998230e-01 1.10611590e-03 -4.82661723e+00] [ 1.25067145e-02 -1.12506831e-03 9.99921155e-01 -3.54896775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29800114499997 meters 0.09417726813991475 Centerline is valid? [True, True] Translation: X:181.77, Y:-4.85, Z:-3.56 [[ 9.99918824e-01 -1.97750998e-03 -1.25870633e-02 1.81772431e+02] [ 1.99170831e-03 9.99997394e-01 1.11557449e-03 -4.84970365e+00] [ 1.25848244e-02 -1.14055369e-03 9.99920157e-01 -3.55599709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32800114499997 meters 0.08578208732636132 Centerline is valid? [True, True] Translation: X:181.80, Y:-4.84, Z:-3.55 [[ 9.99924588e-01 -1.88148952e-03 -1.21358675e-02 1.81802328e+02] [ 1.89461401e-03 9.99997633e-01 1.07005721e-03 -4.83889565e+00] [ 1.21338255e-02 -1.09296929e-03 9.99925785e-01 -3.55134074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35800114499997 meters 0.08642096778836232 Centerline is valid? [True, True] Translation: X:181.83, Y:-4.84, Z:-3.55 [[ 9.99920143e-01 -2.33760663e-03 -1.24194375e-02 1.81830507e+02] [ 2.35135312e-03 9.99996639e-01 1.09236630e-03 -4.84231945e+00] [ 1.24168422e-02 -1.12148155e-03 9.99922279e-01 -3.55180981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38800114499998 meters 0.0882744797975794 Centerline is valid? [True, True] Translation: X:181.86, Y:-4.85, Z:-3.55 [[ 9.99913052e-01 -2.99454708e-03 -1.28421400e-02 1.81857927e+02] [ 3.00932359e-03 9.99994832e-01 1.13145764e-03 -4.84772185e+00] [ 1.28386854e-02 -1.17000542e-03 9.99916896e-01 -3.55369519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41800114499998 meters 0.08834146069521912 Centerline is valid? [True, True] Translation: X:181.89, Y:-4.85, Z:-3.55 [[ 9.99897897e-01 -3.90905375e-03 -1.37446364e-02 1.81887717e+02] [ 3.92607424e-03 9.99991559e-01 1.21157282e-03 -4.85037001e+00] [ 1.37397842e-02 -1.26541158e-03 9.99904804e-01 -3.55431440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44800114499998 meters 0.08571622656564265 Centerline is valid? [True, True] Translation: X:181.92, Y:-4.85, Z:-3.55 [[ 9.99893054e-01 -4.09699230e-03 -1.40390429e-02 1.81915568e+02] [ 4.11465514e-03 9.99990779e-01 1.22946904e-03 -4.84814230e+00] [ 1.40338764e-02 -1.28710337e-03 9.99900692e-01 -3.55347500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47800114499998 meters 0.08355999351295647 Centerline is valid? [True, True] Translation: X:181.94, Y:-4.85, Z:-3.55 [[ 9.99887821e-01 -4.78863115e-03 -1.41920658e-02 1.81944708e+02] [ 4.80671169e-03 9.99987679e-01 1.24015247e-03 -4.84686128e+00] [ 1.41859523e-02 -1.30823052e-03 9.99898518e-01 -3.55284405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50800114499998 meters 0.08620905372219254 Centerline is valid? [True, True] Translation: X:181.97, Y:-4.85, Z:-3.56 [[ 9.99878384e-01 -4.51321353e-03 -1.49281240e-02 1.81971581e+02] [ 4.53321611e-03 9.99988872e-01 1.30635973e-03 -4.85496776e+00] [ 1.49220620e-02 -1.37387326e-03 9.99887716e-01 -3.55572299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53800114499998 meters 0.08534457109289768 Centerline is valid? [True, True] Translation: X:182.00, Y:-4.86, Z:-3.56 [[ 9.99883437e-01 -5.07181115e-03 -1.44010329e-02 1.82000489e+02] [ 5.09039482e-03 9.99986257e-01 1.25407797e-03 -4.85649001e+00] [ 1.43944746e-02 -1.32723874e-03 9.99895513e-01 -3.55629725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.56800114499998 meters 0.08522102412942645 Centerline is valid? [True, True] Translation: X:182.03, Y:-4.86, Z:-3.56 [[ 9.99907528e-01 -3.96813902e-03 -1.30072646e-02 1.82029477e+02] [ 3.98324466e-03 9.99991422e-01 1.13562237e-03 -4.85818197e+00] [ 1.30026467e-02 -1.18732847e-03 9.99914757e-01 -3.55526029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59800114499998 meters 0.08530245991670139 Centerline is valid? [True, True] Translation: X:182.06, Y:-4.86, Z:-3.56 [[ 9.99907020e-01 -3.38526479e-03 -1.32095275e-02 1.82058611e+02] [ 3.40071208e-03 9.99993560e-01 1.14711919e-03 -4.85950437e+00] [ 1.32055592e-02 -1.19193433e-03 9.99912092e-01 -3.55552615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62800114499996 meters 0.08584687078881902 Centerline is valid? [True, True] Translation: X:182.09, Y:-4.86, Z:-3.56 [[ 9.99909634e-01 -2.79916481e-03 -1.31487273e-02 1.82086272e+02] [ 2.81443847e-03 9.99995386e-01 1.14324714e-03 -4.86130478e+00] [ 1.31454665e-02 -1.18015011e-03 9.99912898e-01 -3.55564601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65800114499996 meters 0.08614718301882641 Centerline is valid? [True, True] Translation: X:182.12, Y:-4.86, Z:-3.56 [[ 9.99923110e-01 -2.43018717e-03 -1.21601122e-02 1.82115425e+02] [ 2.44319960e-03 9.99996458e-01 1.05535047e-03 -4.86288907e+00] [ 1.21575044e-02 -1.08497891e-03 9.99925506e-01 -3.55541707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68800114499996 meters 0.08240134980976138 Centerline is valid? [True, True] Translation: X:182.14, Y:-4.86, Z:-3.55 [[ 9.99921068e-01 -3.21308978e-03 -1.21463104e-02 1.82144834e+02] [ 3.22606662e-03 9.99994246e-01 1.04893483e-03 -4.85836327e+00] [ 1.21428702e-02 -1.08803685e-03 9.99925681e-01 -3.55353693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71800114499996 meters 0.09091572103629646 Centerline is valid? [True, True] Translation: X:182.17, Y:-4.88, Z:-3.56 [[ 9.99921621e-01 -4.39422612e-03 -1.17235781e-02 1.82171622e+02] [ 4.40642846e-03 9.99989776e-01 1.01520999e-03 -4.87582422e+00] [ 1.17189972e-02 -1.06678952e-03 9.99930761e-01 -3.55897828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74800114499996 meters 0.08500518814928221 Centerline is valid? [True, True] Translation: X:182.20, Y:-4.87, Z:-3.56 [[ 9.99917153e-01 -5.61375484e-03 -1.15833434e-02 1.82202145e+02] [ 5.62574722e-03 9.99983672e-01 1.00298886e-03 -4.86717865e+00] [ 1.15775237e-02 -1.06807072e-03 9.99932408e-01 -3.55640958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77800114499996 meters 0.0937020171331604 Centerline is valid? [True, True] Translation: X:182.23, Y:-4.88, Z:-3.56 [[ 9.99902590e-01 -6.18751764e-03 -1.25109910e-02 1.82229369e+02] [ 6.20154164e-03 9.99980184e-01 1.08245006e-03 -4.88387657e+00] [ 1.25040454e-02 -1.15993205e-03 9.99921149e-01 -3.56285234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80800114499996 meters 0.08997925316795537 Centerline is valid? [True, True] Translation: X:182.26, Y:-4.88, Z:-3.56 [[ 9.99889195e-01 -7.51415530e-03 -1.28504574e-02 1.82259800e+02] [ 7.52905856e-03 9.99971038e-01 1.11176040e-03 -4.87840627e+00] [ 1.28417313e-02 -1.20838906e-03 9.99916811e-01 -3.56114426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83800114499996 meters 0.0945017375096167 Centerline is valid? [True, True] Translation: X:182.29, Y:-4.89, Z:-3.56 [[ 9.99883097e-01 -8.39176101e-03 -1.27816818e-02 1.82287319e+02] [ 8.40655655e-03 9.99964055e-01 1.10427057e-03 -4.88707705e+00] [ 1.27719556e-02 -1.21159141e-03 9.99917701e-01 -3.56333117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86800114499997 meters 0.09010779977552315 Centerline is valid? [True, True] Translation: X:182.32, Y:-4.88, Z:-3.56 [[ 9.99860358e-01 -9.68174176e-03 -1.36208593e-02 1.82317450e+02] [ 9.69866016e-03 9.99952275e-01 1.17658741e-03 -4.88117077e+00] [ 1.36088178e-02 -1.30852719e-03 9.99906540e-01 -3.56096348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89800114499997 meters 0.09371082438450316 Centerline is valid? [True, True] Translation: X:182.34, Y:-4.89, Z:-3.56 [[ 9.99853996e-01 -1.07829517e-02 -1.32557190e-02 1.82344242e+02] [ 1.07989868e-02 9.99941041e-01 1.13869052e-03 -4.88939667e+00] [ 1.32426590e-02 -1.28167260e-03 9.99911491e-01 -3.56409702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92800114499997 meters 0.09666843562629879 Centerline is valid? [True, True] Translation: X:182.37, Y:-4.90, Z:-3.57 [[ 9.99859812e-01 -1.10614745e-02 -1.25698221e-02 1.82371704e+02] [ 1.10759185e-02 9.99938077e-01 1.08006524e-03 -4.89624797e+00] [ 1.25570966e-02 -1.21913616e-03 9.99920413e-01 -3.56548120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95800114499997 meters 0.09116355762607792 Centerline is valid? [True, True] Translation: X:182.40, Y:-4.89, Z:-3.56 [[ 9.99866575e-01 -1.11186870e-02 -1.19669496e-02 1.82400777e+02] [ 1.11317240e-02 9.99937517e-01 1.02335864e-03 -4.88941005e+00] [ 1.19548234e-02 -1.15643488e-03 9.99927870e-01 -3.56221609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98800114499997 meters 0.09033164561673115 Centerline is valid? [True, True] Translation: X:182.43, Y:-4.89, Z:-3.56 [[ 9.99889466e-01 -1.03923567e-02 -1.06327292e-02 1.82430400e+02] [ 1.04026388e-02 9.99945475e-01 9.12169701e-04 -4.88998626e+00] [ 1.06226698e-02 -1.02267732e-03 9.99943055e-01 -3.56137240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01800114499997 meters 0.08585144247084865 Centerline is valid? [True, True] Translation: X:182.46, Y:-4.88, Z:-3.56 [[ 9.99915336e-01 -8.35384099e-03 -9.97667889e-03 1.82461691e+02] [ 8.36279262e-03 9.99964665e-01 8.55873681e-04 -4.88210613e+00] [ 9.96917654e-03 -9.39234116e-04 9.99949865e-01 -3.55866309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04800114499997 meters 0.08564969652508582 Centerline is valid? [True, True] Translation: X:182.49, Y:-4.88, Z:-3.56 [[ 9.99919495e-01 -7.47861830e-03 -1.02505964e-02 1.82490785e+02] [ 7.48796188e-03 9.99971583e-01 8.73439081e-04 -4.88241822e+00] [ 1.02437730e-02 -9.50124840e-04 9.99947080e-01 -3.55977893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07800114499997 meters 0.08162030747442 Centerline is valid? [True, True] Translation: X:182.52, Y:-4.88, Z:-3.56 [[ 9.99931702e-01 -5.71569832e-03 -1.01942197e-02 1.82521360e+02] [ 5.72488531e-03 9.99983232e-01 8.72242814e-04 -4.87657673e+00] [ 1.01890633e-02 -9.30543981e-04 9.99947657e-01 -3.55872284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10800114499997 meters 0.08473258941913586 Centerline is valid? [True, True] Translation: X:182.55, Y:-4.88, Z:-3.56 [[ 9.99945836e-01 -3.58884828e-03 -9.76956856e-03 1.82550009e+02] [ 3.59717864e-03 9.99993181e-01 8.35246050e-04 -4.88410191e+00] [ 9.76650437e-03 -8.70343694e-04 9.99951928e-01 -3.56283236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13800114499998 meters 0.08422259426539724 Centerline is valid? [True, True] Translation: X:182.58, Y:-4.88, Z:-3.56 [[ 9.99940840e-01 -2.81365558e-03 -1.05071479e-02 1.82578597e+02] [ 2.82318512e-03 9.99995617e-01 8.92235463e-04 -4.88491976e+00] [ 1.05045914e-02 -9.21846302e-04 9.99944400e-01 -3.56326270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16800114499998 meters 0.09195858012217797 Centerline is valid? [True, True] Translation: X:182.61, Y:-4.90, Z:-3.57 [[ 9.99944693e-01 -1.78798583e-03 -1.03640572e-02 1.82605822e+02] [ 1.79722778e-03 9.99997996e-01 8.82486303e-04 -4.89945683e+00] [ 1.03624586e-02 -9.01064067e-04 9.99945902e-01 -3.56857787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19800114499998 meters 0.0829005660693685 Centerline is valid? [True, True] Translation: X:182.64, Y:-4.88, Z:-3.56 [[ 9.99953757e-01 -9.33463944e-05 -9.61640038e-03 1.82637649e+02] [ 1.01231736e-04 9.99999659e-01 8.19505430e-04 -4.88433855e+00] [ 9.61632060e-03 -8.20441019e-04 9.99953426e-01 -3.56330396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22800114499998 meters 0.0829005660693685 Centerline is valid? [True, True] Translation: X:182.67, Y:-4.89, Z:-3.56 [[ 9.99953741e-01 -1.90287272e-04 -9.61661195e-03 1.82665116e+02] [ 1.98153355e-04 9.99999647e-01 8.17022059e-04 -4.88657159e+00] [ 9.61645309e-03 -8.18889829e-04 9.99953426e-01 -3.56383565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25800114499998 meters 0.08299667132691883 Centerline is valid? [True, True] Translation: X:182.69, Y:-4.89, Z:-3.56 [[ 9.99968193e-01 4.72425970e-05 -7.97557865e-03 1.82693868e+02] [-4.18413489e-05 9.99999770e-01 6.77388854e-04 -4.88871216e+00] [ 7.97560881e-03 -6.77033599e-04 9.99967965e-01 -3.56400257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28800114499998 meters 0.08315967756411068 Centerline is valid? [True, True] Translation: X:182.72, Y:-4.89, Z:-3.56 [[ 9.99971295e-01 1.21328843e-04 -7.57588059e-03 1.82722879e+02] [-1.16495030e-04 9.99999789e-01 6.38490978e-04 -4.89073579e+00] [ 7.57595646e-03 -6.37590098e-04 9.99971099e-01 -3.56431275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31800114499998 meters 0.08192227216148383 Centerline is valid? [True, True] Translation: X:182.75, Y:-4.89, Z:-3.56 [[ 9.99969359e-01 -3.58055376e-04 -7.82000790e-03 1.82751646e+02] [ 3.63241786e-04 9.99999715e-01 6.61812848e-04 -4.89045318e+00] [ 7.81976870e-03 -6.64633123e-04 9.99969204e-01 -3.56410481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34800114499998 meters 0.08223759727029503 Centerline is valid? [True, True] Translation: X:182.78, Y:-4.89, Z:-3.57 [[ 9.99958353e-01 -8.33742352e-04 -9.08831310e-03 1.82780229e+02] [ 8.40763564e-04 9.99999351e-01 7.68760679e-04 -4.89262663e+00] [ 9.08766625e-03 -7.76369784e-04 9.99958405e-01 -3.56538865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37800114499996 meters 0.0840516223224292 Centerline is valid? [True, True] Translation: X:182.81, Y:-4.90, Z:-3.57 [[ 9.99954889e-01 -1.20343465e-03 -9.42184499e-03 1.82807137e+02] [ 1.21098274e-03 9.99998950e-01 7.95462686e-04 -4.89750480e+00] [ 9.42087782e-03 -8.06836493e-04 9.99955297e-01 -3.56812587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40800114499996 meters 0.08398969827466136 Centerline is valid? [True, True] Translation: X:182.84, Y:-4.90, Z:-3.57 [[ 9.99938171e-01 -2.34497070e-03 -1.08699106e-02 1.82837157e+02] [ 2.35509737e-03 9.99996805e-01 9.18918033e-04 -4.89726733e+00] [ 1.08677210e-02 -9.44460916e-04 9.99940499e-01 -3.56888982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43800114499996 meters 0.086176064024411 Centerline is valid? [True, True] Translation: X:182.86, Y:-4.90, Z:-3.57 [[ 9.99931406e-01 -2.64065246e-03 -1.14109602e-02 1.82864346e+02] [ 2.65181053e-03 9.99996020e-01 9.62818235e-04 -4.90239503e+00] [ 1.14083724e-02 -9.93011896e-04 9.99934429e-01 -3.57056487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46800114499996 meters 0.08471499612108317 Centerline is valid? [True, True] Translation: X:182.89, Y:-4.90, Z:-3.57 [[ 9.99929765e-01 -3.54614391e-03 -1.13088648e-02 1.82892762e+02] [ 3.55714984e-03 9.99993219e-01 9.53247451e-04 -4.90103817e+00] [ 1.13054078e-02 -9.93407826e-04 9.99935598e-01 -3.57017554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49800114499996 meters 0.08833576832826014 Centerline is valid? [True, True] Translation: X:182.92, Y:-4.91, Z:-3.57 [[ 9.99941037e-01 -3.85358852e-03 -1.01524528e-02 1.82920352e+02] [ 3.86242034e-03 9.99992179e-01 8.50456009e-04 -4.90953752e+00] [ 1.01490961e-02 -8.89618904e-04 9.99948101e-01 -3.57267486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52800114499996 meters 0.0847251844560424 Centerline is valid? [True, True] Translation: X:182.95, Y:-4.90, Z:-3.57 [[ 9.99943693e-01 -3.97399946e-03 -9.83965634e-03 1.82949817e+02] [ 3.98227739e-03 9.99991733e-01 8.21833167e-04 -4.90364745e+00] [ 9.83630903e-03 -8.60971133e-04 9.99951252e-01 -3.57069582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55800114499996 meters 0.08355778206584333 Centerline is valid? [True, True] Translation: X:182.98, Y:-4.90, Z:-3.57 [[ 9.99961842e-01 -3.07779917e-03 -8.17569578e-03 1.82980057e+02] [ 3.08350688e-03 9.99995011e-01 6.85618375e-04 -4.90006495e+00] [ 8.17354479e-03 -7.10802027e-04 9.99966343e-01 -3.56822202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58800114499996 meters 0.09117864783160268 Centerline is valid? [True, True] Translation: X:183.01, Y:-4.91, Z:-3.57 [[ 9.99967720e-01 -2.49916405e-03 -7.63633861e-03 1.83006806e+02] [ 2.50411435e-03 9.99996661e-01 6.38762539e-04 -4.91459709e+00] [ 7.63471674e-03 -6.57864185e-04 9.99970639e-01 -3.57325293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61800114499997 meters 0.08568296640487068 Centerline is valid? [True, True] Translation: X:183.04, Y:-4.91, Z:-3.57 [[ 9.99973857e-01 -2.07283472e-03 -6.92739525e-03 1.83036896e+02] [ 2.07686985e-03 9.99997678e-01 5.75344710e-04 -4.90725051e+00] [ 6.92618656e-03 -5.89716967e-04 9.99975840e-01 -3.57139056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64800114499997 meters 0.09256837535880745 Centerline is valid? [True, True] Translation: X:183.06, Y:-4.92, Z:-3.58 [[ 9.99973999e-01 -1.91296929e-03 -6.95280781e-03 1.83063516e+02] [ 1.91704402e-03 9.99997995e-01 5.79438583e-04 -4.92006171e+00] [ 6.95168542e-03 -5.92752356e-04 9.99975661e-01 -3.57611159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67800114499997 meters 0.08551481773951235 Centerline is valid? [True, True] Translation: X:183.09, Y:-4.91, Z:-3.57 [[ 9.99977888e-01 -2.06176115e-03 -6.32234583e-03 1.83093050e+02] [ 2.06510507e-03 9.99997731e-01 5.22422682e-04 -4.90906043e+00] [ 6.32125438e-03 -5.35467439e-04 9.99979877e-01 -3.57183104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70800114499997 meters 0.08525714142253113 Centerline is valid? [True, True] Translation: X:183.12, Y:-4.91, Z:-3.57 [[ 9.99984573e-01 -2.54499276e-03 -4.93727773e-03 1.83122232e+02] [ 2.54702736e-03 9.99996674e-01 4.05846429e-04 -4.90957627e+00] [ 4.93622843e-03 -4.18415550e-04 9.99987729e-01 -3.57116612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73800114499997 meters 0.0854196445043848 Centerline is valid? [True, True] Translation: X:183.15, Y:-4.91, Z:-3.57 [[ 9.99988207e-01 -2.45968386e-03 -4.18753994e-03 1.83151759e+02] [ 2.46115928e-03 9.99996911e-01 3.47219645e-04 -4.91180720e+00] [ 4.18667295e-03 -3.57521754e-04 9.99991172e-01 -3.57089327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76800114499997 meters 0.08668800151938068 Centerline is valid? [True, True] Translation: X:183.18, Y:-4.92, Z:-3.57 [[ 9.99990067e-01 -3.27934945e-03 -3.01842089e-03 1.83181046e+02] [ 3.28011892e-03 9.99994589e-01 2.50009976e-04 -4.91601235e+00] [ 3.01758469e-03 -2.59908272e-04 9.99995413e-01 -3.57049896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79800114499997 meters 0.08789816436092705 Centerline is valid? [True, True] Translation: X:183.21, Y:-4.92, Z:-3.57 [[ 9.99992373e-01 -2.99976038e-03 -2.50090868e-03 1.83210664e+02] [ 3.00028904e-03 9.99995478e-01 2.07663492e-04 -4.92087107e+00] [ 2.50027443e-03 -2.15165357e-04 9.99996851e-01 -3.57171883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82800114499997 meters 0.08802176030776358 Centerline is valid? [True, True] Translation: X:183.24, Y:-4.92, Z:-3.57 [[ 9.99993099e-01 -3.30644566e-03 -1.69378363e-03 1.83241089e+02] [ 3.30668859e-03 9.99994523e-01 1.40643689e-04 -4.92362207e+00] [ 1.69330932e-03 -1.46243533e-04 9.99998556e-01 -3.57194418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85800114499997 meters 0.0884177851620741 Centerline is valid? [True, True] Translation: X:183.27, Y:-4.93, Z:-3.57 [[ 9.99990798e-01 -3.85204543e-03 -1.88838575e-03 1.83271704e+02] [ 3.85234898e-03 9.99992567e-01 1.57138795e-04 -4.92653454e+00] [ 1.88776641e-03 -1.64412070e-04 9.99998205e-01 -3.57268717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88800114499998 meters 0.09544007448953305 Centerline is valid? [True, True] Translation: X:183.30, Y:-4.94, Z:-3.58 [[ 9.99988877e-01 -4.15826567e-03 -2.22589809e-03 1.83300619e+02] [ 4.15868889e-03 9.99991335e-01 1.85539811e-04 -4.94094848e+00] [ 2.22510728e-03 -1.94794565e-04 9.99997505e-01 -3.57650922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91800114499998 meters 0.09152242188674883 Centerline is valid? [True, True] Translation: X:183.33, Y:-4.94, Z:-3.58 [[ 9.99985506e-01 -4.43231294e-03 -3.05641286e-03 1.83331993e+02] [ 4.43311262e-03 9.99990141e-01 2.54917246e-04 -4.93655401e+00] [ 3.05525286e-03 -2.68462974e-04 9.99995297e-01 -3.57651739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94800114499998 meters 0.09187264145988303 Centerline is valid? [True, True] Translation: X:183.36, Y:-4.94, Z:-3.58 [[ 9.99981839e-01 -4.89087375e-03 -3.52153467e-03 1.83362292e+02] [ 4.89193474e-03 9.99987992e-01 2.92733917e-04 -4.93905986e+00] [ 3.52006066e-03 -3.09955719e-04 9.99993757e-01 -3.57782238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97800114499998 meters 0.09193427969135178 Centerline is valid? [True, True] Translation: X:183.39, Y:-4.94, Z:-3.58 [[ 9.99976372e-01 -5.27979083e-03 -4.40215331e-03 1.83392577e+02] [ 5.28145254e-03 9.99985986e-01 3.65936929e-04 -4.94181889e+00] [ 4.40015955e-03 -3.89178047e-04 9.99990244e-01 -3.57928235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00800114499998 meters 0.09487842704221026 Centerline is valid? [True, True] Translation: X:183.42, Y:-4.95, Z:-3.58 [[ 9.99964302e-01 -5.88776781e-03 -6.06037684e-03 1.83421301e+02] [ 5.89092590e-03 9.99982522e-01 5.03385212e-04 -4.94939779e+00] [ 6.05730710e-03 -5.39068473e-04 9.99981509e-01 -3.58298147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03800114499998 meters 0.09550856065952022 Centerline is valid? [True, True] Translation: X:183.45, Y:-4.95, Z:-3.58 [[ 9.99965173e-01 -6.21190694e-03 -5.57362342e-03 1.83451062e+02] [ 6.21458040e-03 9.99980582e-01 4.62471932e-04 -4.95188527e+00] [ 5.57064236e-03 -4.97093557e-04 9.99984360e-01 -3.58320625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.06800114499998 meters 0.09310663053807623 Centerline is valid? [True, True] Translation: X:183.48, Y:-4.95, Z:-3.58 [[ 9.99971303e-01 -5.87929795e-03 -4.77784479e-03 1.83481526e+02] [ 5.88125935e-03 9.99982627e-01 3.96574088e-04 -4.94938276e+00] [ 4.77543021e-03 -4.24662452e-04 9.99988507e-01 -3.58155001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09800114499998 meters 0.09505674787980199 Centerline is valid? [True, True] Translation: X:183.51, Y:-4.95, Z:-3.58 [[ 9.99980730e-01 -4.62395798e-03 -4.14240244e-03 1.83511095e+02] [ 4.62542274e-03 9.99989243e-01 3.44088990e-04 -4.95356474e+00] [ 4.14076683e-03 -3.63242722e-04 9.99991361e-01 -3.58150048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12800114499996 meters 0.08621803759437874 Centerline is valid? [True, True] Translation: X:183.54, Y:-4.94, Z:-3.58 [[ 9.99985592e-01 -4.11819616e-03 -3.44333088e-03 1.83542744e+02] [ 4.11920527e-03 9.99991475e-01 2.86020555e-04 -4.94106103e+00] [ 3.44212364e-03 -3.00200221e-04 9.99994031e-01 -3.57836066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15800114499996 meters 0.08714333477971978 Centerline is valid? [True, True] Translation: X:183.57, Y:-4.95, Z:-3.58 [[ 9.99987880e-01 -3.72725950e-03 -3.21674965e-03 1.83572913e+02] [ 3.72813935e-03 9.99993015e-01 2.67567859e-04 -4.94548344e+00] [ 3.21572989e-03 -2.79557107e-04 9.99994790e-01 -3.57898102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18800114499996 meters 0.08794238280755677 Centerline is valid? [True, True] Translation: X:183.60, Y:-4.95, Z:-3.58 [[ 9.99991401e-01 -2.66050059e-03 -3.18111035e-03 1.83602658e+02] [ 2.66135470e-03 9.99996424e-01 2.64291416e-04 -4.94992805e+00] [ 3.18039582e-03 -2.72755206e-04 9.99994905e-01 -3.58021624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21800114499996 meters 0.08692856857714364 Centerline is valid? [True, True] Translation: X:183.63, Y:-4.95, Z:-3.58 [[ 9.99993296e-01 -2.36154617e-03 -2.79847340e-03 1.83633536e+02] [ 2.36220600e-03 9.99997183e-01 2.32501364e-04 -4.95046664e+00] [ 2.79791645e-03 -2.39110376e-04 9.99996057e-01 -3.57992878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24800114499996 meters 0.08767548052714179 Centerline is valid? [True, True] Translation: X:183.66, Y:-4.95, Z:-3.58 [[ 9.99993872e-01 -2.42110275e-03 -2.52851207e-03 1.83662985e+02] [ 2.42164071e-03 9.99997046e-01 2.09719209e-04 -4.95339374e+00] [ 2.52799685e-03 -2.15841072e-04 9.99996781e-01 -3.58012111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27800114499996 meters 0.09027095571002398 Centerline is valid? [True, True] Translation: X:183.69, Y:-4.96, Z:-3.58 [[ 9.99994595e-01 -2.46340381e-03 -2.17737010e-03 1.83692332e+02] [ 2.46380353e-03 9.99996948e-01 1.80918026e-04 -4.95968964e+00] [ 2.17691778e-03 -1.86281660e-04 9.99997613e-01 -3.58127396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30800114499996 meters 0.08826123473040735 Centerline is valid? [True, True] Translation: X:183.72, Y:-4.96, Z:-3.58 [[ 9.99997093e-01 -2.40410613e-03 -1.85273503e-04 1.83722660e+02] [ 2.40410902e-03 9.99997110e-01 1.53902591e-05 -4.95993030e+00] [ 1.85235968e-04 -1.58356320e-05 9.99999983e-01 -3.57968038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33800114499996 meters 0.08828685347883806 Centerline is valid? [True, True] Translation: X:183.75, Y:-4.96, Z:-3.58 [[ 9.99996254e-01 -2.69597141e-03 4.73747612e-04 1.83753551e+02] [ 2.69599007e-03 9.99996365e-01 -3.87498891e-05 -4.96353087e+00] [-4.73641421e-04 4.00269627e-05 9.99999887e-01 -3.58020840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36800114499997 meters 0.08854008303732483 Centerline is valid? [True, True] Translation: X:183.79, Y:-4.97, Z:-3.58 [[ 9.99995133e-01 -3.11996566e-03 1.21907542e-05 1.83785056e+02] [ 3.11996565e-03 9.99995133e-01 6.72543234e-07 -4.96746361e+00] [-1.21927931e-05 -6.34505226e-07 1.00000000e+00 -3.58104627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39800114499997 meters 0.09236898721633983 Centerline is valid? [True, True] Translation: X:183.81, Y:-4.98, Z:-3.58 [[ 9.99990106e-01 -4.28361148e-03 -1.19975584e-03 1.83814091e+02] [ 4.28373428e-03 9.99990820e-01 9.98049858e-05 -4.97671163e+00] [ 1.19931730e-03 -1.04943434e-04 9.99999275e-01 -3.58409752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42800114499997 meters 0.09213734913786044 Centerline is valid? [True, True] Translation: X:183.85, Y:-4.98, Z:-3.58 [[ 9.99985045e-01 -5.15746120e-03 -1.81918785e-03 1.83845180e+02] [ 5.15774618e-03 9.99986687e-01 1.51997433e-04 -4.97913005e+00] [ 1.81837971e-03 -1.61378069e-04 9.99998334e-01 -3.58443159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45800114499997 meters 0.0937033474929254 Centerline is valid? [True, True] Translation: X:183.88, Y:-4.98, Z:-3.59 [[ 9.99984330e-01 -5.12759455e-03 -2.24655374e-03 1.83875734e+02] [ 5.12802967e-03 9.99986834e-01 1.87968728e-04 -4.98491065e+00] [ 2.24556033e-03 -1.99486177e-04 9.99997459e-01 -3.58630352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48800114499997 meters 0.09404458658782636 Centerline is valid? [True, True] Translation: X:183.91, Y:-4.99, Z:-3.59 [[ 9.99977303e-01 -5.85967798e-03 -3.32516835e-03 1.83907035e+02] [ 5.86063313e-03 9.99982788e-01 2.77576739e-04 -4.98869577e+00] [ 3.32348460e-03 -2.97058030e-04 9.99994433e-01 -3.58811984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51800114499997 meters 0.09643563839859215 Centerline is valid? [True, True] Translation: X:183.94, Y:-5.00, Z:-3.59 [[ 9.99966650e-01 -6.65367204e-03 -4.73583060e-03 1.83937000e+02] [ 6.65561608e-03 9.99977773e-01 3.94854282e-04 -4.99679453e+00] [ 4.73309811e-03 -4.26360984e-04 9.99988708e-01 -3.59128128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54800114499997 meters 0.09591451709314443 Centerline is valid? [True, True] Translation: X:183.97, Y:-5.00, Z:-3.59 [[ 9.99969014e-01 -6.29112697e-03 -4.73218647e-03 1.83967995e+02] [ 6.29306433e-03 9.99980121e-01 3.94622878e-04 -4.99868429e+00] [ 4.72960977e-03 -4.24390604e-04 9.99988725e-01 -3.59145992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57800114499997 meters 0.09116422627762846 Centerline is valid? [True, True] Translation: X:184.00, Y:-4.99, Z:-3.59 [[ 9.99967132e-01 -6.20512247e-03 -5.21844657e-03 1.83998694e+02] [ 6.20747558e-03 9.99980639e-01 4.34845436e-04 -4.99317466e+00] [ 5.21564727e-03 -4.67224523e-04 9.99986289e-01 -3.58906842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60800114499997 meters 0.09741431963939387 Centerline is valid? [True, True] Translation: X:184.03, Y:-5.01, Z:-3.59 [[ 9.99972455e-01 -6.01262230e-03 -4.35176972e-03 1.84026905e+02] [ 6.01425527e-03 9.99981849e-01 3.62252727e-04 -5.00525336e+00] [ 4.34951264e-03 -3.88415403e-04 9.99990465e-01 -3.59158956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63800114499998 meters 0.09272206956976013 Centerline is valid? [True, True] Translation: X:184.06, Y:-5.00, Z:-3.59 [[ 9.99974016e-01 -5.43937075e-03 -4.73074944e-03 1.84058369e+02] [ 5.44129572e-03 9.99985118e-01 3.94131312e-04 -4.99897185e+00] [ 4.72853522e-03 -4.19862478e-04 9.99988732e-01 -3.58908071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66800114499998 meters 0.0929466679543113 Centerline is valid? [True, True] Translation: X:184.09, Y:-5.00, Z:-3.59 [[ 9.99975739e-01 -5.52792998e-03 -4.23837225e-03 1.84088338e+02] [ 5.52946862e-03 9.99984651e-01 3.51394947e-04 -5.00209278e+00] [ 4.23636471e-03 -3.74822369e-04 9.99990956e-01 -3.58989138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69800114499998 meters 0.09875899984348076 Centerline is valid? [True, True] Translation: X:184.12, Y:-5.01, Z:-3.59 [[ 9.99982229e-01 -4.78751998e-03 -3.55264429e-03 1.84116950e+02] [ 4.78859931e-03 9.99988491e-01 2.95368473e-04 -5.01499742e+00] [ 3.55118932e-03 -3.12375414e-04 9.99993646e-01 -3.59280705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72800114499998 meters 0.09488693943027648 Centerline is valid? [True, True] Translation: X:184.15, Y:-5.01, Z:-3.59 [[ 9.99983943e-01 -4.54384129e-03 -3.38619607e-03 1.84147663e+02] [ 4.54482143e-03 9.99989633e-01 2.81813003e-04 -5.01122372e+00] [ 3.38488045e-03 -2.97198135e-04 9.99994227e-01 -3.59202082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75800114499998 meters 0.09495947098629252 Centerline is valid? [True, True] Translation: X:184.18, Y:-5.01, Z:-3.59 [[ 9.99992490e-01 -3.27650265e-03 -2.06972306e-03 1.84177516e+02] [ 3.27686613e-03 9.99994616e-01 1.72250767e-04 -5.01208099e+00] [ 2.06914753e-03 -1.79031679e-04 9.99997843e-01 -3.59189071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78800114499998 meters 0.09537228533717716 Centerline is valid? [True, True] Translation: X:184.21, Y:-5.01, Z:-3.59 [[ 9.99995111e-01 -2.58166663e-03 -1.76411732e-03 1.84207872e+02] [ 2.58192962e-03 9.99996656e-01 1.46817015e-04 -5.01415299e+00] [ 1.76373238e-03 -1.51371124e-04 9.99998433e-01 -3.59272613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81800114499998 meters 0.09647584564409419 Centerline is valid? [True, True] Translation: X:184.24, Y:-5.02, Z:-3.59 [[ 9.99994948e-01 -2.21769953e-03 -2.27703873e-03 1.84238064e+02] [ 2.21813749e-03 9.99997522e-01 1.89828111e-04 -5.01729475e+00] [ 2.27661210e-03 -1.94877937e-04 9.99997390e-01 -3.59423265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84800114499998 meters 0.09678782750848701 Centerline is valid? [True, True] Translation: X:184.27, Y:-5.02, Z:-3.60 [[ 9.99995798e-01 -2.17712405e-03 -1.91393639e-03 1.84268209e+02] [ 2.17743293e-03 9.99997617e-01 1.59314394e-04 -5.01998249e+00] [ 1.91358498e-03 -1.63481193e-04 9.99998156e-01 -3.59536982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87800114499996 meters 0.0952618608425235 Centerline is valid? [True, True] Translation: X:184.30, Y:-5.02, Z:-3.60 [[ 9.99990625e-01 -3.48665131e-03 -2.56781602e-03 1.84298921e+02] [ 3.48721158e-03 9.99993897e-01 2.13742763e-04 -5.02079171e+00] [ 2.56705510e-03 -2.22695277e-04 9.99996680e-01 -3.59722958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90800114499996 meters 0.08775860989766475 Centerline is valid? [True, True] Translation: X:184.33, Y:-5.01, Z:-3.59 [[ 9.99985527e-01 -4.27430000e-03 -3.26740703e-03 1.84330626e+02] [ 4.27521131e-03 9.99990824e-01 2.71976108e-04 -5.01017467e+00] [ 3.26621454e-03 -2.85941027e-04 9.99994625e-01 -3.59447348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93800114499996 meters 0.09074345751067724 Centerline is valid? [True, True] Translation: X:184.36, Y:-5.02, Z:-3.60 [[ 9.99974066e-01 -6.30253246e-03 -3.48513827e-03 1.84360197e+02] [ 6.30358212e-03 9.99980090e-01 2.90278234e-04 -5.01530213e+00] [ 3.48323939e-03 -3.12239562e-04 9.99993885e-01 -3.59509469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96800114499996 meters 0.09261204496331685 Centerline is valid? [True, True] Translation: X:184.39, Y:-5.02, Z:-3.60 [[ 9.99970414e-01 -6.94437877e-03 -3.30847679e-03 1.84389976e+02] [ 6.94532892e-03 9.99975843e-01 2.75784046e-04 -5.02089047e+00] [ 3.30648172e-03 -2.98754346e-04 9.99994489e-01 -3.59573689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99800114499996 meters 0.09811388153897674 Centerline is valid? [True, True] Translation: X:184.42, Y:-5.03, Z:-3.60 [[ 9.99965163e-01 -7.92395163e-03 -2.62379849e-03 1.84420548e+02] [ 7.92455468e-03 9.99968576e-01 2.19522814e-04 -5.03330176e+00] [ 2.62197655e-03 -2.40307601e-04 9.99996534e-01 -3.59902984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02800114499996 meters 0.09032209003731724 Centerline is valid? [True, True] Translation: X:184.45, Y:-5.02, Z:-3.60 [[ 9.99960286e-01 -8.44290343e-03 -2.85378971e-03 1.84453651e+02] [ 8.44362024e-03 9.99964323e-01 2.39220584e-04 -5.02402265e+00] [ 2.85166818e-03 -2.63307400e-04 9.99995899e-01 -3.59661776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05800114499996 meters 0.09478446822400668 Centerline is valid? [True, True] Translation: X:184.48, Y:-5.03, Z:-3.60 [[ 9.99959384e-01 -8.52632118e-03 -2.92102476e-03 1.84483904e+02] [ 8.52707190e-03 9.99963614e-01 2.44648632e-04 -5.03456233e+00] [ 2.91883252e-03 -2.69546484e-04 9.99995704e-01 -3.59936868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08800114499996 meters 0.08821111305788952 Centerline is valid? [True, True] Translation: X:184.52, Y:-5.02, Z:-3.60 [[ 9.99964616e-01 -7.75737860e-03 -3.25432714e-03 1.84516016e+02] [ 7.75830537e-03 9.99969867e-01 2.72251987e-04 -5.02498995e+00] [ 3.25211711e-03 -2.97490417e-04 9.99994668e-01 -3.59752657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11800114499997 meters 0.08821111305788952 Centerline is valid? [True, True] Translation: X:184.55, Y:-5.03, Z:-3.60 [[ 9.99965129e-01 -7.69098779e-03 -3.25425580e-03 1.84547735e+02] [ 7.69191696e-03 9.99970379e-01 2.73106149e-04 -5.02771176e+00] [ 3.25205895e-03 -2.98128091e-04 9.99994668e-01 -3.59814035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14800114499997 meters 0.0949276544886061 Centerline is valid? [True, True] Translation: X:184.58, Y:-5.04, Z:-3.60 [[ 9.99971005e-01 -6.87125017e-03 -3.28252950e-03 1.84577179e+02] [ 6.87218815e-03 9.99976349e-01 2.74555335e-04 -5.04150459e+00] [ 3.28056532e-03 -2.97105535e-04 9.99994575e-01 -3.60179464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17800114499997 meters 0.09492482450764686 Centerline is valid? [True, True] Translation: X:184.61, Y:-5.04, Z:-3.60 [[ 9.99983661e-01 -4.40208145e-03 -3.64695982e-03 1.84606423e+02] [ 4.40321992e-03 9.99990260e-01 3.04198645e-04 -5.04274005e+00] [ 3.64558519e-03 -3.20252040e-04 9.99993304e-01 -3.60319297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20800114499997 meters 0.09492482450764686 Centerline is valid? [True, True] Translation: X:184.64, Y:-5.05, Z:-3.60 [[ 9.99983661e-01 -4.40208930e-03 -3.64692602e-03 1.84636437e+02] [ 4.40322923e-03 9.99990259e-01 3.04603331e-04 -5.04524711e+00] [ 3.64554961e-03 -3.20656605e-04 9.99993304e-01 -3.60377410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23800114499997 meters 0.09176388481218752 Centerline is valid? [True, True] Translation: X:184.67, Y:-5.04, Z:-3.60 [[ 9.99981313e-01 -3.66105998e-03 -4.89603149e-03 1.84667220e+02] [ 3.66310572e-03 9.99993207e-01 4.08932753e-04 -5.04101857e+00] [ 4.89450110e-03 -4.26859792e-04 9.99987931e-01 -3.60377669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26800114499997 meters 0.09233092553838361 Centerline is valid? [True, True] Translation: X:184.70, Y:-5.04, Z:-3.61 [[ 9.99973054e-01 -3.91495384e-03 -6.21007288e-03 1.84696734e+02] [ 3.91824742e-03 9.99992189e-01 5.18283355e-04 -5.04405507e+00] [ 6.20799532e-03 -5.42601991e-04 9.99980583e-01 -3.60531585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29800114499997 meters 0.0905199198343412 Centerline is valid? [True, True] Translation: X:184.73, Y:-5.04, Z:-3.61 [[ 9.99968410e-01 -4.89243651e-03 -6.26440355e-03 1.84726632e+02] [ 4.89580373e-03 9.99987879e-01 5.22294343e-04 -5.04345258e+00] [ 6.26177233e-03 -5.52947134e-04 9.99980242e-01 -3.60517966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32800114499997 meters 0.09499187121894148 Centerline is valid? [True, True] Translation: X:184.75, Y:-5.05, Z:-3.61 [[ 9.99959533e-01 -6.20822747e-03 -6.51076972e-03 1.84754253e+02] [ 6.21188855e-03 9.99980559e-01 5.42239270e-04 -5.05378654e+00] [ 6.50727680e-03 -5.82661503e-04 9.99978658e-01 -3.60835853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35800114499997 meters 0.0931730096110792 Centerline is valid? [True, True] Translation: X:184.78, Y:-5.05, Z:-3.61 [[ 9.99961049e-01 -6.59507916e-03 -5.86555343e-03 1.84784610e+02] [ 6.59805736e-03 9.99978113e-01 4.88539264e-04 -5.05253770e+00] [ 5.86220309e-03 -5.27221493e-04 9.99982678e-01 -3.60740817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38800114499998 meters 0.09526673243734253 Centerline is valid? [True, True] Translation: X:184.81, Y:-5.06, Z:-3.61 [[ 9.99960109e-01 -6.92694777e-03 -5.63893642e-03 1.84814018e+02] [ 6.92970662e-03 9.99975879e-01 4.69859042e-04 -5.05731830e+00] [ 5.63554571e-03 -5.08916474e-04 9.99983991e-01 -3.60824293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41800114499998 meters 0.09145659691966664 Centerline is valid? [True, True] Translation: X:184.85, Y:-5.05, Z:-3.61 [[ 9.99958109e-01 -6.97072738e-03 -5.93210160e-03 1.84845199e+02] [ 6.97378323e-03 9.99975561e-01 4.94609428e-04 -5.05239689e+00] [ 5.92850883e-03 -5.35957899e-04 9.99982283e-01 -3.60675831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44800114499998 meters 0.09612725535421505 Centerline is valid? [True, True] Translation: X:184.87, Y:-5.06, Z:-3.61 [[ 9.99968724e-01 -6.14177885e-03 -4.98291549e-03 1.84874572e+02] [ 6.14392480e-03 9.99981040e-01 4.15467763e-04 -5.06094804e+00] [ 4.98026930e-03 -4.46069427e-04 9.99987499e-01 -3.60926191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47800114499998 meters 0.0979767934905292 Centerline is valid? [True, True] Translation: X:184.90, Y:-5.07, Z:-3.61 [[ 9.99974552e-01 -5.50691641e-03 -4.53529371e-03 1.84903828e+02] [ 5.50868597e-03 9.99984756e-01 3.77775578e-04 -5.06617517e+00] [ 4.53314420e-03 -4.02749473e-04 9.99989644e-01 -3.61067385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50800114499998 meters 0.09704776458951644 Centerline is valid? [True, True] Translation: X:184.93, Y:-5.07, Z:-3.61 [[ 9.99978514e-01 -5.19176732e-03 -4.00203118e-03 1.84934437e+02] [ 5.19314376e-03 9.99986460e-01 3.33620770e-04 -5.06772720e+00] [ 4.00024491e-03 -3.54396725e-04 9.99991936e-01 -3.61166542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53800114499998 meters 0.09761980808243426 Centerline is valid? [True, True] Translation: X:184.96, Y:-5.07, Z:-3.61 [[ 9.99983795e-01 -4.46563496e-03 -3.53088450e-03 1.84964446e+02] [ 4.46670314e-03 9.99989981e-01 2.94696896e-04 -5.07107898e+00] [ 3.52953312e-03 -3.10463534e-04 9.99993723e-01 -3.61236505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.56800114499998 meters 0.09824743676049975 Centerline is valid? [True, True] Translation: X:184.99, Y:-5.07, Z:-3.61 [[ 9.99984033e-01 -3.79151752e-03 -4.19016544e-03 1.84994634e+02] [ 3.79301599e-03 9.99992745e-01 3.49727881e-04 -5.07425330e+00] [ 4.18880904e-03 -3.65615661e-04 9.99991160e-01 -3.61356213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59800114499996 meters 0.09839326050938828 Centerline is valid? [True, True] Translation: X:185.02, Y:-5.08, Z:-3.61 [[ 9.99988073e-01 -3.79322637e-03 -3.07654613e-03 1.85024547e+02] [ 3.79403144e-03 9.99992770e-01 2.55886497e-04 -5.07519685e+00] [ 3.07555325e-03 -2.67555958e-04 9.99995235e-01 -3.61268974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62800114499996 meters 0.09029303233206319 Centerline is valid? [True, True] Translation: X:185.06, Y:-5.06, Z:-3.61 [[ 9.99983435e-01 -4.69253365e-03 -3.33302091e-03 1.85056622e+02] [ 4.69348686e-03 9.99988947e-01 2.78224642e-04 -5.06417589e+00] [ 3.33167849e-03 -2.93863523e-04 9.99994407e-01 -3.60980025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65800114499996 meters 0.09273220952796848 Centerline is valid? [True, True] Translation: X:185.09, Y:-5.07, Z:-3.61 [[ 9.99978320e-01 -5.27898758e-03 -3.93593936e-03 1.85086556e+02] [ 5.28032137e-03 9.99986005e-01 3.28559714e-04 -5.07198329e+00] [ 3.93414981e-03 -3.49335616e-04 9.99992200e-01 -3.61226798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68800114499996 meters 0.09620215881120554 Centerline is valid? [True, True] Translation: X:185.12, Y:-5.08, Z:-3.62 [[ 9.99972215e-01 -6.41607841e-03 -3.79507090e-03 1.85115802e+02] [ 6.41732679e-03 9.99979359e-01 3.16862446e-04 -5.08268050e+00] [ 3.79295955e-03 -3.41207852e-04 9.99992748e-01 -3.61547541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71800114499996 meters 0.09308290700245213 Centerline is valid? [True, True] Translation: X:185.15, Y:-5.08, Z:-3.62 [[ 9.99965752e-01 -7.11567191e-03 -4.22636137e-03 1.85147268e+02] [ 7.11722814e-03 9.99974610e-01 3.53294007e-04 -5.08092449e+00] [ 4.22374014e-03 -3.83361885e-04 9.99991006e-01 -3.61537761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74800114499996 meters 0.09376114188229166 Centerline is valid? [True, True] Translation: X:185.18, Y:-5.09, Z:-3.62 [[ 9.99955107e-01 -7.85337035e-03 -5.30182476e-03 1.85178411e+02] [ 7.85582972e-03 9.99969044e-01 4.43205343e-04 -5.08546754e+00] [ 5.29817999e-03 -4.84835678e-04 9.99985847e-01 -3.61728741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77800114499996 meters 0.09207425558353102 Centerline is valid? [True, True] Translation: X:185.21, Y:-5.09, Z:-3.62 [[ 9.99953603e-01 -7.77006754e-03 -5.69375271e-03 1.85209744e+02] [ 7.77290349e-03 9.99969677e-01 4.76120605e-04 -5.08580924e+00] [ 5.68988057e-03 -5.20355504e-04 9.99983677e-01 -3.61779602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80800114499996 meters 0.09593068852450103 Centerline is valid? [True, True] Translation: X:185.24, Y:-5.09, Z:-3.62 [[ 9.99943630e-01 -8.61390206e-03 -6.20788742e-03 1.85239782e+02] [ 8.61728772e-03 9.99962736e-01 5.18838609e-04 -5.09427692e+00] [ 6.20318687e-03 -5.72304514e-04 9.99980596e-01 -3.61927671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83800114499996 meters 0.09136162913241093 Centerline is valid? [True, True] Translation: X:185.27, Y:-5.09, Z:-3.62 [[ 9.99943821e-01 -8.49203517e-03 -6.34356428e-03 1.85271321e+02] [ 8.49557133e-03 9.99963771e-01 5.30702484e-04 -5.08912665e+00] [ 6.33882772e-03 -5.84564872e-04 9.99979739e-01 -3.61713304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86800114499997 meters 0.09192181480051848 Centerline is valid? [True, True] Translation: X:185.30, Y:-5.09, Z:-3.62 [[ 9.99942360e-01 -8.45649239e-03 -6.61545531e-03 1.85301771e+02] [ 8.46033303e-03 9.99964058e-01 5.52785801e-04 -5.09277382e+00] [ 6.61054291e-03 -6.08722894e-04 9.99977965e-01 -3.61796874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89800114499997 meters 0.09510285838729755 Centerline is valid? [True, True] Translation: X:185.33, Y:-5.10, Z:-3.62 [[ 9.99948189e-01 -8.01187924e-03 -6.27918943e-03 1.85331759e+02] [ 8.01533328e-03 9.99967739e-01 5.25104362e-04 -5.10137752e+00] [ 6.27477978e-03 -5.75406952e-04 9.99980148e-01 -3.62003599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92800114499997 meters 0.09597971468600269 Centerline is valid? [True, True] Translation: X:185.36, Y:-5.11, Z:-3.62 [[ 9.99951431e-01 -7.88799790e-03 -5.90892947e-03 1.85361595e+02] [ 7.89105271e-03 9.99968743e-01 4.93845306e-04 -5.10667137e+00] [ 5.90484933e-03 -5.40448994e-04 9.99982420e-01 -3.62112497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95800114499997 meters 0.09602330324470096 Centerline is valid? [True, True] Translation: X:185.39, Y:-5.11, Z:-3.62 [[ 9.99953231e-01 -7.75092843e-03 -5.78437086e-03 1.85391945e+02] [ 7.75385352e-03 9.99969822e-01 4.83435182e-04 -5.10936865e+00] [ 5.78044923e-03 -5.28263737e-04 9.99983154e-01 -3.62138587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98800114499997 meters 0.09787538747891472 Centerline is valid? [True, True] Translation: X:185.42, Y:-5.11, Z:-3.62 [[ 9.99951975e-01 -8.39193381e-03 -5.06185819e-03 1.85422182e+02] [ 8.39418390e-03 9.99964679e-01 4.23436013e-04 -5.11489009e+00] [ 5.05812595e-03 -4.65905846e-04 9.99987099e-01 -3.62145479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01800114499997 meters 0.09362365371674752 Centerline is valid? [True, True] Translation: X:185.45, Y:-5.11, Z:-3.62 [[ 9.99954658e-01 -8.63834746e-03 -4.00768405e-03 1.85454324e+02] [ 8.63976199e-03 9.99962620e-01 3.35775249e-04 -5.11090009e+00] [ 4.00463370e-03 -3.70385460e-04 9.99991913e-01 -3.62027649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04800114499997 meters 0.10017296953705647 Centerline is valid? [True, False] Translation: X:185.45, Y:-5.11, Z:-3.62 [[ 9.99956320e-01 -8.42584184e-03 -4.04515197e-03 1.85454686e+02] [ 8.42857454e-03 9.99964262e-01 6.58976787e-04 -5.11144164e+00] [ 4.03945496e-03 -6.93042868e-04 9.99991601e-01 -3.62071971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07800114499997 meters 0.09914437109716366 Centerline is valid? [False, True] Translation: X:185.46, Y:-5.11, Z:-3.62 [[ 9.99958587e-01 -8.08948131e-03 -4.16946235e-03 1.85455346e+02] [ 8.09440156e-03 9.99966562e-01 1.16454681e-03 -5.11233179e+00] [ 4.15990235e-03 -1.19824789e-03 9.99990630e-01 -3.62136330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10800114499997 meters 0.09290456425426416 Centerline is valid? [True, True] Translation: X:185.49, Y:-5.10, Z:-3.62 [[ 9.99968377e-01 -7.11589808e-03 -3.55097095e-03 1.85487319e+02] [ 7.11700975e-03 9.99974629e-01 3.00524971e-04 -5.10499086e+00] [ 3.54874235e-03 -3.25787762e-04 9.99993650e-01 -3.61900552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13800114499998 meters 0.09370999504377728 Centerline is valid? [True, True] Translation: X:185.52, Y:-5.11, Z:-3.62 [[ 9.99971755e-01 -6.63542050e-03 -3.52992289e-03 1.85518160e+02] [ 6.63651646e-03 9.99977933e-01 2.98853817e-04 -5.10971320e+00] [ 3.52786198e-03 -3.22271767e-04 9.99993725e-01 -3.62042741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16800114499998 meters 0.09428338751626103 Centerline is valid? [True, True] Translation: X:185.55, Y:-5.11, Z:-3.62 [[ 9.99969645e-01 -6.81631658e-03 -3.77441601e-03 1.85549431e+02] [ 6.81757118e-03 9.99976709e-01 3.19630438e-04 -5.11319784e+00] [ 3.77214940e-03 -3.45353086e-04 9.99992826e-01 -3.62198908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19800114499998 meters 0.09620191931421271 Centerline is valid? [True, True] Translation: X:185.58, Y:-5.12, Z:-3.62 [[ 9.99970100e-01 -6.66063033e-03 -3.92869853e-03 1.85579809e+02] [ 6.66198721e-03 9.99977753e-01 3.32390964e-04 -5.11887282e+00] [ 3.92639719e-03 -3.58553965e-04 9.99992227e-01 -3.62342126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22800114499998 meters 0.09325999047475449 Centerline is valid? [True, True] Translation: X:185.61, Y:-5.12, Z:-3.62 [[ 9.99964770e-01 -7.00138335e-03 -4.63035769e-03 1.85611516e+02] [ 7.00327383e-03 9.99975400e-01 3.92191229e-04 -5.11636413e+00] [ 4.62749790e-03 -4.24605075e-04 9.99989203e-01 -3.62290620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25800114499998 meters 0.09835165521385726 Centerline is valid? [True, True] Translation: X:185.64, Y:-5.13, Z:-3.63 [[ 9.99959832e-01 -7.94552386e-03 -4.14775164e-03 1.85640595e+02] [ 7.94704632e-03 9.99968360e-01 3.50704548e-04 -5.12733345e+00] [ 4.14483388e-03 -3.83652835e-04 9.99991337e-01 -3.62517120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28800114499998 meters 0.09874047964443307 Centerline is valid? [True, True] Translation: X:185.67, Y:-5.13, Z:-3.63 [[ 9.99956367e-01 -8.18322438e-03 -4.50537967e-03 1.85672064e+02] [ 8.18502667e-03 9.99966429e-01 3.81738007e-04 -5.13162054e+00] [ 4.50210457e-03 -4.18598004e-04 9.99989778e-01 -3.62660382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31800114499998 meters 0.10024294747787953 Centerline is valid? [True, False] Translation: X:185.67, Y:-5.13, Z:-3.63 [[ 9.99959548e-01 -7.79407413e-03 -4.48933306e-03 1.85672499e+02] [ 7.79910121e-03 9.99968978e-01 1.10336766e-03 -5.13323891e+00] [ 4.48059406e-03 -1.13833579e-03 9.99989314e-01 -3.62737813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34800114499996 meters 0.0982696270079431 Centerline is valid? [False, True] Translation: X:185.67, Y:-5.13, Z:-3.63 [[ 9.99961698e-01 -7.54777855e-03 -4.43092628e-03 1.85672599e+02] [ 7.55511315e-03 9.99970113e-01 1.64092264e-03 -5.13456405e+00] [ 4.41840854e-03 -1.67433594e-03 9.99988837e-01 -3.62777043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37800114499996 meters 0.09868114916433134 Centerline is valid? [True, True] Translation: X:185.70, Y:-5.14, Z:-3.63 [[ 9.99960716e-01 -7.79480542e-03 -4.21987727e-03 1.85703738e+02] [ 7.79641819e-03 9.99969541e-01 3.65868690e-04 -5.13676137e+00] [ 4.21689686e-03 -3.98754245e-04 9.99991029e-01 -3.62720399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40800114499996 meters 0.09939616761438375 Centerline is valid? [True, True] Translation: X:185.73, Y:-5.14, Z:-3.63 [[ 9.99965127e-01 -7.57449989e-03 -3.51732857e-03 1.85734666e+02] [ 7.57562102e-03 9.99971258e-01 3.05531824e-04 -5.14071133e+00] [ 3.51491323e-03 -3.32167117e-04 9.99993768e-01 -3.62796353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43800114499996 meters 0.09987890387063411 Centerline is valid? [True, True] Translation: X:185.77, Y:-5.14, Z:-3.63 [[ 9.99961148e-01 -7.92325009e-03 -3.86311688e-03 1.85766179e+02] [ 7.92460400e-03 9.99968544e-01 3.35288863e-04 -5.14426506e+00] [ 3.86033879e-03 -3.65889508e-04 9.99992482e-01 -3.62854505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46800114499996 meters 0.10221902269269639 Centerline is valid? [True, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99964333e-01 -7.44927232e-03 -3.98014331e-03 1.85767021e+02] [ 7.45360939e-03 9.99971643e-01 1.07595668e-03 -5.14555431e+00] [ 3.97201535e-03 -1.10558474e-03 9.99991500e-01 -3.62948620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49800114499996 meters 0.10241932060292318 Centerline is valid? [False, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99967045e-01 -7.03359125e-03 -4.05424208e-03 1.85767700e+02] [ 7.04070875e-03 9.99973693e-01 1.74397615e-03 -5.14682239e+00] [ 4.04186901e-03 -1.77246341e-03 9.99990261e-01 -3.63033640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52800114499996 meters 0.10262623007025871 Centerline is valid? [False, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99968713e-01 -6.81839832e-03 -4.01036947e-03 1.85767814e+02] [ 6.82724912e-03 9.99974280e-01 2.19744405e-03 -5.14805441e+00] [ 3.99528327e-03 -2.22475509e-03 9.99989544e-01 -3.63071131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55800114499996 meters 0.10309178505369593 Centerline is valid? [False, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99970692e-01 -6.45481233e-03 -4.11702095e-03 1.85768418e+02] [ 6.46624431e-03 9.99975258e-01 2.76952026e-03 -5.14932373e+00] [ 4.09904235e-03 -2.79606076e-03 9.99987690e-01 -3.63132717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58800114499996 meters 0.10404116289098056 Centerline is valid? [False, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99971095e-01 -6.37017309e-03 -4.15079867e-03 1.85768730e+02] [ 6.38215684e-03 9.99975486e-01 2.88027224e-03 -5.14919481e+00] [ 4.13234908e-03 -2.90668004e-03 9.99987237e-01 -3.63168300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61800114499997 meters 0.10501473285430282 Centerline is valid? [False, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99971321e-01 -6.33929214e-03 -4.14366543e-03 1.85768794e+02] [ 6.35158231e-03 9.99975449e-01 2.95961417e-03 -5.14937608e+00] [ 4.12480184e-03 -2.98584812e-03 9.99987035e-01 -3.63180697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64800114499997 meters 0.1060934894011573 Centerline is valid? [False, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99972040e-01 -6.23343703e-03 -4.13088411e-03 1.85768896e+02] [ 6.24673869e-03 9.99975321e-01 3.21501043e-03 -5.15009606e+00] [ 4.11074160e-03 -3.24072509e-03 9.99986300e-01 -3.63206204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67800114499997 meters 0.10806072482930432 Centerline is valid? [False, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99973752e-01 -5.92363730e-03 -4.17206478e-03 1.85769197e+02] [ 5.93935983e-03 9.99975269e-01 3.76627334e-03 -5.15179375e+00] [ 4.14965157e-03 -3.79095388e-03 9.99984204e-01 -3.63242853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70800114499997 meters 0.10170658035263527 Centerline is valid? [False, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99974377e-01 -5.71582589e-03 -4.30988544e-03 1.85769696e+02] [ 5.73320795e-03 9.99975438e-01 4.03155684e-03 -5.15220228e+00] [ 4.28673591e-03 -4.05616300e-03 9.99982586e-01 -3.63274744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73800114499997 meters 0.10757776455058365 Centerline is valid? [False, False] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99973757e-01 -5.84196815e-03 -4.28442604e-03 1.85769530e+02] [ 5.85840452e-03 9.99975490e-01 3.83384192e-03 -5.15178115e+00] [ 4.26192385e-03 -3.85884121e-03 9.99983473e-01 -3.63255220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76800114499997 meters 0.09523350713511494 Centerline is valid? [False, True] Translation: X:185.77, Y:-5.15, Z:-3.63 [[ 9.99971832e-01 -6.23773092e-03 -4.17435166e-03 1.85768790e+02] [ 6.25133106e-03 9.99975169e-01 3.25294693e-03 -5.15064549e+00] [ 4.15395700e-03 -3.27895055e-03 9.99985996e-01 -3.63172619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79800114499997 meters 0.09612724614826411 Centerline is valid? [True, True] Translation: X:185.80, Y:-5.15, Z:-3.63 [[ 9.99975030e-01 -6.08919891e-03 -3.58609942e-03 1.85799061e+02] [ 6.09037376e-03 9.99981403e-01 3.16784673e-04 -5.15362530e+00] [ 3.58410376e-03 -3.38617449e-04 9.99993520e-01 -3.63057671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82800114499997 meters 0.0929769191253318 Centerline is valid? [True, True] Translation: X:185.83, Y:-5.15, Z:-3.63 [[ 9.99976472e-01 -6.23670640e-03 -2.85621899e-03 1.85830991e+02] [ 6.23745374e-03 9.99980515e-01 2.52821006e-04 -5.15206085e+00] [ 2.85458656e-03 -2.70630591e-04 9.99995889e-01 -3.63028270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85800114499997 meters 0.0941081206914253 Centerline is valid? [True, True] Translation: X:185.86, Y:-5.16, Z:-3.63 [[ 9.99977248e-01 -6.10781583e-03 -2.86327034e-03 1.85861834e+02] [ 6.10856660e-03 9.99981310e-01 2.53535124e-04 -5.15773537e+00] [ 2.86166828e-03 -2.71019833e-04 9.99995869e-01 -3.63156351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88800114499998 meters 0.09342129655200856 Centerline is valid? [True, True] Translation: X:185.89, Y:-5.16, Z:-3.63 [[ 9.99978581e-01 -6.02565922e-03 -2.55508391e-03 1.85893336e+02] [ 6.02625723e-03 9.99981816e-01 2.26409747e-04 -5.16006967e+00] [ 2.55367318e-03 -2.41802490e-04 9.99996710e-01 -3.63219977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91800114499998 meters 0.10324321405788989 Centerline is valid? [True, False] Translation: X:185.89, Y:-5.16, Z:-3.63 [[ 9.99981022e-01 -5.58224450e-03 -2.60657504e-03 1.85894030e+02] [ 5.58475670e-03 9.99983947e-01 9.57513331e-04 -5.16141345e+00] [ 2.60118812e-03 -9.72052247e-04 9.99996144e-01 -3.63311853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94800114499998 meters 0.10097405248183891 Centerline is valid? [False, False] Translation: X:185.89, Y:-5.16, Z:-3.63 [[ 9.99982405e-01 -5.26966800e-03 -2.72418300e-03 1.85894704e+02] [ 5.27353775e-03 9.99985093e-01 1.41529166e-03 -5.16203335e+00] [ 2.71668427e-03 -1.42963283e-03 9.99995288e-01 -3.63379924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97800114499998 meters 0.0968976583601688 Centerline is valid? [False, True] Translation: X:185.89, Y:-5.16, Z:-3.63 [[ 9.99982947e-01 -5.13470744e-03 -2.78216546e-03 1.85894986e+02] [ 5.13927557e-03 9.99985453e-01 1.63727778e-03 -5.16239466e+00] [ 2.77371805e-03 -1.65154817e-03 9.99994789e-01 -3.63403521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00800114499998 meters 0.1066653396023104 Centerline is valid? [True, False] Translation: X:185.89, Y:-5.16, Z:-3.63 [[ 9.99982970e-01 -5.15840625e-03 -2.72954054e-03 1.85894794e+02] [ 5.16300374e-03 9.99985260e-01 1.67998942e-03 -5.16271460e+00] [ 2.72083424e-03 -1.69405344e-03 9.99994864e-01 -3.63391450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03800114499998 meters 0.1066653396023104 Centerline is valid? [False, False] Translation: X:185.89, Y:-5.16, Z:-3.63 [[ 9.99982970e-01 -5.15840625e-03 -2.72954054e-03 1.85894794e+02] [ 5.16300374e-03 9.99985260e-01 1.67998942e-03 -5.16271460e+00] [ 2.72083424e-03 -1.69405344e-03 9.99994864e-01 -3.63391450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.06800114499998 meters 0.09932377226296871 Centerline is valid? [False, True] Translation: X:185.90, Y:-5.17, Z:-3.63 [[ 9.99985870e-01 -4.54455783e-03 -2.75800664e-03 1.85895363e+02] [ 4.55237854e-03 9.99985616e-01 2.83601743e-03 -5.16561029e+00] [ 2.74507853e-03 -2.84853285e-03 9.99992175e-01 -3.63480717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09800114499996 meters 0.10079983355968605 Centerline is valid? [True, False] Translation: X:185.90, Y:-5.17, Z:-3.63 [[ 9.99986481e-01 -4.47389625e-03 -2.64978815e-03 1.85895037e+02] [ 4.48222138e-03 9.99985012e-01 3.14424799e-03 -5.16694975e+00] [ 2.63568139e-03 -3.15608242e-03 9.99991546e-01 -3.63471670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12800114499996 meters 0.10078687764068099 Centerline is valid? [False, False] Translation: X:185.90, Y:-5.17, Z:-3.63 [[ 9.99987248e-01 -4.30694350e-03 -2.63701174e-03 1.85895122e+02] [ 4.31611954e-03 9.99984616e-01 3.48396470e-03 -5.16797130e+00] [ 2.62196593e-03 -3.49530193e-03 9.99990454e-01 -3.63491486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15800114499996 meters 0.10191869070043005 Centerline is valid? [False, False] Translation: X:185.90, Y:-5.17, Z:-3.64 [[ 9.99988512e-01 -3.96060831e-03 -2.69999276e-03 1.85895669e+02] [ 3.97156773e-03 9.99983848e-01 4.06585192e-03 -5.16907587e+00] [ 2.68384590e-03 -4.07652842e-03 9.99988089e-01 -3.63558210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18800114499996 meters 0.09754718777926293 Centerline is valid? [False, True] Translation: X:185.90, Y:-5.17, Z:-3.64 [[ 9.99988507e-01 -3.96392412e-03 -2.69699947e-03 1.85895544e+02] [ 3.97511835e-03 9.99983455e-01 4.15799889e-03 -5.16959702e+00] [ 2.68047285e-03 -4.16867200e-03 9.99987719e-01 -3.63544490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21800114499996 meters 0.10146211516665868 Centerline is valid? [True, False] Translation: X:185.90, Y:-5.17, Z:-3.64 [[ 9.99988963e-01 -3.78001267e-03 -2.79026001e-03 1.85895781e+02] [ 3.79255370e-03 9.99982669e-01 4.50305246e-03 -5.17066570e+00] [ 2.77319006e-03 -4.51358497e-03 9.99985968e-01 -3.63554943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24800114499996 meters 0.09818332769803405 Centerline is valid? [False, True] Translation: X:185.90, Y:-5.17, Z:-3.64 [[ 9.99988747e-01 -3.85119143e-03 -2.77007554e-03 1.85895688e+02] [ 3.86339919e-03 9.99982790e-01 4.41524848e-03 -5.17055470e+00] [ 2.75302390e-03 -4.42590071e-03 9.99986416e-01 -3.63550164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27800114499996 meters 0.09835763797328745 Centerline is valid? [True, True] Translation: X:185.93, Y:-5.17, Z:-3.64 [[ 9.99986627e-01 -3.57214542e-03 -3.73977059e-03 1.85926203e+02] [ 3.57349316e-03 9.99993552e-01 3.53760320e-04 -5.17188705e+00] [ 3.73848279e-03 -3.67119634e-04 9.99992944e-01 -3.63521435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30800114499996 meters 0.10358801512658891 Centerline is valid? [True, False] Translation: X:185.93, Y:-5.17, Z:-3.64 [[ 9.99987022e-01 -3.49553416e-03 -3.70623020e-03 1.85926145e+02] [ 3.49763886e-03 9.99993726e-01 5.61552162e-04 -5.17258240e+00] [ 3.70424402e-03 -5.74507929e-04 9.99992974e-01 -3.63525250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33800114499996 meters 0.09342383641072777 Centerline is valid? [False, True] Translation: X:185.93, Y:-5.17, Z:-3.64 [[ 9.99987266e-01 -3.45995444e-03 -3.67377991e-03 1.85926051e+02] [ 3.46246818e-03 9.99993776e-01 6.78099354e-04 -5.17307737e+00] [ 3.67141085e-03 -6.90811065e-04 9.99993022e-01 -3.63522555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36800114499997 meters 0.09048718491712758 Centerline is valid? [True, True] Translation: X:185.96, Y:-5.17, Z:-3.63 [[ 9.99989427e-01 -3.26451101e-03 -3.23877696e-03 1.85956402e+02] [ 3.26551119e-03 9.99994622e-01 3.03575155e-04 -5.17136578e+00] [ 3.23776851e-03 -3.14148207e-04 9.99994709e-01 -3.63443558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39800114499997 meters 0.09300492489924411 Centerline is valid? [True, True] Translation: X:185.99, Y:-5.18, Z:-3.64 [[ 9.99990128e-01 -3.16990550e-03 -3.11373790e-03 1.85985284e+02] [ 3.17083046e-03 9.99994930e-01 2.92164958e-04 -5.17784920e+00] [ 3.11279598e-03 -3.02035209e-04 9.99995110e-01 -3.63584207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42800114499997 meters 0.09229175947931118 Centerline is valid? [True, True] Translation: X:186.02, Y:-5.18, Z:-3.64 [[ 9.99992341e-01 -3.03591333e-03 -2.47001327e-03 1.86015424e+02] [ 3.03649573e-03 9.99995363e-01 2.32074358e-04 -5.17993636e+00] [ 2.46929726e-03 -2.39572765e-04 9.99996923e-01 -3.63567374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45800114499997 meters 0.09199761023948223 Centerline is valid? [True, True] Translation: X:186.05, Y:-5.18, Z:-3.64 [[ 9.99994480e-01 -2.99577528e-03 -1.43728906e-03 1.86046101e+02] [ 2.99597244e-03 9.99995503e-01 1.35042973e-04 -5.18320098e+00] [ 1.43687804e-03 -1.39348306e-04 9.99998958e-01 -3.63627261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48800114499997 meters 0.091318230031426 Centerline is valid? [True, True] Translation: X:186.08, Y:-5.19, Z:-3.64 [[ 9.99992995e-01 -3.09223374e-03 -2.10896602e-03 1.86076101e+02] [ 3.09265845e-03 9.99995198e-01 1.98151540e-04 -5.18583429e+00] [ 2.10834316e-03 -2.04672464e-04 9.99997756e-01 -3.63742217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51800114499997 meters 0.0943028206374682 Centerline is valid? [True, True] Translation: X:186.11, Y:-5.20, Z:-3.64 [[ 9.99990939e-01 -2.90292754e-03 -3.11358523e-03 1.86105752e+02] [ 2.90385679e-03 9.99995741e-01 2.93969530e-04 -5.19566418e+00] [ 3.11271860e-03 -3.03008272e-04 9.99995110e-01 -3.64061570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54800114499997 meters 0.09389297720858193 Centerline is valid? [True, True] Translation: X:186.14, Y:-5.20, Z:-3.64 [[ 9.99989906e-01 -2.95802932e-03 -3.38193818e-03 1.86136236e+02] [ 2.95912134e-03 9.99995571e-01 3.17939765e-04 -5.19886246e+00] [ 3.38098273e-03 -3.27944121e-04 9.99994231e-01 -3.64181243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57800114499997 meters 0.09296233502904645 Centerline is valid? [True, True] Translation: X:186.17, Y:-5.20, Z:-3.64 [[ 9.99987292e-01 -3.29524768e-03 -3.81545823e-03 1.86165843e+02] [ 3.29663666e-03 9.99994502e-01 3.57805916e-04 -5.20068015e+00] [ 3.81425820e-03 -3.70379549e-04 9.99992657e-01 -3.64203808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60800114499997 meters 0.09237896905627635 Centerline is valid? [True, True] Translation: X:186.20, Y:-5.20, Z:-3.64 [[ 9.99986714e-01 -3.28865888e-03 -3.96949198e-03 1.86195726e+02] [ 3.29016181e-03 9.99994518e-01 3.72149553e-04 -5.20281613e+00] [ 3.96824635e-03 -3.85204880e-04 9.99992052e-01 -3.64302811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63800114499998 meters 0.09052810550157857 Centerline is valid? [True, True] Translation: X:186.23, Y:-5.20, Z:-3.64 [[ 9.99981964e-01 -2.51957165e-03 -5.45185616e-03 1.86225554e+02] [ 2.52239587e-03 9.99996688e-01 5.11216490e-04 -5.20145255e+00] [ 5.45055005e-03 -5.24959009e-04 9.99985008e-01 -3.64311384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66800114499998 meters 0.091232479644477 Centerline is valid? [True, True] Translation: X:186.25, Y:-5.21, Z:-3.64 [[ 9.99979945e-01 -2.00517154e-03 -6.00735943e-03 1.86253746e+02] [ 2.00855579e-03 9.99997828e-01 5.57371151e-04 -5.20537664e+00] [ 6.00622876e-03 -5.69426089e-04 9.99981800e-01 -3.64467204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69800114499998 meters 0.09148208279656075 Centerline is valid? [True, True] Translation: X:186.28, Y:-5.21, Z:-3.65 [[ 9.99976816e-01 -1.64380435e-03 -6.60794568e-03 1.86281844e+02] [ 1.64788484e-03 9.99998455e-01 6.12115408e-04 -5.20855639e+00] [ 6.60692927e-03 -6.22990350e-04 9.99977980e-01 -3.64650661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72800114499998 meters 0.09454359377699374 Centerline is valid? [True, True] Translation: X:186.31, Y:-5.22, Z:-3.65 [[ 9.99983128e-01 -1.39103491e-03 -5.63998548e-03 1.86308788e+02] [ 1.39401601e-03 9.99998891e-01 5.24669700e-04 -5.21672773e+00] [ 5.63924939e-03 -5.32523077e-04 9.99983958e-01 -3.64913856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75800114499998 meters 0.09002073007136668 Centerline is valid? [True, True] Translation: X:186.34, Y:-5.21, Z:-3.65 [[ 9.99987753e-01 -3.26051701e-04 -4.93842264e-03 1.86339837e+02] [ 3.28330337e-04 9.99999840e-01 4.60606071e-04 -5.21129226e+00] [ 4.93827167e-03 -4.62221864e-04 9.99987700e-01 -3.64676012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78800114499998 meters 0.09007682176873237 Centerline is valid? [True, True] Translation: X:186.37, Y:-5.21, Z:-3.65 [[ 9.99989750e-01 2.98906724e-05 -4.52749977e-03 1.86368786e+02] [-2.80064722e-05 9.99999913e-01 4.16230755e-04 -5.21322573e+00] [ 4.52751182e-03 -4.16099690e-04 9.99989664e-01 -3.64716711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81800114499998 meters 0.09309900019293596 Centerline is valid? [True, True] Translation: X:186.40, Y:-5.22, Z:-3.65 [[ 9.99990629e-01 6.57835895e-04 -4.27887380e-03 1.86395926e+02] [-6.56146606e-04 9.99999706e-01 3.96189282e-04 -5.22005708e+00] [ 4.27913317e-03 -3.93378001e-04 9.99990767e-01 -3.64866044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84800114499996 meters 0.09068691669964975 Centerline is valid? [True, True] Translation: X:186.43, Y:-5.22, Z:-3.65 [[ 9.99992677e-01 9.21647303e-04 -3.71445480e-03 1.86425365e+02] [-9.20376505e-04 9.99999517e-01 3.43817162e-04 -5.21826163e+00] [ 3.71476989e-03 -3.40395948e-04 9.99993042e-01 -3.64794302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87800114499996 meters 0.09123007777281984 Centerline is valid? [True, True] Translation: X:186.45, Y:-5.22, Z:-3.65 [[ 9.99993041e-01 1.43767756e-03 -3.44261025e-03 1.86454309e+02] [-1.43658863e-03 9.99998917e-01 3.18762009e-04 -5.22224950e+00] [ 3.44306480e-03 -3.13814176e-04 9.99994023e-01 -3.64949982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90800114499996 meters 0.09153393672090405 Centerline is valid? [True, True] Translation: X:186.48, Y:-5.23, Z:-3.65 [[ 9.99993396e-01 2.68729158e-03 -2.44665524e-03 1.86482500e+02] [-2.68674515e-03 9.99996365e-01 2.26597357e-04 -5.22574977e+00] [ 2.44725528e-03 -2.20022322e-04 9.99996981e-01 -3.64994215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93800114499996 meters 0.09186803349624603 Centerline is valid? [True, True] Translation: X:186.51, Y:-5.23, Z:-3.65 [[ 9.99992555e-01 2.56557805e-03 -2.88233296e-03 1.86510287e+02] [-2.56482350e-03 9.99996676e-01 2.65451004e-04 -5.22782758e+00] [ 2.88300441e-03 -2.58056352e-04 9.99995811e-01 -3.65075084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96800114499996 meters 0.09592565304456499 Centerline is valid? [True, True] Translation: X:186.54, Y:-5.24, Z:-3.65 [[ 9.99994884e-01 2.18239998e-03 -2.33842725e-03 1.86537686e+02] [-2.18190312e-03 9.99997597e-01 2.15005271e-04 -5.23654322e+00] [ 2.33889086e-03 -2.09901950e-04 9.99997243e-01 -3.65347161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99800114499996 meters 0.09544017232996592 Centerline is valid? [True, True] Translation: X:186.57, Y:-5.24, Z:-3.65 [[ 9.99995993e-01 7.36043739e-04 -2.73350328e-03 1.86567358e+02] [-7.35355822e-04 9.99999698e-01 2.52657682e-04 -5.23870944e+00] [ 2.73368842e-03 -2.50646572e-04 9.99996232e-01 -3.65450717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02800114499996 meters 0.09643307357529675 Centerline is valid? [True, True] Translation: X:186.60, Y:-5.24, Z:-3.66 [[ 9.99996035e-01 -7.59075583e-04 -2.71174556e-03 1.86596358e+02] [ 7.59756513e-04 9.99999680e-01 2.50082645e-04 -5.24369687e+00] [ 2.71155486e-03 -2.52141919e-04 9.99996292e-01 -3.65611246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05800114499996 meters 0.0979916402914442 Centerline is valid? [True, True] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99991096e-01 -2.35733423e-03 -3.50022894e-03 1.86625577e+02] [ 2.35848214e-03 9.99997166e-01 3.23859596e-04 -5.24918308e+00] [ 3.49945557e-03 -3.32111939e-04 9.99993822e-01 -3.65823874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08800114499996 meters 0.10135743656615306 Centerline is valid? [True, False] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99991814e-01 -2.25646710e-03 -3.35856016e-03 1.86625660e+02] [ 2.25864499e-03 9.99997241e-01 6.44808359e-04 -5.24975030e+00] [ 3.35709591e-03 -6.52388876e-04 9.99994152e-01 -3.65882465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11800114499997 meters 0.10382663924220034 Centerline is valid? [False, False] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99992108e-01 -2.17186830e-03 -3.32668452e-03 1.86625861e+02] [ 2.17459641e-03 9.99997302e-01 8.16668585e-04 -5.24986513e+00] [ 3.32490185e-03 -8.23896336e-04 9.99994133e-01 -3.65921128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14800114499997 meters 0.10549547794529446 Centerline is valid? [False, False] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99992296e-01 -2.22994006e-03 -3.23040089e-03 1.86625594e+02] [ 2.23267082e-03 9.99997153e-01 8.41970522e-04 -5.25010783e+00] [ 3.22851415e-03 -8.49176457e-04 9.99994428e-01 -3.65911583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17800114499997 meters 0.10735142645669375 Centerline is valid? [False, False] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99992820e-01 -1.89460015e-03 -3.28171485e-03 1.86626171e+02] [ 1.89923337e-03 9.99997203e-01 1.40928624e-03 -5.25106536e+00] [ 3.27903564e-03 -1.41550886e-03 9.99993622e-01 -3.65985979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20800114499997 meters 0.09821526612843733 Centerline is valid? [False, True] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99993847e-01 -1.55827850e-03 -3.14295344e-03 1.86626338e+02] [ 1.56485217e-03 9.99996591e-01 2.09018403e-03 -5.25283940e+00] [ 3.13968564e-03 -2.09508942e-03 9.99992876e-01 -3.66055101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23800114499997 meters 0.11119184433710409 Centerline is valid? [True, False] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99993968e-01 -1.64804356e-03 -3.05752398e-03 1.86626059e+02] [ 1.65428213e-03 9.99996553e-01 2.03899230e-03 -5.25297197e+00] [ 3.05415309e-03 -2.04403801e-03 9.99993247e-01 -3.66040746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26800114499997 meters 0.0992594672245171 Centerline is valid? [False, True] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99993877e-01 -1.47691398e-03 -3.17243264e-03 1.86626570e+02] [ 1.48409833e-03 9.99996337e-01 2.26346132e-03 -5.25310699e+00] [ 3.16907809e-03 -2.26815567e-03 9.99992406e-01 -3.66081896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29800114499997 meters 0.11442235001965777 Centerline is valid? [True, False] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99993462e-01 -1.67928221e-03 -3.20243863e-03 1.86626415e+02] [ 1.68539203e-03 9.99996763e-01 1.90612146e-03 -5.25231080e+00] [ 3.19922735e-03 -1.91150636e-03 9.99993056e-01 -3.66044991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32800114499997 meters 0.10312988930292245 Centerline is valid? [False, False] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99992790e-01 -1.72884215e-03 -3.38090810e-03 1.86626702e+02] [ 1.73435823e-03 9.99997169e-01 1.62928724e-03 -5.25126923e+00] [ 3.37808175e-03 -1.63513920e-03 9.99992957e-01 -3.66022874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35800114499997 meters 0.1010148422728075 Centerline is valid? [False, False] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99992932e-01 -1.64884116e-03 -3.37897376e-03 1.86626715e+02] [ 1.65488058e-03 9.99997037e-01 1.78533765e-03 -5.25180837e+00] [ 3.37602001e-03 -1.79091683e-03 9.99992698e-01 -3.66027341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38800114499998 meters 0.10316314830519986 Centerline is valid? [False, False] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99993249e-01 -1.48703754e-03 -3.36015925e-03 1.86626876e+02] [ 1.49411809e-03 9.99996667e-01 2.10568150e-03 -5.25252162e+00] [ 3.35701682e-03 -2.11068776e-03 9.99992138e-01 -3.66061273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41800114499998 meters 0.0966589122831059 Centerline is valid? [False, True] Translation: X:186.63, Y:-5.25, Z:-3.66 [[ 9.99993373e-01 -1.48912190e-03 -3.32205734e-03 1.86626631e+02] [ 1.49628781e-03 9.99996557e-01 2.15562645e-03 -5.25305909e+00] [ 3.31883591e-03 -2.16058292e-03 9.99992159e-01 -3.66037165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44800114499998 meters 0.09837003665437827 Centerline is valid? [True, True] Translation: X:186.66, Y:-5.26, Z:-3.66 [[ 9.99996944e-01 -9.45243810e-04 -2.28442547e-03 1.86655035e+02] [ 9.45773904e-04 9.99999526e-01 2.30977751e-04 -5.25717572e+00] [ 2.28420605e-03 -2.33137595e-04 9.99997364e-01 -3.65992260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47800114499998 meters 0.09857074715878808 Centerline is valid? [True, True] Translation: X:186.68, Y:-5.26, Z:-3.66 [[ 9.99999000e-01 2.33379920e-04 -1.39473304e-03 1.86684558e+02] [-2.33183666e-04 9.99999963e-01 1.40871642e-04 -5.26061233e+00] [ 1.39476586e-03 -1.40546273e-04 9.99999017e-01 -3.65977069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50800114499998 meters 0.10271468402997394 Centerline is valid? [True, False] Translation: X:186.69, Y:-5.26, Z:-3.66 [[ 9.99998798e-01 5.53102790e-04 -1.44824829e-03 1.86685074e+02] [-5.52156977e-04 9.99999634e-01 6.53392495e-04 -5.26149490e+00] [ 1.44860915e-03 -6.52592050e-04 9.99998738e-01 -3.66040918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53800114499998 meters 0.10059753137021882 Centerline is valid? [False, False] Translation: X:186.68, Y:-5.26, Z:-3.66 [[ 9.99998891e-01 7.13128182e-04 -1.30738224e-03 1.86684789e+02] [-7.11668604e-04 9.99999123e-01 1.11653828e-03 -5.26324321e+00] [ 1.30817733e-03 -1.11560662e-03 9.99998522e-01 -3.66051110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.56800114499998 meters 0.10000766385901012 Centerline is valid? [False, False] Translation: X:186.68, Y:-5.26, Z:-3.66 [[ 9.99999041e-01 6.69344660e-04 -1.21276721e-03 1.86684419e+02] [-6.67924425e-04 9.99999091e-01 1.17109616e-03 -5.26386039e+00] [ 1.21354998e-03 -1.17028500e-03 9.99998579e-01 -3.66027397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59800114499996 meters 0.10070613437130056 Centerline is valid? [False, False] Translation: X:186.68, Y:-5.26, Z:-3.66 [[ 9.99998959e-01 7.95279535e-04 -1.20364863e-03 1.86684455e+02] [-7.93537507e-04 9.99998638e-01 1.44707599e-03 -5.26468780e+00] [ 1.20479782e-03 -1.44611934e-03 9.99998229e-01 -3.66040394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62800114499996 meters 0.10148850543456053 Centerline is valid? [False, False] Translation: X:186.68, Y:-5.27, Z:-3.66 [[ 9.99998943e-01 8.59341893e-04 -1.17311195e-03 1.86684347e+02] [-8.57412758e-04 9.99998281e-01 1.64397362e-03 -5.26549635e+00] [ 1.17452267e-03 -1.64296604e-03 9.99997961e-01 -3.66039275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65800114499996 meters 0.1020434376531594 Centerline is valid? [False, False] Translation: X:186.68, Y:-5.27, Z:-3.66 [[ 9.99998972e-01 9.11125924e-04 -1.10748240e-03 1.86684105e+02] [-9.09056395e-04 9.99997843e-01 1.86774780e-03 -5.26655144e+00] [ 1.10918176e-03 -1.86673911e-03 9.99997642e-01 -3.66027468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68800114499996 meters 0.1027134321480574 Centerline is valid? [False, False] Translation: X:186.68, Y:-5.27, Z:-3.66 [[ 9.99998933e-01 9.04480905e-04 -1.14673902e-03 1.86684103e+02] [-9.02294939e-04 9.99997778e-01 1.90533214e-03 -5.26685800e+00] [ 1.14845981e-03 -1.90429541e-03 9.99997527e-01 -3.66018597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71800114499996 meters 0.0924178003056582 Centerline is valid? [False, True] Translation: X:186.68, Y:-5.27, Z:-3.66 [[ 9.99998895e-01 8.69050787e-04 -1.20640250e-03 1.86684136e+02] [-8.66798320e-04 9.99997883e-01 1.86636299e-03 -5.26693057e+00] [ 1.20802191e-03 -1.86531522e-03 9.99997531e-01 -3.66008197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74800114499996 meters 0.09101467340893415 Centerline is valid? [True, True] Translation: X:186.71, Y:-5.27, Z:-3.66 [[ 9.99996000e-01 7.92063025e-04 -2.71535909e-03 1.86713866e+02] [-7.91327828e-04 9.99999650e-01 2.71818492e-04 -5.26735940e+00] [ 2.71557344e-03 -2.69668665e-04 9.99996276e-01 -3.66049196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77800114499996 meters 0.09149693582412888 Centerline is valid? [True, True] Translation: X:186.74, Y:-5.27, Z:-3.66 [[ 9.99993209e-01 6.31909648e-04 -3.63087717e-03 1.86742437e+02] [-6.30596924e-04 9.99999735e-01 3.62678141e-04 -5.27201837e+00] [ 3.63110539e-03 -3.60386058e-04 9.99993343e-01 -3.66203359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80800114499996 meters 0.09580455174817719 Centerline is valid? [True, True] Translation: X:186.77, Y:-5.28, Z:-3.67 [[ 9.99990102e-01 8.16824237e-04 -4.37359800e-03 1.86769011e+02] [-8.14923097e-04 9.99999573e-01 4.36450076e-04 -5.28319593e+00] [ 4.37395263e-03 -4.32881610e-04 9.99990341e-01 -3.66553805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83800114499996 meters 0.09145292246763777 Centerline is valid? [True, True] Translation: X:186.80, Y:-5.28, Z:-3.66 [[ 9.99987122e-01 2.74887727e-03 -4.26597181e-03 1.86799289e+02] [-2.74708140e-03 9.99996136e-01 4.26776794e-04 -5.27876884e+00] [ 4.26712848e-03 -4.15052327e-04 9.99990810e-01 -3.66425093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86800114499997 meters 0.08989424435742085 Centerline is valid? [True, True] Translation: X:186.83, Y:-5.28, Z:-3.66 [[ 9.99986497e-01 3.69201012e-03 -3.65708546e-03 1.86829716e+02] [-3.69069886e-03 9.99993123e-01 3.65238550e-04 -5.27761395e+00] [ 3.65840877e-03 -3.51736417e-04 9.99993246e-01 -3.66376013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89800114499997 meters 0.09389544985098816 Centerline is valid? [True, True] Translation: X:186.86, Y:-5.29, Z:-3.67 [[ 9.99980169e-01 5.59247612e-03 -2.89597631e-03 1.86858029e+02] [-5.59166169e-03 9.99984325e-01 2.89249113e-04 -5.28640519e+00] [ 2.89754853e-03 -2.73050057e-04 9.99995765e-01 -3.66619943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92800114499997 meters 0.09389544985098816 Centerline is valid? [True, True] Translation: X:186.89, Y:-5.29, Z:-3.67 [[ 9.99980514e-01 5.53027750e-03 -2.89607311e-03 1.86886327e+02] [-5.52946558e-03 9.99984671e-01 2.88282082e-04 -5.28916245e+00] [ 2.89762299e-03 -2.72262728e-04 9.99995765e-01 -3.66692855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95800114499997 meters 0.09027202439952527 Centerline is valid? [True, True] Translation: X:186.92, Y:-5.29, Z:-3.67 [[ 9.99972917e-01 6.64803750e-03 -3.15739536e-03 1.86915699e+02] [-6.64707824e-03 9.99977859e-01 3.14208265e-04 -5.28534787e+00] [ 3.15941432e-03 -2.93212301e-04 9.99994966e-01 -3.66546121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98800114499997 meters 0.08971476275822256 Centerline is valid? [True, True] Translation: X:186.94, Y:-5.29, Z:-3.66 [[ 9.99954294e-01 9.50824204e-03 -1.00192013e-03 1.86944949e+02] [-9.50814699e-03 9.99954792e-01 9.95796733e-05 -5.28658774e+00] [ 1.00282166e-03 -9.00487180e-05 9.99999493e-01 -3.66473261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01800114499997 meters 0.08934651919564032 Centerline is valid? [True, True] Translation: X:186.98, Y:-5.29, Z:-3.67 [[ 9.99944153e-01 1.05679960e-02 9.17459033e-05 1.86975139e+02] [-1.05679952e-02 9.99944157e-01 -9.57494282e-06 -5.28968555e+00] [-9.18419679e-05 8.60483782e-06 9.99999996e-01 -3.66514940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04800114499997 meters 0.09003343099008271 Centerline is valid? [True, True] Translation: X:187.00, Y:-5.29, Z:-3.67 [[ 9.99936671e-01 1.12497084e-02 3.12636748e-04 1.87004062e+02] [-1.12496988e-02 9.99936720e-01 -3.24376651e-05 -5.29473592e+00] [-3.12981879e-04 2.89185416e-05 9.99999951e-01 -3.66564768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07800114499997 meters 0.09066732821805427 Centerline is valid? [True, True] Translation: X:187.03, Y:-5.30, Z:-3.67 [[ 9.99937641e-01 1.11057016e-02 1.17350335e-03 1.87032849e+02] [-1.11055697e-02 9.99938324e-01 -1.18800188e-04 -5.29916000e+00] [-1.17475033e-03 1.05760356e-04 9.99999304e-01 -3.66597070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10800114499997 meters 0.09146571638180581 Centerline is valid? [True, True] Translation: X:187.06, Y:-5.30, Z:-3.67 [[ 9.99942305e-01 1.06403778e-02 1.47301922e-03 1.87060734e+02] [-1.06401697e-02 9.99943381e-01 -1.48987318e-04 -5.30372301e+00] [-1.47452110e-03 1.33305548e-04 9.99998904e-01 -3.66597794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13800114499998 meters 0.0922651091143856 Centerline is valid? [True, True] Translation: X:187.09, Y:-5.31, Z:-3.67 [[ 9.99951852e-01 9.58227288e-03 2.11534592e-03 1.87089809e+02] [-9.58184601e-03 9.99954071e-01 -2.11840889e-04 -5.30867001e+00] [-2.11727869e-03 1.91561770e-04 9.99997740e-01 -3.66563900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16800114499998 meters 0.0952898809174319 Centerline is valid? [True, True] Translation: X:187.12, Y:-5.32, Z:-3.67 [[ 9.99970385e-01 7.15968899e-03 2.82277810e-03 1.87117680e+02] [-7.15892030e-03 9.99974335e-01 -2.82328034e-04 -5.31949400e+00] [-2.82472703e-03 2.62111629e-04 9.99995976e-01 -3.66689626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19800114499998 meters 0.09696231959826404 Centerline is valid? [True, True] Translation: X:187.15, Y:-5.33, Z:-3.67 [[ 9.99980629e-01 5.79809810e-03 2.26338199e-03 1.87146286e+02] [-5.79760023e-03 9.99983168e-01 -2.26463307e-04 -5.32689702e+00] [-2.26465695e-03 2.13336737e-04 9.99997413e-01 -3.66817509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22800114499998 meters 0.0989054757048733 Centerline is valid? [True, True] Translation: X:187.18, Y:-5.34, Z:-3.67 [[ 9.99989423e-01 4.31519164e-03 1.59178399e-03 1.87175874e+02] [-4.31494383e-03 9.99990678e-01 -1.59082957e-04 -5.33548099e+00] [-1.59245562e-03 1.52212816e-04 9.99998720e-01 -3.67091537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25800114499998 meters 0.10195560683879333 Centerline is valid? [True, False] Translation: X:187.18, Y:-5.34, Z:-3.67 [[ 9.99998880e-01 3.65887212e-04 1.45139850e-03 1.87176333e+02] [-3.60381003e-04 9.99992745e-01 -3.79217519e-03 -5.33712380e+00] [-1.45277547e-03 3.79164789e-03 9.99991756e-01 -3.67127581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28800114499998 meters 0.09653681225115063 Centerline is valid? [False, True] Translation: X:187.18, Y:-5.34, Z:-3.67 [[ 9.99998658e-01 7.86523818e-04 1.43739309e-03 1.87176831e+02] [-7.82192881e-04 9.99995161e-01 -3.01113224e-03 -5.33879500e+00] [-1.43975446e-03 3.01000388e-03 9.99994433e-01 -3.67202304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31800114499998 meters 0.10456564675726564 Centerline is valid? [True, False] Translation: X:187.18, Y:-5.34, Z:-3.67 [[ 9.99998505e-01 9.19083603e-04 1.46446657e-03 1.87176840e+02] [-9.15195457e-04 9.99996061e-01 -2.65345279e-03 -5.33986607e+00] [-1.46689954e-03 2.65210855e-03 9.99995407e-01 -3.67217138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34800114499996 meters 0.10712046650402511 Centerline is valid? [False, False] Translation: X:187.18, Y:-5.34, Z:-3.67 [[ 9.99997888e-01 1.26839436e-03 1.61731136e-03 1.87176716e+02] [-1.26562093e-03 9.99997729e-01 -1.71471501e-03 -5.34282939e+00] [-1.61948262e-03 1.71266449e-03 9.99997222e-01 -3.67261445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37800114499996 meters 0.08960972857383791 Centerline is valid? [False, True] Translation: X:187.18, Y:-5.34, Z:-3.67 [[ 9.99997453e-01 1.58446843e-03 1.60742066e-03 1.87177103e+02] [-1.58269195e-03 9.99998136e-01 -1.10584639e-03 -5.34428685e+00] [-1.60916985e-03 1.10329953e-03 9.99998097e-01 -3.67326263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40800114499996 meters 0.08744634008402358 Centerline is valid? [True, True] Translation: X:187.21, Y:-5.35, Z:-3.67 [[ 9.99998457e-01 1.68704667e-03 4.88744480e-04 1.87207846e+02] [-1.68702225e-03 9.99998576e-01 -5.03865670e-05 -5.34539085e+00] [-4.88828789e-04 4.95619665e-05 9.99999879e-01 -3.67423130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43800114499996 meters 0.0885971676999025 Centerline is valid? [True, True] Translation: X:187.24, Y:-5.35, Z:-3.68 [[ 9.99997789e-01 2.01872667e-03 5.88442865e-04 1.87236583e+02] [-2.01869103e-03 9.99997961e-01 -6.11610694e-05 -5.35102939e+00] [-5.88565132e-04 5.99730499e-05 9.99999825e-01 -3.67560598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46800114499996 meters 0.09089652937888364 Centerline is valid? [True, True] Translation: X:187.27, Y:-5.36, Z:-3.68 [[ 9.99995591e-01 2.93544561e-03 4.48946248e-04 1.87265744e+02] [-2.93542513e-03 9.99995691e-01 -4.62760152e-05 -5.35859624e+00] [-4.49080154e-04 4.49579630e-05 9.99999898e-01 -3.67760817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49800114499996 meters 0.08746959179541029 Centerline is valid? [True, True] Translation: X:187.30, Y:-5.35, Z:-3.68 [[ 9.99988350e-01 4.45946689e-03 1.84718931e-03 1.87295921e+02] [-4.45912098e-03 9.99990040e-01 -1.91337990e-04 -5.35486823e+00] [-1.84802417e-03 1.83098920e-04 9.99998276e-01 -3.67555301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52800114499996 meters 0.08666542060231872 Centerline is valid? [True, True] Translation: X:187.33, Y:-5.36, Z:-3.68 [[ 9.99985125e-01 5.11238411e-03 1.90074455e-03 1.87326032e+02] [-5.11202008e-03 9.99986914e-01 -1.96326730e-04 -5.35626196e+00] [-1.90172337e-03 1.86607166e-04 9.99998174e-01 -3.67602244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55800114499996 meters 0.08412192767060292 Centerline is valid? [True, True] Translation: X:187.36, Y:-5.36, Z:-3.68 [[ 9.99971202e-01 6.93066500e-03 3.09223481e-03 1.87356607e+02] [-6.92971130e-03 9.99975938e-01 -3.19025371e-04 -5.35535225e+00] [-3.09437147e-03 2.97587889e-04 9.99995168e-01 -3.67534866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58800114499996 meters 0.08670212887705216 Centerline is valid? [True, True] Translation: X:187.39, Y:-5.36, Z:-3.68 [[ 9.99959436e-01 8.31197185e-03 3.46954005e-03 1.87385248e+02] [-8.31077830e-03 9.99965401e-01 -3.58283720e-04 -5.36298699e+00] [-3.47239805e-03 3.29434608e-04 9.99993917e-01 -3.67783691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61800114499997 meters 0.08639516861806543 Centerline is valid? [True, True] Translation: X:187.41, Y:-5.36, Z:-3.68 [[ 9.99954903e-01 8.89996591e-03 3.31400532e-03 1.87414472e+02] [-8.89887903e-03 9.99960346e-01 -3.42567653e-04 -5.36429347e+00] [-3.31692274e-03 3.13061272e-04 9.99994450e-01 -3.67769180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64800114499997 meters 0.08967872609041756 Centerline is valid? [True, True] Translation: X:187.44, Y:-5.37, Z:-3.68 [[ 9.99945011e-01 9.64920926e-03 4.10695785e-03 1.87442264e+02] [-9.64754857e-03 9.99953371e-01 -4.23980002e-04 -5.37228907e+00] [-4.11085742e-03 3.84334613e-04 9.99991477e-01 -3.67969144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67800114499997 meters 0.08833988235831836 Centerline is valid? [True, True] Translation: X:187.47, Y:-5.37, Z:-3.68 [[ 9.99931957e-01 1.02237119e-02 5.61754365e-03 1.87472498e+02] [-1.02206229e-02 9.99947601e-01 -5.78315766e-04 -5.37227065e+00] [-5.62316183e-03 5.20861621e-04 9.99984054e-01 -3.67798055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70800114499997 meters 0.09031961535457406 Centerline is valid? [True, True] Translation: X:187.50, Y:-5.38, Z:-3.68 [[ 9.99932103e-01 1.01362466e-02 5.74858532e-03 1.87500788e+02] [-1.01330066e-02 9.99948484e-01 -5.92465796e-04 -5.37869453e+00] [-5.75429456e-03 5.34175116e-04 9.99983301e-01 -3.67932994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73800114499997 meters 0.08434336734915406 Centerline is valid? [True, True] Translation: X:187.53, Y:-5.37, Z:-3.68 [[ 9.99923341e-01 1.03942840e-02 6.72835714e-03 1.87531133e+02] [-1.03898571e-02 9.99945784e-01 -6.92560924e-04 -5.37058142e+00] [-6.73519103e-03 6.22601164e-04 9.99977125e-01 -3.67694280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76800114499997 meters 0.09243135860474876 Centerline is valid? [True, True] Translation: X:187.56, Y:-5.39, Z:-3.68 [[ 9.99931541e-01 9.18853282e-03 7.24454253e-03 1.87558543e+02] [-9.18338244e-03 9.99957555e-01 -7.43877563e-04 -5.38742319e+00] [-7.25107018e-03 6.77297234e-04 9.99973481e-01 -3.68062914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79800114499997 meters 0.08309848374234982 Centerline is valid? [True, True] Translation: X:187.59, Y:-5.37, Z:-3.68 [[ 9.99940585e-01 8.21100314e-03 7.16972548e-03 1.87591133e+02] [-8.20592962e-03 9.99966059e-01 -7.36762423e-04 -5.37452734e+00] [-7.17553170e-03 6.77884386e-04 9.99974026e-01 -3.67745985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82800114499997 meters 0.08512191889512392 Centerline is valid? [True, True] Translation: X:187.62, Y:-5.38, Z:-3.68 [[ 9.99952168e-01 6.99145052e-03 6.83962973e-03 1.87620447e+02] [-6.98681492e-03 9.99975346e-01 -7.01416272e-04 -5.38227350e+00] [-6.84436502e-03 6.53595495e-04 9.99976363e-01 -3.67937256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85800114499997 meters 0.09726079796543295 Centerline is valid? [True, True] Translation: X:187.65, Y:-5.41, Z:-3.69 [[ 9.99958553e-01 5.26240890e-03 7.42963205e-03 1.87647752e+02] [-5.25687167e-03 9.99985890e-01 -7.64620805e-04 -5.40690415e+00] [-7.43355097e-03 7.25532491e-04 9.99972108e-01 -3.68526924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88800114499998 meters 0.09182770892305546 Centerline is valid? [True, True] Translation: X:187.68, Y:-5.40, Z:-3.68 [[ 9.99980665e-01 2.33281350e-03 5.76429648e-03 1.87679522e+02] [-2.32943574e-03 9.99997111e-01 -5.92624116e-04 -5.40203511e+00] [-5.76566231e-03 5.79185100e-04 9.99983211e-01 -3.68418779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91800114499998 meters 0.10152839634851278 Centerline is valid? [True, False] Translation: X:187.68, Y:-5.40, Z:-3.68 [[ 9.99980061e-01 2.32142138e-03 5.87263885e-03 1.87679251e+02] [-2.31869196e-03 9.99997201e-01 -4.71534490e-04 -5.40268588e+00] [-5.87371704e-03 4.57908248e-04 9.99982645e-01 -3.68416242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94800114499998 meters 0.08842501013357278 Centerline is valid? [False, True] Translation: X:187.68, Y:-5.40, Z:-3.68 [[ 9.99979349e-01 2.70604694e-03 5.82917747e-03 1.87679814e+02] [-2.70740723e-03 9.99996310e-01 2.25480473e-04 -5.40420005e+00] [-5.82854579e-03 -2.41257774e-04 9.99982985e-01 -3.68496485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97800114499998 meters 0.09567276833032737 Centerline is valid? [True, True] Translation: X:187.71, Y:-5.42, Z:-3.69 [[ 9.99989709e-01 1.44210239e-03 4.30130662e-03 1.87707753e+02] [-1.44016810e-03 9.99998860e-01 -4.52762564e-04 -5.41993593e+00] [-4.30195465e-03 4.46563300e-04 9.99990647e-01 -3.68998913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00800114499998 meters 0.09558605269989684 Centerline is valid? [True, True] Translation: X:187.74, Y:-5.42, Z:-3.69 [[ 9.99997265e-01 1.06990655e-03 2.07988139e-03 1.87738229e+02] [-1.06945432e-03 9.99999404e-01 -2.18531449e-04 -5.42274164e+00] [-2.08011396e-03 2.16306513e-04 9.99997813e-01 -3.69292551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03800114499998 meters 0.09228576028363636 Centerline is valid? [True, True] Translation: X:187.77, Y:-5.42, Z:-3.69 [[ 9.99998170e-01 1.90418866e-03 -1.82172757e-04 1.87769634e+02] [-1.90418499e-03 9.99998187e-01 2.03058461e-05 -5.41989870e+00] [ 1.82211093e-04 -1.99589183e-05 9.99999983e-01 -3.69306564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.06800114499998 meters 0.09387145174320588 Centerline is valid? [True, True] Translation: X:187.80, Y:-5.42, Z:-3.70 [[ 9.99995033e-01 3.08317174e-03 -6.54413160e-04 1.87798642e+02] [-3.08312657e-03 9.99995245e-01 7.00206974e-05 -5.42433388e+00] [ 6.54625934e-04 -6.80027110e-05 9.99999783e-01 -3.69571651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09800114499996 meters 0.09386212144973868 Centerline is valid? [True, True] Translation: X:187.83, Y:-5.43, Z:-3.70 [[ 9.99986514e-01 5.18821728e-03 2.34342396e-04 1.87828500e+02] [-5.18821158e-03 9.99986541e-01 -2.48959938e-05 -5.42627914e+00] [-2.34468408e-04 2.36798401e-05 9.99999972e-01 -3.69730229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12800114499996 meters 0.09654359478370697 Centerline is valid? [True, True] Translation: X:187.86, Y:-5.43, Z:-3.70 [[ 9.99961819e-01 8.73434790e-03 2.68821894e-04 1.87856467e+02] [-8.73434021e-03 9.99961854e-01 -2.97651229e-05 -5.43224799e+00] [-2.69071619e-04 2.74160046e-05 9.99999963e-01 -3.70076090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15800114499996 meters 0.08994802154513472 Centerline is valid? [True, True] Translation: X:187.89, Y:-5.42, Z:-3.70 [[ 9.99939613e-01 1.08962844e-02 1.42895414e-03 1.87888480e+02] [-1.08960792e-02 9.99940625e-01 -1.51284655e-04 -5.42329725e+00] [-1.43051774e-03 1.35705522e-04 9.99998968e-01 -3.69792178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18800114499996 meters 0.08885406792777541 Centerline is valid? [True, True] Translation: X:187.92, Y:-5.42, Z:-3.70 [[ 9.99921016e-01 1.23255757e-02 2.45819838e-03 1.87918293e+02] [-1.23249709e-02 9.99924011e-01 -2.61017695e-04 -5.42291266e+00] [-2.46122878e-03 2.30699855e-04 9.99996945e-01 -3.69804204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21800114499996 meters 0.09005192691551782 Centerline is valid? [True, True] Translation: X:187.95, Y:-5.43, Z:-3.70 [[ 9.99907175e-01 1.34624890e-02 2.09843115e-03 1.87946980e+02] [-1.34620497e-02 9.99909358e-01 -2.23354855e-04 -5.42582225e+00] [-2.10124785e-03 1.95084938e-04 9.99997773e-01 -3.69994661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24800114499996 meters 0.08837990483528814 Centerline is valid? [True, True] Translation: X:187.98, Y:-5.42, Z:-3.70 [[ 9.99890096e-01 1.47214726e-02 1.75316868e-03 1.87977544e+02] [-1.47211693e-02 9.99891620e-01 -1.85831047e-04 -5.42259185e+00] [-1.75571438e-03 1.60001930e-04 9.99998446e-01 -3.70036822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27800114499996 meters 0.08975995061025521 Centerline is valid? [True, True] Translation: X:188.01, Y:-5.43, Z:-3.70 [[ 9.99885526e-01 1.49028781e-02 2.61500512e-03 1.88006496e+02] [-1.49021974e-02 9.99888917e-01 -2.79603286e-04 -5.42655647e+00] [-2.61888153e-03 2.40601956e-04 9.99996542e-01 -3.70140887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30800114499996 meters 0.08963745200416975 Centerline is valid? [True, True] Translation: X:188.04, Y:-5.43, Z:-3.70 [[ 9.99894600e-01 1.42870781e-02 2.58217989e-03 1.88035171e+02] [-1.42864164e-02 9.99897906e-01 -2.74516443e-04 -5.42724019e+00] [-2.58583830e-03 2.37597412e-04 9.99996628e-01 -3.70123802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33800114499996 meters 0.09607434850753159 Centerline is valid? [True, True] Translation: X:188.06, Y:-5.44, Z:-3.70 [[ 9.99893879e-01 1.39411421e-02 4.22784577e-03 1.88062261e+02] [-1.39393718e-02 9.99902742e-01 -4.47917655e-04 -5.43947936e+00] [-4.23367906e-03 3.88936607e-04 9.99990962e-01 -3.70490811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36800114499997 meters 0.0937452686623231 Centerline is valid? [True, True] Translation: X:188.09, Y:-5.44, Z:-3.71 [[ 9.99899353e-01 1.37815108e-02 3.36943527e-03 1.88091249e+02] [-1.37803850e-02 9.99904982e-01 -3.57122492e-04 -5.43826618e+00] [-3.37403681e-03 3.10654433e-04 9.99994260e-01 -3.70525448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39800114499997 meters 0.09437759616153596 Centerline is valid? [True, True] Translation: X:188.12, Y:-5.44, Z:-3.71 [[ 9.99908673e-01 1.31215543e-02 3.23586158e-03 1.88119423e+02] [-1.31205129e-02 9.99913864e-01 -3.42842329e-04 -5.44065759e+00] [-3.24008148e-03 3.00354854e-04 9.99994706e-01 -3.70658542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42800114499997 meters 0.09142449237049496 Centerline is valid? [True, True] Translation: X:188.15, Y:-5.43, Z:-3.71 [[ 9.99922586e-01 1.22223276e-02 2.33175085e-03 1.88149600e+02] [-1.22217844e-02 9.99925281e-01 -2.47048827e-04 -5.43436029e+00] [-2.33459613e-03 2.18531546e-04 9.99997251e-01 -3.70511672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45800114499997 meters 0.09665065699531482 Centerline is valid? [True, True] Translation: X:188.18, Y:-5.44, Z:-3.71 [[ 9.99927607e-01 1.17586382e-02 2.55261183e-03 1.88176655e+02] [-1.17579831e-02 9.99930836e-01 -2.71475455e-04 -5.44455592e+00] [-2.55562746e-03 2.41442235e-04 9.99996705e-01 -3.70873657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48800114499997 meters 0.09501496732908367 Centerline is valid? [True, True] Translation: X:188.21, Y:-5.44, Z:-3.71 [[ 9.99929940e-01 1.15714646e-02 2.49310152e-03 1.88206140e+02] [-1.15708417e-02 9.99933021e-01 -2.64103539e-04 -5.44380896e+00] [-2.49599060e-03 2.35237753e-04 9.99996857e-01 -3.70933817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51800114499997 meters 0.09508796732698323 Centerline is valid? [True, True] Translation: X:188.24, Y:-5.45, Z:-3.71 [[ 9.99933739e-01 1.14566292e-02 1.12367661e-03 1.88235228e+02] [-1.14565014e-02 9.99934365e-01 -1.20040625e-04 -5.44549075e+00] [-1.12497812e-03 1.07159268e-04 9.99999361e-01 -3.71154963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54800114499997 meters 0.08881021748117596 Centerline is valid? [True, True] Translation: X:188.27, Y:-5.43, Z:-3.71 [[ 9.99936119e-01 1.12635269e-02 -9.44188840e-04 1.88265659e+02] [-1.12634402e-02 9.99936561e-01 9.71698662e-05 -5.43497776e+00] [ 9.45223417e-04 -8.65288444e-05 9.99999550e-01 -3.71019116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57800114499997 meters 0.09603681272575927 Centerline is valid? [True, True] Translation: X:188.29, Y:-5.45, Z:-3.72 [[ 9.99937270e-01 1.11328811e-02 -1.23121714e-03 1.88292210e+02] [-1.11327340e-02 9.99938021e-01 1.26311512e-04 -5.44823128e+00] [ 1.23254704e-03 -1.12596775e-04 9.99999234e-01 -3.71579747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60800114499997 meters 0.10108387631804354 Centerline is valid? [True, False] Translation: X:188.29, Y:-5.44, Z:-3.72 [[ 9.99972114e-01 7.14843749e-03 -2.16147063e-03 1.88294563e+02] [-7.15836136e-03 9.99963711e-01 -4.61892205e-03 -5.44454606e+00] [ 2.12837411e-03 4.63426583e-03 9.99986997e-01 -3.71653476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63800114499998 meters 0.095348985828219 Centerline is valid? [False, True] Translation: X:188.29, Y:-5.44, Z:-3.72 [[ 9.99974420e-01 6.80933837e-03 -2.18915154e-03 1.88294497e+02] [-6.82083269e-03 9.99962763e-01 -5.28670923e-03 -5.44259605e+00] [ 2.15307103e-03 5.30150583e-03 9.99983629e-01 -3.71628908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66800114499998 meters 0.09240972747789919 Centerline is valid? [True, True] Translation: X:188.32, Y:-5.44, Z:-3.72 [[ 9.99969172e-01 7.77234446e-03 -1.11655239e-03 1.88324366e+02] [-7.77222619e-03 9.99969790e-01 1.10224827e-04 -5.44133616e+00] [ 1.11737536e-03 -1.01543331e-04 9.99999371e-01 -3.71859517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69800114499998 meters 0.0849625698680734 Centerline is valid? [True, True] Translation: X:188.35, Y:-5.43, Z:-3.72 [[ 9.99960958e-01 8.75891050e-03 -1.16821977e-03 1.88354489e+02] [-8.75878306e-03 9.99961635e-01 1.14164056e-04 -5.43010310e+00] [ 1.16917490e-03 -1.03927415e-04 9.99999311e-01 -3.71501181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72800114499998 meters 0.08796457919249352 Centerline is valid? [True, True] Translation: X:188.38, Y:-5.44, Z:-3.72 [[ 9.99956643e-01 9.31184555e-03 3.70085094e-05 1.88381541e+02] [-9.31184532e-03 9.99956644e-01 -6.30463737e-06 -5.43616277e+00] [-3.70656127e-05 5.95974651e-06 9.99999999e-01 -3.71761956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75800114499998 meters 0.09325042152645799 Centerline is valid? [True, True] Translation: X:188.41, Y:-5.44, Z:-3.72 [[ 9.99943896e-01 1.05176650e-02 1.25848162e-03 1.88409631e+02] [-1.05175138e-02 9.99944681e-01 -1.26637278e-04 -5.44362662e+00] [-1.25974393e-03 1.13394076e-04 9.99999200e-01 -3.71931437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78800114499998 meters 0.09124581266665263 Centerline is valid? [True, True] Translation: X:188.44, Y:-5.44, Z:-3.72 [[ 9.99936293e-01 1.10408749e-02 2.34730333e-03 1.88438816e+02] [-1.10403531e-02 9.99939026e-01 -2.35162327e-04 -5.44124351e+00] [-2.34975660e-03 2.09232288e-04 9.99997217e-01 -3.71857580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81800114499998 meters 0.0890246128434153 Centerline is valid? [True, True] Translation: X:188.47, Y:-5.44, Z:-3.72 [[ 9.99933866e-01 1.11611868e-02 2.77334657e-03 1.88467745e+02] [-1.11604602e-02 9.99937682e-01 -2.77339616e-04 -5.43856084e+00] [-2.77626918e-03 2.46369450e-04 9.99996116e-01 -3.71759052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84800114499996 meters 0.0890246128434153 Centerline is valid? [True, True] Translation: X:188.50, Y:-5.44, Z:-3.72 [[ 9.99934584e-01 1.10967162e-02 2.77336423e-03 1.88496021e+02] [-1.10959898e-02 9.99938399e-01 -2.77162317e-04 -5.44129147e+00] [-2.77626898e-03 2.46370965e-04 9.99996116e-01 -3.71847820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87800114499996 meters 0.08644492527699014 Centerline is valid? [True, True] Translation: X:188.53, Y:-5.44, Z:-3.72 [[ 9.99936304e-01 1.08495689e-02 3.11042638e-03 1.88525516e+02] [-1.08486553e-02 9.99941103e-01 -3.10442814e-04 -5.43749983e+00] [-3.11361136e-03 2.76679097e-04 9.99995114e-01 -3.71693653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90800114499996 meters 0.08863612636861744 Centerline is valid? [True, True] Translation: X:188.55, Y:-5.44, Z:-3.72 [[ 9.99936598e-01 1.05712665e-02 3.87913415e-03 1.88553468e+02] [-1.05698465e-02 9.99944063e-01 -3.86375962e-04 -5.44122745e+00] [-3.88300164e-03 3.45349612e-04 9.99992401e-01 -3.71896869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93800114499996 meters 0.0883215014146536 Centerline is valid? [True, True] Translation: X:188.58, Y:-5.44, Z:-3.72 [[ 9.99936510e-01 1.01835795e-02 4.82404643e-03 1.88582569e+02] [-1.01813828e-02 9.99948053e-01 -4.79694751e-04 -5.44302805e+00] [-4.82868084e-03 4.30548832e-04 9.99988249e-01 -3.71933372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96800114499996 meters 0.08835227109991127 Centerline is valid? [True, True] Translation: X:188.61, Y:-5.45, Z:-3.72 [[ 9.99946353e-01 9.40636826e-03 4.33713904e-03 1.88612429e+02] [-9.40458959e-03 9.99955683e-01 -4.30314741e-04 -5.44545070e+00] [-4.34099453e-03 3.89502643e-04 9.99990502e-01 -3.72105699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99800114499996 meters 0.08977099826713855 Centerline is valid? [True, True] Translation: X:188.64, Y:-5.45, Z:-3.72 [[ 9.99947611e-01 8.85751477e-03 5.13034174e-03 1.88640216e+02] [-8.85501626e-03 9.99960664e-01 -5.09515935e-04 -5.44975275e+00] [-5.13465298e-03 4.64059982e-04 9.99986710e-01 -3.72205713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02800114499996 meters 0.09070511219024005 Centerline is valid? [True, True] Translation: X:188.67, Y:-5.45, Z:-3.72 [[ 9.99961345e-01 7.84490503e-03 3.97056806e-03 1.88670245e+02] [-7.84340340e-03 9.99969163e-01 -3.93620144e-04 -5.45009582e+00] [-3.97353353e-03 3.62462161e-04 9.99992040e-01 -3.72268749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05800114499996 meters 0.08989455792984276 Centerline is valid? [True, True] Translation: X:188.70, Y:-5.45, Z:-3.72 [[ 9.99962416e-01 7.87785945e-03 3.62014512e-03 1.88699646e+02] [-7.87660978e-03 9.99968914e-01 -3.59326686e-04 -5.45036684e+00] [-3.62286331e-03 3.30798711e-04 9.99993383e-01 -3.72342158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08800114499996 meters 0.09238594815859105 Centerline is valid? [True, True] Translation: X:188.73, Y:-5.46, Z:-3.73 [[ 9.99963340e-01 7.45955719e-03 4.20394708e-03 1.88727550e+02] [-7.45787025e-03 9.99972103e-01 -4.16809721e-04 -5.45733497e+00] [-4.20693902e-03 3.85441949e-04 9.99991077e-01 -3.72711641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11800114499997 meters 0.09688832192397594 Centerline is valid? [True, True] Translation: X:188.76, Y:-5.47, Z:-3.73 [[ 9.99970969e-01 6.88299626e-03 3.26887264e-03 1.88755530e+02] [-6.88197425e-03 9.99976267e-01 -3.23794697e-04 -5.46778968e+00] [-3.27102374e-03 3.01289000e-04 9.99994605e-01 -3.73092957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14800114499997 meters 0.09035677456686383 Centerline is valid? [True, True] Translation: X:188.79, Y:-5.46, Z:-3.73 [[ 9.99969148e-01 6.96897916e-03 3.62451928e-03 1.88786553e+02] [-6.96772397e-03 9.99975661e-01 -3.58816445e-04 -5.45951565e+00] [-3.62693164e-03 3.33550724e-04 9.99993367e-01 -3.72883662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17800114499997 meters 0.09567095979273142 Centerline is valid? [True, True] Translation: X:188.81, Y:-5.47, Z:-3.73 [[ 9.99964199e-01 7.09597274e-03 4.60959238e-03 1.88814393e+02] [-7.09394390e-03 9.99974734e-01 -4.56334757e-04 -5.47056882e+00] [-4.61271405e-03 4.23618230e-04 9.99989272e-01 -3.73209106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20800114499997 meters 0.09217722700942227 Centerline is valid? [True, True] Translation: X:188.85, Y:-5.47, Z:-3.73 [[ 9.99963408e-01 6.93649169e-03 5.00681650e-03 1.88845069e+02] [-6.93410033e-03 9.99975836e-01 -4.94822078e-04 -5.46599569e+00] [-5.01012785e-03 4.60086204e-04 9.99987343e-01 -3.73119629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23800114499997 meters 0.09283792649480717 Centerline is valid? [True, True] Translation: X:188.88, Y:-5.47, Z:-3.73 [[ 9.99965445e-01 6.56360344e-03 5.10165918e-03 1.88875273e+02] [-6.56112116e-03 9.99978349e-01 -5.03149056e-04 -5.46940476e+00] [-5.10485119e-03 4.69659066e-04 9.99986860e-01 -3.73151474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26800114499997 meters 0.09259682838583104 Centerline is valid? [True, True] Translation: X:188.91, Y:-5.47, Z:-3.73 [[ 9.99959166e-01 6.74539844e-03 6.01380242e-03 1.88905846e+02] [-6.74195241e-03 9.99977097e-01 -5.93108811e-04 -5.47194202e+00] [-6.01766544e-03 5.52539822e-04 9.99981741e-01 -3.73226089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29800114499997 meters 0.09516667974280278 Centerline is valid? [True, True] Translation: X:188.94, Y:-5.48, Z:-3.73 [[ 9.99956738e-01 6.71972105e-03 6.43169700e-03 1.88935092e+02] [-6.71579102e-03 9.99977249e-01 -6.32444362e-04 -5.47979229e+00] [-6.43580052e-03 5.89223069e-04 9.99979116e-01 -3.73479614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32800114499997 meters 0.09169092518959696 Centerline is valid? [True, True] Translation: X:188.97, Y:-5.48, Z:-3.73 [[ 9.99951554e-01 6.98147851e-03 6.93890645e-03 1.88965743e+02] [-6.97689265e-03 9.99975427e-01 -6.84876675e-04 -5.47830043e+00] [-6.94351739e-03 6.36431490e-04 9.99975691e-01 -3.73487783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35800114499997 meters 0.09644627646260158 Centerline is valid? [True, True] Translation: X:188.99, Y:-5.49, Z:-3.74 [[ 9.99944083e-01 7.53127864e-03 7.42369559e-03 1.88994709e+02] [-7.52604752e-03 9.99971411e-01 -7.32336021e-04 -5.48961818e+00] [-7.42899878e-03 6.76423985e-04 9.99972176e-01 -3.73852768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38800114499998 meters 0.09611339775877327 Centerline is valid? [True, True] Translation: X:189.03, Y:-5.49, Z:-3.74 [[ 9.99947136e-01 7.77913358e-03 6.72382562e-03 1.89025822e+02] [-7.77484994e-03 9.99969556e-01 -6.62987925e-04 -5.49078182e+00] [-6.72877839e-03 6.10676142e-04 9.99977175e-01 -3.73943544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41800114499998 meters 0.09741240572666425 Centerline is valid? [True, True] Translation: X:189.06, Y:-5.49, Z:-3.74 [[ 9.99941209e-01 8.84467802e-03 6.27294137e-03 1.89055758e+02] [-8.84096711e-03 9.99960726e-01 -6.19057777e-04 -5.49374442e+00] [-6.27817038e-03 5.63562513e-04 9.99980133e-01 -3.74090634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44800114499998 meters 0.09635769761659949 Centerline is valid? [True, True] Translation: X:189.09, Y:-5.49, Z:-3.74 [[ 9.99936167e-01 9.22374093e-03 6.52563473e-03 1.89085235e+02] [-9.21972466e-03 9.99957289e-01 -6.45276091e-04 -5.49477755e+00] [-6.53130787e-03 5.85070346e-04 9.99978500e-01 -3.74197523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47800114499998 meters 0.09764694615233357 Centerline is valid? [True, True] Translation: X:189.11, Y:-5.50, Z:-3.74 [[ 9.99918666e-01 1.03986693e-02 7.38440546e-03 1.89114144e+02] [-1.03935609e-02 9.99945719e-01 -7.29824906e-04 -5.50020531e+00] [-7.39159384e-03 6.53015278e-04 9.99972469e-01 -3.74385623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50800114499998 meters 0.09757132775298688 Centerline is valid? [True, True] Translation: X:189.14, Y:-5.50, Z:-3.75 [[ 9.99910338e-01 1.11427573e-02 7.42669730e-03 1.89144191e+02] [-1.11376109e-02 9.99937706e-01 -7.33962480e-04 -5.50374012e+00] [-7.43441302e-03 6.51181006e-04 9.99972152e-01 -3.74504815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53800114499998 meters 0.09800169633593087 Centerline is valid? [True, True] Translation: X:189.17, Y:-5.51, Z:-3.75 [[ 9.99893015e-01 1.25678184e-02 7.48392348e-03 1.89172832e+02] [-1.25626358e-02 9.99920814e-01 -7.39106752e-04 -5.50723353e+00] [-7.49261982e-03 6.45009873e-04 9.99971722e-01 -3.74756683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.56800114499998 meters 0.09714239705694085 Centerline is valid? [True, True] Translation: X:189.20, Y:-5.51, Z:-3.75 [[ 9.99875505e-01 1.37455659e-02 7.74820638e-03 1.89202462e+02] [-1.37400480e-02 9.99905309e-01 -7.64926851e-04 -5.50705621e+00] [-7.75798705e-03 6.58370893e-04 9.99969690e-01 -3.74731405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59800114499996 meters 0.09609432565857697 Centerline is valid? [True, True] Translation: X:189.23, Y:-5.51, Z:-3.75 [[ 9.99856610e-01 1.46865860e-02 8.42992891e-03 1.89232429e+02] [-1.46800905e-02 9.99891896e-01 -8.31892895e-04 -5.50613387e+00] [-8.44123527e-03 7.08021490e-04 9.99964121e-01 -3.74707253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62800114499996 meters 0.08762893778008596 Centerline is valid? [True, True] Translation: X:189.26, Y:-5.49, Z:-3.74 [[ 9.99831635e-01 1.60600950e-02 8.87556353e-03 1.89264195e+02] [-1.60529539e-02 9.99870760e-01 -8.75240576e-04 -5.49328869e+00] [-8.88847290e-03 7.32614204e-04 9.99960228e-01 -3.74416026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65800114499996 meters 0.08355817434494414 Centerline is valid? [True, True] Translation: X:189.29, Y:-5.49, Z:-3.75 [[ 9.99789399e-01 1.82707963e-02 9.34532081e-03 1.89294700e+02] [-1.82629767e-02 9.99832793e-01 -9.21395879e-04 -5.48910497e+00] [-9.36059285e-03 7.50528456e-04 9.99955907e-01 -3.74506741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68800114499996 meters 0.08409796527228965 Centerline is valid? [True, True] Translation: X:189.32, Y:-5.49, Z:-3.75 [[ 9.99770544e-01 1.92701304e-02 9.35529206e-03 1.89323673e+02] [-1.92623323e-02 9.99814038e-01 -9.22939222e-04 -5.49359593e+00] [-9.37133749e-03 7.42522703e-04 9.99955812e-01 -3.74686190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71800114499996 meters 0.08373547615268466 Centerline is valid? [True, True] Translation: X:189.35, Y:-5.50, Z:-3.75 [[ 9.99760745e-01 1.92268441e-02 1.04297884e-02 1.89352551e+02] [-1.92171532e-02 9.99814804e-01 -1.02859066e-03 -5.49559300e+00] [-1.04476334e-02 8.27913727e-04 9.99945079e-01 -3.74742689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74800114499996 meters 0.0848977848019984 Centerline is valid? [True, True] Translation: X:189.38, Y:-5.50, Z:-3.75 [[ 9.99780300e-01 1.78567207e-02 1.09767626e-02 1.89381737e+02] [-1.78459212e-02 9.99840164e-01 -1.08101763e-03 -5.49972008e+00] [-1.09943115e-02 8.84889694e-04 9.99939169e-01 -3.74763958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77800114499996 meters 0.09085316947685958 Centerline is valid? [True, True] Translation: X:189.41, Y:-5.51, Z:-3.75 [[ 9.99786242e-01 1.70722738e-02 1.16622323e-02 1.89409408e+02] [-1.70600335e-02 9.99853808e-01 -1.14824881e-03 -5.51284157e+00] [-1.16801306e-02 9.49045284e-04 9.99931335e-01 -3.74952341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80800114499996 meters 0.08562311819784509 Centerline is valid? [True, True] Translation: X:189.44, Y:-5.51, Z:-3.75 [[ 9.99819117e-01 1.53771575e-02 1.11926776e-02 1.89440702e+02] [-1.53657917e-02 9.99881333e-01 -1.10075847e-03 -5.50649971e+00] [-1.12082759e-02 9.28575006e-04 9.99936754e-01 -3.74782472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83800114499996 meters 0.08751485496720506 Centerline is valid? [True, True] Translation: X:189.47, Y:-5.51, Z:-3.75 [[ 9.99844258e-01 1.38811217e-02 1.08983623e-02 1.89469088e+02] [-1.38702626e-02 9.99903229e-01 -1.07134728e-03 -5.51362403e+00] [-1.09121791e-02 9.20017282e-04 9.99940037e-01 -3.74939551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86800114499997 meters 0.09186079635517802 Centerline is valid? [True, True] Translation: X:189.50, Y:-5.53, Z:-3.75 [[ 9.99900114e-01 1.00332519e-02 9.95470236e-03 1.89497603e+02] [-1.00240118e-02 9.99949280e-01 -9.77667197e-04 -5.52828597e+00] [-9.96400664e-03 8.77783487e-04 9.99949973e-01 -3.75433961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89800114499997 meters 0.09311301845082118 Centerline is valid? [True, True] Translation: X:189.53, Y:-5.54, Z:-3.76 [[ 9.99917276e-01 8.49265483e-03 9.65998964e-03 1.89528432e+02] [-8.48386752e-03 9.99963560e-01 -9.50275328e-04 -5.53514958e+00] [-9.66770799e-03 8.68242645e-04 9.99952890e-01 -3.75623170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92800114499997 meters 0.0947341827588801 Centerline is valid? [True, True] Translation: X:189.56, Y:-5.54, Z:-3.76 [[ 9.99930303e-01 7.26355698e-03 9.30753688e-03 1.89559099e+02] [-7.25534067e-03 9.99973260e-01 -9.16221104e-04 -5.54113892e+00] [-9.31394302e-03 8.48627895e-04 9.99956264e-01 -3.75737368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95800114499997 meters 0.09312242270725675 Centerline is valid? [True, True] Translation: X:189.59, Y:-5.54, Z:-3.76 [[ 9.99936629e-01 7.28198697e-03 8.58546542e-03 1.89591135e+02] [-7.27503718e-03 9.99973183e-01 -8.40437197e-04 -5.54122928e+00] [-8.59135524e-03 7.77924357e-04 9.99962791e-01 -3.75777863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98800114499997 meters 0.09924414051535811 Centerline is valid? [True, True] Translation: X:189.62, Y:-5.55, Z:-3.76 [[ 9.99951045e-01 6.93960067e-03 7.05332292e-03 1.89621089e+02] [-6.93489609e-03 9.99975714e-01 -6.91241163e-04 -5.55390522e+00] [-7.05794857e-03 6.42293261e-04 9.99974886e-01 -3.76237265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01800114499997 meters 0.09538593385967907 Centerline is valid? [True, True] Translation: X:189.65, Y:-5.55, Z:-3.76 [[ 9.99952841e-01 6.85696250e-03 6.87737392e-03 1.89652449e+02] [-6.85244902e-03 9.99976291e-01 -6.79629178e-04 -5.55114489e+00] [-6.88187105e-03 6.32470273e-04 9.99976120e-01 -3.76270624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04800114499997 meters 0.09487125965264857 Centerline is valid? [True, True] Translation: X:189.68, Y:-5.55, Z:-3.76 [[ 9.99944117e-01 7.66899940e-03 7.27667857e-03 1.89683739e+02] [-7.66396581e-03 9.99970373e-01 -7.19376072e-04 -5.55487122e+00] [-7.28197987e-03 6.63567655e-04 9.99973266e-01 -3.76403660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07800114499997 meters 0.0962687038659322 Centerline is valid? [True, True] Translation: X:189.71, Y:-5.56, Z:-3.77 [[ 9.99937462e-01 8.13636909e-03 7.67280267e-03 1.89713783e+02] [-8.13078089e-03 9.99966656e-01 -7.59225712e-04 -5.56149433e+00] [-7.67872417e-03 6.96792354e-04 9.99970275e-01 -3.76569284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10800114499997 meters 0.09487073681245176 Centerline is valid? [True, True] Translation: X:189.74, Y:-5.56, Z:-3.76 [[ 9.99915835e-01 9.60721100e-03 8.71915905e-03 1.89744684e+02] [-9.60004944e-03 9.99953546e-01 -8.62841746e-04 -5.56261727e+00] [-8.72704352e-03 7.79064767e-04 9.99961615e-01 -3.76484777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13800114499998 meters 0.09542108474414551 Centerline is valid? [True, True] Translation: X:189.77, Y:-5.57, Z:-3.77 [[ 9.99908063e-01 9.99746215e-03 9.16054988e-03 1.89774660e+02] [-9.98956684e-03 9.99949691e-01 -9.07234140e-04 -5.56598119e+00] [-9.16915907e-03 8.15640806e-04 9.99957630e-01 -3.76547051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16800114499998 meters 0.09361213071913178 Centerline is valid? [True, True] Translation: X:189.81, Y:-5.57, Z:-3.76 [[ 9.99898171e-01 1.05833658e-02 9.57289437e-03 1.89805200e+02] [-1.05747703e-02 9.99943636e-01 -9.48071535e-04 -5.56582119e+00] [-9.58238860e-03 8.46743835e-04 9.99953729e-01 -3.76442751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19800114499998 meters 0.09600693123745392 Centerline is valid? [True, True] Translation: X:189.83, Y:-5.57, Z:-3.77 [[ 9.99886120e-01 1.11249238e-02 1.01972276e-02 1.89834659e+02] [-1.11151985e-02 9.99937714e-01 -1.00990368e-03 -5.57253584e+00] [-1.02078276e-02 8.96444459e-04 9.99947497e-01 -3.76578579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22800114499998 meters 0.09646530422955096 Centerline is valid? [True, True] Translation: X:189.87, Y:-5.58, Z:-3.77 [[ 9.99894605e-01 1.09872506e-02 9.48999530e-03 1.89865479e+02] [-1.09788277e-02 9.99939290e-01 -9.39193809e-04 -5.57667695e+00] [-9.49973832e-03 8.34905799e-04 9.99954528e-01 -3.76699937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25800114499998 meters 0.09815264650025043 Centerline is valid? [True, True] Translation: X:189.90, Y:-5.58, Z:-3.77 [[ 9.99910963e-01 9.58365180e-03 9.28549137e-03 1.89895178e+02] [-9.57552238e-03 9.99953731e-01 -9.19560804e-04 -5.58476855e+00] [-9.29387449e-03 8.30565498e-04 9.99956466e-01 -3.76955457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28800114499998 meters 0.09881919840974636 Centerline is valid? [True, True] Translation: X:189.93, Y:-5.59, Z:-3.77 [[ 9.99911238e-01 9.27160760e-03 9.56836737e-03 1.89926052e+02] [-9.26296270e-03 9.99956649e-01 -9.47410353e-04 -5.59071911e+00] [-9.57673659e-03 8.58694829e-04 9.99953773e-01 -3.77192846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31800114499998 meters 0.10077569059802206 Centerline is valid? [True, False] Translation: X:189.94, Y:-5.59, Z:-3.77 [[ 9.99998501e-01 1.42734689e-03 9.80067450e-04 1.89939054e+02] [-1.42783550e-03 9.99998857e-01 4.98030381e-04 -5.58982423e+00] [-9.79355467e-04 -4.99429010e-04 9.99999396e-01 -3.76842863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34800114499996 meters 0.09259084550859449 Centerline is valid? [False, True] Translation: X:189.94, Y:-5.59, Z:-3.77 [[ 9.99998581e-01 1.17705664e-03 1.20520235e-03 1.89938381e+02] [-1.17744517e-03 9.99999255e-01 3.21716028e-04 -5.58988598e+00] [-1.20482278e-03 -3.23134632e-04 9.99999222e-01 -3.76811917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37800114499996 meters 0.09278942902598208 Centerline is valid? [True, True] Translation: X:189.97, Y:-5.59, Z:-3.77 [[ 9.99999917e-01 3.78588895e-04 -1.52547368e-04 1.89968598e+02] [-3.78586702e-04 9.99999928e-01 1.44022040e-05 -5.59316912e+00] [ 1.52552809e-04 -1.43444504e-05 9.99999988e-01 -3.76964126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40800114499996 meters 0.09345225708434907 Centerline is valid? [True, True] Translation: X:190.00, Y:-5.60, Z:-3.77 [[ 9.99999253e-01 8.42941459e-05 -1.21910229e-03 1.89998713e+02] [-8.41538927e-05 9.99999990e-01 1.15097102e-04 -5.59735914e+00] [ 1.21911198e-03 -1.14994423e-04 9.99999250e-01 -3.77118199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43800114499996 meters 0.10768247820359841 Centerline is valid? [True, False] Translation: X:190.00, Y:-5.60, Z:-3.77 [[ 9.99999333e-01 1.39307429e-04 -1.14687292e-03 1.89998500e+02] [-1.38929210e-04 9.99999936e-01 3.29856619e-04 -5.59846008e+00] [ 1.14691880e-03 -3.29697065e-04 9.99999288e-01 -3.77114664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46800114499996 meters 0.09489632421358017 Centerline is valid? [False, True] Translation: X:190.00, Y:-5.60, Z:-3.77 [[ 9.99999372e-01 1.63230805e-04 -1.10899976e-03 1.89998361e+02] [-1.62758748e-04 9.99999896e-01 4.25736969e-04 -5.59901204e+00] [ 1.10906914e-03 -4.25556202e-04 9.99999294e-01 -3.77107748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49800114499996 meters 0.09864051027830216 Centerline is valid? [True, True] Translation: X:190.03, Y:-5.61, Z:-3.77 [[ 9.99998672e-01 8.74541206e-04 -1.37535084e-03 1.90026871e+02] [-8.74362223e-04 9.99999609e-01 1.30731529e-04 -5.60815403e+00] [ 1.37546464e-03 -1.29528801e-04 9.99999046e-01 -3.77318971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52800114499996 meters 0.09376028883069382 Centerline is valid? [True, True] Translation: X:190.06, Y:-5.60, Z:-3.77 [[ 9.99997753e-01 1.39696303e-03 -1.59447267e-03 1.90056723e+02] [-1.39672771e-03 9.99999014e-01 1.48689163e-04 -5.60276493e+00] [ 1.59467881e-03 -1.46461785e-04 9.99998718e-01 -3.77150892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55800114499996 meters 0.09138586605421001 Centerline is valid? [True, True] Translation: X:190.09, Y:-5.60, Z:-3.77 [[ 9.99992766e-01 3.44296646e-03 -1.61704984e-03 1.90086621e+02] [-3.44272264e-03 9.99994062e-01 1.53539229e-04 -5.60244917e+00] [ 1.61756887e-03 -1.47971064e-04 9.99998681e-01 -3.77178962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58800114499996 meters 0.09317112094631443 Centerline is valid? [True, True] Translation: X:190.11, Y:-5.61, Z:-3.77 [[ 9.99991825e-01 3.80896432e-03 -1.35705350e-03 1.90114070e+02] [-3.80879535e-03 9.99992738e-01 1.27071964e-04 -5.60834311e+00] [ 1.35752766e-03 -1.21902186e-04 9.99999071e-01 -3.77325463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61800114499997 meters 0.09247918183679309 Centerline is valid? [True, True] Translation: X:190.14, Y:-5.61, Z:-3.77 [[ 9.99988435e-01 4.80509636e-03 -2.02485385e-04 1.90144023e+02] [-4.80509264e-03 9.99988455e-01 1.88551576e-05 -5.61040287e+00] [ 2.02573648e-04 -1.78819785e-05 9.99999979e-01 -3.77307485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64800114499997 meters 0.09360354520317606 Centerline is valid? [True, True] Translation: X:190.17, Y:-5.61, Z:-3.77 [[ 9.99979200e-01 6.40463363e-03 -7.61154042e-04 1.90172123e+02] [-6.40458132e-03 9.99979488e-01 7.11502059e-05 -5.61473269e+00] [ 7.61594120e-04 -6.62738531e-05 9.99999708e-01 -3.77403593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67800114499997 meters 0.08932927240126429 Centerline is valid? [True, True] Translation: X:190.20, Y:-5.61, Z:-3.77 [[ 9.99971633e-01 7.45951255e-03 -1.04305300e-03 1.90201812e+02] [-7.45941448e-03 9.99972173e-01 9.78801487e-05 -5.61084929e+00] [ 1.04375411e-03 -9.00968075e-05 9.99999451e-01 -3.77336195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70800114499997 meters 0.08831549839840168 Centerline is valid? [True, True] Translation: X:190.23, Y:-5.61, Z:-3.77 [[ 9.99968313e-01 7.92438184e-03 -7.60231952e-04 1.90230160e+02] [-7.92433048e-03 9.99968600e-01 7.05452423e-05 -5.61243446e+00] [ 7.60767108e-04 -6.45186777e-05 9.99999709e-01 -3.77428832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73800114499997 meters 0.08831549839840168 Centerline is valid? [True, True] Translation: X:190.26, Y:-5.62, Z:-3.77 [[ 9.99968823e-01 7.85970593e-03 -7.60235545e-04 1.90258448e+02] [-7.85965458e-03 9.99969110e-01 7.05068312e-05 -5.61504467e+00] [ 7.60766224e-04 -6.45294442e-05 9.99999709e-01 -3.77499855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76800114499997 meters 0.0890311297612121 Centerline is valid? [True, True] Translation: X:190.29, Y:-5.62, Z:-3.78 [[ 9.99960615e-01 8.85112590e-03 -6.53428217e-04 1.90285760e+02] [-8.85108861e-03 9.99960827e-01 5.99290314e-05 -5.62093079e+00] [ 6.53933060e-04 -5.41431200e-05 9.99999785e-01 -3.77822165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79800114499997 meters 0.09428429901927078 Centerline is valid? [True, True] Translation: X:190.31, Y:-5.63, Z:-3.78 [[ 9.99962105e-01 8.61042165e-03 -1.28439422e-03 1.90312899e+02] [-8.61027503e-03 9.99962924e-01 1.19644460e-04 -5.63288091e+00] [ 1.28537679e-03 -1.08580938e-04 9.99999168e-01 -3.78199744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82800114499997 meters 0.0940520427470998 Centerline is valid? [True, True] Translation: X:190.34, Y:-5.64, Z:-3.78 [[ 9.99969658e-01 7.68046419e-03 -1.30131633e-03 1.90342047e+02] [-7.68031183e-03 9.99970499e-01 1.22035931e-04 -5.63513927e+00] [ 1.30221524e-03 -1.12037713e-04 9.99999146e-01 -3.78190886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85800114499997 meters 0.08840822551039326 Centerline is valid? [True, True] Translation: X:190.37, Y:-5.63, Z:-3.78 [[ 9.99976752e-01 6.12568019e-03 -2.99522044e-03 1.90372918e+02] [-6.12485987e-03 9.99981203e-01 2.82972525e-04 -5.62838851e+00] [ 2.99689754e-03 -2.64620641e-04 9.99995474e-01 -3.78005388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88800114499998 meters 0.08911040966946333 Centerline is valid? [True, True] Translation: X:190.40, Y:-5.63, Z:-3.78 [[ 9.99980865e-01 5.31745228e-03 -3.16129209e-03 1.90400857e+02] [-5.31654005e-03 9.99985823e-01 2.96898224e-04 -5.63277226e+00] [ 3.16282602e-03 -2.80085407e-04 9.99994959e-01 -3.78171016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91800114499998 meters 0.09157730987145453 Centerline is valid? [True, True] Translation: X:190.43, Y:-5.64, Z:-3.78 [[ 9.99981984e-01 4.25397137e-03 -4.23500737e-03 1.90428979e+02] [-4.25231921e-03 9.99990879e-01 3.99047395e-04 -5.64025013e+00] [ 4.23666628e-03 -3.81031602e-04 9.99990953e-01 -3.78401370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94800114499998 meters 0.10413489252074655 Centerline is valid? [True, False] Translation: X:190.43, Y:-5.64, Z:-3.78 [[ 9.99983892e-01 4.04151698e-03 -3.98526987e-03 1.90428231e+02] [-4.04049573e-03 9.99991802e-01 2.64274664e-04 -5.64048031e+00] [ 3.98630527e-03 -2.48167941e-04 9.99992024e-01 -3.78367362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97800114499998 meters 0.0901575134683045 Centerline is valid? [False, True] Translation: X:190.43, Y:-5.64, Z:-3.78 [[ 9.99984702e-01 3.93020785e-03 -3.89230136e-03 1.90427809e+02] [-3.92941210e-03 9.99992257e-01 2.12069084e-04 -5.64084923e+00] [ 3.89310470e-03 -1.96771383e-04 9.99992402e-01 -3.78337056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00800114499998 meters 0.09209461914390679 Centerline is valid? [True, True] Translation: X:190.45, Y:-5.65, Z:-3.78 [[ 9.99987391e-01 3.77245994e-03 -3.31458526e-03 1.90454806e+02] [-3.77142915e-03 9.99992838e-01 3.17183122e-04 -5.64771060e+00] [ 3.31575809e-03 -3.04678399e-04 9.99994456e-01 -3.78446666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03800114499998 meters 0.09559023984748272 Centerline is valid? [True, True] Translation: X:190.48, Y:-5.66, Z:-3.79 [[ 9.99991254e-01 3.10151570e-03 -2.80562808e-03 1.90482089e+02] [-3.10077568e-03 9.99995157e-01 2.68075037e-04 -5.65625937e+00] [ 2.80644593e-03 -2.59373069e-04 9.99996028e-01 -3.78597547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06800114499995 meters 0.09153943314608437 Centerline is valid? [True, True] Translation: X:190.51, Y:-5.65, Z:-3.78 [[ 9.99994239e-01 2.90038311e-03 -1.76352486e-03 1.90511657e+02] [-2.90009126e-03 9.99995781e-01 1.68028258e-04 -5.65237338e+00] [ 1.76400477e-03 -1.62912907e-04 9.99998431e-01 -3.78338262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09800114499996 meters 0.09140361382144006 Centerline is valid? [True, True] Translation: X:190.54, Y:-5.66, Z:-3.78 [[ 9.99994479e-01 3.25211229e-03 -6.82376491e-04 1.90540802e+02] [-3.25206910e-03 9.99994710e-01 6.43953443e-05 -5.65583458e+00] [ 6.82582302e-04 -6.21758532e-05 9.99999765e-01 -3.78338424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12800114499996 meters 0.08833537112064313 Centerline is valid? [True, True] Translation: X:190.57, Y:-5.65, Z:-3.78 [[ 9.99991739e-01 4.05256140e-03 -3.13249782e-04 1.90570249e+02] [-4.05255256e-03 9.99991788e-01 2.88550274e-05 -5.65417851e+00] [ 3.13364147e-04 -2.75853278e-05 9.99999951e-01 -3.78325498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15800114499996 meters 0.08782149366552601 Centerline is valid? [True, True] Translation: X:190.60, Y:-5.66, Z:-3.78 [[ 9.99983547e-01 5.63688206e-03 -1.06353560e-03 1.90599147e+02] [-5.63677745e-03 9.99984108e-01 1.01336807e-04 -5.65669078e+00] [ 1.06408992e-03 -9.53402265e-05 9.99999429e-01 -3.78340440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18800114499996 meters 0.08794301012045033 Centerline is valid? [True, True] Translation: X:190.63, Y:-5.66, Z:-3.78 [[ 9.99979631e-01 6.31309655e-03 -9.39252098e-04 1.90627428e+02] [-6.31301615e-03 9.99980069e-01 8.85360681e-05 -5.66077664e+00] [ 9.39792315e-04 -8.26047510e-05 9.99999555e-01 -3.78405095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21800114499996 meters 0.08804348633602767 Centerline is valid? [True, True] Translation: X:190.66, Y:-5.67, Z:-3.78 [[ 9.99975776e-01 6.95259327e-03 -3.29566450e-04 1.90655173e+02] [-6.95258390e-03 9.99975830e-01 2.95831869e-05 -5.66541405e+00] [ 3.29764165e-04 -2.72911319e-05 9.99999945e-01 -3.78472496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24800114499996 meters 0.08804006526336658 Centerline is valid? [True, True] Translation: X:190.68, Y:-5.67, Z:-3.79 [[ 9.99973075e-01 7.33623431e-03 -1.69330717e-04 1.90683663e+02] [-7.33623194e-03 9.99973089e-01 1.46247472e-05 -5.66989692e+00] [ 1.69433451e-04 -1.33821040e-05 9.99999986e-01 -3.78576289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27800114499996 meters 0.0886328497875997 Centerline is valid? [True, True] Translation: X:190.71, Y:-5.67, Z:-3.79 [[ 9.99966146e-01 8.13539098e-03 -1.23417775e-03 1.90710828e+02] [-8.13525371e-03 9.99966902e-01 1.16204809e-04 -5.67437752e+00] [ 1.23508227e-03 -1.06160526e-04 9.99999232e-01 -3.78665865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30800114499996 meters 0.08797441512709085 Centerline is valid? [True, True] Translation: X:190.74, Y:-5.68, Z:-3.79 [[ 9.99964197e-01 8.32004117e-03 -1.54320405e-03 1.90739027e+02] [-8.31982554e-03 9.99965379e-01 1.46096735e-04 -5.67742487e+00] [ 1.54436615e-03 -1.33252316e-04 9.99998799e-01 -3.78710486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33800114499996 meters 0.08736988962935241 Centerline is valid? [True, True] Translation: X:190.77, Y:-5.68, Z:-3.79 [[ 9.99961401e-01 8.46426457e-03 -2.35643896e-03 1.90767413e+02] [-8.46376059e-03 9.99964157e-01 2.23765650e-04 -5.68165045e+00] [ 2.35824851e-03 -2.03812678e-04 9.99997199e-01 -3.78909040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36800114499997 meters 0.08816570663760188 Centerline is valid? [True, True] Translation: X:190.80, Y:-5.69, Z:-3.79 [[ 9.99963074e-01 7.42118823e-03 -4.33322395e-03 1.90796508e+02] [-7.41946547e-03 9.99972390e-01 4.13509630e-04 -5.68980337e+00] [ 4.33617304e-03 -3.81344155e-04 9.99990526e-01 -3.79120997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39800114499997 meters 0.0882041735825504 Centerline is valid? [True, True] Translation: X:190.83, Y:-5.69, Z:-3.79 [[ 9.99967956e-01 6.37811585e-03 -4.83795555e-03 1.90825468e+02] [-6.37596121e-03 9.99979567e-01 4.60653476e-04 -5.69369473e+00] [ 4.84079480e-03 -4.29792098e-04 9.99988191e-01 -3.79315035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42800114499997 meters 0.0893810289598879 Centerline is valid? [True, True] Translation: X:190.85, Y:-5.70, Z:-3.80 [[ 9.99958373e-01 5.37736482e-03 -7.37134660e-03 1.90854958e+02] [-5.37232238e-03 9.99985321e-01 7.03690768e-04 -5.70042785e+00] [ 7.37502241e-03 -6.64060225e-04 9.99972584e-01 -3.79554925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45800114499997 meters 0.08950731946574086 Centerline is valid? [True, True] Translation: X:190.88, Y:-5.70, Z:-3.80 [[ 9.99959894e-01 4.46331460e-03 -7.76458740e-03 1.90883978e+02] [-4.45770097e-03 9.99989790e-01 7.40135018e-04 -5.70490383e+00] [ 7.76781158e-03 -7.05493126e-04 9.99969581e-01 -3.79700850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48800114499997 meters 0.09179767304462738 Centerline is valid? [True, True] Translation: X:190.91, Y:-5.71, Z:-3.80 [[ 9.99957535e-01 2.75084278e-03 -8.79552696e-03 1.90912797e+02] [-2.74356653e-03 9.99995884e-01 8.39225132e-04 -5.71432997e+00] [ 8.79779933e-03 -8.15058380e-04 9.99960966e-01 -3.79848955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51800114499997 meters 0.09114267666209619 Centerline is valid? [True, True] Translation: X:190.94, Y:-5.72, Z:-3.80 [[ 9.99968235e-01 2.08114288e-03 -7.69398438e-03 1.90941345e+02] [-2.07556869e-03 9.99997578e-01 7.32399999e-04 -5.71731243e+00] [ 7.69548997e-03 -7.16407342e-04 9.99970133e-01 -3.79818542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54800114499997 meters 0.09076405530287952 Centerline is valid? [True, True] Translation: X:190.97, Y:-5.72, Z:-3.80 [[ 9.99969839e-01 1.41913531e-03 -7.63590607e-03 1.90969671e+02] [-1.41362973e-03 9.99998737e-01 7.26360449e-04 -5.72060506e+00] [ 7.63692723e-03 -7.15544198e-04 9.99970582e-01 -3.79734501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57800114499997 meters 0.08899463678745691 Centerline is valid? [True, True] Translation: X:191.00, Y:-5.72, Z:-3.80 [[ 9.99972837e-01 -5.64018850e-04 -7.34895251e-03 1.90999455e+02] [ 5.69177767e-04 9.99999593e-01 6.99920969e-04 -5.72313690e+00] [ 7.34855475e-03 -7.04084817e-04 9.99972751e-01 -3.79519506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60800114499997 meters 0.09010153968126358 Centerline is valid? [True, True] Translation: X:191.03, Y:-5.73, Z:-3.80 [[ 9.99971004e-01 -1.85559622e-03 -7.38561033e-03 1.91028594e+02] [ 1.86083767e-03 9.99998022e-01 7.02876332e-04 -5.72999661e+00] [ 7.38429146e-03 -7.16599374e-04 9.99972479e-01 -3.79617478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63800114499998 meters 0.09082735979427727 Centerline is valid? [True, True] Translation: X:191.06, Y:-5.74, Z:-3.80 [[ 9.99968120e-01 -2.57534917e-03 -7.55820997e-03 1.91057225e+02] [ 2.58084909e-03 9.99996412e-01 7.18011473e-04 -5.73665805e+00] [ 7.55633372e-03 -7.37495182e-04 9.99971179e-01 -3.79699716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66800114499998 meters 0.09050424523890079 Centerline is valid? [True, True] Translation: X:191.09, Y:-5.74, Z:-3.80 [[ 9.99960615e-01 -3.76672241e-03 -8.03620928e-03 1.91085941e+02] [ 3.77297889e-03 9.99992591e-01 7.63517429e-04 -5.74154002e+00] [ 8.03327378e-03 -7.93807806e-04 9.99967418e-01 -3.79774507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69800114499998 meters 0.09237451544238541 Centerline is valid? [True, True] Translation: X:191.11, Y:-5.75, Z:-3.80 [[ 9.99955097e-01 -5.51573371e-03 -7.70594608e-03 1.91114003e+02] [ 5.52154485e-03 9.99984487e-01 7.33040694e-04 -5.75166924e+00] [ 7.70178329e-03 -7.75556505e-04 9.99970040e-01 -3.79924888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72800114499998 meters 0.09254318659037299 Centerline is valid? [True, True] Translation: X:191.14, Y:-5.76, Z:-3.80 [[ 9.99944739e-01 -6.42651737e-03 -8.31981569e-03 1.91143099e+02] [ 6.43331086e-03 9.99978994e-01 7.90037784e-04 -5.75561623e+00] [ 8.31456373e-03 -8.43518086e-04 9.99965078e-01 -3.79958734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75800114499998 meters 0.09448868976131326 Centerline is valid? [True, True] Translation: X:191.17, Y:-5.76, Z:-3.80 [[ 9.99930509e-01 -6.98320372e-03 -9.49802909e-03 1.91170856e+02] [ 6.99207985e-03 9.99975149e-01 9.01637808e-04 -5.76296281e+00] [ 9.49149673e-03 -9.67986130e-04 9.99954486e-01 -3.80169308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78800114499998 meters 0.09514282616504066 Centerline is valid? [True, True] Translation: X:191.20, Y:-5.77, Z:-3.80 [[ 9.99937685e-01 -7.14484824e-03 -8.57774666e-03 1.91198272e+02] [ 7.15207971e-03 9.99974093e-01 8.12671238e-04 -5.76865159e+00] [ 8.57171803e-03 -8.73969324e-04 9.99962880e-01 -3.80301856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81800114499995 meters 0.09302669891241738 Centerline is valid? [True, True] Translation: X:191.23, Y:-5.77, Z:-3.80 [[ 9.99932373e-01 -7.82981066e-03 -8.59898947e-03 1.91226627e+02] [ 7.83705447e-03 9.99968963e-01 8.09028171e-04 -5.77312138e+00] [ 8.59238805e-03 -8.76364208e-04 9.99962701e-01 -3.80270978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84800114499996 meters 0.09420879484498548 Centerline is valid? [True, True] Translation: X:191.25, Y:-5.78, Z:-3.80 [[ 9.99940004e-01 -8.20989184e-03 -7.25155795e-03 1.91254549e+02] [ 8.21507381e-03 9.99966021e-01 6.85102324e-04 -5.77967907e+00] [ 7.24568693e-03 -7.44633304e-04 9.99973472e-01 -3.80309630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87800114499996 meters 0.09305748311215697 Centerline is valid? [True, True] Translation: X:191.28, Y:-5.78, Z:-3.80 [[ 9.99940241e-01 -8.33507194e-03 -7.07403610e-03 1.91283732e+02] [ 8.34000951e-03 9.99964998e-01 6.68772131e-04 -5.78228741e+00] [ 7.06821423e-03 -7.27729693e-04 9.99974755e-01 -3.80238531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90800114499996 meters 0.09412824116273767 Centerline is valid? [True, True] Translation: X:191.31, Y:-5.79, Z:-3.80 [[ 9.99932867e-01 -7.78364402e-03 -8.58346725e-03 1.91312861e+02] [ 7.79090309e-03 9.99969320e-01 8.12590715e-04 -5.79048306e+00] [ 8.57687899e-03 -8.79409125e-04 9.99962831e-01 -3.80426206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93800114499996 meters 0.09446168022549171 Centerline is valid? [True, True] Translation: X:191.34, Y:-5.80, Z:-3.81 [[ 9.99936702e-01 -7.06357951e-03 -8.75773366e-03 1.91341693e+02] [ 7.07104814e-03 9.99974662e-01 8.22133634e-04 -5.79541778e+00] [ 8.75170455e-03 -8.84007951e-04 9.99961312e-01 -3.80507113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96800114499996 meters 0.09538617888495747 Centerline is valid? [True, True] Translation: X:191.37, Y:-5.80, Z:-3.81 [[ 9.99920644e-01 -7.50689175e-03 -1.01169221e-02 1.91370600e+02] [ 7.51691496e-03 9.99971293e-01 9.53076109e-04 -5.80072563e+00] [ 1.01094770e-02 -1.02904852e-03 9.99948368e-01 -3.80707301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99800114499996 meters 0.09749673765751703 Centerline is valid? [True, True] Translation: X:191.40, Y:-5.81, Z:-3.81 [[ 9.99912751e-01 -7.50196669e-03 -1.08724705e-02 1.91397168e+02] [ 7.51353307e-03 9.99971249e-01 1.02336652e-03 -5.81117360e+00] [ 1.08644806e-02 -1.10496790e-03 9.99940369e-01 -3.81059605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02800114499996 meters 0.09758956343203781 Centerline is valid? [True, True] Translation: X:191.43, Y:-5.82, Z:-3.81 [[ 9.99904601e-01 -7.69126723e-03 -1.14731766e-02 1.91425264e+02] [ 7.70409366e-03 9.99969746e-01 1.07417128e-03 -5.81657779e+00] [ 1.14645678e-02 -1.16245923e-03 9.99933604e-01 -3.81196104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05800114499996 meters 0.09791419176737926 Centerline is valid? [True, True] Translation: X:191.45, Y:-5.82, Z:-3.81 [[ 9.99900185e-01 -7.97737809e-03 -1.16610757e-02 1.91453237e+02] [ 7.99061957e-03 9.99967481e-01 1.08937808e-03 -5.82189586e+00] [ 1.16520061e-02 -1.18244856e-03 9.99931414e-01 -3.81313002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08800114499996 meters 0.09480797496276977 Centerline is valid? [True, True] Translation: X:191.48, Y:-5.82, Z:-3.81 [[ 9.99885334e-01 -8.53796825e-03 -1.25068757e-02 1.91482544e+02] [ 8.55329275e-03 9.99962733e-01 1.17230836e-03 -5.82070898e+00] [ 1.24964004e-02 -1.27914890e-03 9.99921099e-01 -3.81185520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11800114499997 meters 0.09847765754148588 Centerline is valid? [True, True] Translation: X:191.51, Y:-5.83, Z:-3.81 [[ 9.99899986e-01 -8.21927946e-03 -1.15091477e-02 1.91509799e+02] [ 8.23222186e-03 9.99965534e-01 1.07760800e-03 -5.83066083e+00] [ 1.14998939e-02 -1.17224609e-03 9.99933187e-01 -3.81397563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14800114499997 meters 0.10064461800065454 Centerline is valid? [True, False] Translation: X:191.51, Y:-5.83, Z:-3.81 [[ 9.99902162e-01 -8.19177560e-03 -1.13384932e-02 1.91509032e+02] [ 8.20914307e-03 9.99965200e-01 1.48603317e-03 -5.83244261e+00] [ 1.13259254e-02 -1.57896710e-03 9.99934613e-01 -3.81337231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17800114499997 meters 0.09886493752886644 Centerline is valid? [False, True] Translation: X:191.51, Y:-5.83, Z:-3.81 [[ 9.99904915e-01 -8.06850758e-03 -1.11830141e-02 1.91508589e+02] [ 8.09073679e-03 9.99965380e-01 1.94395128e-03 -5.83411453e+00] [ 1.11669421e-02 -2.03424527e-03 9.99935579e-01 -3.81323412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20800114499997 meters 0.09871467826959338 Centerline is valid? [True, True] Translation: X:191.54, Y:-5.84, Z:-3.81 [[ 9.99905298e-01 -8.88572384e-03 -1.05089758e-02 1.91537352e+02] [ 8.89671183e-03 9.99959924e-01 9.99294153e-04 -5.83849088e+00] [ 1.04996752e-02 -1.09269485e-03 9.99944280e-01 -3.81284094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23800114499997 meters 0.09386437033477849 Centerline is valid? [True, True] Translation: X:191.57, Y:-5.84, Z:-3.81 [[ 9.99911159e-01 -9.77458660e-03 -9.06265617e-03 1.91566324e+02] [ 9.78276766e-03 9.99951779e-01 8.58830832e-04 -5.83779518e+00] [ 9.05382444e-03 -9.47412392e-04 9.99958564e-01 -3.81044913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26800114499997 meters 0.0977563175511693 Centerline is valid? [True, True] Translation: X:191.59, Y:-5.85, Z:-3.81 [[ 9.99901926e-01 -1.00240542e-02 -9.78047625e-03 1.91593786e+02] [ 1.00336356e-02 9.99949228e-01 9.31065833e-04 -5.84822239e+00] [ 9.77064662e-03 -1.02910825e-03 9.99951737e-01 -3.81332309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29800114499997 meters 0.10264445076501956 Centerline is valid? [True, False] Translation: X:191.59, Y:-5.85, Z:-3.81 [[ 9.99903467e-01 -9.87893211e-03 -9.77058354e-03 1.91593804e+02] [ 9.89183896e-03 9.99950264e-01 1.27354769e-03 -5.84917001e+00] [ 9.75751630e-03 -1.37007379e-03 9.99951456e-01 -3.81343643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32800114499997 meters 0.09068153837578162 Centerline is valid? [False, True] Translation: X:191.59, Y:-5.85, Z:-3.81 [[ 9.99906729e-01 -9.51036413e-03 -9.80232901e-03 1.91594115e+02] [ 9.53042300e-03 9.99952581e-01 2.00166054e-03 -5.85096284e+00] [ 9.78282768e-03 -2.09489419e-03 9.99949953e-01 -3.81390772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35800114499997 meters 0.0921206279569383 Centerline is valid? [True, True] Translation: X:191.62, Y:-5.86, Z:-3.82 [[ 9.99895872e-01 -9.29304379e-03 -1.10401154e-02 1.91621096e+02] [ 9.30507723e-03 9.99956167e-01 1.03910744e-03 -5.85655278e+00] [ 1.10299750e-02 -1.14172837e-03 9.99938516e-01 -3.81547474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38800114499998 meters 0.09237610486866109 Centerline is valid? [True, True] Translation: X:191.65, Y:-5.86, Z:-3.82 [[ 9.99891266e-01 -9.15662547e-03 -1.15590393e-02 1.91649471e+02] [ 9.16973672e-03 9.99957372e-01 1.08179629e-03 -5.86056526e+00] [ 1.15486410e-02 -1.18767201e-03 9.99932607e-01 -3.81750882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41800114499998 meters 0.09273743260244358 Centerline is valid? [True, True] Translation: X:191.68, Y:-5.86, Z:-3.82 [[ 9.99882849e-01 -8.66371876e-03 -1.26185465e-02 1.91678111e+02] [ 8.67927673e-03 9.99961640e-01 1.17870372e-03 -5.86474578e+00] [ 1.26078505e-02 -1.28808549e-03 9.99919688e-01 -3.81954678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44800114499998 meters 0.0914050137382959 Centerline is valid? [True, True] Translation: X:191.71, Y:-5.87, Z:-3.82 [[ 9.99871624e-01 -8.51252550e-03 -1.35747039e-02 1.91705956e+02] [ 8.53046380e-03 9.99962816e-01 1.26409556e-03 -5.86597448e+00] [ 1.35634385e-02 -1.37973180e-03 9.99907060e-01 -3.82041910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47800114499998 meters 0.09053139362088165 Centerline is valid? [True, True] Translation: X:191.74, Y:-5.87, Z:-3.82 [[ 9.99856809e-01 -8.90476798e-03 -1.43898404e-02 1.91735033e+02] [ 8.92493595e-03 9.99959277e-01 1.33793135e-03 -5.86766926e+00] [ 1.43773404e-02 -1.46616818e-03 9.99895566e-01 -3.82085351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50800114499998 meters 0.08927883322174784 Centerline is valid? [True, True] Translation: X:191.76, Y:-5.87, Z:-3.82 [[ 9.99847361e-01 -9.65981589e-03 -1.45582414e-02 1.91763901e+02] [ 9.68048941e-03 9.99952231e-01 1.35025541e-03 -5.86851857e+00] [ 1.45445027e-02 -1.49098021e-03 9.99893111e-01 -3.82024532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53800114499998 meters 0.08926448909747398 Centerline is valid? [True, True] Translation: X:191.79, Y:-5.87, Z:-3.82 [[ 9.99853642e-01 -1.05723484e-02 -1.34506472e-02 1.91792046e+02] [ 1.05901071e-02 9.99943142e-01 1.24974539e-03 -5.87160492e+00] [ 1.34366697e-02 -1.39200627e-03 9.99908755e-01 -3.82042655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56800114499995 meters 0.09229450490399496 Centerline is valid? [True, True] Translation: X:191.82, Y:-5.88, Z:-3.82 [[ 9.99855678e-01 -1.05464653e-02 -1.33190025e-02 1.91819602e+02] [ 1.05638614e-02 9.99943436e-01 1.23642948e-03 -5.87978198e+00] [ 1.33052091e-02 -1.37695113e-03 9.99910534e-01 -3.82250573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59800114499996 meters 0.09386596772758428 Centerline is valid? [True, True] Translation: X:191.85, Y:-5.89, Z:-3.82 [[ 9.99855768e-01 -1.09048600e-02 -1.30202446e-02 1.91846525e+02] [ 1.09214806e-02 9.99939631e-01 1.20609728e-03 -5.88527043e+00] [ 1.30063062e-02 -1.34812367e-03 9.99914506e-01 -3.82367426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62800114499996 meters 0.08963738351838146 Centerline is valid? [True, True] Translation: X:191.88, Y:-5.88, Z:-3.82 [[ 9.99864295e-01 -1.15599556e-02 -1.17370854e-02 1.91875351e+02] [ 1.15734237e-02 9.99932442e-01 1.08021100e-03 -5.88086332e+00] [ 1.17238053e-02 -1.21590267e-03 9.99930535e-01 -3.82157350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65800114499996 meters 0.08963738351838146 Centerline is valid? [True, True] Translation: X:191.90, Y:-5.88, Z:-3.82 [[ 9.99861257e-01 -1.18194946e-02 -1.17373658e-02 1.91902795e+02] [ 1.18329452e-02 9.99929408e-01 1.07716982e-03 -5.88329469e+00] [ 1.17238056e-02 -1.21590798e-03 9.99930535e-01 -3.82228615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68800114499996 meters 0.0918564955902638 Centerline is valid? [True, True] Translation: X:191.93, Y:-5.89, Z:-3.82 [[ 9.99856865e-01 -1.27629331e-02 -1.11065880e-02 1.91930508e+02] [ 1.27750782e-02 9.99917872e-01 1.02324927e-03 -5.89062236e+00] [ 1.10926162e-02 -1.16499034e-03 9.99937796e-01 -3.82269971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71800114499996 meters 0.0904889575418082 Centerline is valid? [True, True] Translation: X:191.96, Y:-5.89, Z:-3.82 [[ 9.99848860e-01 -1.38843762e-02 -1.04632819e-02 1.91959045e+02] [ 1.38951450e-02 9.99903000e-01 9.57203596e-04 -5.89112902e+00] [ 1.04489768e-02 -1.10244774e-03 9.99944800e-01 -3.82095006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74800114499996 meters 0.09487499222567863 Centerline is valid? [True, True] Translation: X:191.99, Y:-5.90, Z:-3.82 [[ 9.99852400e-01 -1.43450523e-02 -9.45507147e-03 1.91986761e+02] [ 1.43539003e-02 9.99896600e-01 8.68597838e-04 -5.90184699e+00] [ 9.44163374e-03 -1.00418679e-03 9.99954923e-01 -3.82333771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77800114499996 meters 0.08885811505099901 Centerline is valid? [True, True] Translation: X:192.02, Y:-5.90, Z:-3.82 [[ 9.99844455e-01 -1.61220889e-02 -7.15154654e-03 1.92017829e+02] [ 1.61272025e-02 9.99869732e-01 6.57937945e-04 -5.89767985e+00] [ 7.14000759e-03 -7.73170045e-04 9.99974211e-01 -3.81924214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80800114499996 meters 0.09642281688220987 Centerline is valid? [True, True] Translation: X:192.05, Y:-5.91, Z:-3.82 [[ 9.99816860e-01 -1.75416532e-02 -7.65095465e-03 1.92046505e+02] [ 1.75475579e-02 9.99845781e-01 7.05313464e-04 -5.91490109e+00] [ 7.63740236e-03 -8.39439862e-04 9.99970482e-01 -3.82373115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83800114499996 meters 0.09854090099438127 Centerline is valid? [True, True] Translation: X:192.08, Y:-5.92, Z:-3.83 [[ 9.99784942e-01 -1.91921564e-02 -7.85686224e-03 1.92076113e+02] [ 1.91984247e-02 9.99815432e-01 7.23164022e-04 -5.92249178e+00] [ 7.84153303e-03 -8.73847878e-04 9.99968873e-01 -3.82583066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86800114499997 meters 0.09583952315480634 Centerline is valid? [True, True] Translation: X:192.11, Y:-5.92, Z:-3.82 [[ 9.99733288e-01 -2.13525960e-02 -8.79884711e-03 1.92106236e+02] [ 2.13605429e-02 9.99771509e-01 8.10176736e-04 -5.92395895e+00] [ 8.77953728e-03 -9.97908803e-04 9.99960961e-01 -3.82453825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89800114499997 meters 0.09874896034041966 Centerline is valid? [True, True] Translation: X:192.14, Y:-5.93, Z:-3.83 [[ 9.99710510e-01 -2.24935995e-02 -8.54011785e-03 1.92135798e+02] [ 2.25011297e-02 9.99746508e-01 7.86676220e-04 -5.93306878e+00] [ 8.52025781e-03 -9.78610785e-04 9.99963223e-01 -3.82628409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92800114499997 meters 0.09629548060016674 Centerline is valid? [True, True] Translation: X:192.17, Y:-5.93, Z:-3.83 [[ 9.99675422e-01 -2.35244732e-02 -9.78010707e-03 1.92167301e+02] [ 2.35344043e-02 9.99722621e-01 9.01577815e-04 -5.93370570e+00] [ 9.75618513e-03 -1.13145418e-03 9.99951767e-01 -3.82637173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95800114499997 meters 0.09240730908744096 Centerline is valid? [True, True] Translation: X:192.20, Y:-5.93, Z:-3.83 [[ 9.99651076e-01 -2.40484899e-02 -1.09268510e-02 1.92199259e+02] [ 2.40609207e-02 9.99709986e-01 1.00758223e-03 -5.93166177e+00] [ 1.08994512e-02 -1.27014075e-03 9.99939793e-01 -3.82604646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98800114499997 meters 0.09812707318968276 Centerline is valid? [True, True] Translation: X:192.23, Y:-5.95, Z:-3.83 [[ 9.99622445e-01 -2.42388886e-02 -1.29400349e-02 1.92228067e+02] [ 2.42563332e-02 9.99705060e-01 1.19284661e-03 -5.94661000e+00] [ 1.29073051e-02 -1.50627404e-03 9.99915563e-01 -3.83141848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01800114499997 meters 0.09084414736984503 Centerline is valid? [True, True] Translation: X:192.26, Y:-5.94, Z:-3.83 [[ 9.99625895e-01 -2.36770413e-02 -1.36918989e-02 1.92259451e+02] [ 2.36965140e-02 9.99718402e-01 1.26170539e-03 -5.93890630e+00] [ 1.36581699e-02 -1.58568366e-03 9.99905466e-01 -3.82890421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04800114499997 meters 0.10875413790126187 Centerline is valid? [True, False] Translation: X:192.26, Y:-5.94, Z:-3.83 [[ 9.99832540e-01 -1.79378631e-02 -3.62287986e-03 1.92259666e+02] [ 1.79136606e-02 9.99817715e-01 -6.60592492e-03 -5.93970294e+00] [ 3.74071564e-03 6.53991965e-03 9.99971618e-01 -3.83137288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07800114499997 meters 0.09571169804786879 Centerline is valid? [False, True] Translation: X:192.26, Y:-5.94, Z:-3.83 [[ 9.99909155e-01 -1.29873538e-02 -3.60709336e-03 1.92259898e+02] [ 1.29838635e-02 9.99915217e-01 -9.89363439e-04 -5.94296192e+00] [ 3.61963675e-03 9.42439552e-04 9.99993005e-01 -3.83210851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10800114499997 meters 0.09649290501889882 Centerline is valid? [True, True] Translation: X:192.29, Y:-5.95, Z:-3.83 [[ 9.99936236e-01 -1.09635926e-02 -2.70627054e-03 1.92288546e+02] [ 1.09643661e-02 9.99939853e-01 2.71161246e-04 -5.94837878e+00] [ 2.70313487e-03 -3.00816497e-04 9.99996301e-01 -3.83384954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13800114499998 meters 0.0916521172069331 Centerline is valid? [True, True] Translation: X:192.32, Y:-5.94, Z:-3.83 [[ 9.99966442e-01 -8.03216072e-03 -1.61221735e-03 1.92320116e+02] [ 8.03243293e-03 9.99967726e-01 1.62439505e-04 -5.94438748e+00] [ 1.61086058e-03 -1.75384081e-04 9.99998687e-01 -3.83135528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16800114499998 meters 0.08954922631920345 Centerline is valid? [True, True] Translation: X:192.35, Y:-5.94, Z:-3.83 [[ 9.99995862e-01 -2.66774773e-03 1.07652528e-03 1.92350616e+02] [ 2.66786574e-03 9.99996435e-01 -1.08200734e-04 -5.94443046e+00] [-1.07623279e-03 1.11072311e-04 9.99999415e-01 -3.82991834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19800114499998 meters 0.08528689282620594 Centerline is valid? [True, True] Translation: X:192.38, Y:-5.94, Z:-3.83 [[ 9.99998157e-01 1.14657379e-04 1.91625951e-03 1.92381843e+02] [-1.14288828e-04 9.99999975e-01 -1.92436675e-04 -5.94023160e+00] [-1.91628153e-03 1.92217313e-04 9.99998145e-01 -3.82835772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22800114499998 meters 0.08550616641472465 Centerline is valid? [True, True] Translation: X:192.41, Y:-5.94, Z:-3.83 [[ 9.99994133e-01 1.88267168e-03 2.86157305e-03 1.92410986e+02] [-1.88186332e-03 9.99998189e-01 -2.85154088e-04 -5.94380072e+00] [-2.86210472e-03 2.79767326e-04 9.99995865e-01 -3.82951493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25800114499998 meters 0.08733126361729845 Centerline is valid? [True, True] Translation: X:192.44, Y:-5.95, Z:-3.83 [[ 9.99982066e-01 4.17778165e-03 4.29105883e-03 1.92439809e+02] [-4.17596747e-03 9.99991187e-01 -4.31655222e-04 -5.95074767e+00] [-4.29282438e-03 4.13728158e-04 9.99990700e-01 -3.83081542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28800114499998 meters 0.09072691782734081 Centerline is valid? [True, True] Translation: X:192.47, Y:-5.96, Z:-3.83 [[ 9.99978071e-01 4.27007670e-03 5.06191340e-03 1.92469099e+02] [-4.26755917e-03 9.99990765e-01 -5.08044632e-04 -5.95999256e+00] [-5.06403604e-03 4.86431477e-04 9.99987059e-01 -3.83308982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31800114499995 meters 0.09174408257406497 Centerline is valid? [True, True] Translation: X:192.50, Y:-5.97, Z:-3.84 [[ 9.99981697e-01 3.60017768e-03 4.86248431e-03 1.92499215e+02] [-3.59784881e-03 9.99993409e-01 -4.87609099e-04 -5.96539180e+00] [-4.86420774e-03 4.70105691e-04 9.99988059e-01 -3.83512692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34800114499996 meters 0.08366099131837867 Centerline is valid? [True, True] Translation: X:192.53, Y:-5.96, Z:-3.83 [[ 9.99986378e-01 2.72065556e-03 4.45445407e-03 1.92532005e+02] [-2.71869260e-03 9.99996205e-01 -4.46668053e-04 -5.95589531e+00] [-4.45565239e-03 4.34551677e-04 9.99989979e-01 -3.83118203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37800114499996 meters 0.08893185232026697 Centerline is valid? [True, True] Translation: X:192.56, Y:-5.97, Z:-3.83 [[ 9.99993502e-01 -7.46546065e-04 3.52697329e-03 1.92560807e+02] [ 7.47800112e-04 9.99999658e-01 -3.54253478e-04 -5.96959524e+00] [-3.52670761e-03 3.56888647e-04 9.99993717e-01 -3.83496524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40800114499996 meters 0.08560893785235267 Centerline is valid? [True, True] Translation: X:192.59, Y:-5.97, Z:-3.83 [[ 9.99992353e-01 -2.21825373e-03 3.22085332e-03 1.92592244e+02] [ 2.21930650e-03 9.99997485e-01 -3.23325544e-04 -5.96764836e+00] [-3.22012800e-03 3.30471132e-04 9.99994761e-01 -3.83392220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43800114499996 meters 0.0882965013775013 Centerline is valid? [True, True] Translation: X:192.62, Y:-5.98, Z:-3.84 [[ 9.99987914e-01 -4.23648125e-03 2.49466741e-03 1.92621318e+02] [ 4.23712129e-03 9.99990992e-01 -2.51330370e-04 -5.97635764e+00] [-2.49358018e-03 2.61897541e-04 9.99996857e-01 -3.83688039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46800114499996 meters 0.09047521797197469 Centerline is valid? [True, True] Translation: X:192.65, Y:-5.99, Z:-3.84 [[ 9.99963617e-01 -8.33127665e-03 1.83179582e-03 1.92651554e+02] [ 8.33162677e-03 9.99965275e-01 -1.83588772e-04 -5.98559810e+00] [-1.83020268e-03 1.98843931e-04 9.99998305e-01 -3.83911879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49800114499996 meters 0.09167261971863212 Centerline is valid? [True, True] Translation: X:192.68, Y:-5.99, Z:-3.84 [[ 9.99948018e-01 -1.00223161e-02 1.87471694e-03 1.92682313e+02] [ 1.00226860e-02 9.99949754e-01 -1.87993243e-04 -5.99149983e+00] [-1.87273862e-03 2.06773170e-04 9.99998225e-01 -3.84031180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52800114499996 meters 0.09344648927679394 Centerline is valid? [True, True] Translation: X:192.71, Y:-6.00, Z:-3.84 [[ 9.99938152e-01 -1.10989298e-02 7.11949211e-04 1.92711570e+02] [ 1.10989836e-02 9.99938402e-01 -7.16173202e-05 -5.99760687e+00] [-7.11110481e-04 7.95148034e-05 9.99999744e-01 -3.84227970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55800114499996 meters 0.09111653320615236 Centerline is valid? [True, True] Translation: X:192.74, Y:-6.00, Z:-3.84 [[ 9.99918726e-01 -1.27490146e-02 5.77779855e-05 1.92743289e+02] [ 1.27490149e-02 9.99918728e-01 -4.63812748e-06 -5.99699391e+00] [-5.77141582e-05 5.37436292e-06 9.99999998e-01 -3.84132881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58800114499996 meters 0.09608172707274722 Centerline is valid? [True, True] Translation: X:192.77, Y:-6.01, Z:-3.84 [[ 9.99919291e-01 -1.26571473e-02 1.09902809e-03 1.92773167e+02] [ 1.26572745e-02 9.99919888e-01 -1.08855111e-04 -6.00890028e+00] [-1.09756225e-03 1.22757026e-04 9.99999390e-01 -3.84477530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61800114499997 meters 0.090397873046566 Centerline is valid? [True, True] Translation: X:192.81, Y:-6.00, Z:-3.84 [[ 9.99928745e-01 -1.19254759e-02 5.37256581e-04 1.92806156e+02] [ 1.19255054e-02 9.99928887e-01 -5.17145173e-05 -6.00293197e+00] [-5.36601655e-04 5.81178886e-05 9.99999854e-01 -3.84282602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64800114499997 meters 0.09603297007503812 Centerline is valid? [True, True] Translation: X:192.83, Y:-6.01, Z:-3.85 [[ 9.99945479e-01 -1.03647003e-02 1.26958554e-03 1.92834569e+02] [ 1.03648709e-02 9.99946275e-01 -1.27902171e-04 -6.01480039e+00] [-1.26819166e-03 1.41054288e-04 9.99999186e-01 -3.84686239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67800114499997 meters 0.08602506443509154 Centerline is valid? [True, True] Translation: X:192.87, Y:-6.00, Z:-3.84 [[ 9.99979921e-01 -6.01795398e-03 1.98516519e-03 1.92867397e+02] [ 6.01836224e-03 9.99981870e-01 -1.99745037e-04 -5.99917766e+00] [-1.98392714e-03 2.11688470e-04 9.99998010e-01 -3.84105881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70800114499997 meters 0.08831478833304064 Centerline is valid? [True, True] Translation: X:192.90, Y:-6.01, Z:-3.84 [[ 9.99989062e-01 -3.85830579e-03 2.64388671e-03 1.92896913e+02] [ 3.85902459e-03 9.99992518e-01 -2.66827204e-04 -6.00519635e+00] [-2.64283743e-03 2.77027109e-04 9.99996469e-01 -3.84297815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73800114499997 meters 0.08498265252956635 Centerline is valid? [True, True] Translation: X:192.93, Y:-6.00, Z:-3.84 [[ 9.99992280e-01 -1.13300346e-03 3.76249418e-03 1.92928536e+02] [ 1.13443714e-03 9.99999285e-01 -3.78934086e-04 -6.00184467e+00] [-3.76206215e-03 3.83199474e-04 9.99992850e-01 -3.84136923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76800114499997 meters 0.08513204700896405 Centerline is valid? [True, True] Translation: X:192.96, Y:-6.00, Z:-3.84 [[ 9.99974774e-01 3.72811843e-03 6.04593338e-03 1.92958476e+02] [-3.72450342e-03 9.99992879e-01 -6.09073145e-04 -6.00434775e+00] [-6.04816102e-03 5.86539681e-04 9.99981538e-01 -3.84217690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79800114499997 meters 0.08404124130232093 Centerline is valid? [True, True] Translation: X:192.99, Y:-6.01, Z:-3.84 [[ 9.99968859e-01 5.58495647e-03 5.57573805e-03 1.92989643e+02] [-5.58191331e-03 9.99984264e-01 -5.61198528e-04 -6.00505645e+00] [-5.57878457e-03 5.30057765e-04 9.99984298e-01 -3.84253723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82800114499997 meters 0.08458566333777595 Centerline is valid? [True, True] Translation: X:193.02, Y:-6.01, Z:-3.84 [[ 9.99958522e-01 7.27579116e-03 5.47885589e-03 1.93019190e+02] [-7.27287482e-03 9.99973400e-01 -5.52026235e-04 -6.00914156e+00] [-5.48272657e-03 5.12156305e-04 9.99984839e-01 -3.84464397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85800114499997 meters 0.08518158751738192 Centerline is valid? [True, True] Translation: X:193.05, Y:-6.01, Z:-3.85 [[ 9.99967243e-01 6.08773836e-03 5.33406960e-03 1.93049425e+02] [-6.08496001e-03 9.99981342e-01 -5.36943267e-04 -6.01447385e+00] [-5.33723885e-03 5.04468078e-04 9.99985630e-01 -3.84721346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88800114499998 meters 0.08822490508555549 Centerline is valid? [True, True] Translation: X:193.08, Y:-6.02, Z:-3.85 [[ 9.99981296e-01 4.23236572e-03 4.41532048e-03 1.93078687e+02] [-4.23044142e-03 9.99990953e-01 -4.45071562e-04 -6.02337855e+00] [-4.41716424e-03 4.26384483e-04 9.99990153e-01 -3.84950494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91800114499998 meters 0.08723235734399694 Centerline is valid? [True, True] Translation: X:193.11, Y:-6.02, Z:-3.85 [[ 9.99986952e-01 2.44477023e-03 4.48551904e-03 1.93110090e+02] [-2.44277167e-03 9.99996915e-01 -4.50981269e-04 -6.02479997e+00] [-4.48660774e-03 4.40018286e-04 9.99989838e-01 -3.84944895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94800114499998 meters 0.08875656947609795 Centerline is valid? [True, True] Translation: X:193.14, Y:-6.03, Z:-3.85 [[ 9.99987700e-01 3.02873257e-04 4.95058413e-03 1.93140806e+02] [-3.00411693e-04 9.99999831e-01 -4.97962980e-04 -6.03032483e+00] [-4.95073412e-03 4.96469642e-04 9.99987622e-01 -3.85000643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97800114499998 meters 0.09201482030793424 Centerline is valid? [True, True] Translation: X:193.17, Y:-6.04, Z:-3.85 [[ 9.99987612e-01 -2.65518983e-03 4.21031108e-03 1.93170137e+02] [ 2.65699591e-03 9.99996381e-01 -4.23430403e-04 -6.03947557e+00] [-4.20917155e-03 4.34611937e-04 9.99991047e-01 -3.85151297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00800114499998 meters 0.0933472349695383 Centerline is valid? [True, True] Translation: X:193.20, Y:-6.05, Z:-3.85 [[ 9.99984135e-01 -4.28024409e-03 3.66177520e-03 1.93201095e+02] [ 4.28162128e-03 9.99990766e-01 -3.68342200e-04 -6.04504526e+00] [-3.66016479e-03 3.84014691e-04 9.99993228e-01 -3.85310630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03800114499998 meters 0.09482125131148256 Centerline is valid? [True, True] Translation: X:193.23, Y:-6.05, Z:-3.86 [[ 9.99983388e-01 -4.95028891e-03 2.95284794e-03 1.93231419e+02] [ 4.95117941e-03 9.99987700e-01 -2.94340411e-04 -6.05145003e+00] [-2.95135455e-03 3.08955601e-04 9.99995597e-01 -3.85546147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06800114499995 meters 0.09741198952612112 Centerline is valid? [True, True] Translation: X:193.26, Y:-6.06, Z:-3.86 [[ 9.99974467e-01 -6.46264812e-03 3.04947756e-03 1.93260795e+02] [ 6.46361096e-03 9.99979064e-01 -3.05989505e-04 -6.05884071e+00] [-3.04743622e-03 3.25692329e-04 9.99995304e-01 -3.85805857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09800114499996 meters 0.09745838077225047 Centerline is valid? [True, True] Translation: X:193.29, Y:-6.06, Z:-3.86 [[ 9.99979692e-01 -5.95868928e-03 2.26030897e-03 1.93293012e+02] [ 5.95921600e-03 9.99982218e-01 -2.26366998e-04 -6.06151458e+00] [-2.25891993e-03 2.39832070e-04 9.99997420e-01 -3.85939065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12800114499996 meters 0.09007153349060741 Centerline is valid? [True, True] Translation: X:193.33, Y:-6.05, Z:-3.86 [[ 9.99985055e-01 -4.89117910e-03 2.44263005e-03 1.93325956e+02] [ 4.89179428e-03 9.99988005e-01 -2.45940071e-04 -6.05016892e+00] [-2.44139781e-03 2.57885239e-04 9.99996987e-01 -3.85630704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15800114499996 meters 0.09673546872336952 Centerline is valid? [True, True] Translation: X:193.35, Y:-6.06, Z:-3.86 [[ 9.99992789e-01 -3.09233129e-03 2.20446258e-03 1.93354741e+02] [ 3.09283037e-03 9.99995192e-01 -2.23020693e-04 -6.06085815e+00] [-2.20376233e-03 2.29837113e-04 9.99997545e-01 -3.86013297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18800114499996 meters 0.08321425337500146 Centerline is valid? [True, True] Translation: X:193.39, Y:-6.04, Z:-3.85 [[ 9.99996170e-01 1.82041096e-03 2.08475136e-03 1.93388121e+02] [-1.81997550e-03 9.99998322e-01 -2.10752997e-04 -6.03827914e+00] [-2.08513152e-03 2.06957994e-04 9.99997805e-01 -3.85460937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21800114499996 meters 0.08339130383289522 Centerline is valid? [True, True] Translation: X:193.42, Y:-6.04, Z:-3.86 [[ 9.99987580e-01 4.13850439e-03 2.77716680e-03 1.93417554e+02] [-4.13773860e-03 9.99991400e-01 -2.81433076e-04 -6.04142762e+00] [-2.77830762e-03 2.69938390e-04 9.99996104e-01 -3.85662051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24800114499996 meters 0.08456129865207769 Centerline is valid? [True, True] Translation: X:193.45, Y:-6.05, Z:-3.86 [[ 9.99974152e-01 6.44570169e-03 3.18558925e-03 1.93446958e+02] [-6.44470640e-03 9.99979181e-01 -3.22600997e-04 -6.04608786e+00] [-3.18760232e-03 3.02062471e-04 9.99994874e-01 -3.85865195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27800114499996 meters 0.08182441799539986 Centerline is valid? [True, True] Translation: X:193.48, Y:-6.04, Z:-3.86 [[ 9.99926762e-01 1.08677869e-02 5.32559247e-03 1.93478439e+02] [-1.08650704e-02 9.99940828e-01 -5.38746840e-04 -6.04036198e+00] [-5.33113233e-03 4.80844446e-04 9.99985674e-01 -3.85626056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30800114499996 meters 0.0833483913233718 Centerline is valid? [True, True] Translation: X:193.51, Y:-6.04, Z:-3.86 [[ 9.99906301e-01 1.22616989e-02 6.08599221e-03 1.93507566e+02] [-1.22581716e-02 9.99924676e-01 -6.16536513e-04 -6.04415499e+00] [-6.09309357e-03 5.41875607e-04 9.99981290e-01 -3.85662919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33800114499996 meters 0.08341855043180735 Centerline is valid? [True, True] Translation: X:193.54, Y:-6.05, Z:-3.86 [[ 9.99890897e-01 1.29400557e-02 7.12386768e-03 1.93536825e+02] [-1.29352431e-02 9.99916076e-01 -7.21228130e-04 -6.04622615e+00] [-7.13260255e-03 6.29000481e-04 9.99974365e-01 -3.85726092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36800114499997 meters 0.08425067337844008 Centerline is valid? [True, True] Translation: X:193.57, Y:-6.05, Z:-3.86 [[ 9.99895478e-01 1.25830144e-02 7.12047371e-03 1.93566220e+02] [-1.25781990e-02 9.99920632e-01 -7.20653011e-04 -6.05056607e+00] [-7.12897656e-03 6.31014952e-04 9.99974389e-01 -3.85809826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39800114499997 meters 0.08362631435230501 Centerline is valid? [True, True] Translation: X:193.60, Y:-6.05, Z:-3.86 [[ 9.99882561e-01 1.20122725e-02 9.51682054e-03 1.93596271e+02] [-1.20036512e-02 9.99927490e-01 -9.62508952e-04 -6.05261340e+00] [-9.52769240e-03 8.48159321e-04 9.99954251e-01 -3.85742896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42800114499997 meters 0.08194105302478213 Centerline is valid? [True, True] Translation: X:193.63, Y:-6.05, Z:-3.86 [[ 9.99896180e-01 1.07128075e-02 9.63663879e-03 1.93627206e+02] [-1.07039312e-02 9.99942239e-01 -9.72200920e-04 -6.05208668e+00] [-9.64649716e-03 8.68950068e-04 9.99953094e-01 -3.85712400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45800114499997 meters 0.08198590366144427 Centerline is valid? [True, True] Translation: X:193.66, Y:-6.06, Z:-3.86 [[ 9.99909979e-01 9.85124714e-03 9.10974153e-03 1.93658705e+02] [-9.84327258e-03 9.99951131e-01 -9.19811954e-04 -6.05510436e+00] [-9.11835764e-03 8.30059482e-04 9.99958082e-01 -3.85796917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48800114499997 meters 0.08367294294304549 Centerline is valid? [True, True] Translation: X:193.69, Y:-6.06, Z:-3.86 [[ 9.99924739e-01 9.23182350e-03 8.08022291e-03 1.93689713e+02] [-9.22554674e-03 9.99957113e-01 -8.13734762e-04 -6.06072407e+00] [-8.08738862e-03 7.39129045e-04 9.99967023e-01 -3.86063230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51800114499997 meters 0.08478649622378559 Centerline is valid? [True, True] Translation: X:193.72, Y:-6.07, Z:-3.86 [[ 9.99932410e-01 8.98243014e-03 7.38177996e-03 1.93720174e+02] [-8.97718093e-03 9.99959428e-01 -7.43932153e-04 -6.06521522e+00] [-7.38816278e-03 6.77614296e-04 9.99972478e-01 -3.86325613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54800114499997 meters 0.08478649622378559 Centerline is valid? [True, True] Translation: X:193.75, Y:-6.07, Z:-3.86 [[ 9.99932127e-01 9.01422003e-03 7.38146752e-03 1.93750983e+02] [-9.00894910e-03 9.99959140e-01 -7.47015815e-04 -6.06837064e+00] [-7.38789968e-03 6.80465847e-04 9.99972478e-01 -3.86437233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57800114499997 meters 0.08494787505728008 Centerline is valid? [True, True] Translation: X:193.78, Y:-6.07, Z:-3.87 [[ 9.99931777e-01 9.77301750e-03 6.39754384e-03 1.93782265e+02] [-9.76907318e-03 9.99952072e-01 -6.47497653e-04 -6.07122120e+00] [-6.40356522e-03 5.84955405e-04 9.99979326e-01 -3.86662835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60800114499997 meters 0.08542803338109778 Centerline is valid? [True, True] Translation: X:193.81, Y:-6.07, Z:-3.87 [[ 9.99938891e-01 1.01069213e-02 4.47925822e-03 1.93812774e+02] [-1.01049875e-02 9.99948840e-01 -4.54147201e-04 -6.07254413e+00] [-4.48361909e-03 4.08856600e-04 9.99989865e-01 -3.86950023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63800114499998 meters 0.08558156219685838 Centerline is valid? [True, True] Translation: X:193.84, Y:-6.07, Z:-3.87 [[ 9.99935187e-01 1.08798727e-02 3.35399248e-03 1.93842602e+02] [-1.08787893e-02 9.99940766e-01 -3.41082824e-04 -6.07413565e+00] [-3.35750475e-03 3.04573340e-04 9.99994317e-01 -3.87156461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66800114499998 meters 0.08441712950576863 Centerline is valid? [True, True] Translation: X:193.87, Y:-6.07, Z:-3.87 [[ 9.99933186e-01 1.13569057e-02 2.15523744e-03 1.93871579e+02] [-1.13564564e-02 9.99935489e-01 -2.20593134e-04 -6.07294363e+00] [-2.15760366e-03 1.96102536e-04 9.99997653e-01 -3.87270527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69800114499998 meters 0.08187049823128098 Centerline is valid? [True, True] Translation: X:193.90, Y:-6.07, Z:-3.87 [[ 9.99925025e-01 1.20547484e-02 2.15115404e-03 1.93900713e+02] [-1.20543026e-02 9.99927320e-01 -2.20089041e-04 -6.07004864e+00] [-2.15365081e-03 1.94141878e-04 9.99997662e-01 -3.87271128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72800114499998 meters 0.08526631454170729 Centerline is valid? [True, True] Translation: X:193.93, Y:-6.08, Z:-3.88 [[ 9.99917992e-01 1.26711803e-02 1.85752190e-03 1.93928324e+02] [-1.26708486e-02 9.99919703e-01 -1.90224610e-04 -6.07693849e+00] [-1.85978312e-03 1.66672632e-04 9.99998257e-01 -3.87737373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75800114499998 meters 0.08452508645578825 Centerline is valid? [True, True] Translation: X:193.96, Y:-6.08, Z:-3.88 [[ 9.99914061e-01 1.29686574e-02 1.91969767e-03 1.93957519e+02] [-1.29683041e-02 9.99915889e-01 -1.96339779e-04 -6.07675577e+00] [-1.92208247e-03 1.71427682e-04 9.99998138e-01 -3.87774943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78800114499998 meters 0.08436802981067928 Centerline is valid? [True, True] Translation: X:193.99, Y:-6.08, Z:-3.88 [[ 9.99922327e-01 1.23989559e-02 1.26700024e-03 1.93987316e+02] [-1.23988021e-02 9.99923124e-01 -1.29186929e-04 -6.07600449e+00] [-1.26850462e-03 1.13467609e-04 9.99999189e-01 -3.87788013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81800114499995 meters 0.0824151401025806 Centerline is valid? [True, True] Translation: X:194.02, Y:-6.07, Z:-3.88 [[ 9.99924490e-01 1.21633607e-02 1.75139459e-03 1.94016197e+02] [-1.21630654e-02 9.99926011e-01 -1.79208394e-04 -6.07390618e+00] [-1.75344478e-03 1.57892535e-04 9.99998450e-01 -3.87746145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84800114499996 meters 0.08346962083789113 Centerline is valid? [True, True] Translation: X:194.04, Y:-6.08, Z:-3.88 [[ 9.99922951e-01 1.20064729e-02 3.15235176e-03 1.94043384e+02] [-1.20055200e-02 9.99927880e-01 -3.21018445e-04 -6.07747221e+00] [-3.15597871e-03 2.83148089e-04 9.99994980e-01 -3.87853890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87800114499996 meters 0.08362165513388875 Centerline is valid? [True, True] Translation: X:194.07, Y:-6.08, Z:-3.88 [[ 9.99928772e-01 1.14649652e-02 3.31740306e-03 1.94071875e+02] [-1.14639102e-02 9.99934230e-01 -3.36887673e-04 -6.07907923e+00] [-3.32104728e-03 2.98833266e-04 9.99994441e-01 -3.87884849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90800114499996 meters 0.08139664039449779 Centerline is valid? [True, True] Translation: X:194.10, Y:-6.08, Z:-3.88 [[ 9.99898571e-01 1.25333280e-02 6.76483331e-03 1.94102447e+02] [-1.25289932e-02 9.99921276e-01 -6.82774661e-04 -6.07570036e+00] [-6.77285819e-03 5.97948858e-04 9.99976885e-01 -3.87717454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93800114499996 meters 0.08516152813933386 Centerline is valid? [True, True] Translation: X:194.13, Y:-6.09, Z:-3.88 [[ 9.99888750e-01 1.31710327e-02 7.00086367e-03 1.94131236e+02] [-1.31664065e-02 9.99913070e-01 -7.06476022e-04 -6.08517021e+00] [-7.00956010e-03 6.14221209e-04 9.99975244e-01 -3.88074243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96800114499996 meters 0.08476564874103394 Centerline is valid? [True, True] Translation: X:194.16, Y:-6.09, Z:-3.88 [[ 9.99876642e-01 1.39688906e-02 7.18134925e-03 1.94160638e+02] [-1.39640411e-02 9.99902235e-01 -7.24985973e-04 -6.08677651e+00] [-7.19077441e-03 6.24615884e-04 9.99973951e-01 -3.88184671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99800114499996 meters 0.08561915924714969 Centerline is valid? [True, True] Translation: X:194.19, Y:-6.09, Z:-3.88 [[ 9.99865079e-01 1.45390685e-02 7.64460209e-03 1.94189432e+02] [-1.45335922e-02 9.99894084e-01 -7.71436664e-04 -6.09022711e+00] [-7.65500837e-03 6.60229052e-04 9.99970482e-01 -3.88315128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02800114499996 meters 0.08913078175280549 Centerline is valid? [True, True] Translation: X:194.22, Y:-6.10, Z:-3.89 [[ 9.99863887e-01 1.43478552e-02 8.14537421e-03 1.94217332e+02] [-1.43416308e-02 9.99896816e-01 -8.22063358e-04 -6.09595627e+00] [-8.15632858e-03 7.05133514e-04 9.99966488e-01 -3.88559570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05800114499996 meters 0.08733554773998856 Centerline is valid? [True, True] Translation: X:194.25, Y:-6.10, Z:-3.89 [[ 9.99873979e-01 1.37238852e-02 7.98004970e-03 1.94247232e+02] [-1.37178973e-02 9.99905581e-01 -8.04615385e-04 -6.09507085e+00] [-7.99033869e-03 6.95044485e-04 9.99967835e-01 -3.88623447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08800114499996 meters 0.0884744949640282 Centerline is valid? [True, True] Translation: X:194.28, Y:-6.10, Z:-3.89 [[ 9.99899893e-01 1.28087447e-02 6.01163114e-03 1.94277524e+02] [-1.28053351e-02 9.99917825e-01 -6.05321601e-04 -6.09944908e+00] [-6.01889054e-03 5.28280053e-04 9.99981747e-01 -3.88935658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11800114499997 meters 0.09388218767303849 Centerline is valid? [True, True] Translation: X:194.31, Y:-6.11, Z:-3.90 [[ 9.99927887e-01 1.10313530e-02 4.74662408e-03 1.94305893e+02] [-1.10292036e-02 9.99939062e-01 -4.78775052e-04 -6.11089315e+00] [-4.75161636e-03 4.26389043e-04 9.99988620e-01 -3.89541983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14800114499997 meters 0.09223170251678352 Centerline is valid? [True, True] Translation: X:194.34, Y:-6.11, Z:-3.90 [[ 9.99945572e-01 9.50285995e-03 4.30690955e-03 1.94336459e+02] [-9.50107997e-03 9.99954770e-01 -4.33555446e-04 -6.11065651e+00] [-4.31083476e-03 3.92611556e-04 9.99990631e-01 -3.89625289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17800114499997 meters 0.09656997261332487 Centerline is valid? [True, True] Translation: X:194.37, Y:-6.12, Z:-3.90 [[ 9.99953372e-01 8.84628311e-03 3.87273814e-03 1.94365148e+02] [-8.84483721e-03 9.99960807e-01 -3.90322948e-04 -6.12022940e+00] [-3.87603927e-03 3.56051009e-04 9.99992425e-01 -3.90050079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20800114499997 meters 0.09843608532612365 Centerline is valid? [True, True] Translation: X:194.39, Y:-6.12, Z:-3.90 [[ 9.99965788e-01 7.58838906e-03 3.29231251e-03 1.94394131e+02] [-7.58733728e-03 9.99971161e-01 -3.31839725e-04 -6.12484545e+00] [-3.29473570e-03 3.06848486e-04 9.99994525e-01 -3.90282428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23800114499997 meters 0.08631176017757465 Centerline is valid? [True, True] Translation: X:194.43, Y:-6.10, Z:-3.90 [[ 9.99973582e-01 6.69053260e-03 2.84107403e-03 1.94426448e+02] [-6.68974683e-03 9.99977582e-01 -2.85988614e-04 -6.10468588e+00] [-2.84292376e-03 2.66974993e-04 9.99995923e-01 -3.89665390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26800114499997 meters 0.08552984418748771 Centerline is valid? [True, True] Translation: X:194.46, Y:-6.11, Z:-3.90 [[ 9.99972423e-01 6.53356016e-03 3.53059667e-03 1.94456165e+02] [-6.53234242e-03 9.99978601e-01 -3.56332476e-04 -6.10511167e+00] [-3.53284924e-03 3.33259583e-04 9.99993704e-01 -3.89734486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29800114499997 meters 0.08634827283182565 Centerline is valid? [True, True] Translation: X:194.49, Y:-6.11, Z:-3.90 [[ 9.99974586e-01 6.61848803e-03 2.64994602e-03 1.94485996e+02] [-6.61780179e-03 9.99978066e-01 -2.67648803e-04 -6.10836510e+00] [-2.65165932e-03 2.50105183e-04 9.99996453e-01 -3.89908171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32800114499997 meters 0.08670091812553908 Centerline is valid? [True, True] Translation: X:194.51, Y:-6.11, Z:-3.90 [[ 9.99969278e-01 6.76987765e-03 3.95123039e-03 1.94514415e+02] [-6.76835385e-03 9.99977015e-01 -3.98896517e-04 -6.11019971e+00] [-3.95384005e-03 3.72140937e-04 9.99992114e-01 -3.90039842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35800114499997 meters 0.08362513543129958 Centerline is valid? [True, True] Translation: X:194.55, Y:-6.10, Z:-3.90 [[ 9.99954977e-01 8.21354201e-03 4.75199462e-03 1.94545164e+02] [-8.21136153e-03 9.99966172e-01 -4.78183834e-04 -6.10337485e+00] [-4.75576146e-03 4.39141959e-04 9.99988595e-01 -3.89908819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38800114499998 meters 0.08375000084758963 Centerline is valid? [True, True] Translation: X:194.58, Y:-6.10, Z:-3.90 [[ 9.99946503e-01 8.76545328e-03 5.49164447e-03 1.94575060e+02] [-8.76254774e-03 9.99961455e-01 -5.52923225e-04 -6.10460875e+00] [-5.49627942e-03 5.04772848e-04 9.99984768e-01 -3.90023189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41800114499998 meters 0.08317795494628073 Centerline is valid? [True, True] Translation: X:194.61, Y:-6.11, Z:-3.90 [[ 9.99936349e-01 9.45062859e-03 6.16313930e-03 1.94605335e+02] [-9.44698995e-03 9.99955184e-01 -6.19232560e-04 -6.10532897e+00] [-6.16871524e-03 5.60970030e-04 9.99980816e-01 -3.90105209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44800114499998 meters 0.08396231501409109 Centerline is valid? [True, True] Translation: X:194.64, Y:-6.11, Z:-3.90 [[ 9.99909439e-01 1.07354135e-02 8.11571053e-03 1.94635219e+02] [-1.07291460e-02 9.99942109e-01 -8.15414347e-04 -6.10812408e+00] [-8.12399451e-03 7.28265859e-04 9.99966735e-01 -3.90132149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47800114499998 meters 0.08878550218130904 Centerline is valid? [True, True] Translation: X:194.66, Y:-6.12, Z:-3.90 [[ 9.99877435e-01 1.19047042e-02 1.01682369e-02 1.94664439e+02] [-1.18949254e-02 9.99928731e-01 -1.02163898e-03 -6.11813629e+00] [-1.01796745e-02 9.00563345e-04 9.99947780e-01 -3.90390261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50800114499998 meters 0.08323155032906808 Centerline is valid? [True, True] Translation: X:194.70, Y:-6.11, Z:-3.90 [[ 9.99840683e-01 1.40189930e-02 1.10487977e-02 1.94696781e+02] [-1.40075825e-02 9.99901273e-01 -1.10945311e-03 -6.10844812e+00] [-1.10632603e-02 9.54509412e-04 9.99938345e-01 -3.90149521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53800114499998 meters 0.08378828617024324 Centerline is valid? [True, True] Translation: X:194.73, Y:-6.11, Z:-3.90 [[ 9.99830856e-01 1.48120005e-02 1.09024933e-02 1.94726820e+02] [-1.48009509e-02 9.99889862e-01 -1.09348491e-03 -6.11161853e+00] [-1.09174892e-02 9.31932685e-04 9.99939968e-01 -3.90324312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56800114499995 meters 0.08219855724231519 Centerline is valid? [True, True] Translation: X:194.76, Y:-6.11, Z:-3.90 [[ 9.99813679e-01 1.60108600e-02 1.07823305e-02 1.94757778e+02] [-1.60000878e-02 9.99871402e-01 -1.08458274e-03 -6.11103984e+00] [-1.07983090e-02 9.11862422e-04 9.99941281e-01 -3.90421787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59800114499996 meters 0.0832726475862975 Centerline is valid? [True, True] Translation: X:194.79, Y:-6.11, Z:-3.91 [[ 9.99771170e-01 1.85689261e-02 1.06208332e-02 1.94786602e+02] [-1.85586126e-02 9.99827203e-01 -1.06880693e-03 -6.11497606e+00] [-1.06388446e-02 8.71454421e-04 9.99943026e-01 -3.90627208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62800114499996 meters 0.08049298715715549 Centerline is valid? [True, True] Translation: X:194.82, Y:-6.11, Z:-3.91 [[ 9.99753804e-01 1.91784705e-02 1.11587335e-02 1.94816420e+02] [-1.91671182e-02 9.99815663e-01 -1.12341748e-03 -6.11255350e+00] [-1.11782220e-02 9.09260133e-04 9.99937108e-01 -3.90653608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65800114499996 meters 0.08428672765460578 Centerline is valid? [True, True] Translation: X:194.84, Y:-6.12, Z:-3.91 [[ 9.99760965e-01 1.93100106e-02 1.02536162e-02 1.94844207e+02] [-1.93004358e-02 9.99813197e-01 -1.03193494e-03 -6.12279432e+00] [-1.02716274e-02 8.33789010e-04 9.99946898e-01 -3.91106457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68800114499996 meters 0.08499483316972264 Centerline is valid? [True, True] Translation: X:194.87, Y:-6.13, Z:-3.91 [[ 9.99765441e-01 1.94851773e-02 9.45462483e-03 1.94873571e+02] [-1.94770517e-02 9.99809852e-01 -9.50752185e-04 -6.12685037e+00] [-9.47135263e-03 7.66380961e-04 9.99954852e-01 -3.91322645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71800114499996 meters 0.0863611754020664 Centerline is valid? [True, True] Translation: X:194.90, Y:-6.13, Z:-3.92 [[ 9.99789110e-01 1.89069267e-02 8.01643468e-03 1.94901647e+02] [-1.89010641e-02 9.99821034e-01 -8.06464992e-04 -6.13088398e+00] [-8.03024778e-03 6.54775771e-04 9.99967543e-01 -3.91599236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74800114499996 meters 0.08678658052019445 Centerline is valid? [True, True] Translation: X:194.93, Y:-6.14, Z:-3.92 [[ 9.99804281e-01 1.85109553e-02 6.98172598e-03 1.94931125e+02] [-1.85065027e-02 9.99828494e-01 -7.01827753e-04 -6.13505405e+00] [-6.99352007e-03 5.72483061e-04 9.99975381e-01 -3.91870879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77800114499996 meters 0.07990542615682267 Centerline is valid? [True, True] Translation: X:194.96, Y:-6.13, Z:-3.92 [[ 9.99809431e-01 1.82791523e-02 6.85379579e-03 1.94960741e+02] [-1.82748503e-02 9.99832763e-01 -6.89786883e-04 -6.12585444e+00] [-6.86525831e-03 5.64403339e-04 9.99976275e-01 -3.91626993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80800114499996 meters 0.08830670162941479 Centerline is valid? [True, True] Translation: X:194.99, Y:-6.14, Z:-3.92 [[ 9.99824889e-01 1.77265216e-02 5.99679851e-03 1.94987204e+02] [-1.77232225e-02 9.99842750e-01 -6.02839568e-04 -6.14431525e+00] [-6.00654176e-03 4.96451410e-04 9.99981837e-01 -3.92346044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83800114499996 meters 0.08286365754222133 Centerline is valid? [True, True] Translation: X:195.02, Y:-6.14, Z:-3.92 [[ 9.99833283e-01 1.73078857e-02 5.81750414e-03 1.95016987e+02] [-1.73047720e-02 9.99850090e-01 -5.85147014e-04 -6.13731431e+00] [-5.82675970e-03 4.84378878e-04 9.99982907e-01 -3.92075943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86800114499997 meters 0.08423068660168377 Centerline is valid? [True, True] Translation: X:195.04, Y:-6.14, Z:-3.92 [[ 9.99826251e-01 1.74911322e-02 6.44417504e-03 1.95044574e+02] [-1.74873166e-02 9.99846875e-01 -6.47979512e-04 -6.14202518e+00] [-6.45452217e-03 5.35175598e-04 9.99979026e-01 -3.92234654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89800114499997 meters 0.08510072990872217 Centerline is valid? [True, True] Translation: X:195.07, Y:-6.14, Z:-3.92 [[ 9.99827114e-01 1.74644308e-02 6.38240755e-03 1.95072332e+02] [-1.74606906e-02 9.99847345e-01 -6.41263230e-04 -6.14498266e+00] [-6.39263254e-03 5.29711121e-04 9.99979427e-01 -3.92322623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92800114499997 meters 0.08627692443207725 Centerline is valid? [True, True] Translation: X:195.10, Y:-6.15, Z:-3.92 [[ 9.99811402e-01 1.82755572e-02 6.57002326e-03 1.95100436e+02] [-1.82716183e-02 9.99832843e-01 -6.59065477e-04 -6.14743805e+00] [-6.58096982e-03 5.38896221e-04 9.99978200e-01 -3.92398877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95800114499997 meters 0.08332859213342775 Centerline is valid? [True, True] Translation: X:195.13, Y:-6.14, Z:-3.92 [[ 9.99792483e-01 1.88765659e-02 7.65932143e-03 1.95129575e+02] [-1.88712360e-02 9.99821628e-01 -7.67549945e-04 -6.14440293e+00] [-7.67244393e-03 6.22849803e-04 9.99970372e-01 -3.92320359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98800114499997 meters 0.08602915358920991 Centerline is valid? [True, True] Translation: X:195.16, Y:-6.15, Z:-3.93 [[ 9.99778526e-01 1.94370770e-02 8.06837173e-03 1.95156823e+02] [-1.94311824e-02 9.99810870e-01 -8.08342203e-04 -6.15172363e+00] [-8.08255756e-03 6.51385174e-04 9.99967123e-01 -3.92605379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01800114499997 meters 0.0873407563013948 Centerline is valid? [True, True] Translation: X:195.18, Y:-6.16, Z:-3.93 [[ 9.99790193e-01 1.86106794e-02 8.55642943e-03 1.95184531e+02] [-1.86040428e-02 9.99826565e-01 -8.54578368e-04 -6.15685134e+00] [-8.57084973e-03 6.95214892e-04 9.99963028e-01 -3.92734845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04800114499997 meters 0.0785942023412163 Centerline is valid? [True, True] Translation: X:195.22, Y:-6.14, Z:-3.92 [[ 9.99802272e-01 1.75261459e-02 9.39419112e-03 1.95215867e+02] [-1.75180938e-02 9.99846106e-01 -9.38752793e-04 -6.14300369e+00] [-9.40919812e-03 7.73998854e-04 9.99955433e-01 -3.92190755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07800114499997 meters 0.08003176744799982 Centerline is valid? [True, True] Translation: X:195.24, Y:-6.15, Z:-3.92 [[ 9.99796458e-01 1.70815289e-02 1.07361300e-02 1.95243498e+02] [-1.70709788e-02 9.99853704e-01 -1.07355143e-03 -6.14798813e+00] [-1.07528972e-02 8.90056668e-04 9.99941790e-01 -3.92350928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10800114499997 meters 0.08120087576822964 Centerline is valid? [True, True] Translation: X:195.27, Y:-6.15, Z:-3.92 [[ 9.99819286e-01 1.59873521e-02 1.02858950e-02 1.95272406e+02] [-1.59776312e-02 9.99871823e-01 -1.02656008e-03 -6.15122911e+00] [-1.03009886e-02 8.62030334e-04 9.99946572e-01 -3.92410937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13800114499998 meters 0.08178210474796944 Centerline is valid? [True, True] Translation: X:195.30, Y:-6.15, Z:-3.93 [[ 9.99822477e-01 1.55929215e-02 1.05771513e-02 1.95301494e+02] [-1.55826243e-02 9.99878027e-01 -1.05525337e-03 -6.15456622e+00] [-1.05923157e-02 8.90246263e-04 9.99943504e-01 -3.92538376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16800114499998 meters 0.07767818806147427 Centerline is valid? [True, True] Translation: X:195.33, Y:-6.15, Z:-3.92 [[ 9.99826366e-01 1.54933480e-02 1.03534373e-02 1.95331609e+02] [-1.54834793e-02 9.99879590e-01 -1.03266696e-03 -6.14893731e+00] [-1.03681901e-02 8.72180423e-04 9.99945869e-01 -3.92476001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19800114499998 meters 0.08258918653260965 Centerline is valid? [True, True] Translation: X:195.36, Y:-6.16, Z:-3.93 [[ 9.99831868e-01 1.53396609e-02 1.00463912e-02 1.95360337e+02] [-1.53303686e-02 9.99881982e-01 -1.00130370e-03 -6.16107558e+00] [-1.00605652e-02 8.47120466e-04 9.99949032e-01 -3.92933970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.22800114499998 meters 0.08587778171166328 Centerline is valid? [True, True] Translation: X:195.39, Y:-6.17, Z:-3.93 [[ 9.99837265e-01 1.55928393e-02 9.07228744e-03 1.95389375e+02] [-1.55852809e-02 9.99878134e-01 -9.03239238e-04 -6.16918924e+00] [-9.08526590e-03 7.61698101e-04 9.99958438e-01 -3.93247512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25800114499998 meters 0.08393786595759586 Centerline is valid? [True, True] Translation: X:195.42, Y:-6.17, Z:-3.93 [[ 9.99836110e-01 1.58129362e-02 8.81494905e-03 1.95418533e+02] [-1.58057891e-02 9.99874694e-01 -8.79880392e-04 -6.16641412e+00] [-8.82775797e-03 7.40408964e-04 9.99960760e-01 -3.93250063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28800114499998 meters 0.08096701127312722 Centerline is valid? [True, True] Translation: X:195.45, Y:-6.16, Z:-3.93 [[ 9.99831790e-01 1.61102158e-02 8.76659370e-03 1.95448148e+02] [-1.61031624e-02 9.99869953e-01 -8.74570050e-04 -6.16248615e+00] [-8.77954314e-03 7.33253056e-04 9.99961190e-01 -3.93174578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31800114499995 meters 0.0803773803908176 Centerline is valid? [True, True] Translation: X:195.48, Y:-6.16, Z:-3.93 [[ 9.99809287e-01 1.72554937e-02 9.14536145e-03 1.95478231e+02] [-1.72478833e-02 9.99850830e-01 -9.10379211e-04 -6.16287503e+00] [-9.15970627e-03 7.52467463e-04 9.99957766e-01 -3.93263209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34800114499996 meters 0.08196202754707882 Centerline is valid? [True, True] Translation: X:195.51, Y:-6.17, Z:-3.93 [[ 9.99806759e-01 1.73425614e-02 9.25640882e-03 1.95505156e+02] [-1.73347545e-02 9.99849316e-01 -9.22978231e-04 -6.16814908e+00] [-9.27102084e-03 7.62342299e-04 9.99956733e-01 -3.93489524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37800114499996 meters 0.08255341519430827 Centerline is valid? [True, True] Translation: X:195.53, Y:-6.17, Z:-3.94 [[ 9.99816568e-01 1.69461247e-02 8.92519079e-03 1.95534401e+02] [-1.69388680e-02 9.99856133e-01 -8.88029809e-04 -6.17123880e+00] [-8.93895542e-03 7.36684288e-04 9.99959775e-01 -3.93688585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40800114499996 meters 0.0804207030004501 Centerline is valid? [True, True] Translation: X:195.56, Y:-6.17, Z:-3.94 [[ 9.99813118e-01 1.71730273e-02 8.87784015e-03 1.95563798e+02] [-1.71658508e-02 9.99852265e-01 -8.83935271e-04 -6.16912924e+00] [-8.89170843e-03 7.31374400e-04 9.99960201e-01 -3.93678240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43800114499996 meters 0.08232337663429708 Centerline is valid? [True, True] Translation: X:195.59, Y:-6.17, Z:-3.94 [[ 9.99813958e-01 1.69468084e-02 9.21169263e-03 1.95591649e+02] [-1.69390748e-02 9.99856103e-01 -9.16914089e-04 -6.17345618e+00] [-9.22590587e-03 7.60705954e-04 9.99957151e-01 -3.93937920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46800114499996 meters 0.08232337663429708 Centerline is valid? [True, True] Translation: X:195.62, Y:-6.18, Z:-3.94 [[ 9.99815013e-01 1.68844074e-02 9.21180948e-03 1.95619908e+02] [-1.68766820e-02 9.99857159e-01 -9.15736988e-04 -6.17618979e+00] [-9.22595534e-03 7.60102810e-04 9.99957151e-01 -3.94040490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49800114499996 meters 0.08122012600014705 Centerline is valid? [True, True] Translation: X:195.65, Y:-6.18, Z:-3.94 [[ 9.99805814e-01 1.71509380e-02 9.70463439e-03 1.95649961e+02] [-1.71423913e-02 9.99852594e-01 -9.63182101e-04 -6.17591672e+00] [-9.71972335e-03 7.96634424e-04 9.99952445e-01 -3.94049470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52800114499996 meters 0.07928301522110467 Centerline is valid? [True, True] Translation: X:195.68, Y:-6.17, Z:-3.94 [[ 9.99811377e-01 1.70125993e-02 9.36920073e-03 1.95679175e+02] [-1.70046214e-02 9.99854978e-01 -9.30516503e-04 -6.17447502e+00] [-9.38367249e-03 7.71021275e-04 9.99955675e-01 -3.94028277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55800114499996 meters 0.08186629732213893 Centerline is valid? [True, True] Translation: X:195.71, Y:-6.18, Z:-3.94 [[ 9.99814509e-01 1.68840260e-02 9.26698492e-03 1.95705998e+02] [-1.68762171e-02 9.99857163e-01 -9.20208997e-04 -6.18142562e+00] [-9.28119808e-03 7.63646657e-04 9.99956637e-01 -3.94325153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58800114499996 meters 0.07717073534081642 Centerline is valid? [True, True] Translation: X:195.74, Y:-6.17, Z:-3.94 [[ 9.99812611e-01 1.74969886e-02 8.28236364e-03 1.95735687e+02] [-1.74907782e-02 9.99846687e-01 -8.21682926e-04 -6.17339010e+00] [-8.29547083e-03 6.76663966e-04 9.99965363e-01 -3.94228994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61800114499997 meters 0.08482791932349336 Centerline is valid? [True, True] Translation: X:195.76, Y:-6.19, Z:-3.95 [[ 9.99814277e-01 1.72632749e-02 8.56685689e-03 1.95762026e+02] [-1.72566237e-02 9.99850732e-01 -8.49701182e-04 -6.19010504e+00] [-8.58024676e-03 7.01708347e-04 9.99962943e-01 -3.94883502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64800114499997 meters 0.07845781050915399 Centerline is valid? [True, True] Translation: X:195.79, Y:-6.18, Z:-3.95 [[ 9.99834266e-01 1.65685593e-02 7.54481879e-03 1.95792590e+02] [-1.65633901e-02 9.99862539e-01 -7.47100837e-04 -6.17992519e+00] [-7.55616006e-03 6.22009239e-04 9.99971258e-01 -3.94616404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67800114499997 meters 0.08289623282313681 Centerline is valid? [True, True] Translation: X:195.82, Y:-6.19, Z:-3.95 [[ 9.99854283e-01 1.59819716e-02 5.99906865e-03 1.95819992e+02] [-1.59786927e-02 9.99872156e-01 -5.94104701e-04 -6.18949160e+00] [-6.00779667e-03 4.98160855e-04 9.99981829e-01 -3.95133454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70800114499997 meters 0.08050857349663097 Centerline is valid? [True, True] Translation: X:195.85, Y:-6.19, Z:-3.95 [[ 9.99863867e-01 1.57027810e-02 5.06653400e-03 1.95848965e+02] [-1.57004362e-02 9.99876614e-01 -5.02248154e-04 -6.18753054e+00] [-5.07379555e-03 4.22632988e-04 9.99987039e-01 -3.95137723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73800114499997 meters 0.08383273194900498 Centerline is valid? [True, True] Translation: X:195.88, Y:-6.20, Z:-3.96 [[ 9.99869134e-01 1.54074069e-02 4.93225802e-03 1.95875463e+02] [-1.54051801e-02 9.99881214e-01 -4.89149978e-04 -6.19619676e+00] [-4.93920867e-03 4.13103641e-04 9.99987717e-01 -3.95608760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76800114499997 meters 0.08167016983988593 Centerline is valid? [True, True] Translation: X:195.91, Y:-6.19, Z:-3.96 [[ 9.99857382e-01 1.58419005e-02 5.85230438e-03 1.95905006e+02] [-1.58387777e-02 9.99874391e-01 -5.79563649e-04 -6.19463522e+00] [-5.86075066e-03 4.86787645e-04 9.99982707e-01 -3.95573983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79800114499997 meters 0.08178061227511939 Centerline is valid? [True, True] Translation: X:195.93, Y:-6.19, Z:-3.96 [[ 9.99833402e-01 1.71432269e-02 6.26724200e-03 1.95934008e+02] [-1.71396858e-02 9.99852914e-01 -6.18293823e-04 -6.19479151e+00] [-6.27691973e-03 5.10772257e-04 9.99980169e-01 -3.95675408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82800114499997 meters 0.08202408684491876 Centerline is valid? [True, True] Translation: X:195.96, Y:-6.20, Z:-3.96 [[ 9.99832496e-01 1.72367680e-02 6.15417642e-03 1.95963018e+02] [-1.72333506e-02 9.99851310e-01 -6.07900980e-04 -6.19598649e+00] [-6.16373961e-03 5.01742074e-04 9.99980878e-01 -3.95818712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85800114499997 meters 0.08186097399438112 Centerline is valid? [True, True] Translation: X:195.99, Y:-6.20, Z:-3.96 [[ 9.99819661e-01 1.81542567e-02 5.57387520e-03 1.95992282e+02] [-1.81514646e-02 9.99835097e-01 -5.51113580e-04 -6.19744044e+00] [-5.58296111e-03 4.49840194e-04 9.99984314e-01 -3.95967448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88800114499998 meters 0.08335328041891585 Centerline is valid? [True, True] Translation: X:196.02, Y:-6.20, Z:-3.96 [[ 9.99810324e-01 1.85825320e-02 5.83141637e-03 1.96020288e+02] [-1.85794936e-02 9.99827221e-01 -5.74782723e-04 -6.20180093e+00] [-5.84108974e-03 4.66328938e-04 9.99982832e-01 -3.96228131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91800114499998 meters 0.08380365456146013 Centerline is valid? [True, True] Translation: X:196.05, Y:-6.20, Z:-3.96 [[ 9.99794759e-01 1.89214667e-02 7.23999844e-03 1.96048822e+02] [-1.89167943e-02 9.99820807e-01 -7.13310861e-04 -6.20226319e+00] [-7.25219797e-03 5.76206899e-04 9.99973536e-01 -3.96217288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94800114499998 meters 0.08504767211832456 Centerline is valid? [True, True] Translation: X:196.08, Y:-6.21, Z:-3.96 [[ 9.99798592e-01 1.83245397e-02 8.18458889e-03 1.96076064e+02] [-1.83185519e-02 9.99831876e-01 -8.05964787e-04 -6.20542119e+00] [-8.19798181e-03 6.55872642e-04 9.99966181e-01 -3.96342938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97800114499998 meters 0.0847586291288641 Centerline is valid? [True, True] Translation: X:196.11, Y:-6.21, Z:-3.96 [[ 9.99809790e-01 1.77683031e-02 8.04183043e-03 1.96105330e+02] [-1.77625160e-02 9.99841922e-01 -7.90480173e-04 -6.20668508e+00] [-8.05460468e-03 6.47486674e-04 9.99967352e-01 -3.96370954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00800114499998 meters 0.08756787998824501 Centerline is valid? [True, True] Translation: X:196.13, Y:-6.21, Z:-3.97 [[ 9.99807842e-01 1.73608690e-02 9.10378878e-03 1.96132870e+02] [-1.73534341e-02 9.99849017e-01 -8.95046279e-04 -6.21294123e+00] [-9.11795305e-03 7.36892290e-04 9.99958159e-01 -3.96655376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03800114499998 meters 0.0880052993009649 Centerline is valid? [True, True] Translation: X:196.16, Y:-6.21, Z:-3.97 [[ 9.99815041e-01 1.65759355e-02 9.75310590e-03 1.96161835e+02] [-1.65673788e-02 9.99862293e-01 -9.57477560e-04 -6.21487575e+00] [-9.76763392e-03 7.95717066e-04 9.99951979e-01 -3.96779293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06800114499995 meters 0.08938457316067037 Centerline is valid? [True, True] Translation: X:196.19, Y:-6.22, Z:-3.97 [[ 9.99833706e-01 1.58595957e-02 9.00182005e-03 1.96191215e+02] [-1.58522886e-02 9.99873955e-01 -8.82513032e-04 -6.21851942e+00] [-9.01468172e-03 7.39666826e-04 9.99959093e-01 -3.96874249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09800114499996 meters 0.09038322503897231 Centerline is valid? [True, True] Translation: X:196.22, Y:-6.22, Z:-3.97 [[ 9.99834456e-01 1.53133232e-02 9.82667712e-03 1.96221156e+02] [-1.53045932e-02 9.99882414e-01 -9.62981734e-04 -6.22040273e+00] [-9.84026809e-03 8.12429022e-04 9.99951253e-01 -3.97049499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12800114499996 meters 0.08861851551774849 Centerline is valid? [True, True] Translation: X:196.25, Y:-6.22, Z:-3.97 [[ 9.99845122e-01 1.45040769e-02 9.96817445e-03 1.96251220e+02] [-1.44950568e-02 9.99894464e-01 -9.76544550e-04 -6.21931367e+00] [-9.98128633e-03 8.31904049e-04 9.99949840e-01 -3.97060667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15800114499996 meters 0.08637560118757574 Centerline is valid? [True, True] Translation: X:196.28, Y:-6.22, Z:-3.97 [[ 9.99842465e-01 1.42982412e-02 1.05168712e-02 1.96281566e+02] [-1.42881933e-02 9.99897388e-01 -1.02993413e-03 -6.21742481e+00] [-1.05305183e-02 8.79504796e-04 9.99944166e-01 -3.97041230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18800114499996 meters 0.08700103819168815 Centerline is valid? [True, True] Translation: X:196.31, Y:-6.22, Z:-3.97 [[ 9.99845783e-01 1.42144135e-02 1.03131589e-02 1.96310645e+02] [-1.42047540e-02 9.99898598e-01 -1.00926673e-03 -6.22047360e+00] [-1.03264592e-02 8.62615194e-04 9.99946309e-01 -3.97159118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21800114499996 meters 0.08669774194032638 Centerline is valid? [True, True] Translation: X:196.34, Y:-6.22, Z:-3.97 [[ 9.99838440e-01 1.42893739e-02 1.09045015e-02 1.96340756e+02] [-1.42785772e-02 9.99897486e-01 -1.06732607e-03 -6.22067883e+00] [-1.09186350e-02 9.11452862e-04 9.99939975e-01 -3.97289579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24800114499996 meters 0.0921015518678606 Centerline is valid? [True, True] Translation: X:196.37, Y:-6.23, Z:-3.98 [[ 9.99839710e-01 1.42678048e-02 1.08158941e-02 1.96369132e+02] [-1.42571897e-02 9.99897801e-01 -1.05791671e-03 -6.23196904e+00] [-1.08298829e-02 9.03542881e-04 9.99940947e-01 -3.97637677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27800114499996 meters 0.09343777739097209 Centerline is valid? [True, True] Translation: X:196.40, Y:-6.24, Z:-3.98 [[ 9.99841180e-01 1.40083845e-02 1.10172990e-02 1.96397926e+02] [-1.39973568e-02 9.99901452e-01 -1.07741556e-03 -6.23608060e+00] [-1.10313061e-02 9.23031376e-04 9.99938727e-01 -3.97836707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30800114499996 meters 0.08352833773043859 Centerline is valid? [True, True] Translation: X:196.43, Y:-6.22, Z:-3.97 [[ 9.99834969e-01 1.43805707e-02 1.11010340e-02 1.96430171e+02] [-1.43694037e-02 9.99896166e-01 -1.08505480e-03 -6.22043500e+00] [-1.11154850e-02 9.25360494e-04 9.99937793e-01 -3.97369753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33800114499996 meters 0.08393450048541763 Centerline is valid? [True, True] Translation: X:196.46, Y:-6.22, Z:-3.98 [[ 9.99826039e-01 1.45983070e-02 1.16095647e-02 1.96460008e+02] [-1.45860986e-02 9.99892972e-01 -1.13555661e-03 -6.22360870e+00] [-1.16248994e-02 9.66020811e-04 9.99931962e-01 -3.97593804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36800114499997 meters 0.08818008908328372 Centerline is valid? [True, True] Translation: X:196.49, Y:-6.23, Z:-3.98 [[ 9.99826407e-01 1.52329813e-02 1.07290780e-02 1.96489000e+02] [-1.52226027e-02 9.99883580e-01 -1.04834653e-03 -6.23371667e+00] [-1.07437983e-02 8.84840052e-04 9.99941892e-01 -3.98037862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39800114499997 meters 0.0880709299305291 Centerline is valid? [True, True] Translation: X:196.52, Y:-6.24, Z:-3.98 [[ 9.99825494e-01 1.55205799e-02 1.03967634e-02 1.96518782e+02] [-1.55108414e-02 9.99879183e-01 -1.01667231e-03 -6.23553784e+00] [-1.04112866e-02 8.55232348e-04 9.99945435e-01 -3.98154874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42800114499997 meters 0.08935699396995472 Centerline is valid? [True, True] Translation: X:196.55, Y:-6.24, Z:-3.98 [[ 9.99801834e-01 1.69425849e-02 1.04518730e-02 1.96547733e+02] [-1.69328235e-02 9.99856107e-01 -1.02172461e-03 -6.23834230e+00] [-1.04676797e-02 8.44542418e-04 9.99944856e-01 -3.98366811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45800114499997 meters 0.08509218370477267 Centerline is valid? [True, True] Translation: X:196.58, Y:-6.23, Z:-3.98 [[ 9.99810994e-01 1.68801019e-02 9.64564522e-03 1.96577737e+02] [-1.68717873e-02 9.99857217e-01 -9.42726266e-04 -6.23264057e+00] [-9.66018130e-03 7.79808811e-04 9.99953035e-01 -3.98248000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48800114499997 meters 0.08399701031607384 Centerline is valid? [True, True] Translation: X:196.61, Y:-6.23, Z:-3.98 [[ 9.99788197e-01 1.77607156e-02 1.03979814e-02 1.96607582e+02] [-1.77511050e-02 9.99841921e-01 -1.01584162e-03 -6.23293256e+00] [-1.04143797e-02 8.31050803e-04 9.99945424e-01 -3.98317524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51800114499997 meters 0.0904937203270894 Centerline is valid? [True, True] Translation: X:196.63, Y:-6.24, Z:-3.99 [[ 9.99784939e-01 1.81552022e-02 1.00231941e-02 1.96634635e+02] [-1.81462952e-02 9.99834863e-01 -9.78880980e-04 -6.24478734e+00] [-1.00393107e-02 7.96786622e-04 9.99949287e-01 -3.98776071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54800114499997 meters 0.08191704868841738 Centerline is valid? [True, True] Translation: X:196.67, Y:-6.23, Z:-3.98 [[ 9.99781771e-01 1.81635941e-02 1.03196108e-02 1.96665452e+02] [-1.81541467e-02 9.99834691e-01 -1.00842647e-03 -6.23161331e+00] [-1.03362215e-02 8.20862674e-04 9.99946243e-01 -3.98362118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57800114499997 meters 0.08213887646392623 Centerline is valid? [True, True] Translation: X:196.69, Y:-6.23, Z:-3.98 [[ 9.99783481e-01 1.79717568e-02 1.04884293e-02 1.96694379e+02] [-1.79619953e-02 9.99838146e-01 -1.02416231e-03 -6.23454764e+00] [-1.05051377e-02 8.35547438e-04 9.99944470e-01 -3.98488655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60800114499997 meters 0.08274604228510943 Centerline is valid? [True, True] Translation: X:196.72, Y:-6.24, Z:-3.99 [[ 9.99783978e-01 1.72433682e-02 1.16044579e-02 1.96722800e+02] [-1.72313817e-02 9.99850888e-01 -1.13211928e-03 -6.23735258e+00] [-1.16222491e-02 9.31913873e-04 9.99932025e-01 -3.98528832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63800114499998 meters 0.08417226839836295 Centerline is valid? [True, True] Translation: X:196.75, Y:-6.24, Z:-3.99 [[ 9.99785188e-01 1.69827087e-02 1.18812694e-02 1.96751485e+02] [-1.69701400e-02 9.99855326e-01 -1.15787809e-03 -6.24198307e+00] [-1.18992144e-02 9.56002555e-04 9.99928745e-01 -3.98731021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66800114499998 meters 0.08532714582416653 Centerline is valid? [True, True] Translation: X:196.78, Y:-6.25, Z:-3.99 [[ 9.99809625e-01 1.62355720e-02 1.08222184e-02 1.96781079e+02] [-1.62251096e-02 9.99867809e-01 -1.05385758e-03 -6.24582065e+00] [-1.08378978e-02 8.78065267e-04 9.99940883e-01 -3.98961478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69800114499998 meters 0.08732829102199567 Centerline is valid? [True, True] Translation: X:196.81, Y:-6.25, Z:-3.99 [[ 9.99836362e-01 1.52229890e-02 9.77292370e-03 1.96809968e+02] [-1.52144153e-02 9.99883802e-01 -9.51051860e-04 -6.25046176e+00] [-9.78626596e-03 8.02206912e-04 9.99951792e-01 -3.99250546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72800114499998 meters 0.08625283922143026 Centerline is valid? [True, True] Translation: X:196.84, Y:-6.25, Z:-3.99 [[ 9.99849522e-01 1.45313547e-02 9.47483485e-03 1.96839140e+02] [-1.45232582e-02 9.99894106e-01 -9.22775579e-04 -6.25126611e+00] [-9.48724070e-03 7.85031249e-04 9.99954687e-01 -3.99224488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75800114499998 meters 0.0916765513297874 Centerline is valid? [True, True] Translation: X:196.87, Y:-6.26, Z:-4.00 [[ 9.99861375e-01 1.36786600e-02 9.49339622e-03 1.96866408e+02] [-1.36704981e-02 9.99906127e-01 -9.24109964e-04 -6.26358074e+00] [-9.50514563e-03 7.94202405e-04 9.99954510e-01 -3.99638127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78800114499998 meters 0.08726195474459586 Centerline is valid? [True, True] Translation: X:196.90, Y:-6.26, Z:-3.99 [[ 9.99861498e-01 1.28651950e-02 1.05579643e-02 1.96896818e+02] [-1.28550666e-02 9.99916843e-01 -1.02662129e-03 -6.25916513e+00] [-1.05702940e-02 8.90755767e-04 9.99943736e-01 -3.99456105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81800114499995 meters 0.0888540813262805 Centerline is valid? [True, True] Translation: X:196.93, Y:-6.27, Z:-3.99 [[ 9.99867509e-01 1.10460411e-02 1.19561308e-02 1.96926454e+02] [-1.10329344e-02 9.99938461e-01 -1.16163629e-03 -6.26523726e+00] [-1.19682265e-02 1.02957118e-03 9.99927848e-01 -3.99464001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84800114499996 meters 0.08758408031626098 Centerline is valid? [True, True] Translation: X:196.96, Y:-6.27, Z:-3.99 [[ 9.99869117e-01 1.06070326e-02 1.22163897e-02 1.96958295e+02] [-1.05933860e-02 9.99943191e-01 -1.18124359e-03 -6.26608153e+00] [-1.22282252e-02 1.05167605e-03 9.99924679e-01 -3.99440025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87800114499996 meters 0.09310713830199453 Centerline is valid? [True, True] Translation: X:196.99, Y:-6.28, Z:-4.00 [[ 9.99862664e-01 1.06214912e-02 1.27215061e-02 1.96988950e+02] [-1.06066548e-02 9.99942987e-01 -1.23314746e-03 -6.27829408e+00] [-1.27338787e-02 1.09804548e-03 9.99918318e-01 -3.99676253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90800114499996 meters 0.08723528590766078 Centerline is valid? [True, True] Translation: X:197.02, Y:-6.27, Z:-4.00 [[ 9.99863667e-01 1.12306403e-02 1.21045223e-02 1.97022023e+02] [-1.12172309e-02 9.99936394e-01 -1.17513169e-03 -6.27170604e+00] [-1.21169498e-02 1.03919226e-03 9.99926047e-01 -3.99517704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93800114499996 meters 0.0932201858377059 Centerline is valid? [True, True] Translation: X:197.05, Y:-6.28, Z:-4.00 [[ 9.99858468e-01 1.13862545e-02 1.23853950e-02 1.97052420e+02] [-1.13721834e-02 9.99934607e-01 -1.20594112e-03 -6.28499260e+00] [-1.23983162e-02 1.06492145e-03 9.99922571e-01 -3.99930478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96800114499996 meters 0.0855970887332797 Centerline is valid? [True, True] Translation: X:197.08, Y:-6.28, Z:-4.00 [[ 9.99849613e-01 1.21140068e-02 1.24097275e-02 1.97084808e+02] [-1.20998506e-02 9.99926056e-01 -1.21518229e-03 -6.27555903e+00] [-1.24235306e-02 1.06484370e-03 9.99922258e-01 -3.99743819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99800114499996 meters 0.08998993362221216 Centerline is valid? [True, True] Translation: X:197.11, Y:-6.29, Z:-4.00 [[ 9.99861326e-01 1.26113281e-02 1.08757797e-02 1.97114856e+02] [-1.26005086e-02 9.99920046e-01 -1.06278188e-03 -6.28730478e+00] [-1.08883132e-02 9.25594143e-04 9.99940292e-01 -4.00225086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02800114499996 meters 0.08695770608343378 Centerline is valid? [True, True] Translation: X:197.15, Y:-6.29, Z:-4.00 [[ 9.99867753e-01 1.28195646e-02 1.00067342e-02 1.97145443e+02] [-1.28103726e-02 9.99917461e-01 -9.82138880e-04 -6.28567356e+00] [-1.00184989e-02 8.53819002e-04 9.99949449e-01 -4.00227280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05800114499996 meters 0.08431264083863631 Centerline is valid? [True, True] Translation: X:197.18, Y:-6.28, Z:-4.00 [[ 9.99865727e-01 1.31695273e-02 9.75150196e-03 1.97175979e+02] [-1.31608104e-02 9.99912934e-01 -9.57533231e-04 -6.28347012e+00] [-9.76326320e-03 8.29066991e-04 9.99951995e-01 -4.00212551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08800114499996 meters 0.08589221450721037 Centerline is valid? [True, True] Translation: X:197.20, Y:-6.29, Z:-4.00 [[ 9.99864294e-01 1.37136219e-02 9.12855678e-03 1.97204903e+02] [-1.37060068e-02 9.99905667e-01 -8.96244010e-04 -6.28804919e+00] [-9.13998640e-03 7.71006322e-04 9.99957932e-01 -4.00385252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11800114499997 meters 0.08808162981160968 Centerline is valid? [True, True] Translation: X:197.23, Y:-6.29, Z:-4.01 [[ 9.99841224e-01 1.56141702e-02 8.58631178e-03 1.97233753e+02] [-1.56074997e-02 9.99877840e-01 -8.43338103e-04 -6.29361314e+00] [-8.59843090e-03 7.09193343e-04 9.99962781e-01 -4.00709946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14800114499997 meters 0.08230846170822287 Centerline is valid? [True, True] Translation: X:197.26, Y:-6.29, Z:-4.01 [[ 9.99825593e-01 1.70288364e-02 7.66824304e-03 1.97263361e+02] [-1.70235508e-02 9.99854805e-01 -7.54024547e-04 -6.28592930e+00] [-7.67996981e-03 6.23352315e-04 9.99970314e-01 -4.00518056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17800114499997 meters 0.08189019880136876 Centerline is valid? [True, True] Translation: X:197.29, Y:-6.29, Z:-4.01 [[ 9.99798200e-01 1.82663876e-02 8.36046852e-03 1.97293593e+02] [-1.82601660e-02 9.99832933e-01 -8.19896547e-04 -6.28801179e+00] [-8.37404831e-03 6.67067549e-04 9.99964715e-01 -4.00667829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20800114499997 meters 0.08160397338030247 Centerline is valid? [True, True] Translation: X:197.32, Y:-6.29, Z:-4.01 [[ 9.99766346e-01 2.02316826e-02 7.61138174e-03 1.97322777e+02] [-2.02265796e-02 9.99795143e-01 -7.46828294e-04 -6.28797504e+00] [-7.62493209e-03 5.92701575e-04 9.99970754e-01 -4.00801805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23800114499997 meters 0.08353438018751971 Centerline is valid? [True, True] Translation: X:197.35, Y:-6.29, Z:-4.01 [[ 9.99745446e-01 2.11341585e-02 7.89872331e-03 1.97349748e+02] [-2.11286825e-02 9.99776463e-01 -7.76092250e-04 -6.29316049e+00] [-7.91335971e-03 6.09005075e-04 9.99968503e-01 -4.01062317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26800114499997 meters 0.08137591250645296 Centerline is valid? [True, True] Translation: X:197.38, Y:-6.29, Z:-4.01 [[ 9.99709442e-01 2.23879178e-02 8.93376237e-03 1.97380121e+02] [-2.23809884e-02 9.99749132e-01 -8.74878913e-04 -6.29178506e+00] [-8.95110788e-03 6.74678278e-04 9.99959710e-01 -4.01033164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29800114499997 meters 0.08018211269283473 Centerline is valid? [True, True] Translation: X:197.41, Y:-6.29, Z:-4.01 [[ 9.99703553e-01 2.29605143e-02 8.10066792e-03 1.97409101e+02] [-2.29548251e-02 9.99736188e-01 -7.94602679e-04 -6.29244100e+00] [-8.11677535e-03 6.08417707e-04 9.99966873e-01 -4.01081394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32800114499997 meters 0.08099112965018244 Centerline is valid? [True, True] Translation: X:197.44, Y:-6.30, Z:-4.01 [[ 9.99687157e-01 2.35246187e-02 8.49596096e-03 1.97436641e+02] [-2.35183830e-02 9.99723057e-01 -8.33136157e-04 -6.29808531e+00] [-8.51320728e-03 6.33064251e-04 9.99963562e-01 -4.01292401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35800114499997 meters 0.08099112965018244 Centerline is valid? [True, True] Translation: X:197.46, Y:-6.30, Z:-4.01 [[ 9.99689437e-01 2.34274927e-02 8.49598690e-03 1.97464037e+02] [-2.34212558e-02 9.99725338e-01 -8.32872078e-04 -6.30065199e+00] [-8.51316547e-03 6.33626736e-04 9.99963562e-01 -4.01391835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38800114499998 meters 0.07968422739843087 Centerline is valid? [True, True] Translation: X:197.49, Y:-6.30, Z:-4.01 [[ 9.99703188e-01 2.28746399e-02 8.38372798e-03 1.97492902e+02] [-2.28685612e-02 9.99738144e-01 -8.20217780e-04 -6.30056639e+00] [-8.40029483e-03 6.28250534e-04 9.99964520e-01 -4.01444668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41800114499998 meters 0.07876641108836309 Centerline is valid? [True, True] Translation: X:197.52, Y:-6.30, Z:-4.01 [[ 9.99716611e-01 2.22436369e-02 8.48049034e-03 1.97521835e+02] [-2.22374031e-02 9.99752375e-01 -8.28668465e-04 -6.30104863e+00] [-8.49682296e-03 6.39849547e-04 9.99963697e-01 -4.01349227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44800114499998 meters 0.08076544426216918 Centerline is valid? [True, True] Translation: X:197.55, Y:-6.31, Z:-4.01 [[ 9.99753571e-01 2.05449860e-02 8.40831946e-03 1.97549407e+02] [-2.05387977e-02 9.99788719e-01 -8.21671652e-04 -6.30691780e+00] [-8.42342417e-03 6.48772396e-04 9.99964312e-01 -4.01459941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47800114499998 meters 0.07977805033709355 Centerline is valid? [True, True] Translation: X:197.58, Y:-6.31, Z:-4.02 [[ 9.99770674e-01 1.96678242e-02 8.47202330e-03 1.97577864e+02] [-1.96615154e-02 9.99806351e-01 -8.27309819e-04 -6.31078472e+00] [-8.48665409e-03 6.60547279e-04 9.99963770e-01 -4.01649662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50800114499998 meters 0.08386322357977075 Centerline is valid? [True, True] Translation: X:197.60, Y:-6.32, Z:-4.02 [[ 9.99781408e-01 1.93719939e-02 7.86526989e-03 1.97604083e+02] [-1.93665466e-02 9.99812156e-01 -7.68158049e-04 -6.32347117e+00] [-7.87867319e-03 6.15667020e-04 9.99968773e-01 -4.02106462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53800114499995 meters 0.0808096428557645 Centerline is valid? [True, True] Translation: X:197.63, Y:-6.32, Z:-4.02 [[ 9.99788372e-01 1.92351040e-02 7.29527221e-03 1.97632972e+02] [-1.92304204e-02 9.99814825e-01 -7.11604589e-04 -6.32078659e+00] [-7.30760909e-03 5.71162842e-04 9.99973136e-01 -4.01930695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56800114499995 meters 0.08362837900593117 Centerline is valid? [True, True] Translation: X:197.66, Y:-6.33, Z:-4.02 [[ 9.99781754e-01 1.97022532e-02 6.94739291e-03 1.97660002e+02] [-1.96980155e-02 9.99805745e-01 -6.77880611e-04 -6.32830933e+00] [-6.95939913e-03 5.40882813e-04 9.99975637e-01 -4.02172294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59800114499996 meters 0.08411799440425648 Centerline is valid? [True, True] Translation: X:197.69, Y:-6.33, Z:-4.02 [[ 9.99768416e-01 2.05418601e-02 6.41455037e-03 1.97687990e+02] [-2.05382709e-02 9.99788872e-01 -6.24916147e-04 -6.33193840e+00] [-6.42603302e-03 4.93027654e-04 9.99979231e-01 -4.02319072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62800114499996 meters 0.08082027495520586 Centerline is valid? [True, True] Translation: X:197.72, Y:-6.33, Z:-4.02 [[ 9.99735794e-01 2.18066624e-02 7.26719415e-03 1.97718269e+02] [-2.18021010e-02 9.99762056e-01 -7.06312243e-04 -6.32934734e+00] [-7.28086728e-03 5.47685530e-04 9.99973344e-01 -4.02204165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65800114499996 meters 0.07918956693922906 Centerline is valid? [True, True] Translation: X:197.75, Y:-6.33, Z:-4.02 [[ 9.99674983e-01 2.43297874e-02 7.61504237e-03 1.97747896e+02] [-2.43248540e-02 9.99703833e-01 -7.39813343e-04 -6.33088421e+00] [-7.63078655e-03 5.54338097e-04 9.99970731e-01 -4.02184595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68800114499996 meters 0.07948504406397387 Centerline is valid? [True, True] Translation: X:197.78, Y:-6.33, Z:-4.02 [[ 9.99650953e-01 2.52873029e-02 7.65016966e-03 1.97775326e+02] [-2.52823433e-02 9.99680073e-01 -7.44338395e-04 -6.33479843e+00] [-7.66654448e-03 5.50664370e-04 9.99970460e-01 -4.02308437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71800114499996 meters 0.0796378065346379 Centerline is valid? [True, True] Translation: X:197.80, Y:-6.34, Z:-4.02 [[ 9.99639104e-01 2.61259241e-02 6.25289349e-03 1.97804051e+02] [-2.61226302e-02 9.99658561e-01 -6.07890289e-04 -6.33815533e+00] [-6.26664021e-03 4.44328879e-04 9.99980266e-01 -4.02467914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74800114499996 meters 0.07973758632123301 Centerline is valid? [True, True] Translation: X:197.83, Y:-6.34, Z:-4.03 [[ 9.99615087e-01 2.68222115e-02 7.08846104e-03 1.97831469e+02] [-2.68179945e-02 9.99640095e-01 -6.89308274e-04 -6.34157872e+00] [-7.10439864e-03 4.98944641e-04 9.99974639e-01 -4.02578169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77800114499996 meters 0.07933290088093807 Centerline is valid? [True, True] Translation: X:197.86, Y:-6.34, Z:-4.03 [[ 9.99593585e-01 2.76613710e-02 6.89299522e-03 1.97859749e+02] [-2.76574139e-02 9.99617237e-01 -6.68752085e-04 -6.34388419e+00] [-6.90885544e-03 4.77837872e-04 9.99976019e-01 -4.02595671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80800114499996 meters 0.07858886032518993 Centerline is valid? [True, True] Translation: X:197.89, Y:-6.35, Z:-4.03 [[ 9.99587340e-01 2.80773424e-02 6.06730473e-03 1.97888615e+02] [-2.80742849e-02 9.99605666e-01 -5.88529435e-04 -6.34612739e+00] [-6.08143653e-03 4.17951331e-04 9.99981421e-01 -4.02714672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83800114499996 meters 0.07865608880789078 Centerline is valid? [True, True] Translation: X:197.92, Y:-6.35, Z:-4.03 [[ 9.99571450e-01 2.85428580e-02 6.49784218e-03 1.97916885e+02] [-2.85393648e-02 9.99592471e-01 -6.29707406e-04 -6.35075032e+00] [-6.51316777e-03 4.43993256e-04 9.99978691e-01 -4.02914079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86800114499997 meters 0.07580787719756198 Centerline is valid? [True, True] Translation: X:197.95, Y:-6.35, Z:-4.03 [[ 9.99568481e-01 2.88165818e-02 5.69706413e-03 1.97945183e+02] [-2.88138953e-02 9.99584641e-01 -5.53085479e-04 -6.34906043e+00] [-5.71063584e-03 3.88692202e-04 9.99983619e-01 -4.02815588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89800114499997 meters 0.0767822604204655 Centerline is valid? [True, True] Translation: X:197.97, Y:-6.35, Z:-4.03 [[ 9.99551164e-01 2.92852910e-02 6.31206112e-03 1.97972883e+02] [-2.92820067e-02 9.99571003e-01 -6.12132926e-04 -6.35391318e+00] [-6.32727975e-03 4.27028363e-04 9.99979891e-01 -4.02965344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92800114499997 meters 0.07730016639293286 Centerline is valid? [True, True] Translation: X:198.00, Y:-6.36, Z:-4.03 [[ 9.99546390e-01 2.95080558e-02 6.02397600e-03 1.98000709e+02] [-2.95050767e-02 9.99564461e-01 -5.82829852e-04 -6.35793251e+00] [-6.03855050e-03 4.04827601e-04 9.99981686e-01 -4.03079180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95800114499997 meters 0.07686098377768127 Centerline is valid? [True, True] Translation: X:198.03, Y:-6.36, Z:-4.03 [[ 9.99538715e-01 2.97196954e-02 6.25279317e-03 1.98029882e+02] [-2.97164997e-02 9.99558185e-01 -6.03395670e-04 -6.36069514e+00] [-6.26796333e-03 4.17306206e-04 9.99980269e-01 -4.03193515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98800114499997 meters 0.07758896789228353 Centerline is valid? [True, True] Translation: X:198.06, Y:-6.37, Z:-4.03 [[ 9.99548541e-01 2.95065739e-02 5.66354402e-03 1.98057716e+02] [-2.95039467e-02 9.99564514e-01 -5.46889192e-04 -6.36667544e+00] [-5.67721445e-03 3.79545394e-04 9.99983812e-01 -4.03399033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01800114499997 meters 0.07794357806558651 Centerline is valid? [True, True] Translation: X:198.09, Y:-6.37, Z:-4.03 [[ 9.99564119e-01 2.89429179e-02 5.82068713e-03 1.98086299e+02] [-2.89401358e-02 9.99580989e-01 -5.61636735e-04 -6.37055090e+00] [-5.83450360e-03 3.92940452e-04 9.99982902e-01 -4.03442493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04800114499997 meters 0.07530026833036958 Centerline is valid? [True, True] Translation: X:198.12, Y:-6.37, Z:-4.03 [[ 9.99596730e-01 2.76901234e-02 6.29563272e-03 1.98115592e+02] [-2.76868473e-02 9.99616461e-01 -6.06952607e-04 -6.36778996e+00] [-6.31002469e-03 4.32401619e-04 9.99979998e-01 -4.03247517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07800114499997 meters 0.07790652031419656 Centerline is valid? [True, True] Translation: X:198.14, Y:-6.38, Z:-4.04 [[ 9.99654595e-01 2.56339397e-02 5.79589261e-03 1.98143853e+02] [-2.56311385e-02 9.99671313e-01 -5.57085696e-04 -6.37832426e+00] [-5.80826787e-03 4.08337950e-04 9.99983048e-01 -4.03596473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10800114499997 meters 0.07880356517716434 Centerline is valid? [True, True] Translation: X:198.17, Y:-6.38, Z:-4.04 [[ 9.99685381e-01 2.46044015e-02 4.87470147e-03 1.98172778e+02] [-2.46024053e-02 9.99697205e-01 -4.69051698e-04 -6.38396604e+00] [-4.88476617e-03 3.48974744e-04 9.99988009e-01 -4.03798979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13800114499998 meters 0.07862137701776507 Centerline is valid? [True, True] Translation: X:198.20, Y:-6.39, Z:-4.04 [[ 9.99703864e-01 2.37330246e-02 5.37842345e-03 1.98201344e+02] [-2.37305782e-02 9.99718256e-01 -5.18220591e-04 -6.38688869e+00] [-5.38920706e-03 3.90434029e-04 9.99985402e-01 -4.03802574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16800114499998 meters 0.07859694859415384 Centerline is valid? [True, True] Translation: X:198.23, Y:-6.39, Z:-4.04 [[ 9.99709532e-01 2.33884082e-02 5.81677581e-03 1.98229885e+02] [-2.33855443e-02 9.99726364e-01 -5.59888126e-04 -6.39014429e+00] [-5.82827902e-03 4.23697028e-04 9.99982926e-01 -4.03901107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19800114499998 meters 0.07712235810134127 Centerline is valid? [True, True] Translation: X:198.26, Y:-6.39, Z:-4.04 [[ 9.99740958e-01 2.20315601e-02 5.71206233e-03 1.98259412e+02] [-2.20287837e-02 9.99757186e-01 -5.48527872e-04 -6.39119975e+00] [-5.72276029e-03 4.22555995e-04 9.99983536e-01 -4.03843427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22800114499998 meters 0.07781155495233612 Centerline is valid? [True, True] Translation: X:198.29, Y:-6.40, Z:-4.04 [[ 9.99747335e-01 2.17461968e-02 5.68945194e-03 1.98287302e+02] [-2.17434304e-02 9.99763434e-01 -5.47641646e-04 -6.39634256e+00] [-5.70001513e-03 4.23795074e-04 9.99983665e-01 -4.04011477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25800114499998 meters 0.07820836954785444 Centerline is valid? [True, True] Translation: X:198.32, Y:-6.40, Z:-4.04 [[ 9.99766097e-01 2.08446441e-02 5.76643475e-03 1.98315676e+02] [-2.08417932e-02 9.99782633e-01 -5.54047453e-04 -6.40020526e+00] [-5.77673024e-03 4.33735019e-04 9.99983220e-01 -4.04159218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28800114499995 meters 0.08260332518180684 Centerline is valid? [True, True] Translation: X:198.34, Y:-6.41, Z:-4.05 [[ 9.99778817e-01 2.03216347e-02 5.41737090e-03 1.98342626e+02] [-2.03191095e-02 9.99793410e-01 -5.20773493e-04 -6.41327475e+00] [-5.42683469e-03 4.10582155e-04 9.99985190e-01 -4.04531813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31800114499995 meters 0.08036231921687964 Centerline is valid? [True, True] Translation: X:198.37, Y:-6.41, Z:-4.04 [[ 9.99788068e-01 2.00547029e-02 4.65065611e-03 1.98371406e+02] [-2.00528414e-02 9.99798822e-01 -4.46559356e-04 -6.41247820e+00] [-4.65867611e-03 3.53205846e-04 9.99989086e-01 -4.04424426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34800114499996 meters 0.08322006415226306 Centerline is valid? [True, True] Translation: X:198.40, Y:-6.42, Z:-4.05 [[ 9.99781304e-01 2.03545465e-02 4.79955916e-03 1.98398291e+02] [-2.03525669e-02 9.99792759e-01 -4.60960166e-04 -6.42126296e+00] [-4.80794713e-03 3.63176007e-04 9.99988376e-01 -4.04738318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37800114499996 meters 0.08007150702889594 Centerline is valid? [True, True] Translation: X:198.43, Y:-6.42, Z:-4.05 [[ 9.99767292e-01 2.12489231e-02 3.72081163e-03 1.98427595e+02] [-2.12477402e-02 9.99774177e-01 -3.57179184e-04 -6.41928718e+00] [-3.72756106e-03 2.78037227e-04 9.99993014e-01 -4.04671210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40800114499996 meters 0.07725841076918889 Centerline is valid? [True, True] Translation: X:198.46, Y:-6.42, Z:-4.05 [[ 9.99769448e-01 2.12791014e-02 2.87234506e-03 1.98457199e+02] [-2.12783954e-02 9.99773551e-01 -2.76125816e-04 -6.41726965e+00] [-2.87757033e-03 2.14943261e-04 9.99995837e-01 -4.04580595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43800114499996 meters 0.0772672956175594 Centerline is valid? [True, True] Translation: X:198.49, Y:-6.42, Z:-4.05 [[ 9.99760658e-01 2.17021048e-02 2.76488956e-03 1.98486236e+02] [-2.17014540e-02 9.99764461e-01 -2.65165431e-04 -6.42070799e+00] [-2.76999297e-03 2.05099842e-04 9.99996143e-01 -4.04647512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46800114499996 meters 0.0761565894334893 Centerline is valid? [True, True] Translation: X:198.51, Y:-6.42, Z:-4.05 [[ 9.99735025e-01 2.29302442e-02 2.02061394e-03 1.98514970e+02] [-2.29298972e-02 9.99737056e-01 -1.94734625e-04 -6.42157127e+00] [-2.02454795e-03 1.48350555e-04 9.99997940e-01 -4.04744039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49800114499996 meters 0.07766923163715286 Centerline is valid? [True, True] Translation: X:198.54, Y:-6.43, Z:-4.05 [[ 9.99723791e-01 2.33840461e-02 2.35135860e-03 1.98541870e+02] [-2.33835774e-02 9.99726541e-01 -2.26607031e-04 -6.42758806e+00] [-2.35601459e-03 1.71561264e-04 9.99997210e-01 -4.05055943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52800114499996 meters 0.07683650508138495 Centerline is valid? [True, True] Translation: X:198.57, Y:-6.43, Z:-4.05 [[ 9.99708065e-01 2.40681994e-02 2.12272438e-03 1.98571147e+02] [-2.40678212e-02 9.99710307e-01 -2.03554986e-04 -6.42984433e+00] [-2.12700865e-03 1.52406210e-04 9.99997726e-01 -4.05119150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55800114499996 meters 0.078818108810421 Centerline is valid? [True, True] Translation: X:198.60, Y:-6.44, Z:-4.05 [[ 9.99685827e-01 2.49312004e-02 2.58510779e-03 1.98598457e+02] [-2.49306409e-02 9.99689152e-01 -2.48448510e-04 -6.43765129e+00] [-2.59049834e-03 1.83922061e-04 9.99996628e-01 -4.05210415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58800114499996 meters 0.07886249487280103 Centerline is valid? [True, True] Translation: X:198.63, Y:-6.44, Z:-4.05 [[ 9.99654026e-01 2.61130237e-02 3.15239802e-03 1.98627907e+02] [-2.61122054e-02 9.99658973e-01 -3.00480529e-04 -6.44110295e+00] [-3.15916942e-03 2.18060506e-04 9.99994986e-01 -4.05273994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61800114499997 meters 0.07368985735820784 Centerline is valid? [True, True] Translation: X:198.66, Y:-6.43, Z:-4.05 [[ 9.99658997e-01 2.60195251e-02 2.20787946e-03 1.98658153e+02] [-2.60191202e-02 9.99661423e-01 -2.11908388e-04 -6.43327366e+00] [-2.21264568e-03 1.54389045e-04 9.99997540e-01 -4.04802473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64800114499997 meters 0.08049580456691745 Centerline is valid? [True, True] Translation: X:198.69, Y:-6.45, Z:-4.06 [[ 9.99618808e-01 2.74178202e-02 3.24060042e-03 1.98685282e+02] [-2.74169631e-02 9.99624037e-01 -3.08609359e-04 -6.45086614e+00] [-3.24784347e-03 2.19644298e-04 9.99994702e-01 -4.05651434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67800114499997 meters 0.0759041333832111 Centerline is valid? [True, True] Translation: X:198.72, Y:-6.45, Z:-4.05 [[ 9.99572791e-01 2.91222696e-02 2.47557727e-03 1.98715579e+02] [-2.91217730e-02 9.99575843e-01 -2.36424075e-04 -6.44510034e+00] [-2.48141244e-03 1.64229874e-04 9.99996908e-01 -4.05277731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70800114499997 meters 0.07886005350656829 Centerline is valid? [True, True] Translation: X:198.74, Y:-6.45, Z:-4.06 [[ 9.99558381e-01 2.95975233e-02 2.65125022e-03 1.98742471e+02] [-2.95969533e-02 9.99561882e-01 -2.53984666e-04 -6.45440991e+00] [-2.65760597e-03 1.75403573e-04 9.99996453e-01 -4.05622527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73800114499997 meters 0.07882855526047702 Centerline is valid? [True, True] Translation: X:198.77, Y:-6.46, Z:-4.06 [[ 9.99527281e-01 3.05882225e-02 3.09448375e-03 1.98769680e+02] [-3.05874533e-02 9.99532051e-01 -2.95610590e-04 -6.45809575e+00] [-3.10207789e-03 2.00818472e-04 9.99995168e-01 -4.05742776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76800114499997 meters 0.07458709738188651 Centerline is valid? [True, True] Translation: X:198.80, Y:-6.45, Z:-4.05 [[ 9.99506207e-01 3.12686803e-02 3.10017172e-03 1.98799577e+02] [-3.12679134e-02 9.99510996e-01 -2.95554696e-04 -6.45262815e+00] [-3.10789733e-03 1.98472852e-04 9.99995151e-01 -4.05449970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79800114499997 meters 0.07181390498877709 Centerline is valid? [True, True] Translation: X:198.83, Y:-6.45, Z:-4.05 [[ 9.99486509e-01 3.18989632e-02 3.02895425e-03 1.98828955e+02] [-3.18982341e-02 9.99491080e-01 -2.88719426e-04 -6.44906125e+00] [-3.03662260e-03 1.91952880e-04 9.99995371e-01 -4.05223961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82800114499997 meters 0.07176066626313861 Centerline is valid? [True, True] Translation: X:198.86, Y:-6.45, Z:-4.05 [[ 9.99469741e-01 3.24654007e-02 2.49682033e-03 1.98858095e+02] [-3.24649016e-02 9.99472847e-01 -2.40190434e-04 -6.45192216e+00] [-2.50330201e-03 1.59004045e-04 9.99996854e-01 -4.05314691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85800114499997 meters 0.07326024295779511 Centerline is valid? [True, True] Translation: X:198.89, Y:-6.46, Z:-4.06 [[ 9.99480141e-01 3.21966181e-02 1.68104841e-03 1.98885299e+02] [-3.21963918e-02 9.99481549e-01 -1.61496351e-04 -6.45826946e+00] [-1.68537650e-03 1.07288702e-04 9.99998574e-01 -4.05573797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88800114499998 meters 0.07265867784876957 Centerline is valid? [True, True] Translation: X:198.91, Y:-6.46, Z:-4.06 [[ 9.99508729e-01 3.13161265e-02 1.26493270e-03 1.98914233e+02] [-3.13159976e-02 9.99509526e-01 -1.21563133e-04 -6.46084326e+00] [-1.26811917e-03 8.18907831e-05 9.99999193e-01 -4.05521366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91800114499998 meters 0.07314742770692194 Centerline is valid? [True, True] Translation: X:198.94, Y:-6.47, Z:-4.06 [[ 9.99521094e-01 3.09131298e-02 1.40012852e-03 1.98941933e+02] [-3.09129712e-02 9.99522071e-01 -1.34754939e-04 -6.46528119e+00] [-1.40362506e-03 9.14082719e-05 9.99999011e-01 -4.05623419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94800114499998 meters 0.07218744386553921 Centerline is valid? [True, True] Translation: X:198.97, Y:-6.47, Z:-4.06 [[ 9.99544026e-01 3.01637266e-02 1.37469057e-03 1.98970335e+02] [-3.01635730e-02 9.99544967e-01 -1.32310065e-04 -6.46608739e+00] [-1.37805600e-03 9.07841554e-05 9.99999046e-01 -4.05586775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97800114499998 meters 0.07255157873419597 Centerline is valid? [True, True] Translation: X:199.00, Y:-6.47, Z:-4.06 [[ 9.99562559e-01 2.95691897e-02 5.94058889e-04 1.98998979e+02] [-2.95691603e-02 9.99562735e-01 -5.82119775e-05 -6.47026482e+00] [-5.95520409e-04 4.06206907e-05 9.99999822e-01 -4.05709604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00800114499998 meters 0.07234650429564894 Centerline is valid? [True, True] Translation: X:199.03, Y:-6.47, Z:-4.06 [[ 9.99554774e-01 2.98320357e-02 5.50000460e-04 1.99027926e+02] [-2.98320105e-02 9.99554925e-01 -5.40335522e-05 -6.47270001e+00] [-5.51367599e-04 3.76018757e-05 9.99999847e-01 -4.05829234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03800114499995 meters 0.07317242949098113 Centerline is valid? [True, True] Translation: X:199.06, Y:-6.48, Z:-4.06 [[ 9.99554450e-01 2.98477099e-02 1.21856083e-04 1.99055163e+02] [-2.98477084e-02 9.99554458e-01 -1.43510692e-05 -6.47694494e+00] [-1.22230137e-04 1.07075503e-05 9.99999992e-01 -4.05993022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06800114499995 meters 0.07242696300967412 Centerline is valid? [True, True] Translation: X:199.08, Y:-6.48, Z:-4.06 [[ 9.99536963e-01 3.04072252e-02 1.12273246e-03 1.99083984e+02] [-3.04071233e-02 9.99537591e-01 -1.07678260e-04 -6.47765762e+00] [-1.12548750e-03 7.34893363e-05 9.99999364e-01 -4.05909225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09800114499996 meters 0.0729933382623994 Centerline is valid? [True, True] Translation: X:199.11, Y:-6.48, Z:-4.06 [[ 9.99474149e-01 3.23608358e-02 2.05002520e-03 1.99112291e+02] [-3.23605057e-02 9.99476243e-01 -1.94000190e-04 -6.48161977e+00] [-2.05522950e-03 1.27558323e-04 9.99997880e-01 -4.06004954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12800114499996 meters 0.07112511673943289 Centerline is valid? [True, True] Translation: X:199.14, Y:-6.48, Z:-4.06 [[ 9.99426740e-01 3.37812236e-02 2.24039185e-03 1.99141180e+02] [-3.37808322e-02 9.99429242e-01 -2.12323001e-04 -6.48077300e+00] [-2.24628566e-03 1.36518984e-04 9.99997468e-01 -4.05925588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15800114499996 meters 0.07157822703923329 Centerline is valid? [True, True] Translation: X:199.17, Y:-6.48, Z:-4.06 [[ 9.99395384e-01 3.47045495e-02 2.11214791e-03 1.99168461e+02] [-3.47042026e-02 9.99397608e-01 -2.00701063e-04 -6.48481232e+00] [-2.11784081e-03 1.27279307e-04 9.99997749e-01 -4.06124839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18800114499996 meters 0.07164868226938562 Centerline is valid? [True, True] Translation: X:199.20, Y:-6.49, Z:-4.06 [[ 9.99374697e-01 3.52644049e-02 2.57623032e-03 1.99197652e+02] [-3.52638957e-02 9.99378006e-01 -2.42843279e-04 -6.48753484e+00] [-2.58319164e-03 1.51843511e-04 9.99996652e-01 -4.06239434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21800114499996 meters 0.07225168249607371 Centerline is valid? [True, True] Translation: X:199.23, Y:-6.49, Z:-4.06 [[ 9.99338127e-01 3.62914084e-02 2.49837407e-03 1.99225072e+02] [-3.62909302e-02 9.99341239e-01 -2.36487107e-04 -6.49094696e+00] [-2.50531069e-03 1.45662264e-04 9.99996851e-01 -4.06427377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24800114499996 meters 0.07391217929344843 Centerline is valid? [True, True] Translation: X:199.25, Y:-6.50, Z:-4.07 [[ 9.99344467e-01 3.61436148e-02 2.06763905e-03 1.99251998e+02] [-3.61432864e-02 9.99346599e-01 -1.95981482e-04 -6.49716463e+00] [-2.07337153e-03 1.21121740e-04 9.99997843e-01 -4.06747073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27800114499996 meters 0.07391217929344843 Centerline is valid? [True, True] Translation: X:199.28, Y:-6.50, Z:-4.07 [[ 9.99347731e-01 3.60532694e-02 2.06761178e-03 1.99279386e+02] [-3.60529402e-02 9.99349862e-01 -1.96274798e-04 -6.49961458e+00] [-2.07334390e-03 1.21603291e-04 9.99997843e-01 -4.06846423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30800114499996 meters 0.07219211336166338 Centerline is valid? [True, True] Translation: X:199.31, Y:-6.50, Z:-4.07 [[ 9.99377434e-01 3.51710162e-02 2.78286736e-03 1.99308619e+02] [-3.51704229e-02 9.99381295e-01 -2.61860599e-04 -6.49967689e+00] [-2.79035549e-03 1.63822952e-04 9.99996094e-01 -4.06723832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33800114499996 meters 0.07495397838610311 Centerline is valid? [True, True] Translation: X:199.34, Y:-6.51, Z:-4.07 [[ 9.99400400e-01 3.45182496e-02 2.70763267e-03 1.99335246e+02] [-3.45176845e-02 9.99404055e-01 -2.55177301e-04 -6.50996059e+00] [-2.71482734e-03 1.61563086e-04 9.99996302e-01 -4.07248044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36800114499997 meters 0.07076485201881173 Centerline is valid? [True, True] Translation: X:199.36, Y:-6.50, Z:-4.07 [[ 9.99435015e-01 3.35393857e-02 2.18166284e-03 1.99364585e+02] [-3.35390154e-02 9.99437388e-01 -2.06107785e-04 -6.50351847e+00] [-2.18734814e-03 1.32820513e-04 9.99997599e-01 -4.06771187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39800114499997 meters 0.07293451691935134 Centerline is valid? [True, True] Translation: X:199.39, Y:-6.51, Z:-4.07 [[ 9.99497012e-01 3.17020030e-02 8.40323703e-04 1.99393158e+02] [-3.17019474e-02 9.99497364e-01 -7.93960660e-05 -6.51142098e+00] [-8.42418341e-04 5.27162329e-05 9.99999644e-01 -4.07099338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42800114499997 meters 0.0730046130895335 Centerline is valid? [True, True] Translation: X:199.42, Y:-6.51, Z:-4.07 [[ 9.99580291e-01 2.89109997e-02 1.84302107e-03 1.99422076e+02] [-2.89107293e-02 9.99581982e-01 -1.73215071e-04 -6.51436936e+00] [-1.84725847e-03 1.19859288e-04 9.99998287e-01 -4.07127514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45800114499997 meters 0.07353422936076667 Centerline is valid? [True, True] Translation: X:199.45, Y:-6.52, Z:-4.07 [[ 9.99625253e-01 2.73178235e-02 1.75767591e-03 1.99451273e+02] [-2.73175761e-02 9.99626792e-01 -1.64636288e-04 -6.51886565e+00] [-1.76151744e-03 1.16559145e-04 9.99998442e-01 -4.07283632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48800114499997 meters 0.0741393698871686 Centerline is valid? [True, True] Translation: X:199.48, Y:-6.52, Z:-4.07 [[ 9.99669238e-01 2.56932805e-02 1.12668845e-03 1.99480284e+02] [-2.56931768e-02 9.99669870e-01 -1.06472794e-04 -6.52388133e+00] [-1.12905213e-03 7.74893711e-05 9.99999360e-01 -4.07410108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51800114499997 meters 0.07596173259205859 Centerline is valid? [True, True] Translation: X:199.51, Y:-6.53, Z:-4.08 [[ 9.99707360e-01 2.41802501e-02 7.14134344e-04 1.99508463e+02] [-2.41802076e-02 9.99707614e-01 -6.80749889e-05 -6.53143757e+00] [-7.15571611e-04 5.07871507e-05 9.99999743e-01 -4.07709188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54800114499997 meters 0.07738338028612517 Centerline is valid? [True, True] Translation: X:199.54, Y:-6.54, Z:-4.08 [[ 9.99767786e-01 2.15105051e-02 1.29321560e-03 1.99538161e+02] [-2.15103669e-02 9.99768618e-01 -1.20698648e-04 -6.53813427e+00] [-1.29551266e-03 9.28530777e-05 9.99999157e-01 -4.07943788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57800114499997 meters 0.07475743630691899 Centerline is valid? [True, True] Translation: X:199.57, Y:-6.54, Z:-4.08 [[ 9.99789967e-01 2.04805982e-02 7.52762111e-04 1.99568349e+02] [-2.04805504e-02 9.99790249e-01 -7.10822930e-05 -6.53532329e+00] [-7.54060026e-04 5.56503810e-05 9.99999714e-01 -4.07750520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60800114499997 meters 0.076274148876731 Centerline is valid? [True, True] Translation: X:199.60, Y:-6.54, Z:-4.08 [[ 9.99791198e-01 2.03576418e-02 1.76801571e-03 1.99595469e+02] [-2.03573782e-02 9.99792753e-01 -1.66965403e-04 -6.54067525e+00] [-1.77104831e-03 1.30938376e-04 9.99998423e-01 -4.07939479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63800114499998 meters 0.07629507198047802 Centerline is valid? [True, True] Translation: X:199.62, Y:-6.54, Z:-4.08 [[ 9.99801688e-01 1.96276492e-02 3.36757664e-03 1.99623962e+02] [-1.96267005e-02 9.99807328e-01 -3.14541287e-04 -6.54250902e+00] [-3.37310151e-03 2.48384492e-04 9.99994280e-01 -4.07854025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66800114499998 meters 0.07661556995840979 Centerline is valid? [True, True] Translation: X:199.65, Y:-6.55, Z:-4.08 [[ 9.99803631e-01 1.91787434e-02 4.98746376e-03 1.99652724e+02] [-1.91766641e-02 9.99816003e-01 -4.64406024e-04 -6.54582714e+00] [-4.99545281e-03 3.68671912e-04 9.99987455e-01 -4.08018655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69800114499998 meters 0.07743698448117194 Centerline is valid? [True, True] Translation: X:199.68, Y:-6.55, Z:-4.08 [[ 9.99809019e-01 1.88002591e-02 5.33636057e-03 1.99680531e+02] [-1.87978734e-02 9.99823181e-01 -4.96861606e-04 -6.55016166e+00] [-5.34475812e-03 3.96454484e-04 9.99985638e-01 -4.08082437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72800114499998 meters 0.0781255544299313 Centerline is valid? [True, True] Translation: X:199.71, Y:-6.55, Z:-4.08 [[ 9.99814173e-01 1.81316185e-02 6.54707259e-03 1.99709564e+02] [-1.81280241e-02 9.99835489e-01 -6.07938454e-04 -6.55304151e+00] [-6.55701843e-03 4.89139993e-04 9.99978383e-01 -4.08124558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75800114499998 meters 0.07866293768535632 Centerline is valid? [True, True] Translation: X:199.74, Y:-6.56, Z:-4.08 [[ 9.99830420e-01 1.68921398e-02 7.33397975e-03 1.99737888e+02] [-1.68876017e-02 9.99857163e-01 -6.80271205e-04 -6.55642778e+00] [-7.34442342e-03 5.56302516e-04 9.99972875e-01 -4.08244984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78800114499995 meters 0.07888968917332351 Centerline is valid? [True, True] Translation: X:199.77, Y:-6.56, Z:-4.08 [[ 9.99861562e-01 1.50113898e-02 7.17743429e-03 1.99768168e+02] [-1.50070111e-02 9.99887168e-01 -6.63531589e-04 -6.55961128e+00] [-7.18658498e-03 5.55727895e-04 9.99974022e-01 -4.08385989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81800114499995 meters 0.0807785047693225 Centerline is valid? [True, True] Translation: X:199.80, Y:-6.57, Z:-4.09 [[ 9.99880852e-01 1.36193661e-02 7.26599415e-03 1.99795809e+02] [-1.36148354e-02 9.99907088e-01 -6.72647335e-04 -6.56636749e+00] [-7.27448008e-03 5.73641875e-04 9.99973376e-01 -4.08614833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84800114499996 meters 0.08229874460403902 Centerline is valid? [True, True] Translation: X:199.83, Y:-6.57, Z:-4.09 [[ 9.99908170e-01 1.16064335e-02 6.99585533e-03 1.99825050e+02] [-1.16021892e-02 9.99932483e-01 -6.46969781e-04 -6.57209709e+00] [-7.00289201e-03 5.65743133e-04 9.99975319e-01 -4.08795974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87800114499996 meters 0.0791942282939438 Centerline is valid? [True, True] Translation: X:199.86, Y:-6.57, Z:-4.09 [[ 9.99939730e-01 8.57577351e-03 6.85506507e-03 1.99855424e+02] [-8.57163299e-03 9.99963062e-01 -6.33162015e-04 -6.56955568e+00] [-6.86024172e-03 5.74364752e-04 9.99976303e-01 -4.08672942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90800114499996 meters 0.08734417814406999 Centerline is valid? [True, True] Translation: X:199.88, Y:-6.59, Z:-4.09 [[ 9.99948796e-01 7.61733671e-03 6.66197352e-03 1.99883512e+02] [-7.61340314e-03 9.99970828e-01 -6.15613254e-04 -6.58708425e+00] [-6.66646851e-03 5.64861442e-04 9.99977619e-01 -4.09280411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93800114499996 meters 0.08773979306908725 Centerline is valid? [True, True] Translation: X:199.91, Y:-6.59, Z:-4.09 [[ 9.99957271e-01 6.55049781e-03 6.52287829e-03 1.99913773e+02] [-6.54670425e-03 9.99978388e-01 -6.02759876e-04 -6.58975819e+00] [-6.52668570e-03 5.60030765e-04 9.99978544e-01 -4.09410231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96800114499996 meters 0.08901018911802076 Centerline is valid? [True, True] Translation: X:199.94, Y:-6.59, Z:-4.10 [[ 9.99959024e-01 7.58436005e-03 4.94251014e-03 1.99943608e+02] [-7.58219692e-03 9.99971151e-01 -4.56248579e-04 -6.59463457e+00] [-4.94582791e-03 4.18754799e-04 9.99987682e-01 -4.09789080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99800114499996 meters 0.0829518764719832 Centerline is valid? [True, True] Translation: X:199.97, Y:-6.59, Z:-4.10 [[ 9.99957302e-01 7.73500158e-03 5.05609572e-03 1.99974301e+02] [-7.73273197e-03 9.99969992e-01 -4.68281637e-04 -6.58552980e+00] [-5.05956616e-03 4.29164209e-04 9.99987108e-01 -4.09501826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02800114499996 meters 0.0857758426209896 Centerline is valid? [True, True] Translation: X:200.00, Y:-6.59, Z:-4.10 [[ 9.99948973e-01 8.57162162e-03 5.34586709e-03 2.00002715e+02] [-8.56910018e-03 9.99963162e-01 -4.94388752e-04 -6.59193748e+00] [-5.34990787e-03 4.48554255e-04 9.99985589e-01 -4.09776493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05800114499996 meters 0.0811701777600278 Centerline is valid? [True, True] Translation: X:200.03, Y:-6.58, Z:-4.10 [[ 9.99939270e-01 9.61842232e-03 5.37977538e-03 2.00033340e+02] [-9.61588155e-03 9.99953642e-01 -4.97949381e-04 -6.58482176e+00] [-5.38431548e-03 4.46187857e-04 9.99985405e-01 -4.09593297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08800114499996 meters 0.08335263079527234 Centerline is valid? [True, True] Translation: X:200.06, Y:-6.59, Z:-4.10 [[ 9.99928798e-01 1.11301183e-02 4.30334311e-03 2.00061845e+02] [-1.11285061e-02 9.99937997e-01 -3.98397428e-04 -6.58958873e+00] [-4.30751050e-03 3.50479281e-04 9.99990661e-01 -4.10006573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11800114499997 meters 0.08037498968157693 Centerline is valid? [True, True] Translation: X:200.09, Y:-6.59, Z:-4.10 [[ 9.99917899e-01 1.15136122e-02 5.62421566e-03 2.00090900e+02] [-1.15108619e-02 9.99933612e-01 -5.21144578e-04 -6.58516224e+00] [-5.62984254e-03 4.56362222e-04 9.99984048e-01 -4.09869911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14800114499997 meters 0.0799956981262503 Centerline is valid? [True, True] Translation: X:200.12, Y:-6.59, Z:-4.10 [[ 9.99910907e-01 1.16497481e-02 6.51622271e-03 2.00119424e+02] [-1.16460642e-02 9.99932000e-01 -6.03009371e-04 -6.58597294e+00] [-6.52280452e-03 5.27067299e-04 9.99978587e-01 -4.09958303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17800114499997 meters 0.08092918301211234 Centerline is valid? [True, True] Translation: X:200.15, Y:-6.59, Z:-4.10 [[ 9.99921410e-01 1.04413020e-02 6.93928573e-03 2.00148652e+02] [-1.04371061e-02 9.99945327e-01 -6.40595292e-04 -6.58893023e+00] [-6.94559498e-03 5.68118886e-04 9.99975718e-01 -4.10001040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20800114499997 meters 0.08320138308105544 Centerline is valid? [True, True] Translation: X:200.18, Y:-6.59, Z:-4.10 [[ 9.99920641e-01 9.72611853e-03 8.00711577e-03 2.00177816e+02] [-9.72051630e-03 9.99952482e-01 -7.38278176e-04 -6.59468055e+00] [-8.01391587e-03 6.60386288e-04 9.99967670e-01 -4.10140706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23800114499997 meters 0.08246831171921085 Centerline is valid? [True, True] Translation: X:200.21, Y:-6.59, Z:-4.10 [[ 9.99922421e-01 9.05653674e-03 8.55162686e-03 2.00208310e+02] [-9.05012759e-03 9.99958736e-01 -7.87866823e-04 -6.59475244e+00] [-8.55840934e-03 7.10412387e-04 9.99963124e-01 -4.10125338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26800114499997 meters 0.08482611563533889 Centerline is valid? [True, True] Translation: X:200.24, Y:-6.60, Z:-4.10 [[ 9.99924020e-01 7.19450347e-03 1.00096598e-02 2.00237423e+02] [-7.18562977e-03 9.99973758e-01 -9.22196324e-04 -6.60145459e+00] [-1.00160319e-02 8.50200547e-04 9.99949477e-01 -4.10290315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29800114499997 meters 0.08563843334834821 Centerline is valid? [True, True] Translation: X:200.27, Y:-6.61, Z:-4.10 [[ 9.99925414e-01 6.46851992e-03 1.03597349e-02 2.00269023e+02] [-6.45903069e-03 9.99978690e-01 -9.49168783e-04 -6.60576147e+00] [-1.03656539e-02 8.82184143e-04 9.99945886e-01 -4.10428584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32800114499997 meters 0.08443845721476066 Centerline is valid? [True, True] Translation: X:200.30, Y:-6.61, Z:-4.10 [[ 9.99932998e-01 5.61647318e-03 1.01220259e-02 2.00301080e+02] [-5.60735272e-03 9.99983847e-01 -9.29205323e-04 -6.60541094e+00] [-1.01270813e-02 8.72385294e-04 9.99948339e-01 -4.10388153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35800114499997 meters 0.08951695130740311 Centerline is valid? [True, True] Translation: X:200.33, Y:-6.62, Z:-4.11 [[ 9.99935123e-01 5.33132084e-03 1.00661636e-02 2.00331159e+02] [-5.32226518e-03 9.99985408e-01 -9.26187971e-04 -6.61624015e+00] [-1.00709545e-02 8.72553090e-04 9.99948906e-01 -4.10754014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38800114499998 meters 0.09142337045060314 Centerline is valid? [True, True] Translation: X:200.36, Y:-6.62, Z:-4.11 [[ 9.99935584e-01 4.48636000e-03 1.04259303e-02 2.00362255e+02] [-4.47657222e-03 9.99989517e-01 -9.61939071e-04 -6.62179086e+00] [-1.04301366e-02 9.15204677e-04 9.99945186e-01 -4.11085144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41800114499998 meters 0.0869686189426862 Centerline is valid? [True, True] Translation: X:200.39, Y:-6.62, Z:-4.11 [[ 9.99939675e-01 4.00104242e-03 1.02293175e-02 2.00394904e+02] [-3.99157771e-03 9.99991587e-01 -9.45502486e-04 -6.61624637e+00] [-1.02330144e-02 9.04614333e-04 9.99947232e-01 -4.10968565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44800114499998 meters 0.08786112700314687 Centerline is valid? [True, True] Translation: X:200.43, Y:-6.62, Z:-4.11 [[ 9.99942345e-01 4.32349438e-03 9.82922596e-03 2.00426327e+02] [-4.31476149e-03 9.99990278e-01 -9.09494485e-04 -6.62018125e+00] [-9.83306259e-03 8.67031283e-04 9.99951278e-01 -4.11221875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47800114499998 meters 0.08904410125138879 Centerline is valid? [True, True] Translation: X:200.46, Y:-6.62, Z:-4.12 [[ 9.99949061e-01 4.41951799e-03 9.07432022e-03 2.00457141e+02] [-4.41205666e-03 9.99989912e-01 -8.42101385e-04 -6.62410353e+00] [-9.07795036e-03 8.02022074e-04 9.99958473e-01 -4.11579680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50800114499998 meters 0.08896607612969487 Centerline is valid? [True, True] Translation: X:200.49, Y:-6.63, Z:-4.12 [[ 9.99948705e-01 5.02835265e-03 8.79222696e-03 2.00489641e+02] [-5.02136127e-03 9.99987059e-01 -8.17071691e-04 -6.62655849e+00] [-8.79622170e-03 7.72880832e-04 9.99961014e-01 -4.11699636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53800114499995 meters 0.08779423422070678 Centerline is valid? [True, True] Translation: X:200.52, Y:-6.63, Z:-4.12 [[ 9.99937036e-01 5.90554195e-03 9.54194718e-03 2.00521251e+02] [-5.89727193e-03 9.99982211e-01 -8.94605312e-04 -6.62683658e+00] [-9.54706057e-03 8.38277526e-04 9.99954074e-01 -4.11719705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56800114499995 meters 0.08870932745659653 Centerline is valid? [True, True] Translation: X:200.55, Y:-6.63, Z:-4.12 [[ 9.99919354e-01 7.32694837e-03 1.03730835e-02 2.00551021e+02] [-7.31723764e-03 9.99972755e-01 -9.73790149e-04 -6.63014688e+00] [-1.03799358e-02 8.97809299e-04 9.99945724e-01 -4.11863869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59800114499996 meters 0.0894092263550815 Centerline is valid? [True, True] Translation: X:200.58, Y:-6.63, Z:-4.12 [[ 9.99911805e-01 8.42763283e-03 1.02643665e-02 2.00581752e+02] [-8.41819042e-03 9.99964103e-01 -9.62779695e-04 -6.63362434e+00] [-1.02721120e-02 8.76287391e-04 9.99946857e-01 -4.11976033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62800114499996 meters 0.0841144570524681 Centerline is valid? [True, True] Translation: X:200.61, Y:-6.63, Z:-4.12 [[ 9.99888058e-01 9.62478653e-03 1.14557914e-02 2.00614172e+02] [-9.61309752e-03 9.99953215e-01 -1.07498696e-03 -6.62627597e+00] [-1.14656020e-02 9.64740986e-04 9.99933802e-01 -4.11766328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65800114499996 meters 0.08484691896484081 Centerline is valid? [True, True] Translation: X:200.65, Y:-6.63, Z:-4.12 [[ 9.99893223e-01 9.94376030e-03 1.07081718e-02 2.00645716e+02] [-9.93361497e-03 9.99950160e-01 -1.00021038e-03 -6.63078469e+00] [-1.07175839e-02 8.93732725e-04 9.99942166e-01 -4.12092619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68800114499996 meters 0.0917529495055981 Centerline is valid? [True, True] Translation: X:200.67, Y:-6.65, Z:-4.13 [[ 9.99891396e-01 9.82154207e-03 1.09878481e-02 2.00674971e+02] [-9.81080935e-03 9.99951342e-01 -1.03025798e-03 -6.64627780e+00] [-1.09974322e-02 9.22346412e-04 9.99939101e-01 -4.12627421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71800114499996 meters 0.08282698835145057 Centerline is valid? [True, True] Translation: X:200.71, Y:-6.63, Z:-4.12 [[ 9.99901709e-01 9.45160204e-03 1.03556470e-02 2.00707550e+02] [-9.44199539e-03 9.99954947e-01 -9.76171295e-04 -6.63345041e+00] [-1.03644069e-02 8.78297375e-04 9.99945902e-01 -4.12278065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74800114499996 meters 0.09344152167195206 Centerline is valid? [True, True] Translation: X:200.74, Y:-6.65, Z:-4.13 [[ 9.99894066e-01 9.03151883e-03 1.14143868e-02 2.00737037e+02] [-9.01986524e-03 9.99958746e-01 -1.07202510e-03 -6.65480413e+00] [-1.14235979e-02 9.68955305e-04 9.99934279e-01 -4.12862411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77800114499996 meters 0.08283323860014404 Centerline is valid? [True, True] Translation: X:200.77, Y:-6.64, Z:-4.12 [[ 9.99873193e-01 9.59545033e-03 1.27092784e-02 2.00771235e+02] [-9.58100703e-03 9.99953385e-01 -1.19683740e-03 -6.63910313e+00] [-1.27201701e-02 1.07491795e-03 9.99918518e-01 -4.12354284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80800114499996 meters 0.08410330958698897 Centerline is valid? [True, True] Translation: X:200.80, Y:-6.64, Z:-4.12 [[ 9.99875338e-01 9.52847383e-03 1.25903384e-02 2.00802134e+02] [-9.51425285e-03 9.99954032e-01 -1.18893070e-03 -6.64408012e+00] [-1.26010883e-02 1.06899482e-03 9.99920032e-01 -4.12493135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83800114499996 meters 0.0952907760576748 Centerline is valid? [True, True] Translation: X:200.83, Y:-6.67, Z:-4.13 [[ 9.99859157e-01 1.05051410e-02 1.30884827e-02 2.00830127e+02] [-1.04897797e-02 9.99944210e-01 -1.24174860e-03 -6.66648425e+00] [-1.31007972e-02 1.10427841e-03 9.99913571e-01 -4.13107586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86800114499997 meters 0.08606544418416547 Centerline is valid? [True, True] Translation: X:200.86, Y:-6.65, Z:-4.13 [[ 9.99855875e-01 1.12557797e-02 1.27096994e-02 2.00864266e+02] [-1.12413358e-02 9.99936085e-01 -1.20731847e-03 -6.65439815e+00] [-1.27224764e-02 1.06427047e-03 9.99918500e-01 -4.12911683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89800114499997 meters 0.08456255590791523 Centerline is valid? [True, True] Translation: X:200.90, Y:-6.66, Z:-4.13 [[ 9.99851879e-01 1.20728309e-02 1.22664914e-02 2.00896933e+02] [-1.20594697e-02 9.99926606e-01 -1.16262458e-03 -6.65504241e+00] [-1.22796272e-02 1.01452499e-03 9.99924088e-01 -4.12940787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92800114499997 meters 0.0829692036533235 Centerline is valid? [True, True] Translation: X:200.93, Y:-6.66, Z:-4.13 [[ 9.99837590e-01 1.30645740e-02 1.24141045e-02 2.00928825e+02] [-1.30508766e-02 9.99914133e-01 -1.18374841e-03 -6.65541151e+00] [-1.24285037e-02 1.02154121e-03 9.99922241e-01 -4.13012031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95800114499997 meters 0.08558052520865114 Centerline is valid? [True, True] Translation: X:200.96, Y:-6.66, Z:-4.13 [[ 9.99849527e-01 1.35988557e-02 1.07700284e-02 2.00958906e+02] [-1.35886097e-02 9.99907146e-01 -1.02395763e-03 -6.66288972e+00] [-1.07829531e-02 8.77453837e-04 9.99941477e-01 -4.13376166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98800114499997 meters 0.08517890745993674 Centerline is valid? [True, True] Translation: X:200.99, Y:-6.67, Z:-4.13 [[ 9.99842967e-01 1.39835199e-02 1.08858807e-02 2.00989672e+02] [-1.39730030e-02 9.99901830e-01 -1.04156436e-03 -6.66546414e+00] [-1.08993768e-02 8.89292355e-04 9.99940205e-01 -4.13494594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01800114499997 meters 0.08247240696205127 Centerline is valid? [True, True] Translation: X:201.02, Y:-6.66, Z:-4.14 [[ 9.99845988e-01 1.39617088e-02 1.06334497e-02 2.01020257e+02] [-1.39516728e-02 9.99902153e-01 -1.01741168e-03 -6.66370383e+00] [-1.06466140e-02 8.68900577e-04 9.99942946e-01 -4.13541379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04800114499997 meters 0.08315121837789989 Centerline is valid? [True, True] Translation: X:201.05, Y:-6.67, Z:-4.14 [[ 9.99865861e-01 1.36981978e-02 8.97880071e-03 2.01049952e+02] [-1.36910321e-02 9.99905904e-01 -8.59042282e-04 -6.66842209e+00] [-8.98972318e-03 7.35998002e-04 9.99959321e-01 -4.13750883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07800114499997 meters 0.08609324438000186 Centerline is valid? [True, True] Translation: X:201.08, Y:-6.68, Z:-4.14 [[ 9.99849812e-01 1.40317055e-02 1.01717241e-02 2.01077552e+02] [-1.40225128e-02 9.99901205e-01 -9.74507364e-04 -6.67687331e+00] [-1.01843932e-02 8.31727873e-04 9.99947792e-01 -4.13966481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10800114499997 meters 0.0844393221082897 Centerline is valid? [True, True] Translation: X:201.11, Y:-6.68, Z:-4.14 [[ 9.99854425e-01 1.41181720e-02 9.58153017e-03 2.01107363e+02] [-1.41100269e-02 9.99900028e-01 -9.17156737e-04 -6.67718907e+00] [-9.59352086e-03 7.81827573e-04 9.99953675e-01 -4.13981759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13800114499998 meters 0.08532502042116531 Centerline is valid? [True, True] Translation: X:201.14, Y:-6.68, Z:-4.14 [[ 9.99859620e-01 1.39574935e-02 9.26972504e-03 2.01135991e+02] [-1.39498851e-02 9.99902304e-01 -8.84934418e-04 -6.68183201e+00] [-9.28117089e-03 7.55498592e-04 9.99956644e-01 -4.14229129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16800114499998 meters 0.08532502042116531 Centerline is valid? [True, True] Translation: X:201.17, Y:-6.68, Z:-4.14 [[ 9.99860059e-01 1.39262186e-02 9.26948352e-03 2.01165101e+02] [-1.39185856e-02 9.99902738e-01 -8.87459652e-04 -6.68457835e+00] [-9.28094091e-03 7.58317360e-04 9.99956644e-01 -4.14334568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19800114499998 meters 0.0860373141493287 Centerline is valid? [True, True] Translation: X:201.19, Y:-6.69, Z:-4.15 [[ 9.99866154e-01 1.39089231e-02 8.61488116e-03 2.01194796e+02] [-1.39023311e-02 9.99903018e-01 -8.24593825e-04 -6.68928143e+00] [-8.62551488e-03 7.04716525e-04 9.99962551e-01 -4.14508391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22800114499998 meters 0.08269118737132534 Centerline is valid? [True, True] Translation: X:201.22, Y:-6.69, Z:-4.14 [[ 9.99866173e-01 1.37754576e-02 8.82457803e-03 2.01224556e+02] [-1.37685303e-02 9.99904852e-01 -8.45277758e-04 -6.68546638e+00] [-8.83538248e-03 7.23663167e-04 9.99960705e-01 -4.14384939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25800114499998 meters 0.08503234072455051 Centerline is valid? [True, True] Translation: X:201.25, Y:-6.69, Z:-4.15 [[ 9.99863831e-01 1.38518565e-02 8.96914405e-03 2.01252668e+02] [-1.38447169e-02 9.99903790e-01 -8.57624928e-04 -6.69154424e+00] [-8.98016083e-03 7.33332886e-04 9.99959409e-01 -4.14582587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28800114499995 meters 0.0886004927066606 Centerline is valid? [True, True] Translation: X:201.28, Y:-6.70, Z:-4.15 [[ 9.99863762e-01 1.41071217e-02 8.57012025e-03 2.01280660e+02] [-1.41006111e-02 9.99900246e-01 -8.19637437e-04 -6.70049123e+00] [-8.58082807e-03 6.98681839e-04 9.99962940e-01 -4.14861526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31800114499995 meters 0.08894573210142205 Centerline is valid? [True, True] Translation: X:201.31, Y:-6.70, Z:-4.15 [[ 9.99841636e-01 1.40395515e-02 1.09359240e-02 2.01310044e+02] [-1.40289615e-02 9.99901044e-01 -1.04448118e-03 -6.70478519e+00] [-1.09495058e-02 8.90896120e-04 9.99939655e-01 -4.14896216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34800114499996 meters 0.08919501705479874 Centerline is valid? [True, True] Translation: X:201.34, Y:-6.71, Z:-4.15 [[ 9.99833031e-01 1.37453208e-02 1.20405719e-02 2.01340009e+02] [-1.37324766e-02 9.99905045e-01 -1.14877698e-03 -6.70873265e+00] [-1.20552189e-02 9.83238296e-04 9.99926850e-01 -4.14954058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37800114499996 meters 0.08276323665921052 Centerline is valid? [True, True] Translation: X:201.37, Y:-6.70, Z:-4.15 [[ 9.99830365e-01 1.36166994e-02 1.24027034e-02 2.01371460e+02] [-1.36030610e-02 9.99906774e-01 -1.18332752e-03 -6.70025141e+00] [-1.24176601e-02 1.01441206e-03 9.99922383e-01 -4.14716394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40800114499996 meters 0.08880201676986953 Centerline is valid? [True, True] Translation: X:201.40, Y:-6.71, Z:-4.15 [[ 9.99835308e-01 1.34453337e-02 1.21893747e-02 2.01400829e+02] [-1.34321525e-02 9.99909109e-01 -1.16259215e-03 -6.71439446e+00] [-1.22038982e-02 9.98671141e-04 9.99925031e-01 -4.15139266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43800114499996 meters 0.09244610904163093 Centerline is valid? [True, True] Translation: X:201.43, Y:-6.72, Z:-4.15 [[ 9.99869179e-01 1.20197200e-02 1.08236045e-02 2.01429934e+02] [-1.20092388e-02 9.99927353e-01 -1.03284195e-03 -6.72298337e+00] [-1.08352326e-02 9.02723583e-04 9.99940890e-01 -4.15325410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46800114499996 meters 0.08649486435156181 Centerline is valid? [True, True] Translation: X:201.46, Y:-6.72, Z:-4.15 [[ 9.99888845e-01 1.10450499e-02 1.00151654e-02 2.01462413e+02] [-1.10360357e-02 9.99938645e-01 -9.54874737e-04 -6.71557284e+00] [-1.00250975e-02 8.44240876e-04 9.99949391e-01 -4.15150622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49800114499996 meters 0.0868238077192267 Centerline is valid? [True, True] Translation: X:201.49, Y:-6.72, Z:-4.15 [[ 9.99904557e-01 1.04369823e-02 9.05240222e-03 2.01492897e+02] [-1.04295981e-02 9.99945238e-01 -8.62532822e-04 -6.71951122e+00] [-9.06090873e-03 7.68037582e-04 9.99958654e-01 -4.15373400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52800114499996 meters 0.08871901629608743 Centerline is valid? [True, True] Translation: X:201.52, Y:-6.73, Z:-4.16 [[ 9.99923130e-01 9.25098131e-03 8.25556583e-03 2.01522481e+02] [-9.24478755e-03 9.99956955e-01 -7.88100480e-04 -6.72735757e+00] [-8.26250117e-03 7.11718947e-04 9.99965612e-01 -4.15696439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55800114499996 meters 0.08793199445451984 Centerline is valid? [True, True] Translation: X:201.55, Y:-6.73, Z:-4.16 [[ 9.99926827e-01 9.03065313e-03 8.04906616e-03 2.01552957e+02] [-9.02475383e-03 9.99958980e-01 -7.68938038e-04 -6.72985863e+00] [-8.05568001e-03 6.96240932e-04 9.99967310e-01 -4.15783468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58800114499996 meters 0.08280287763536338 Centerline is valid? [True, True] Translation: X:201.58, Y:-6.72, Z:-4.16 [[ 9.99929973e-01 8.38965098e-03 8.34639050e-03 2.01583986e+02] [-8.38328563e-03 9.99964542e-01 -7.97341829e-04 -6.72386190e+00] [-8.35278397e-03 7.27315818e-04 9.99964850e-01 -4.15632012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61800114499997 meters 0.09305279677554544 Centerline is valid? [True, True] Translation: X:201.61, Y:-6.74, Z:-4.16 [[ 9.99933641e-01 8.57977889e-03 7.68776258e-03 2.01612603e+02] [-8.57438771e-03 9.99962970e-01 -7.33954165e-04 -6.74435827e+00] [-7.69377507e-03 6.67987603e-04 9.99970179e-01 -4.16312844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64800114499997 meters 0.08506485420863079 Centerline is valid? [True, True] Translation: X:201.64, Y:-6.73, Z:-4.16 [[ 9.99936379e-01 8.39195192e-03 7.53745337e-03 2.01644730e+02] [-8.38675979e-03 9.99964571e-01 -7.20188105e-04 -6.73236818e+00] [-7.54323011e-03 6.56927475e-04 9.99971334e-01 -4.15884267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67800114499997 meters 0.08497334704422242 Centerline is valid? [True, True] Translation: X:201.68, Y:-6.73, Z:-4.16 [[ 9.99930024e-01 8.50755554e-03 8.22000439e-03 2.01675433e+02] [-8.50138434e-03 9.99963554e-01 -7.85404445e-04 -6.73483225e+00] [-8.22638667e-03 7.15468069e-04 9.99965907e-01 -4.15910142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70800114499997 meters 0.0943536503411518 Centerline is valid? [True, True] Translation: X:201.70, Y:-6.75, Z:-4.17 [[ 9.99929469e-01 8.57802034e-03 8.21429244e-03 2.01703595e+02] [-8.57186376e-03 9.99962953e-01 -7.84410056e-04 -6.75383873e+00] [-8.22071681e-03 7.13942935e-04 9.99965954e-01 -4.16542757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73800114499997 meters 0.08575701409158089 Centerline is valid? [True, True] Translation: X:201.74, Y:-6.74, Z:-4.16 [[ 9.99925500e-01 9.10193255e-03 8.13320803e-03 2.01736019e+02] [-9.09591676e-03 9.99958330e-01 -7.76342589e-04 -6.74172650e+00] [-8.13993534e-03 7.02305768e-04 9.99966624e-01 -4.16164476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76800114499997 meters 0.08677791983690596 Centerline is valid? [True, True] Translation: X:201.77, Y:-6.75, Z:-4.16 [[ 9.99915925e-01 1.03544961e-02 7.80560297e-03 2.01766221e+02] [-1.03490056e-02 9.99946171e-01 -7.43469778e-04 -6.74588521e+00] [-7.81288106e-03 6.62627042e-04 9.99969259e-01 -4.16405731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79800114499997 meters 0.08679410960717368 Centerline is valid? [True, True] Translation: X:201.80, Y:-6.75, Z:-4.17 [[ 9.99907389e-01 1.09139101e-02 8.13022225e-03 2.01796292e+02] [-1.09079387e-02 9.99940204e-01 -7.78454904e-04 -6.74854305e+00] [-8.13823208e-03 6.89698845e-04 9.99966646e-01 -4.16536564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82800114499997 meters 0.08462620919920245 Centerline is valid? [True, True] Translation: X:201.83, Y:-6.75, Z:-4.17 [[ 9.99899665e-01 1.15626785e-02 8.18313928e-03 2.01827003e+02] [-1.15566554e-02 9.99932913e-01 -7.82941269e-04 -6.74748103e+00] [-8.19164319e-03 6.88292993e-04 9.99966211e-01 -4.16533439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85800114499997 meters 0.08640788962031917 Centerline is valid? [True, True] Translation: X:201.86, Y:-6.75, Z:-4.17 [[ 9.99885061e-01 1.22915557e-02 8.87599774e-03 2.01855823e+02] [-1.22844902e-02 9.99924181e-01 -8.50105890e-04 -6.75101583e+00] [-8.88577390e-03 7.40971072e-04 9.99960246e-01 -4.16605281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88800114499998 meters 0.08556410304536306 Centerline is valid? [True, True] Translation: X:201.89, Y:-6.75, Z:-4.17 [[ 9.99875796e-01 1.25157597e-02 9.57852190e-03 2.01886084e+02] [-1.25075496e-02 9.99921357e-01 -9.16561691e-04 -6.75125315e+00] [-9.58924008e-03 7.96644013e-04 9.99953705e-01 -4.16586658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91800114499998 meters 0.08436275880194971 Centerline is valid? [True, True] Translation: X:201.92, Y:-6.75, Z:-4.17 [[ 9.99875277e-01 1.27480943e-02 9.32295269e-03 2.01916635e+02] [-1.27403318e-02 9.99918441e-01 -8.91543863e-04 -6.75103046e+00] [-9.33355781e-03 7.72655156e-04 9.99956143e-01 -4.16639468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94800114499998 meters 0.09095520410564419 Centerline is valid? [True, True] Translation: X:201.94, Y:-6.76, Z:-4.17 [[ 9.99889509e-01 1.22337691e-02 8.44417795e-03 2.01944798e+02] [-1.22273790e-02 9.99924916e-01 -8.07951510e-04 -6.76386942e+00] [-8.45342822e-03 7.04612075e-04 9.99964021e-01 -4.17241404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97800114499998 meters 0.08662945669902934 Centerline is valid? [True, True] Translation: X:201.97, Y:-6.76, Z:-4.17 [[ 9.99899817e-01 1.19253908e-02 7.62499424e-03 2.01974834e+02] [-1.19201686e-02 9.99928686e-01 -7.29957407e-04 -6.75878497e+00] [-7.63315550e-03 6.38993061e-04 9.99970663e-01 -4.17083857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00800114499998 meters 0.08655180150088711 Centerline is valid? [True, True] Translation: X:202.00, Y:-6.76, Z:-4.17 [[ 9.99906530e-01 1.11723900e-02 7.88097511e-03 2.02004253e+02] [-1.11667904e-02 9.99937365e-01 -7.54177263e-04 -6.76124262e+00] [-7.88890744e-03 6.66101573e-04 9.99968660e-01 -4.17247819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03800114499995 meters 0.086289022063944 Centerline is valid? [True, True] Translation: X:202.03, Y:-6.76, Z:-4.17 [[ 9.99909770e-01 1.07207389e-02 8.09423590e-03 2.02033469e+02] [-1.07148198e-02 9.99942295e-01 -7.74294327e-04 -6.76349913e+00] [-8.10206983e-03 6.87496184e-04 9.99966941e-01 -4.17330341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06800114499995 meters 0.08637126921499429 Centerline is valid? [True, True] Translation: X:202.06, Y:-6.76, Z:-4.17 [[ 9.99926670e-01 9.32995165e-03 7.72047536e-03 2.02064084e+02] [-9.32453400e-03 9.99956254e-01 -7.37424454e-04 -6.76458903e+00] [-7.72701776e-03 6.65380544e-04 9.99969925e-01 -4.17394904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09800114499996 meters 0.08916701924620105 Centerline is valid? [True, True] Translation: X:202.09, Y:-6.77, Z:-4.18 [[ 9.99935215e-01 8.70236679e-03 7.33714991e-03 2.02093636e+02] [-8.69746045e-03 9.99961931e-01 -7.00342341e-04 -6.77147159e+00] [-7.34296522e-03 6.36482399e-04 9.99972838e-01 -4.17640749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12800114499996 meters 0.08567169083393408 Centerline is valid? [True, True] Translation: X:202.12, Y:-6.77, Z:-4.18 [[ 9.99941545e-01 8.54015955e-03 6.63119666e-03 2.02124353e+02] [-8.53614487e-03 9.99963366e-01 -6.33490396e-04 -6.76755388e+00] [-6.63636384e-03 5.76848509e-04 9.99977813e-01 -4.17565758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15800114499996 meters 0.09492810857697682 Centerline is valid? [True, True] Translation: X:202.15, Y:-6.79, Z:-4.18 [[ 9.99946844e-01 7.82149085e-03 6.71821279e-03 2.02152310e+02] [-7.81735075e-03 9.99969238e-01 -6.42288642e-04 -6.78604249e+00] [-6.72302978e-03 5.89735874e-04 9.99977226e-01 -4.18232744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18800114499996 meters 0.09158779955033909 Centerline is valid? [True, True] Translation: X:202.18, Y:-6.78, Z:-4.18 [[ 9.99957812e-01 6.39590879e-03 6.59291066e-03 2.02183487e+02] [-6.39189482e-03 9.99979373e-01 -6.29723130e-04 -6.78281991e+00] [-6.59680232e-03 5.87555372e-04 9.99978068e-01 -4.18174393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21800114499996 meters 0.09295280831654319 Centerline is valid? [True, True] Translation: X:202.21, Y:-6.79, Z:-4.18 [[ 9.99967788e-01 5.51094585e-03 5.83547213e-03 2.02214596e+02] [-5.50779184e-03 9.99984677e-01 -5.56420836e-04 -6.78752950e+00] [-5.83844912e-03 5.24262347e-04 9.99982819e-01 -4.18364833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24800114499996 meters 0.08822514012029725 Centerline is valid? [True, True] Translation: X:202.25, Y:-6.78, Z:-4.18 [[ 9.99975231e-01 4.15427831e-03 5.68142326e-03 2.02246655e+02] [-4.15126638e-03 9.99991237e-01 -5.41825537e-04 -6.78174696e+00] [-5.68362437e-03 5.18227015e-04 9.99983714e-01 -4.18168098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27800114499996 meters 0.09188348080528762 Centerline is valid? [True, True] Translation: X:202.28, Y:-6.79, Z:-4.18 [[ 9.99979517e-01 1.31677723e-03 6.26346720e-03 2.02275663e+02] [-1.31305643e-03 9.99998959e-01 -5.98124019e-04 -6.79005034e+00] [-6.26424828e-03 5.89887482e-04 9.99980205e-01 -4.18371912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30800114499996 meters 0.09741039223428484 Centerline is valid? [True, True] Translation: X:202.31, Y:-6.80, Z:-4.19 [[ 9.99980381e-01 4.41672330e-04 6.24835162e-03 2.02305438e+02] [-4.37969665e-04 9.99999728e-01 -5.93938673e-04 -6.80212806e+00] [-6.24861224e-03 5.91190433e-04 9.99980302e-01 -4.18691604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33800114499996 meters 0.09400566123094937 Centerline is valid? [True, True] Translation: X:202.34, Y:-6.80, Z:-4.19 [[ 9.99983706e-01 -1.07856289e-03 5.60582649e-03 2.02337422e+02] [ 1.08158195e-03 9.99999272e-01 -5.35554096e-04 -6.79937901e+00] [-5.60524477e-03 5.41608530e-04 9.99984144e-01 -4.18629882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36800114499997 meters 0.09571935511630586 Centerline is valid? [True, True] Translation: X:202.37, Y:-6.80, Z:-4.19 [[ 9.99983291e-01 -1.80155988e-03 5.49285637e-03 2.02367710e+02] [ 1.80447015e-03 9.99998234e-01 -5.24917992e-04 -6.80496900e+00] [-5.49190100e-03 5.34820917e-04 9.99984776e-01 -4.18861279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39800114499997 meters 0.09589418235393982 Centerline is valid? [True, True] Translation: X:202.40, Y:-6.81, Z:-4.19 [[ 9.99979739e-01 -2.38582588e-03 5.90160607e-03 2.02399707e+02] [ 2.38919138e-03 9.99996987e-01 -5.63285019e-04 -6.80704559e+00] [-5.90024439e-03 5.77373673e-04 9.99982427e-01 -4.18935737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42800114499997 meters 0.10283654305733084 Centerline is valid? [True, False] Translation: X:202.40, Y:-6.81, Z:-4.19 [[ 9.99981124e-01 -2.25367383e-03 5.71595939e-03 2.02400300e+02] [ 2.25656350e-03 9.99997329e-01 -4.99144367e-04 -6.80683317e+00] [-5.71481921e-03 5.12033370e-04 9.99983539e-01 -4.18965397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45800114499997 meters 0.09717071735850924 Centerline is valid? [False, True] Translation: X:202.40, Y:-6.81, Z:-4.19 [[ 9.99982485e-01 -2.10128078e-03 5.53305567e-03 2.02401001e+02] [ 2.10382165e-03 9.99997684e-01 -4.53435856e-04 -6.80633226e+00] [-5.53209006e-03 4.65068477e-04 9.99984590e-01 -4.19011750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48800114499997 meters 0.09109221642738538 Centerline is valid? [True, True] Translation: X:202.43, Y:-6.80, Z:-4.19 [[ 9.99985350e-01 -2.10235712e-03 4.98794904e-03 2.02433741e+02] [ 2.10476653e-03 9.99997671e-01 -4.77845002e-04 -6.79932147e+00] [-4.98693282e-03 4.88336470e-04 9.99987446e-01 -4.18855825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51800114499997 meters 0.09946352293990847 Centerline is valid? [True, True] Translation: X:202.46, Y:-6.82, Z:-4.19 [[ 9.99985748e-01 -1.69376531e-03 5.06319336e-03 2.02463451e+02] [ 1.69624739e-03 9.99998443e-01 -4.85967319e-04 -6.81628729e+00] [-5.06236237e-03 4.94548821e-04 9.99987064e-01 -4.19465595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54800114499997 meters 0.0999335559155735 Centerline is valid? [True, True] Translation: X:202.49, Y:-6.82, Z:-4.20 [[ 9.99989767e-01 -9.24190605e-04 4.42852833e-03 2.02494272e+02] [ 9.26072994e-04 9.99999482e-01 -4.23027921e-04 -6.81946310e+00] [-4.42813508e-03 4.27124733e-04 9.99990105e-01 -4.19684320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57800114499997 meters 0.10084773262151502 Centerline is valid? [True, False] Translation: X:202.49, Y:-6.82, Z:-4.20 [[ 9.99990375e-01 -1.00538941e-03 4.27081425e-03 2.02494498e+02] [ 1.00835271e-03 9.99999252e-01 -6.91752034e-04 -6.81867138e+00] [-4.27011558e-03 6.96051863e-04 9.99990641e-01 -4.19663414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60800114499997 meters 0.09646356271896164 Centerline is valid? [False, True] Translation: X:202.49, Y:-6.82, Z:-4.20 [[ 9.99990469e-01 -1.20278935e-03 4.19705355e-03 2.02494318e+02] [ 1.20727531e-03 9.99998703e-01 -1.06646666e-03 -6.81799746e+00] [-4.19576537e-03 1.07152350e-03 9.99990624e-01 -4.19609661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63800114499998 meters 0.09313044002932681 Centerline is valid? [True, True] Translation: X:202.53, Y:-6.82, Z:-4.20 [[ 9.99989849e-01 -1.02873583e-03 4.38671294e-03 2.02527042e+02] [ 1.03058036e-03 9.99999381e-01 -4.18240545e-04 -6.81607217e+00] [-4.38627997e-03 4.22757160e-04 9.99990291e-01 -4.19576340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66800114499998 meters 0.09359984373015165 Centerline is valid? [True, True] Translation: X:202.56, Y:-6.82, Z:-4.20 [[ 9.99992100e-01 -7.61771381e-04 3.90126894e-03 2.02557474e+02] [ 7.63223368e-04 9.99999640e-01 -3.70708016e-04 -6.82108837e+00] [-3.90098514e-03 3.73682627e-04 9.99992321e-01 -4.19812700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69800114499998 meters 0.09255972329698374 Centerline is valid? [True, True] Translation: X:202.59, Y:-6.82, Z:-4.20 [[ 9.99994861e-01 -5.03985157e-04 3.16612953e-03 2.02589992e+02] [ 5.04942994e-04 9.99999827e-01 -3.01733945e-04 -6.82248912e+00] [-3.16597691e-03 3.03331109e-04 9.99994942e-01 -4.19883128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72800114499998 meters 0.092509496601749 Centerline is valid? [True, True] Translation: X:202.62, Y:-6.83, Z:-4.20 [[ 9.99995387e-01 3.39705183e-05 3.03717777e-03 2.02621657e+02] [-3.30895367e-05 9.99999957e-01 -2.90115632e-04 -6.82546172e+00] [-3.03718750e-03 2.90013795e-04 9.99995346e-01 -4.19957666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75800114499998 meters 0.08937750584586994 Centerline is valid? [True, True] Translation: X:202.65, Y:-6.82, Z:-4.20 [[ 9.99994684e-01 7.53578732e-04 3.17249388e-03 2.02653228e+02] [-7.52618681e-04 9.99999671e-01 -3.03800056e-04 -6.82320291e+00] [-3.17272177e-03 3.01410763e-04 9.99994921e-01 -4.19905000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78800114499995 meters 0.09235461527043337 Centerline is valid? [True, True] Translation: X:202.68, Y:-6.83, Z:-4.20 [[ 9.99993879e-01 1.48168975e-03 3.16967414e-03 2.02683713e+02] [-1.48073646e-03 9.99998858e-01 -3.03080944e-04 -6.83134663e+00] [-3.17011960e-03 2.98385637e-04 9.99994931e-01 -4.20148564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81800114499995 meters 0.09238338914423022 Centerline is valid? [True, True] Translation: X:202.71, Y:-6.83, Z:-4.20 [[ 9.99990707e-01 2.43231555e-03 3.55947734e-03 2.02714858e+02] [-2.43111578e-03 9.99996987e-01 -3.41353097e-04 -6.83438284e+00] [-3.56029689e-03 3.32696423e-04 9.99993607e-01 -4.20279499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84800114499996 meters 0.08725840471393763 Centerline is valid? [True, True] Translation: X:202.75, Y:-6.83, Z:-4.20 [[ 9.99984841e-01 4.37311790e-03 3.34581603e-03 2.02745984e+02] [-4.37206486e-03 9.99990391e-01 -3.21983547e-04 -6.82858139e+00] [-3.34719195e-03 3.07350541e-04 9.99994351e-01 -4.20157423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87800114499996 meters 0.09037530580086119 Centerline is valid? [True, True] Translation: X:202.77, Y:-6.84, Z:-4.21 [[ 9.99982839e-01 5.29277651e-03 2.51166649e-03 2.02774974e+02] [-5.29218454e-03 9.99985967e-01 -2.42275727e-04 -6.83699397e+00] [-2.51291356e-03 2.28979367e-04 9.99996816e-01 -4.20511842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90800114499996 meters 0.08829993971619278 Centerline is valid? [True, True] Translation: X:202.80, Y:-6.84, Z:-4.20 [[ 9.99980024e-01 5.89756610e-03 2.27390398e-03 2.02804675e+02] [-5.89708113e-03 9.99982588e-01 -2.19919011e-04 -6.83625861e+00] [-2.27516137e-03 2.06505222e-04 9.99997390e-01 -4.20492595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93800114499996 meters 0.08877316336891046 Centerline is valid? [True, True] Translation: X:202.83, Y:-6.84, Z:-4.21 [[ 9.99977323e-01 6.36348445e-03 2.20434963e-03 2.02833636e+02] [-6.36302486e-03 9.99979733e-01 -2.15441668e-04 -6.83988396e+00] [-2.20567591e-03 2.01410451e-04 9.99997547e-01 -4.20598108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96800114499996 meters 0.08912293957177171 Centerline is valid? [True, True] Translation: X:202.86, Y:-6.84, Z:-4.21 [[ 9.99975027e-01 6.79336450e-03 1.94802623e-03 2.02861967e+02] [-6.79301068e-03 9.99976910e-01 -1.88189698e-04 -6.84295293e+00] [-1.94925969e-03 1.74952036e-04 9.99998085e-01 -4.20695627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99800114499996 meters 0.08923366280936586 Centerline is valid? [True, True] Translation: X:202.89, Y:-6.85, Z:-4.21 [[ 9.99976780e-01 6.59629943e-03 1.71099680e-03 2.02891022e+02] [-6.59602392e-03 9.99978232e-01 -1.66615693e-04 -6.84604764e+00] [-1.71205861e-03 1.55326049e-04 9.99998522e-01 -4.20817780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02800114499996 meters 0.08869452486607719 Centerline is valid? [True, True] Translation: X:202.92, Y:-6.85, Z:-4.21 [[ 9.99979482e-01 5.95356472e-03 2.36433086e-03 2.02919289e+02] [-5.95303932e-03 9.99982254e-01 -2.29197174e-04 -6.84886444e+00] [-2.36565345e-03 2.15117517e-04 9.99997179e-01 -4.20820714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05800114499996 meters 0.08759497533315731 Centerline is valid? [True, True] Translation: X:202.95, Y:-6.85, Z:-4.21 [[ 9.99981818e-01 5.37968038e-03 2.72456871e-03 2.02948690e+02] [-5.37898504e-03 9.99985499e-01 -2.62475923e-04 -6.85002365e+00] [-2.72594124e-03 2.47815736e-04 9.99996254e-01 -4.20832968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08800114499996 meters 0.08759497533315731 Centerline is valid? [True, True] Translation: X:202.98, Y:-6.85, Z:-4.21 [[ 9.99981994e-01 5.34677830e-03 2.72457733e-03 2.02977826e+02] [-5.34608307e-03 9.99985675e-01 -2.62386164e-04 -6.85278062e+00] [-2.72594123e-03 2.47815623e-04 9.99996254e-01 -4.20940425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11800114499997 meters 0.08800220631873709 Centerline is valid? [True, True] Translation: X:203.01, Y:-6.86, Z:-4.21 [[ 9.99981239e-01 5.29036682e-03 3.08773702e-03 2.03007058e+02] [-5.28947448e-03 9.99985967e-01 -2.97090148e-04 -6.85702609e+00] [-3.08926540e-03 2.80752068e-04 9.99995189e-01 -4.21058002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14800114499997 meters 0.0899573914814865 Centerline is valid? [True, True] Translation: X:203.04, Y:-6.86, Z:-4.21 [[ 9.99980669e-01 4.81724507e-03 3.93148340e-03 2.03036256e+02] [-4.81579873e-03 9.99988333e-01 -3.77270747e-04 -6.86361983e+00] [-3.93325493e-03 3.58330221e-04 9.99992201e-01 -4.21195129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17800114499997 meters 0.09048624188945631 Centerline is valid? [True, True] Translation: X:203.07, Y:-6.87, Z:-4.21 [[ 9.99983170e-01 4.27913146e-03 3.91768395e-03 2.03066587e+02] [-4.27769350e-03 9.99990780e-01 -3.75350782e-04 -6.86792078e+00] [-3.91925401e-03 3.58585814e-04 9.99992255e-01 -4.21217382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20800114499997 meters 0.0916478660980873 Centerline is valid? [True, True] Translation: X:203.10, Y:-6.87, Z:-4.21 [[ 9.99986906e-01 3.47845981e-03 3.75333435e-03 2.03096539e+02] [-3.47713637e-03 9.99993890e-01 -3.59072905e-04 -6.87302642e+00] [-3.75456044e-03 3.46017348e-04 9.99992892e-01 -4.21284904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23800114499997 meters 0.09244200625369789 Centerline is valid? [True, True] Translation: X:203.13, Y:-6.88, Z:-4.21 [[ 9.99984190e-01 3.28217663e-03 4.56582670e-03 2.03126898e+02] [-3.28021286e-03 9.99994524e-01 -4.37523079e-04 -6.87700156e+00] [-4.56723773e-03 4.22539278e-04 9.99989481e-01 -4.21421258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26800114499997 meters 0.09348128355490677 Centerline is valid? [True, True] Translation: X:203.16, Y:-6.88, Z:-4.22 [[ 9.99983877e-01 3.51187542e-03 4.46226018e-03 2.03158056e+02] [-3.51003166e-03 9.99993751e-01 -4.20954251e-04 -6.88207620e+00] [-4.46371063e-03 4.05284790e-04 9.99989955e-01 -4.21545222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29800114499997 meters 0.092903829078532 Centerline is valid? [True, True] Translation: X:203.19, Y:-6.88, Z:-4.22 [[ 9.99983348e-01 3.47802367e-03 4.60513186e-03 2.03189233e+02] [-3.47602831e-03 9.99993861e-01 -4.41224962e-04 -6.88482692e+00] [-4.60663818e-03 4.25210046e-04 9.99989299e-01 -4.21664469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32800114499997 meters 0.095554271813369 Centerline is valid? [True, True] Translation: X:203.22, Y:-6.89, Z:-4.22 [[ 9.99976745e-01 3.83036934e-03 5.64243060e-03 2.03218443e+02] [-3.82737408e-03 9.99992529e-01 -5.41549122e-04 -6.89393695e+00] [-5.64446278e-03 5.19940836e-04 9.99983935e-01 -4.21918851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35800114499997 meters 0.09085099105753434 Centerline is valid? [True, True] Translation: X:203.25, Y:-6.89, Z:-4.22 [[ 9.99976061e-01 3.90307437e-03 5.71341326e-03 2.03250766e+02] [-3.90000673e-03 9.99992245e-01 -5.47961514e-04 -6.88964215e+00] [-5.71550769e-03 5.25666047e-04 9.99983528e-01 -4.21693779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38800114499998 meters 0.08602861465093913 Centerline is valid? [True, True] Translation: X:203.28, Y:-6.89, Z:-4.22 [[ 9.99972327e-01 4.42972549e-03 5.97677901e-03 2.03282949e+02] [-4.42637661e-03 9.99990039e-01 -5.73425895e-04 -6.88545649e+00] [-5.97925960e-03 5.46954552e-04 9.99981974e-01 -4.21561546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41800114499998 meters 0.09029076316020343 Centerline is valid? [True, True] Translation: X:203.31, Y:-6.90, Z:-4.22 [[ 9.99971864e-01 4.49151473e-03 6.00817752e-03 2.03312818e+02] [-4.48814810e-03 9.99989764e-01 -5.73706631e-04 -6.89604462e+00] [-6.01069283e-03 5.46724899e-04 9.99981786e-01 -4.21941138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44800114499998 meters 0.08802345639512188 Centerline is valid? [True, True] Translation: X:203.34, Y:-6.90, Z:-4.22 [[ 9.99978647e-01 4.37178162e-03 4.85736093e-03 2.03344644e+02] [-4.36956622e-03 9.99990345e-01 -4.66609106e-04 -6.89565685e+00] [-4.85935394e-03 4.45374582e-04 9.99988094e-01 -4.21982336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47800114499998 meters 0.09011728611697464 Centerline is valid? [True, True] Translation: X:203.37, Y:-6.90, Z:-4.22 [[ 9.99978102e-01 4.53031964e-03 4.82408465e-03 2.03374405e+02] [-4.52813307e-03 9.99989640e-01 -4.64087392e-04 -6.90305791e+00] [-4.82613714e-03 4.42233132e-04 9.99988256e-01 -4.22309372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50800114499998 meters 0.08716614834536515 Centerline is valid? [True, True] Translation: X:203.41, Y:-6.90, Z:-4.22 [[ 9.99986752e-01 3.44055801e-03 3.82850484e-03 2.03406253e+02] [-3.43917524e-03 9.99994018e-01 -3.67700635e-04 -6.90261216e+00] [-3.82974703e-03 3.54528865e-04 9.99992604e-01 -4.22245206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53800114499995 meters 0.0928460361945223 Centerline is valid? [True, True] Translation: X:203.44, Y:-6.92, Z:-4.23 [[ 9.99980808e-01 3.96527665e-03 4.76028227e-03 2.03435101e+02] [-3.96314012e-03 9.99992042e-01 -4.58172214e-04 -6.91597643e+00] [-4.76206116e-03 4.39297755e-04 9.99988565e-01 -4.22579100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56800114499995 meters 0.08783410246588369 Centerline is valid? [True, True] Translation: X:203.47, Y:-6.91, Z:-4.22 [[ 9.99984402e-01 3.10827660e-03 4.64062131e-03 2.03467414e+02] [-3.10623915e-03 9.99995076e-01 -4.46190105e-04 -6.91116043e+00] [-4.64198534e-03 4.31768266e-04 9.99989133e-01 -4.22379626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59800114499996 meters 0.09007991385368692 Centerline is valid? [True, True] Translation: X:203.50, Y:-6.92, Z:-4.23 [[ 9.99984104e-01 3.60577056e-03 4.33475850e-03 2.03497577e+02] [-3.60402225e-03 9.99993421e-01 -4.11066227e-04 -6.91907090e+00] [-4.33621220e-03 3.95437127e-04 9.99990520e-01 -4.22663463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62800114499996 meters 0.08949303695235702 Centerline is valid? [True, True] Translation: X:203.53, Y:-6.92, Z:-4.23 [[ 9.99985444e-01 2.39395366e-03 4.83528793e-03 2.03528411e+02] [-2.39172485e-03 9.99997031e-01 -4.66674920e-04 -6.92308282e+00] [-4.83639077e-03 4.55103449e-04 9.99988201e-01 -4.22665859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65800114499996 meters 0.09218659540900107 Centerline is valid? [True, True] Translation: X:203.56, Y:-6.93, Z:-4.23 [[ 9.99986974e-01 2.28598549e-03 4.56357782e-03 2.03558499e+02] [-2.28401297e-03 9.99997296e-01 -4.37396295e-04 -6.93124349e+00] [-4.56456536e-03 4.26967326e-04 9.99989491e-01 -4.22884778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68800114499996 meters 0.09142967869162784 Centerline is valid? [True, True] Translation: X:203.59, Y:-6.93, Z:-4.23 [[ 9.99985776e-01 2.03867749e-03 4.92862429e-03 2.03589829e+02] [-2.03635679e-03 9.99997813e-01 -4.75833612e-04 -6.93387924e+00] [-4.92958358e-03 4.65790406e-04 9.99987741e-01 -4.22934709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71800114499996 meters 0.09174514061378021 Centerline is valid? [True, True] Translation: X:203.62, Y:-6.94, Z:-4.23 [[ 9.99990350e-01 2.07401342e-03 3.87271298e-03 2.03621626e+02] [-2.07260574e-03 9.99997785e-01 -3.67464346e-04 -6.93971929e+00] [-3.87346653e-03 3.59434193e-04 9.99992434e-01 -4.23164288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74800114499996 meters 0.09435970037478691 Centerline is valid? [True, True] Translation: X:203.65, Y:-6.95, Z:-4.23 [[ 9.99988570e-01 2.82091349e-03 3.86035073e-03 2.03651752e+02] [-2.81949472e-03 9.99995956e-01 -3.72915941e-04 -6.94847894e+00] [-3.86138708e-03 3.62027441e-04 9.99992479e-01 -4.23413664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77800114499996 meters 0.09408648321969773 Centerline is valid? [True, True] Translation: X:203.68, Y:-6.95, Z:-4.24 [[ 9.99984151e-01 3.85327852e-03 4.10480147e-03 2.03682731e+02] [-3.85167951e-03 9.99992503e-01 -3.97379650e-04 -6.95239981e+00] [-4.10630191e-03 3.81562972e-04 9.99991496e-01 -4.23554301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80800114499996 meters 0.09123037419163853 Centerline is valid? [True, True] Translation: X:203.71, Y:-6.95, Z:-4.23 [[ 9.99976318e-01 5.02248542e-03 4.70521009e-03 2.03713319e+02] [-5.02039107e-03 9.99987293e-01 -4.56818422e-04 -6.95174495e+00] [-4.70744467e-03 4.33185609e-04 9.99988826e-01 -4.23476183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83800114499996 meters 0.08576868420808342 Centerline is valid? [True, True] Translation: X:203.74, Y:-6.95, Z:-4.23 [[ 9.99964093e-01 7.18993084e-03 4.48520595e-03 2.03744977e+02] [-7.18805085e-03 9.99974071e-01 -4.35132872e-04 -6.94522428e+00] [-4.48821823e-03 4.02877360e-04 9.99989847e-01 -4.23232248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86800114499997 meters 0.0849302829488618 Centerline is valid? [True, True] Translation: X:203.77, Y:-6.95, Z:-4.23 [[ 9.99956017e-01 8.26661790e-03 4.43023990e-03 2.03774916e+02] [-8.26479023e-03 9.99965753e-01 -4.30691791e-04 -6.94666919e+00] [-4.43364855e-03 3.94057845e-04 9.99990094e-01 -4.23307104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89800114499997 meters 0.08386906182713937 Centerline is valid? [True, True] Translation: X:203.80, Y:-6.95, Z:-4.23 [[ 9.99950310e-01 8.90949324e-03 4.47203671e-03 2.03804500e+02] [-8.90763530e-03 9.99960232e-01 -4.35204696e-04 -6.94807371e+00] [-4.47573632e-03 3.95347798e-04 9.99989906e-01 -4.23339037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92800114499997 meters 0.09215345124956159 Centerline is valid? [True, True] Translation: X:203.83, Y:-6.97, Z:-4.24 [[ 9.99942964e-01 9.15386150e-03 5.50235675e-03 2.03830846e+02] [-9.15105224e-03 9.99957985e-01 -5.35515573e-04 -6.96780765e+00] [-5.50702760e-03 4.85132675e-04 9.99984719e-01 -4.23977184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95800114499997 meters 0.08273791788190234 Centerline is valid? [True, True] Translation: X:203.86, Y:-6.96, Z:-4.24 [[ 9.99949014e-01 8.74765632e-03 5.04453122e-03 2.03862055e+02] [-8.74529304e-03 9.99961639e-01 -4.90350587e-04 -6.95586724e+00] [-5.04862713e-03 4.46209683e-04 9.99987156e-01 -4.23554092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98800114499997 meters 0.08425877648946958 Centerline is valid? [True, True] Translation: X:203.89, Y:-6.96, Z:-4.24 [[ 9.99952443e-01 8.26617326e-03 5.17508734e-03 2.03889801e+02] [-8.26367815e-03 9.99965729e-01 -5.03336277e-04 -6.96233808e+00] [-5.17907065e-03 4.60547084e-04 9.99986482e-01 -4.23778879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01800114499997 meters 0.08303360541287926 Centerline is valid? [True, True] Translation: X:203.92, Y:-6.96, Z:-4.24 [[ 9.99955383e-01 8.25642334e-03 4.58942186e-03 2.03919824e+02] [-8.25446338e-03 9.99965832e-01 -4.45838628e-04 -6.96353407e+00] [-4.59294608e-03 4.07935521e-04 9.99989369e-01 -4.23872666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04800114499997 meters 0.08295500073027592 Centerline is valid? [True, True] Translation: X:203.95, Y:-6.97, Z:-4.24 [[ 9.99955213e-01 8.07250105e-03 4.94024141e-03 2.03948689e+02] [-8.07021798e-03 9.99967319e-01 -4.81897337e-04 -6.96641198e+00] [-4.94397007e-03 4.42006930e-04 9.99987681e-01 -4.23910649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07800114499997 meters 0.0831953197256141 Centerline is valid? [True, True] Translation: X:203.98, Y:-6.97, Z:-4.24 [[ 9.99946188e-01 8.71505458e-03 5.62757578e-03 2.03977602e+02] [-8.71212058e-03 9.99961900e-01 -5.45665362e-04 -6.96956765e+00] [-5.63211687e-03 4.96607880e-04 9.99984016e-01 -4.24025748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10800114499997 meters 0.08339235255599199 Centerline is valid? [True, True] Translation: X:204.01, Y:-6.97, Z:-4.24 [[ 9.99949902e-01 8.76930222e-03 4.82630401e-03 2.04007505e+02] [-8.76714490e-03 9.99961458e-01 -4.67965782e-04 -6.97209180e+00] [-4.83022173e-03 4.25629431e-04 9.99988244e-01 -4.24128716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13800114499998 meters 0.08026829927205811 Centerline is valid? [True, True] Translation: X:204.04, Y:-6.97, Z:-4.24 [[ 9.99950814e-01 8.93968105e-03 4.29543968e-03 2.04037498e+02] [-8.93797368e-03 9.99959969e-01 -4.16516903e-04 -6.96918895e+00] [-4.29899126e-03 3.78103889e-04 9.99990688e-01 -4.24050121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16800114499998 meters 0.08136612070221001 Centerline is valid? [True, True] Translation: X:204.07, Y:-6.98, Z:-4.24 [[ 9.99944429e-01 9.50704124e-03 4.55572760e-03 2.04065357e+02] [-9.50512519e-03 9.99954728e-01 -4.42046980e-04 -6.97546445e+00] [-4.55972391e-03 3.98719654e-04 9.99989525e-01 -4.24374498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19800114499998 meters 0.0817118838448812 Centerline is valid? [True, True] Translation: X:204.09, Y:-6.98, Z:-4.24 [[ 9.99949413e-01 9.24430789e-03 3.96419767e-03 2.04094152e+02] [-9.24285287e-03 9.99957210e-01 -3.85203705e-04 -6.97827275e+00] [-3.96758898e-03 3.48543722e-04 9.99992068e-01 -4.24477050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22800114499998 meters 0.08298961995403986 Centerline is valid? [True, True] Translation: X:204.12, Y:-6.98, Z:-4.25 [[ 9.99940756e-01 9.86599864e-03 4.59856639e-03 2.04123162e+02] [-9.86405518e-03 9.99951250e-01 -4.45113136e-04 -6.98214919e+00] [-4.60273369e-03 3.99726253e-04 9.99989327e-01 -4.24608483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25800114499998 meters 0.0805646891909771 Centerline is valid? [True, True] Translation: X:204.15, Y:-6.98, Z:-4.24 [[ 9.99932285e-01 1.03875216e-02 5.24643030e-03 2.04153048e+02] [-1.03849980e-02 9.99945945e-01 -5.08011269e-04 -6.97900230e+00] [-5.25142369e-03 4.53492701e-04 9.99986108e-01 -4.24456501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28800114499995 meters 0.08141312924866478 Centerline is valid? [True, True] Translation: X:204.18, Y:-6.98, Z:-4.25 [[ 9.99917807e-01 1.10612271e-02 6.48300361e-03 2.04183100e+02] [-1.10573991e-02 9.99938669e-01 -6.26012191e-04 -6.98184506e+00] [-6.48953047e-03 5.54275579e-04 9.99978789e-01 -4.24546731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31800114499995 meters 0.08179137785084856 Centerline is valid? [True, True] Translation: X:204.21, Y:-6.99, Z:-4.25 [[ 9.99909351e-01 1.12404730e-02 7.41223214e-03 2.04212344e+02] [-1.12354719e-02 9.99936624e-01 -7.16007639e-04 -6.98541338e+00] [-7.41981065e-03 6.32662808e-04 9.99972273e-01 -4.24641633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34800114499996 meters 0.08253313520052523 Centerline is valid? [True, True] Translation: X:204.24, Y:-6.99, Z:-4.25 [[ 9.99916237e-01 1.02644591e-02 7.88416521e-03 2.04242010e+02] [-1.02587734e-02 9.99947088e-01 -7.61260383e-04 -6.98973949e+00] [-7.89156196e-03 6.80314753e-04 9.99968630e-01 -4.24765137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37800114499996 meters 0.08295775800216938 Centerline is valid? [True, True] Translation: X:204.27, Y:-6.99, Z:-4.25 [[ 9.99920892e-01 9.25687392e-03 8.51590285e-03 2.04271892e+02] [-9.25021635e-03 9.99956879e-01 -8.20837481e-04 -6.99375198e+00] [-8.52313403e-03 7.41998602e-04 9.99963402e-01 -4.24875001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40800114499996 meters 0.09194591691980895 Centerline is valid? [True, True] Translation: X:204.30, Y:-7.01, Z:-4.25 [[ 9.99944266e-01 6.63754822e-03 8.21019314e-03 2.04300184e+02] [-6.63126791e-03 9.99977699e-01 -7.91927201e-04 -7.01163905e+00] [-8.21526650e-03 7.37439073e-04 9.99965982e-01 -4.25394280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43800114499996 meters 0.08720913564318095 Centerline is valid? [True, True] Translation: X:204.33, Y:-7.01, Z:-4.25 [[ 9.99956045e-01 5.30745766e-03 7.72905693e-03 2.04332044e+02] [-5.30185960e-03 9.99985668e-01 -7.44596681e-04 -7.00539182e+00] [-7.73289807e-03 7.03585578e-04 9.99969853e-01 -4.25175959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46800114499996 meters 0.093164359159506 Centerline is valid? [True, True] Translation: X:204.36, Y:-7.02, Z:-4.26 [[ 9.99954609e-01 4.92700449e-03 8.15500059e-03 2.04361885e+02] [-4.92080317e-03 9.99987588e-01 -7.80322200e-04 -7.01723430e+00] [-8.15874402e-03 7.40157628e-04 9.99966443e-01 -4.25501882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49800114499996 meters 0.08922937072165943 Centerline is valid? [True, True] Translation: X:204.39, Y:-7.01, Z:-4.25 [[ 9.99953911e-01 4.81416748e-03 8.30656225e-03 2.04394222e+02] [-4.80771371e-03 9.99988125e-01 -7.96742561e-04 -7.01363396e+00] [-8.31029927e-03 7.56770267e-04 9.99965183e-01 -4.25403204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52800114499996 meters 0.08971308185644086 Centerline is valid? [True, True] Translation: X:204.43, Y:-7.02, Z:-4.26 [[ 9.99942792e-01 3.88031240e-03 9.96771687e-03 2.04426346e+02] [-3.87094153e-03 9.99992048e-01 -9.59242784e-04 -7.01815471e+00] [-9.97135977e-03 9.20603459e-04 9.99949861e-01 -4.25544586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55800114499996 meters 0.09038082309203817 Centerline is valid? [True, True] Translation: X:204.46, Y:-7.02, Z:-4.26 [[ 9.99946913e-01 3.91680703e-03 9.53051114e-03 2.04458004e+02] [-3.90822492e-03 9.99991941e-01 -9.18946058e-04 -7.02281125e+00] [-9.53403367e-03 8.81649892e-04 9.99954161e-01 -4.25734056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58800114499996 meters 0.0907186391891678 Centerline is valid? [True, True] Translation: X:204.49, Y:-7.03, Z:-4.26 [[ 9.99947531e-01 3.96259194e-03 9.44631250e-03 2.04490158e+02] [-3.95414330e-03 9.99991766e-01 -9.12893635e-04 -7.02606028e+00] [-9.44985214e-03 8.75493663e-04 9.99954966e-01 -4.25834120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61800114499997 meters 0.0869999287087192 Centerline is valid? [True, True] Translation: X:204.52, Y:-7.02, Z:-4.26 [[ 9.99945783e-01 4.52885179e-03 9.37663948e-03 2.04522951e+02] [-4.52053480e-03 9.99989370e-01 -9.07995126e-04 -7.02134245e+00] [-9.38065199e-03 8.65558472e-04 9.99955626e-01 -4.25785292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64800114499997 meters 0.08806183936041605 Centerline is valid? [True, True] Translation: X:204.55, Y:-7.03, Z:-4.26 [[ 9.99952657e-01 4.51561176e-03 8.61932329e-03 2.04554578e+02] [-4.50857199e-03 9.99989487e-01 -8.35998185e-04 -7.02587520e+00] [-8.62300772e-03 7.97097766e-04 9.99962503e-01 -4.26017137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67800114499997 meters 0.0863918682962167 Centerline is valid? [True, True] Translation: X:204.59, Y:-7.03, Z:-4.26 [[ 9.99956019e-01 4.59698641e-03 8.17483925e-03 2.04586560e+02] [-4.59064569e-03 9.99989148e-01 -7.94234446e-04 -7.02624442e+00] [-8.17840161e-03 7.56671724e-04 9.99966270e-01 -4.26048161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70800114499997 meters 0.09365294981351467 Centerline is valid? [True, True] Translation: X:204.62, Y:-7.04, Z:-4.27 [[ 9.99950395e-01 4.84569957e-03 8.70210311e-03 2.04616704e+02] [-4.83847722e-03 9.99987933e-01 -8.50815980e-04 -7.04158429e+00] [-8.70612090e-03 8.08668848e-04 9.99961774e-01 -4.26538466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73800114499997 meters 0.08821134868911806 Centerline is valid? [True, True] Translation: X:204.65, Y:-7.04, Z:-4.26 [[ 9.99947121e-01 5.28651145e-03 8.82091878e-03 2.04649674e+02] [-5.27908446e-03 9.99985691e-01 -8.65046504e-04 -7.03546412e+00] [-8.82536565e-03 8.18434385e-04 9.99960721e-01 -4.26422239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76800114499997 meters 0.08661283025747209 Centerline is valid? [True, True] Translation: X:204.68, Y:-7.04, Z:-4.26 [[ 9.99946105e-01 5.71711183e-03 8.66614429e-03 2.04682452e+02] [-5.70998963e-03 9.99983340e-01 -8.46361542e-04 -7.03601682e+00] [-8.67083865e-03 7.96832333e-04 9.99962090e-01 -4.26497569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79800114499997 meters 0.08663779426665007 Centerline is valid? [True, True] Translation: X:204.71, Y:-7.04, Z:-4.27 [[ 9.99943206e-01 6.33769323e-03 8.56849660e-03 2.04714328e+02] [-6.33073652e-03 9.99979609e-01 -8.38772899e-04 -7.03915881e+00] [-8.57363776e-03 7.84480367e-04 9.99962938e-01 -4.26594601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82800114499997 meters 0.0868904932847461 Centerline is valid? [True, True] Translation: X:204.74, Y:-7.04, Z:-4.27 [[ 9.99916858e-01 7.52314777e-03 1.04728329e-02 2.04743756e+02] [-7.51270779e-03 9.99971243e-01 -1.03584777e-03 -7.04111335e+00] [-1.04803246e-02 9.57082317e-04 9.99944622e-01 -4.26652035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85800114499997 meters 0.08757453401770271 Centerline is valid? [True, True] Translation: X:204.77, Y:-7.04, Z:-4.27 [[ 9.99914325e-01 8.56408598e-03 9.89947027e-03 2.04774492e+02] [-8.55484826e-03 9.99962931e-01 -9.75122072e-04 -7.04493991e+00] [-9.90745433e-03 8.90350062e-04 9.99950524e-01 -4.26787243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88800114499998 meters 0.08844855121902956 Centerline is valid? [True, True] Translation: X:204.80, Y:-7.05, Z:-4.27 [[ 9.99898079e-01 9.45721595e-03 1.06954297e-02 2.04804416e+02] [-9.44645537e-03 9.99954823e-01 -1.05616348e-03 -7.04905479e+00] [-1.07049348e-02 9.55021939e-04 9.99942244e-01 -4.26975647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91800114499998 meters 0.08279803314054489 Centerline is valid? [True, True] Translation: X:204.84, Y:-7.04, Z:-4.27 [[ 9.99888579e-01 1.04874556e-02 1.06227735e-02 2.04837025e+02] [-1.04768706e-02 9.99944563e-01 -1.05160323e-03 -7.04163113e+00] [-1.06332133e-02 9.40192639e-04 9.99943024e-01 -4.26779916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94800114499998 meters 0.08620016365232372 Centerline is valid? [True, True] Translation: X:204.87, Y:-7.05, Z:-4.27 [[ 9.99874460e-01 1.07382055e-02 1.16513663e-02 2.04866799e+02] [-1.07254773e-02 9.99941814e-01 -1.15436609e-03 -7.05067183e+00] [-1.16630842e-02 1.02925471e-03 9.99931454e-01 -4.27023352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97800114499998 meters 0.08620016365232372 Centerline is valid? [True, True] Translation: X:204.90, Y:-7.05, Z:-4.27 [[ 9.99874118e-01 1.07700110e-02 1.16513853e-02 2.04897602e+02] [-1.07572871e-02 9.99941473e-01 -1.15417443e-03 -7.05376229e+00] [-1.16631338e-02 1.02869184e-03 9.99931454e-01 -4.27136938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00800114499995 meters 0.08796410234162681 Centerline is valid? [True, True] Translation: X:204.93, Y:-7.06, Z:-4.27 [[ 9.99857943e-01 1.11395393e-02 1.26492732e-02 2.04928727e+02] [-1.11246183e-02 9.99937339e-01 -1.24934976e-03 -7.06015728e+00] [-1.26623977e-02 1.10845395e-03 9.99919214e-01 -4.27313509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03800114499995 meters 0.08943956955817567 Centerline is valid? [True, True] Translation: X:204.96, Y:-7.07, Z:-4.27 [[ 9.99862954e-01 1.13964680e-02 1.20080857e-02 2.04959370e+02] [-1.13830133e-02 9.99934505e-01 -1.18821878e-03 -7.06546252e+00] [-1.20208407e-02 1.05136774e-03 9.99927194e-01 -4.27457623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06800114499995 meters 0.0848228563393557 Centerline is valid? [True, True] Translation: X:204.99, Y:-7.06, Z:-4.27 [[ 9.99842026e-01 1.21710706e-02 1.29532897e-02 2.04992214e+02] [-1.21553897e-02 9.99925290e-01 -1.28861954e-03 -7.05871852e+00] [-1.29680059e-02 1.13096369e-03 9.99915272e-01 -4.27270572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09800114499996 meters 0.09134048617054236 Centerline is valid? [True, True] Translation: X:205.02, Y:-7.07, Z:-4.28 [[ 9.99847746e-01 1.19669531e-02 1.26994876e-02 2.05022156e+02] [-1.19519057e-02 9.99927779e-01 -1.26012150e-03 -7.07230640e+00] [-1.27136503e-02 1.10814657e-03 9.99918564e-01 -4.27704296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12800114499996 meters 0.08663099305123932 Centerline is valid? [True, True] Translation: X:205.05, Y:-7.07, Z:-4.28 [[ 9.99856577e-01 1.16011014e-02 1.23385252e-02 2.05053880e+02] [-1.15867871e-02 9.99932113e-01 -1.23098220e-03 -7.06761815e+00] [-1.23519684e-02 1.08784178e-03 9.99923120e-01 -4.27605596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15800114499996 meters 0.0885943084484067 Centerline is valid? [True, True] Translation: X:205.08, Y:-7.07, Z:-4.28 [[ 9.99858596e-01 1.09517796e-02 1.27611556e-02 2.05084733e+02] [-1.09364633e-02 9.99939389e-01 -1.26940074e-03 -7.07431867e+00] [-1.27742843e-02 1.12965934e-03 9.99917767e-01 -4.27732488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18800114499996 meters 0.086967742436643 Centerline is valid? [True, True] Translation: X:205.12, Y:-7.07, Z:-4.28 [[ 9.99863271e-01 1.07264780e-02 1.25849999e-02 2.05116661e+02] [-1.07115327e-02 9.99941843e-01 -1.25435526e-03 -7.07453683e+00] [-1.25977228e-02 1.11937911e-03 9.99920019e-01 -4.27802853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21800114499996 meters 0.09665973471620326 Centerline is valid? [True, True] Translation: X:205.15, Y:-7.09, Z:-4.28 [[ 9.99881928e-01 1.01170725e-02 1.15661373e-02 2.05145337e+02] [-1.01043361e-02 9.99948278e-01 -1.15908332e-03 -7.09333533e+00] [-1.15772656e-02 1.04207833e-03 9.99932438e-01 -4.28424373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24800114499996 meters 0.08631724696447389 Centerline is valid? [True, True] Translation: X:205.18, Y:-7.08, Z:-4.28 [[ 9.99895234e-01 9.59218583e-03 1.08402381e-02 2.05178912e+02] [-9.58101512e-03 9.99953516e-01 -1.08194901e-03 -7.07963605e+00] [-1.08501125e-02 9.77975176e-04 9.99940658e-01 -4.28146851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27800114499996 meters 0.08833979289773412 Centerline is valid? [True, True] Translation: X:205.21, Y:-7.09, Z:-4.28 [[ 9.99895816e-01 8.76755864e-03 1.14667422e-02 2.05209732e+02] [-8.75497176e-03 9.99961016e-01 -1.14742334e-03 -7.08590105e+00] [-1.14763553e-02 1.04691279e-03 9.99933596e-01 -4.28300602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30800114499996 meters 0.0862761405523302 Centerline is valid? [True, True] Translation: X:205.24, Y:-7.08, Z:-4.28 [[ 9.99899556e-01 8.60377808e-03 1.12629371e-02 2.05242383e+02] [-8.59160444e-03 9.99962454e-01 -1.12879777e-03 -7.08488248e+00] [-1.12722261e-02 1.03191769e-03 9.99935934e-01 -4.28295270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33800114499996 meters 0.08603915810441891 Centerline is valid? [True, True] Translation: X:205.27, Y:-7.09, Z:-4.28 [[ 9.99907283e-01 8.97265881e-03 1.02429179e-02 2.05274519e+02] [-8.96259313e-03 9.99959307e-01 -1.02817723e-03 -7.08721118e+00] [-1.02517266e-02 9.36278796e-04 9.99947011e-01 -4.28460333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36800114499997 meters 0.08992290420095747 Centerline is valid? [True, True] Translation: X:205.30, Y:-7.10, Z:-4.29 [[ 9.99898554e-01 9.82472698e-03 1.03129011e-02 2.05304354e+02] [-9.81448874e-03 9.99951293e-01 -1.04290271e-03 -7.09707794e+00] [-1.03226450e-02 9.41581062e-04 9.99946277e-01 -4.28731512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39800114499997 meters 0.08973249910211342 Centerline is valid? [True, True] Translation: X:205.34, Y:-7.10, Z:-4.29 [[ 9.99887555e-01 1.10312864e-02 1.01581350e-02 2.05335867e+02] [-1.10214155e-02 9.99938735e-01 -1.02719551e-03 -7.10049509e+00] [-1.01688440e-02 9.15122978e-04 9.99947877e-01 -4.28982766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42800114499997 meters 0.08744798321233753 Centerline is valid? [True, True] Translation: X:205.37, Y:-7.10, Z:-4.29 [[ 9.99881470e-01 1.13665159e-02 1.03849645e-02 2.05367461e+02] [-1.13562074e-02 9.99934964e-01 -1.05106462e-03 -7.09969194e+00] [-1.03962361e-02 9.33006222e-04 9.99945522e-01 -4.28949096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45800114499997 meters 0.08411498059077377 Centerline is valid? [True, True] Translation: X:205.40, Y:-7.10, Z:-4.29 [[ 9.99869431e-01 1.21899747e-02 1.06078049e-02 2.05398198e+02] [-1.21792523e-02 9.99925252e-01 -1.07481870e-03 -7.09667627e+00] [-1.06201140e-02 9.45483231e-04 9.99943158e-01 -4.28841236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48800114499997 meters 0.0894551041260141 Centerline is valid? [True, True] Translation: X:205.43, Y:-7.11, Z:-4.29 [[ 9.99861882e-01 1.29114687e-02 1.04647096e-02 2.05427411e+02] [-1.29010774e-02 9.99916216e-01 -1.05988913e-03 -7.10862990e+00] [-1.04775176e-02 9.24736711e-04 9.99944682e-01 -4.29131157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51800114499997 meters 0.08403746642855704 Centerline is valid? [True, True] Translation: X:205.46, Y:-7.10, Z:-4.29 [[ 9.99827759e-01 1.43896268e-02 1.17214020e-02 2.05458773e+02] [-1.43766825e-02 9.99895945e-01 -1.18784620e-03 -7.10188030e+00] [-1.17372750e-02 1.01912673e-03 9.99930596e-01 -4.28881953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54800114499997 meters 0.08976761554311787 Centerline is valid? [True, True] Translation: X:205.49, Y:-7.11, Z:-4.29 [[ 9.99825701e-01 1.46948056e-02 1.15164913e-02 2.05487101e+02] [-1.46823254e-02 9.99891527e-01 -1.16748625e-03 -7.11436988e+00] [-1.15323980e-02 9.98193891e-04 9.99933001e-01 -4.29247996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57800114499997 meters 0.08432536753607381 Centerline is valid? [True, True] Translation: X:205.52, Y:-7.11, Z:-4.29 [[ 9.99808830e-01 1.53924024e-02 1.20572892e-02 2.05518235e+02] [-1.53787755e-02 9.99880993e-01 -1.22208813e-03 -7.10809781e+00] [-1.20746652e-02 1.03642816e-03 9.99926561e-01 -4.29020655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60800114499997 meters 0.08451608470995522 Centerline is valid? [True, True] Translation: X:205.55, Y:-7.11, Z:-4.29 [[ 9.99791964e-01 1.68106816e-02 1.15511969e-02 2.05547021e+02] [-1.67982706e-02 9.99858214e-01 -1.17062555e-03 -7.11321399e+00] [-1.15692381e-02 9.76341886e-04 9.99932597e-01 -4.29274708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63800114499998 meters 0.08568668119131698 Centerline is valid? [True, True] Translation: X:205.58, Y:-7.12, Z:-4.29 [[ 9.99772767e-01 1.75766397e-02 1.20613818e-02 2.05575182e+02] [-1.75631568e-02 9.99845008e-01 -1.22287611e-03 -7.11843533e+00] [-1.20810064e-02 1.01076230e-03 9.99926511e-01 -4.29418683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66800114499998 meters 0.08615539141123484 Centerline is valid? [True, True] Translation: X:205.61, Y:-7.12, Z:-4.30 [[ 9.99764076e-01 1.82035712e-02 1.18499755e-02 2.05605151e+02] [-1.81906163e-02 9.99833817e-01 -1.20011744e-03 -7.12164376e+00] [-1.18698526e-02 9.84275950e-04 9.99929066e-01 -4.29520005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69800114499998 meters 0.08604353761287331 Centerline is valid? [True, True] Translation: X:205.63, Y:-7.12, Z:-4.30 [[ 9.99740631e-01 1.89443665e-02 1.26405000e-02 2.05633452e+02] [-1.89296777e-02 9.99819997e-01 -1.28068786e-03 -7.12375913e+00] [-1.26624865e-02 1.04107510e-03 9.99919286e-01 -4.29550287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72800114499998 meters 0.0857696861258498 Centerline is valid? [True, True] Translation: X:205.66, Y:-7.13, Z:-4.30 [[ 9.99726058e-01 1.97200215e-02 1.26067488e-02 2.05662786e+02] [-1.97054845e-02 9.99805013e-01 -1.27630444e-03 -7.12552221e+00] [-1.26294594e-02 1.02753271e-03 9.99919717e-01 -4.29560552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75800114499995 meters 0.08182639188039117 Centerline is valid? [True, True] Translation: X:205.69, Y:-7.12, Z:-4.29 [[ 9.99716674e-01 1.98274950e-02 1.31697205e-02 2.05692739e+02] [-1.98116455e-02 9.99802842e-01 -1.33286880e-03 -7.12201269e+00] [-1.31935515e-02 1.07157733e-03 9.99912387e-01 -4.29468440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78800114499995 meters 0.08109535737736887 Centerline is valid? [True, True] Translation: X:205.72, Y:-7.13, Z:-4.30 [[ 9.99738944e-01 1.91483505e-02 1.24653293e-02 2.05721820e+02] [-1.91340980e-02 9.99816130e-01 -1.26163546e-03 -7.12507537e+00] [-1.24871955e-02 1.02279327e-03 9.99921509e-01 -4.29598842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81800114499995 meters 0.07911864476068728 Centerline is valid? [True, True] Translation: X:205.75, Y:-7.13, Z:-4.30 [[ 9.99768401e-01 1.76021436e-02 1.23817594e-02 2.05751510e+02] [-1.75879758e-02 9.99844535e-01 -1.25221392e-03 -7.12580499e+00] [-1.24018761e-02 1.03415383e-03 9.99922559e-01 -4.29662813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84800114499996 meters 0.08223162236979212 Centerline is valid? [True, True] Translation: X:205.78, Y:-7.14, Z:-4.30 [[ 9.99852353e-01 1.42612198e-02 9.58589214e-03 2.05779970e+02] [-1.42525810e-02 9.99897957e-01 -9.68913530e-04 -7.13607456e+00] [-9.59873186e-03 8.32146769e-04 9.99953585e-01 -4.30000786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87800114499996 meters 0.08473427004298593 Centerline is valid? [True, True] Translation: X:205.81, Y:-7.14, Z:-4.30 [[ 9.99879040e-01 1.28938604e-02 8.69786735e-03 2.05808477e+02] [-1.28866931e-02 9.99916576e-01 -8.79574570e-04 -7.14360887e+00] [-8.70848285e-03 7.67381430e-04 9.99961786e-01 -4.30287259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90800114499996 meters 0.09515194745556206 Centerline is valid? [True, True] Translation: X:205.84, Y:-7.16, Z:-4.31 [[ 9.99908257e-01 1.13903955e-02 7.33045485e-03 2.05835149e+02] [-1.13852651e-02 9.99934911e-01 -7.41225256e-04 -7.16461238e+00] [-7.33842057e-03 6.57698082e-04 9.99972857e-01 -4.31006102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93800114499996 meters 0.08989429166142164 Centerline is valid? [True, True] Translation: X:205.87, Y:-7.16, Z:-4.31 [[ 9.99925836e-01 1.02342669e-02 6.60161713e-03 2.05865615e+02] [-1.02300849e-02 9.99947449e-01 -6.66931427e-04 -7.16026619e+00] [-6.60809576e-03 5.99346861e-04 9.99977987e-01 -4.30790249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96800114499996 meters 0.0844084051485748 Centerline is valid? [True, True] Translation: X:205.90, Y:-7.15, Z:-4.31 [[ 9.99921662e-01 1.02051398e-02 7.24738961e-03 2.05895963e+02] [-1.02000964e-02 9.99947709e-01 -7.32509970e-04 -7.15457224e+00] [-7.25448601e-03 6.58528514e-04 9.99973469e-01 -4.30568373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99800114499996 meters 0.08427367354491667 Centerline is valid? [True, True] Translation: X:205.93, Y:-7.16, Z:-4.31 [[ 9.99908967e-01 1.06278656e-02 8.31301786e-03 2.05925171e+02] [-1.06212484e-02 9.99943240e-01 -8.39752339e-04 -7.15803733e+00] [-8.32147079e-03 7.51381267e-04 9.99965094e-01 -4.30600749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02800114499996 meters 0.08134932553422479 Centerline is valid? [True, True] Translation: X:205.96, Y:-7.16, Z:-4.30 [[ 9.99878362e-01 1.15935683e-02 1.04331028e-02 2.05955540e+02] [-1.15832087e-02 9.99932358e-01 -1.05283710e-03 -7.15607835e+00] [-1.04446032e-02 9.31860228e-04 9.99945019e-01 -4.30364425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05800114499996 meters 0.07923508044270577 Centerline is valid? [True, True] Translation: X:205.99, Y:-7.15, Z:-4.30 [[ 9.99864271e-01 1.23810462e-02 1.08696121e-02 2.05986956e+02] [-1.23698578e-02 9.99922890e-01 -1.09595299e-03 -7.15461213e+00] [-1.08823430e-02 9.61348686e-04 9.99940323e-01 -4.30333376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08800114499996 meters 0.08213729412602065 Centerline is valid? [True, True] Translation: X:206.02, Y:-7.16, Z:-4.31 [[ 9.99837123e-01 1.36074896e-02 1.18559924e-02 2.06016091e+02] [-1.35942586e-02 9.99906879e-01 -1.19585982e-03 -7.16294703e+00] [-1.18711610e-02 1.03449162e-03 9.99929000e-01 -4.30618422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11800114499997 meters 0.07861204745590669 Centerline is valid? [True, True] Translation: X:206.05, Y:-7.16, Z:-4.31 [[ 9.99818249e-01 1.49113139e-02 1.18794722e-02 2.06047453e+02] [-1.48981267e-02 9.99888299e-01 -1.19780752e-03 -7.16061616e+00] [-1.18960061e-02 1.02060794e-03 9.99928719e-01 -4.30560484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14800114499997 meters 0.08041306717273629 Centerline is valid? [True, True] Translation: X:206.08, Y:-7.17, Z:-4.31 [[ 9.99809938e-01 1.51293274e-02 1.22960227e-02 2.06076505e+02] [-1.51152026e-02 9.99884989e-01 -1.24085959e-03 -7.16797742e+00] [-1.23133819e-02 1.05476687e-03 9.99923631e-01 -4.30738709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17800114499997 meters 0.08518990992425585 Centerline is valid? [True, True] Translation: X:206.10, Y:-7.18, Z:-4.31 [[ 9.99819196e-01 1.51961872e-02 1.14302410e-02 2.06104871e+02] [-1.51839876e-02 9.99884051e-01 -1.15333710e-03 -7.18064198e+00] [-1.14464421e-02 9.79571930e-04 9.99934008e-01 -4.31132369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20800114499997 meters 0.08076820647086047 Centerline is valid? [True, True] Translation: X:206.14, Y:-7.18, Z:-4.31 [[ 9.99821167e-01 1.49493800e-02 1.15823184e-02 2.06135287e+02] [-1.49368346e-02 9.99887756e-01 -1.16889803e-03 -7.17751311e+00] [-1.15984926e-02 9.95685823e-04 9.99932239e-01 -4.30947108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23800114499997 meters 0.07908751385913192 Centerline is valid? [True, True] Translation: X:206.16, Y:-7.18, Z:-4.31 [[ 9.99827521e-01 1.47049702e-02 1.13442500e-02 2.06164945e+02] [-1.46929236e-02 9.99891398e-01 -1.14453391e-03 -7.17837009e+00] [-1.13598483e-02 9.77656302e-04 9.99934997e-01 -4.30997956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26800114499997 meters 0.08833324762966692 Centerline is valid? [True, True] Translation: X:206.19, Y:-7.20, Z:-4.32 [[ 9.99834665e-01 1.42541477e-02 1.12898677e-02 2.06192586e+02] [-1.42421970e-02 9.99897927e-01 -1.13823631e-03 -7.19875534e+00] [-1.13049399e-02 9.77255603e-04 9.99935620e-01 -4.31578955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29800114499997 meters 0.08408525577299507 Centerline is valid? [True, True] Translation: X:206.22, Y:-7.20, Z:-4.32 [[ 9.99839109e-01 1.39180727e-02 1.13156526e-02 2.06223827e+02] [-1.39060529e-02 9.99902656e-01 -1.14021948e-03 -7.19568572e+00] [-1.13304207e-02 9.82679967e-04 9.99935326e-01 -4.31507213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32800114499997 meters 0.08235238405003883 Centerline is valid? [True, True] Translation: X:206.25, Y:-7.20, Z:-4.32 [[ 9.99840597e-01 1.47804965e-02 1.00158581e-02 2.06253801e+02] [-1.47711225e-02 9.99890392e-01 -1.00924595e-03 -7.19880868e+00] [-1.00296774e-02 8.61139603e-04 9.99949331e-01 -4.31689968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35800114499997 meters 0.07928500960471078 Centerline is valid? [True, True] Translation: X:206.28, Y:-7.20, Z:-4.32 [[ 9.99829587e-01 1.57934089e-02 9.55848722e-03 2.06284332e+02] [-1.57849132e-02 9.99874946e-01 -9.63608749e-04 -7.19657678e+00] [-9.57251057e-03 8.12564646e-04 9.99953852e-01 -4.31661323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38800114499998 meters 0.08281488509569294 Centerline is valid? [True, True] Translation: X:206.31, Y:-7.21, Z:-4.32 [[ 9.99833211e-01 1.60384164e-02 8.73608364e-03 2.06312534e+02] [-1.60313220e-02 9.99871102e-01 -8.81509776e-04 -7.20590489e+00] [-8.74909560e-03 7.41311780e-04 9.99961451e-01 -4.32043547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41800114499998 meters 0.08006912988008295 Centerline is valid? [True, True] Translation: X:206.34, Y:-7.20, Z:-4.32 [[ 9.99803650e-01 1.84924131e-02 7.11979707e-03 2.06342508e+02] [-1.84877664e-02 9.99828829e-01 -7.17912943e-04 -7.20446491e+00] [-7.13185431e-03 5.86142836e-04 9.99974396e-01 -4.32047877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44800114499998 meters 0.07793986861535235 Centerline is valid? [True, True] Translation: X:206.37, Y:-7.20, Z:-4.32 [[ 9.99785332e-01 1.95078120e-02 6.98106904e-03 2.06371148e+02] [-1.95033637e-02 9.99809543e-01 -7.04710445e-04 -7.20391336e+00] [-6.99348681e-03 5.68404838e-04 9.99975384e-01 -4.32101436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47800114499998 meters 0.07631528681660382 Centerline is valid? [True, True] Translation: X:206.40, Y:-7.20, Z:-4.32 [[ 9.99775282e-01 2.04093382e-02 5.73107498e-03 2.06400110e+02] [-2.04063546e-02 9.99791601e-01 -5.78607266e-04 -7.20478884e+00] [-5.74168963e-03 4.61526894e-04 9.99983410e-01 -4.32164147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50800114499995 meters 0.07829348477170352 Centerline is valid? [True, True] Translation: X:206.43, Y:-7.21, Z:-4.32 [[ 9.99740855e-01 2.18575772e-02 6.36148024e-03 2.06427841e+02] [-2.18539379e-02 9.99760969e-01 -6.41043758e-04 -7.21445594e+00] [-6.37397131e-03 5.01854241e-04 9.99979560e-01 -4.32490477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53800114499995 meters 0.07872772727254396 Centerline is valid? [True, True] Translation: X:206.46, Y:-7.22, Z:-4.33 [[ 9.99739544e-01 2.19640463e-02 6.19883372e-03 2.06456470e+02] [-2.19605917e-02 9.99758642e-01 -6.24823759e-04 -7.21872235e+00] [-6.21106124e-03 4.88530964e-04 9.99980592e-01 -4.32584454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56800114499995 meters 0.07567459400021337 Centerline is valid? [True, True] Translation: X:206.49, Y:-7.22, Z:-4.32 [[ 9.99730024e-01 2.21330656e-02 7.07152464e-03 2.06486415e+02] [-2.21285825e-02 9.99754880e-01 -7.11585952e-04 -7.21562510e+00] [-7.08554084e-03 5.54911024e-04 9.99974743e-01 -4.32337064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59800114499996 meters 0.07772979505177419 Centerline is valid? [True, True] Translation: X:206.51, Y:-7.22, Z:-4.33 [[ 9.99722879e-01 2.22800978e-02 7.60009713e-03 2.06513331e+02] [-2.22749204e-02 9.99751590e-01 -7.65199736e-04 -7.22283101e+00] [-7.61525792e-03 5.95696125e-04 9.99970826e-01 -4.32531481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62800114499996 meters 0.07547205012837496 Centerline is valid? [True, True] Translation: X:206.54, Y:-7.22, Z:-4.32 [[ 9.99714233e-01 2.19877970e-02 9.38024143e-03 2.06542047e+02] [-2.19799153e-02 9.99757968e-01 -9.42521646e-04 -7.22421896e+00] [-9.39869509e-03 7.36075393e-04 9.99955560e-01 -4.32313820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65800114499996 meters 0.0844358900481171 Centerline is valid? [True, True] Translation: X:206.57, Y:-7.25, Z:-4.33 [[ 9.99723810e-01 2.11045974e-02 1.03392243e-02 2.06567238e+02] [-2.10949770e-02 9.99776937e-01 -1.03865538e-03 -7.24611615e+00] [-1.03588384e-02 8.20262814e-04 9.99946009e-01 -4.32981354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68800114499996 meters 0.07915963572983567 Centerline is valid? [True, True] Translation: X:206.60, Y:-7.24, Z:-4.33 [[ 9.99740012e-01 2.02157622e-02 1.05466369e-02 2.06596686e+02] [-2.02057224e-02 9.99795284e-01 -1.05764168e-03 -7.24047493e+00] [-1.05658589e-02 8.44264286e-04 9.99943823e-01 -4.32704382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71800114499996 meters 0.07786170814054837 Centerline is valid? [True, True] Translation: X:206.63, Y:-7.24, Z:-4.33 [[ 9.99795369e-01 1.78084884e-02 9.59567744e-03 2.06626786e+02] [-1.78000837e-02 9.99841105e-01 -9.60579670e-04 -7.24336393e+00] [-9.61125920e-03 7.89579244e-04 9.99953499e-01 -4.32719136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74800114499996 meters 0.0793673211024033 Centerline is valid? [True, True] Translation: X:206.65, Y:-7.25, Z:-4.33 [[ 9.99821141e-01 1.61311758e-02 9.87273147e-03 2.06654772e+02] [-1.61221906e-02 9.99869540e-01 -9.89019159e-04 -7.25081294e+00] [-9.88739751e-03 8.29672206e-04 9.99950774e-01 -4.32852074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77800114499996 meters 0.08180185146545167 Centerline is valid? [True, True] Translation: X:206.68, Y:-7.26, Z:-4.33 [[ 9.99847879e-01 1.44969872e-02 9.69827916e-03 2.06682918e+02] [-1.44882491e-02 9.99894569e-01 -9.70647742e-04 -7.25984378e+00] [-9.71132813e-03 8.29989001e-04 9.99952499e-01 -4.33044085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80800114499996 meters 0.08156434838064593 Centerline is valid? [True, True] Translation: X:206.71, Y:-7.26, Z:-4.33 [[ 9.99872246e-01 1.23481142e-02 1.01496389e-02 2.06713128e+02] [-1.23384422e-02 9.99923363e-01 -1.01500795e-03 -7.26347549e+00] [-1.01613945e-02 8.89647550e-04 9.99947976e-01 -4.33025892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83800114499996 meters 0.08385155161990417 Centerline is valid? [True, True] Translation: X:206.74, Y:-7.27, Z:-4.33 [[ 9.99900427e-01 9.98268891e-03 9.97410276e-03 2.06742269e+02] [-9.97324488e-03 9.99949770e-01 -9.96147004e-04 -7.27384881e+00] [-9.98354599e-03 8.96573645e-04 9.99949761e-01 -4.33265469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86800114499997 meters 0.08188481328681425 Centerline is valid? [True, True] Translation: X:206.77, Y:-7.28, Z:-4.33 [[ 9.99918202e-01 9.34236246e-03 8.73550438e-03 2.06773944e+02] [-9.33511453e-03 9.99956048e-01 -8.70116678e-04 -7.27500042e+00] [-8.74324938e-03 7.88498570e-04 9.99961466e-01 -4.33403285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89800114499997 meters 0.08188481328681425 Centerline is valid? [True, True] Translation: X:206.80, Y:-7.28, Z:-4.34 [[ 9.99917898e-01 9.37518817e-03 8.73517826e-03 2.06804753e+02] [-9.36791325e-03 9.99955739e-01 -8.73375073e-04 -7.27811635e+00] [-8.74297969e-03 7.91472975e-04 9.99961466e-01 -4.33516759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92800114499997 meters 0.08383390510386904 Centerline is valid? [True, True] Translation: X:206.83, Y:-7.29, Z:-4.34 [[ 9.99918946e-01 9.23667232e-03 8.76271061e-03 2.06834592e+02] [-9.22933957e-03 9.99957024e-01 -8.76882273e-04 -7.28624470e+00] [-8.77043350e-03 7.95937166e-04 9.99961222e-01 -4.33825636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95800114499997 meters 0.08408633534101499 Centerline is valid? [True, True] Translation: X:206.87, Y:-7.29, Z:-4.34 [[ 9.99914288e-01 9.47053711e-03 9.04024651e-03 2.06866015e+02] [-9.46274439e-03 9.99954818e-01 -9.04388267e-04 -7.29075210e+00] [-9.04840310e-03 8.18765208e-04 9.99958727e-01 -4.34045505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98800114499997 meters 0.08465777927682111 Centerline is valid? [True, True] Translation: X:206.90, Y:-7.30, Z:-4.34 [[ 9.99906292e-01 1.10313163e-02 8.10657057e-03 2.06895821e+02] [-1.10250962e-02 9.99938892e-01 -8.11577666e-04 -7.29547299e+00] [-8.11502797e-03 7.22125894e-04 9.99966812e-01 -4.34275363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01800114499997 meters 0.08363054197594562 Centerline is valid? [True, True] Translation: X:206.93, Y:-7.30, Z:-4.34 [[ 9.99898668e-01 1.18396226e-02 7.90423754e-03 2.06926121e+02] [-1.18337297e-02 9.99929665e-01 -7.91898009e-04 -7.29629966e+00] [-7.91305738e-03 6.98281154e-04 9.99968447e-01 -4.34367175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04800114499997 meters 0.08431392464324969 Centerline is valid? [True, True] Translation: X:206.96, Y:-7.30, Z:-4.35 [[ 9.99890173e-01 1.31016526e-02 6.92736323e-03 2.06955004e+02] [-1.30971531e-02 9.99913987e-01 -6.94497629e-04 -7.30042251e+00] [-6.93586646e-03 6.03692618e-04 9.99975764e-01 -4.34558117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07800114499997 meters 0.08416881528253536 Centerline is valid? [True, True] Translation: X:206.98, Y:-7.30, Z:-4.35 [[ 9.99833491e-01 1.60326378e-02 8.71460908e-03 2.06983586e+02] [-1.60256245e-02 9.99871199e-01 -8.74007781e-04 -7.30446740e+00] [-8.72749928e-03 7.34205198e-04 9.99961645e-01 -4.34677627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10800114499997 meters 0.08382822596984615 Centerline is valid? [True, True] Translation: X:207.01, Y:-7.31, Z:-4.35 [[ 9.99795116e-01 1.77091691e-02 9.80361552e-03 2.07013560e+02] [-1.77003848e-02 9.99842854e-01 -9.82073002e-04 -7.30792537e+00] [-9.81946662e-03 8.08344024e-04 9.99951461e-01 -4.34800564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13800114499998 meters 0.07956200378152187 Centerline is valid? [True, True] Translation: X:207.04, Y:-7.30, Z:-4.35 [[ 9.99771690e-01 1.88826425e-02 1.00006389e-02 2.07044238e+02] [-1.88735614e-02 9.99821377e-01 -1.00166057e-03 -7.30322633e+00] [-1.00177665e-02 8.12684210e-04 9.99949491e-01 -4.34617883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16800114499998 meters 0.07533523795767413 Centerline is valid? [True, True] Translation: X:207.07, Y:-7.30, Z:-4.34 [[ 9.99741774e-01 2.00396005e-02 1.07144357e-02 2.07074877e+02] [-2.00292401e-02 9.99798818e-01 -1.07339661e-03 -7.29777169e+00] [-1.07337905e-02 8.58517425e-04 9.99942023e-01 -4.34433206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19800114499998 meters 0.07788150583169239 Centerline is valid? [True, True] Translation: X:207.10, Y:-7.31, Z:-4.35 [[ 9.99679655e-01 2.24034082e-02 1.17760107e-02 2.07103329e+02] [-2.23910628e-02 9.99748593e-01 -1.17916745e-03 -7.30667099e+00] [-1.17994675e-02 9.15112311e-04 9.99929965e-01 -4.34649316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22800114499998 meters 0.07893966280473484 Centerline is valid? [True, True] Translation: X:207.13, Y:-7.31, Z:-4.35 [[ 9.99647741e-01 2.34177035e-02 1.24901687e-02 2.07131851e+02] [-2.34038995e-02 9.99725309e-01 -1.25023024e-03 -7.31271054e+00] [-1.25160152e-02 9.57471184e-04 9.99921213e-01 -4.34814517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25800114499995 meters 0.07455296537604536 Centerline is valid? [True, True] Translation: X:207.16, Y:-7.31, Z:-4.35 [[ 9.99604119e-01 2.50345941e-02 1.28403171e-02 2.07162733e+02] [-2.50201482e-02 9.99686122e-01 -1.28447157e-03 -7.30789668e+00] [-1.28684430e-02 9.62696437e-04 9.99916735e-01 -4.34665218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28800114499995 meters 0.07930590832275163 Centerline is valid? [True, True] Translation: X:207.19, Y:-7.32, Z:-4.35 [[ 9.99578378e-01 2.58001925e-02 1.33197615e-02 2.07188841e+02] [-2.57846980e-02 9.99666630e-01 -1.33372375e-03 -7.32166342e+00] [-1.33497314e-02 9.89715399e-04 9.99910399e-01 -4.35155696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31800114499995 meters 0.07502204853401662 Centerline is valid? [True, True] Translation: X:207.22, Y:-7.32, Z:-4.35 [[ 9.99556984e-01 2.67465018e-02 1.30560440e-02 2.07218045e+02] [-2.67317139e-02 9.99641791e-01 -1.30588332e-03 -7.31724065e+00] [-1.30862950e-02 9.56294357e-04 9.99913913e-01 -4.35024379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34800114499996 meters 0.07329015845553587 Centerline is valid? [True, True] Translation: X:207.25, Y:-7.32, Z:-4.35 [[ 9.99545734e-01 2.72137238e-02 1.29514112e-02 2.07246768e+02] [-2.71992212e-02 9.99629194e-01 -1.29462458e-03 -7.31718066e+00] [-1.29818403e-02 9.41768178e-04 9.99915289e-01 -4.34973471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37800114499996 meters 0.07330823171327969 Centerline is valid? [True, True] Translation: X:207.28, Y:-7.32, Z:-4.35 [[ 9.99534408e-01 2.73757158e-02 1.34735477e-02 2.07275359e+02] [-2.73600485e-02 9.99624738e-01 -1.34580981e-03 -7.32321700e+00] [-1.35053341e-02 9.76546294e-04 9.99908322e-01 -4.35053578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40800114499996 meters 0.07413362728568362 Centerline is valid? [True, True] Translation: X:207.30, Y:-7.33, Z:-4.35 [[ 9.99543427e-01 2.70597315e-02 1.34428104e-02 2.07302342e+02] [-2.70441142e-02 9.99633340e-01 -1.34221778e-03 -7.32876306e+00] [-1.34742015e-02 9.78056056e-04 9.99908740e-01 -4.35200376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43800114499996 meters 0.07312100705002726 Centerline is valid? [True, True] Translation: X:207.33, Y:-7.33, Z:-4.35 [[ 9.99557253e-01 2.63679491e-02 1.37851312e-02 2.07330714e+02] [-2.63514826e-02 9.99651794e-01 -1.37481493e-03 -7.33074943e+00] [-1.38165822e-02 1.01094759e-03 9.99904035e-01 -4.35206147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46800114499996 meters 0.07503219487789753 Centerline is valid? [True, True] Translation: X:207.36, Y:-7.34, Z:-4.35 [[ 9.99576974e-01 2.56088587e-02 1.37862185e-02 2.07358802e+02] [-2.55923362e-02 9.99671519e-01 -1.37360042e-03 -7.33943682e+00] [-1.38168664e-02 1.02019781e-03 9.99904022e-01 -4.35488483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49800114499996 meters 0.07718163948607033 Centerline is valid? [True, True] Translation: X:207.39, Y:-7.35, Z:-4.36 [[ 9.99613691e-01 2.43189101e-02 1.34558586e-02 2.07385886e+02] [-2.43030687e-02 9.99703739e-01 -1.33957119e-03 -7.34943737e+00] [-1.34844491e-02 1.01203504e-03 9.99908569e-01 -4.35678821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52800114499996 meters 0.07868728079111503 Centerline is valid? [True, True] Translation: X:207.41, Y:-7.36, Z:-4.36 [[ 9.99665431e-01 2.23826598e-02 1.29631439e-02 2.07413824e+02] [-2.23678119e-02 9.99748978e-01 -1.28926344e-03 -7.36105082e+00] [-1.29887470e-02 9.98874925e-04 9.99915144e-01 -4.35905656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55800114499996 meters 0.07755201247523819 Centerline is valid? [True, True] Translation: X:207.44, Y:-7.36, Z:-4.36 [[ 9.99690185e-01 2.13859864e-02 1.27347619e-02 2.07442872e+02] [-2.13715577e-02 9.99770798e-01 -1.26804261e-03 -7.36327634e+00] [-1.27589614e-02 9.95488056e-04 9.99918106e-01 -4.35919950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58800114499996 meters 0.07838557563447222 Centerline is valid? [True, True] Translation: X:207.47, Y:-7.37, Z:-4.36 [[ 9.99706601e-01 2.08666744e-02 1.23001833e-02 2.07471228e+02] [-2.08531815e-02 9.99781799e-01 -1.22422046e-03 -7.36933740e+00] [-1.23230448e-02 9.67363321e-04 9.99923600e-01 -4.36001719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61800114499997 meters 0.07986585477760948 Centerline is valid? [True, True] Translation: X:207.50, Y:-7.38, Z:-4.36 [[ 9.99737689e-01 1.98439952e-02 1.14354239e-02 2.07499585e+02] [-1.98322937e-02 9.99802676e-01 -1.13577347e-03 -7.37847005e+00] [-1.14557057e-02 9.08684857e-04 9.99933968e-01 -4.36162456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64800114499997 meters 0.08003587853112662 Centerline is valid? [True, True] Translation: X:207.53, Y:-7.38, Z:-4.36 [[ 9.99722416e-01 1.98994882e-02 1.26135276e-02 2.07528731e+02] [-1.98852310e-02 9.99801482e-01 -1.25472964e-03 -7.38373460e+00] [-1.26359920e-02 1.00355844e-03 9.99919659e-01 -4.36231340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67800114499997 meters 0.08442817975585512 Centerline is valid? [True, True] Translation: X:207.56, Y:-7.40, Z:-4.37 [[ 9.99714763e-01 1.97447191e-02 1.34364661e-02 2.07556975e+02] [-1.97285386e-02 9.99804481e-01 -1.33572432e-03 -7.39725801e+00] [-1.34602126e-02 1.07026149e-03 9.99908834e-01 -4.36520823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70800114499997 meters 0.07905091708126498 Centerline is valid? [True, True] Translation: X:207.59, Y:-7.39, Z:-4.36 [[ 9.99719651e-01 1.78604395e-02 1.55442425e-02 2.07587558e+02] [-1.78385625e-02 9.99839687e-01 -1.54493380e-03 -7.39439714e+00] [-1.55693438e-02 1.26721374e-03 9.99877987e-01 -4.36065806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73800114499997 meters 0.07759610878082039 Centerline is valid? [True, True] Translation: X:207.62, Y:-7.40, Z:-4.36 [[ 9.99731138e-01 1.62307110e-02 1.65594314e-02 2.07619150e+02] [-1.62056820e-02 9.99867327e-01 -1.64454644e-03 -7.39668083e+00] [-1.65839266e-02 1.37574740e-03 9.99861531e-01 -4.36034541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76800114499997 meters 0.07895762489759268 Centerline is valid? [True, True] Translation: X:207.65, Y:-7.41, Z:-4.36 [[ 9.99737816e-01 1.48478704e-02 1.74309804e-02 2.07649034e+02] [-1.48199443e-02 9.99888682e-01 -1.73018568e-03 -7.40500523e+00] [-1.74547296e-02 1.47140590e-03 9.99846572e-01 -4.36145191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79800114499997 meters 0.08030410362389524 Centerline is valid? [True, True] Translation: X:207.68, Y:-7.41, Z:-4.36 [[ 9.99753055e-01 1.26394840e-02 1.82776461e-02 2.07679000e+02] [-1.26083374e-02 9.99918858e-01 -1.81831944e-03 -7.41306068e+00] [-1.82991456e-02 1.58741968e-03 9.99831296e-01 -4.36202503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82800114499997 meters 0.08356734982591493 Centerline is valid? [True, True] Translation: X:207.71, Y:-7.43, Z:-4.36 [[ 9.99764402e-01 7.45553747e-03 2.03851767e-02 2.07707615e+02] [-7.41571146e-03 9.99970446e-01 -2.02857150e-03 -7.42687330e+00] [-2.03996983e-02 1.87692299e-03 9.99790143e-01 -4.36230162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85800114499997 meters 0.08558570442744107 Centerline is valid? [True, True] Translation: X:207.74, Y:-7.44, Z:-4.36 [[ 9.99762739e-01 5.32803466e-03 2.11205481e-02 2.07737337e+02] [-5.28481369e-03 9.99983827e-01 -2.10168198e-03 -7.43603499e+00] [-2.11314043e-02 1.98956517e-03 9.99774727e-01 -4.36313478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88800114499998 meters 0.08733485898259218 Centerline is valid? [True, True] Translation: X:207.77, Y:-7.44, Z:-4.36 [[ 9.99762191e-01 2.92736982e-03 2.16100038e-02 2.07767054e+02] [-2.88155454e-03 9.99993535e-01 -2.15093011e-03 -7.44475709e+00] [-2.16161607e-02 2.08814819e-03 9.99764163e-01 -4.36435320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91800114499998 meters 0.08388648783067432 Centerline is valid? [True, True] Translation: X:207.80, Y:-7.44, Z:-4.36 [[ 9.99768490e-01 3.67510474e-04 2.15135165e-02 2.07797452e+02] [-3.21514689e-04 9.99997655e-01 -2.14141451e-03 -7.44388769e+00] [-2.15142531e-02 2.13400184e-03 9.99766264e-01 -4.36392962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94800114499998 meters 0.08509613258469953 Centerline is valid? [True, True] Translation: X:207.83, Y:-7.45, Z:-4.36 [[ 9.99755174e-01 -4.04218482e-03 2.17543569e-02 2.07827279e+02] [ 4.09025192e-03 9.99989290e-01 -2.16549665e-03 -7.45396207e+00] [-2.17453706e-02 2.25394728e-03 9.99761001e-01 -4.36490586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97800114499998 meters 0.08869974054115264 Centerline is valid? [True, True] Translation: X:207.86, Y:-7.47, Z:-4.37 [[ 9.99743730e-01 -5.61098050e-03 2.19315022e-02 2.07855819e+02] [ 5.66020799e-03 9.99981598e-01 -2.18317024e-03 -7.46592222e+00] [-2.19188489e-02 2.30674762e-03 9.99757092e-01 -4.36707536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00800114499995 meters 0.08686510575622453 Centerline is valid? [True, True] Translation: X:207.89, Y:-7.47, Z:-4.37 [[ 9.99738253e-01 -7.39134682e-03 2.16516617e-02 2.07886537e+02] [ 7.43973317e-03 9.99970003e-01 -2.15506513e-03 -7.46843899e+00] [-2.16350834e-02 2.31558364e-03 9.99763253e-01 -4.36826739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03800114499995 meters 0.09327943933182233 Centerline is valid? [True, True] Translation: X:207.91, Y:-7.49, Z:-4.37 [[ 9.99735215e-01 -1.12816649e-02 2.00555424e-02 2.07913769e+02] [ 1.13239687e-02 9.99933888e-01 -1.99701151e-03 -7.48800691e+00] [-2.00316869e-02 2.22359106e-03 9.99796873e-01 -4.37248259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06800114499995 meters 0.09476687948046163 Centerline is valid? [True, True] Translation: X:207.94, Y:-7.50, Z:-4.37 [[ 9.99734061e-01 -1.27307964e-02 1.92284624e-02 2.07943798e+02] [ 1.27699255e-02 9.99916630e-01 -1.91353925e-03 -7.49644028e+00] [-1.92024984e-02 2.15857640e-03 9.99813285e-01 -4.37498772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09800114499996 meters 0.0988846495550331 Centerline is valid? [True, True] Translation: X:207.97, Y:-7.51, Z:-4.38 [[ 9.99731972e-01 -1.46121978e-02 1.79573874e-02 2.07971885e+02] [ 1.46466487e-02 9.99891133e-01 -1.78845673e-03 -7.50798105e+00] [-1.79292992e-02 2.05099291e-03 9.99837154e-01 -4.37813104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12800114499996 meters 0.09831658720484827 Centerline is valid? [True, True] Translation: X:208.00, Y:-7.51, Z:-4.38 [[ 9.99747870e-01 -1.59019477e-02 1.58532411e-02 2.08001945e+02] [ 1.59289451e-02 9.99871881e-01 -1.57813755e-03 -7.51355257e+00] [-1.58261146e-02 1.83026506e-03 9.99873084e-01 -4.38138754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15800114499996 meters 0.09874012906427367 Centerline is valid? [True, True] Translation: X:208.03, Y:-7.52, Z:-4.38 [[ 9.99759895e-01 -1.56840680e-02 1.53023578e-02 2.08034425e+02] [ 1.57091739e-02 9.99875445e-01 -1.52182836e-03 -7.51887757e+00] [-1.52765833e-02 1.76185036e-03 9.99881754e-01 -4.38321883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18800114499996 meters 0.09592126820973591 Centerline is valid? [True, True] Translation: X:208.07, Y:-7.52, Z:-4.38 [[ 9.99781873e-01 -1.48689287e-02 1.46670025e-02 2.08066666e+02] [ 1.48919348e-02 9.99888042e-01 -1.46058831e-03 -7.51811231e+00] [-1.46436430e-02 1.67868977e-03 9.99891367e-01 -4.38416019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21800114499996 meters 0.0961782121827434 Centerline is valid? [True, True] Translation: X:208.10, Y:-7.52, Z:-4.39 [[ 9.99808028e-01 -1.39750679e-02 1.37333446e-02 2.08097994e+02] [ 1.39951748e-02 9.99901125e-01 -1.36908056e-03 -7.52143821e+00] [-1.37128537e-02 1.56101830e-03 9.99904756e-01 -4.38564455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24800114499996 meters 0.10695695296591912 Centerline is valid? [True, False] Translation: X:208.10, Y:-7.52, Z:-4.38 [[ 9.99949658e-01 -9.81998186e-03 -2.06145783e-03 2.08101135e+02] [ 9.81402788e-03 9.99947697e-01 -2.87875453e-03 -7.52127797e+00] [ 2.08961932e-03 2.85837840e-03 9.99993732e-01 -4.38042272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27800114499996 meters 0.09657832274345877 Centerline is valid? [False, True] Translation: X:208.10, Y:-7.52, Z:-4.38 [[ 9.99984805e-01 -5.19399825e-03 -1.84731897e-03 2.08100909e+02] [ 5.19809965e-03 9.99984020e-01 2.22236391e-03 -7.52356914e+00] [ 1.83574649e-03 -2.23193269e-03 9.99995824e-01 -4.38091269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30800114499996 meters 0.09273695750345509 Centerline is valid? [True, True] Translation: X:208.13, Y:-7.52, Z:-4.38 [[ 9.99988067e-01 -4.45192428e-03 -2.01138937e-03 2.08132279e+02] [ 4.45236266e-03 9.99990065e-01 2.13520481e-04 -7.51937318e+00] [ 2.01041881e-03 -2.22473368e-04 9.99997954e-01 -4.37999480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33800114499996 meters 0.09228275866222192 Centerline is valid? [True, True] Translation: X:208.16, Y:-7.52, Z:-4.38 [[ 9.99989649e-01 -3.96446976e-03 -2.23247438e-03 2.08162807e+02] [ 3.96500860e-03 9.99992111e-01 2.36989918e-04 -7.52159435e+00] [ 2.23151723e-03 -2.45839246e-04 9.99997480e-01 -4.38085637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36800114499997 meters 0.09542365393286857 Centerline is valid? [True, True] Translation: X:208.19, Y:-7.53, Z:-4.38 [[ 9.99991452e-01 -2.95874943e-03 -2.88830644e-03 2.08191998e+02] [ 2.95964721e-03 9.99995573e-01 3.06610241e-04 -7.52851880e+00] [ 2.88738647e-03 -3.15155988e-04 9.99995782e-01 -4.38349172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39800114499997 meters 0.09339947765812338 Centerline is valid? [True, True] Translation: X:208.22, Y:-7.53, Z:-4.38 [[ 9.99990190e-01 -2.38765736e-03 -3.73071950e-03 2.08222356e+02] [ 2.38914825e-03 9.99997068e-01 3.95220606e-04 -7.52680920e+00] [ 3.72976491e-03 -4.04129971e-04 9.99992963e-01 -4.38400023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42800114499997 meters 0.0909947404231868 Centerline is valid? [True, True] Translation: X:208.25, Y:-7.52, Z:-4.38 [[ 9.99987358e-01 -1.40140914e-03 -4.82915052e-03 2.08252772e+02] [ 1.40389603e-03 9.99998884e-01 5.11624685e-04 -7.52410234e+00] [ 4.82842813e-03 -5.18397842e-04 9.99988209e-01 -4.38438951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45800114499997 meters 0.09081621971601303 Centerline is valid? [True, True] Translation: X:208.28, Y:-7.52, Z:-4.39 [[ 9.99981232e-01 1.41944935e-03 -5.96000242e-03 2.08282212e+02] [-1.41570879e-03 9.99998798e-01 6.31782021e-04 -7.52437116e+00] [ 5.96089204e-03 -6.23332536e-04 9.99982039e-01 -4.38730532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48800114499997 meters 0.0930517001915077 Centerline is valid? [True, True] Translation: X:208.31, Y:-7.53, Z:-4.39 [[ 9.99975993e-01 2.84480648e-03 -6.31820236e-03 2.08310715e+02] [-2.84063384e-03 9.99995741e-01 6.69290879e-04 -7.52964239e+00] [ 6.32007945e-03 -6.51327113e-04 9.99979816e-01 -4.39025210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51800114499997 meters 0.09230403680452066 Centerline is valid? [True, True] Translation: X:208.34, Y:-7.53, Z:-4.39 [[ 9.99966616e-01 4.53745133e-03 -6.79554127e-03 2.08340567e+02] [-4.53266407e-03 9.99989468e-01 7.19707160e-04 -7.52969797e+00] [ 6.79873534e-03 -6.88881228e-04 9.99976651e-01 -4.39125366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54800114499997 meters 0.0941739854772998 Centerline is valid? [True, True] Translation: X:208.37, Y:-7.53, Z:-4.39 [[ 9.99955196e-01 6.24246842e-03 -7.11605862e-03 2.08369422e+02] [-6.23726294e-03 9.99980264e-01 7.53469261e-04 -7.53386779e+00] [ 7.12062169e-03 -7.09050774e-04 9.99974397e-01 -4.39346957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57800114499997 meters 0.08798433876695855 Centerline is valid? [True, True] Translation: X:208.40, Y:-7.52, Z:-4.39 [[ 9.99923299e-01 8.35425791e-03 -9.14345697e-03 2.08401241e+02] [-8.34574761e-03 9.99964705e-01 9.68512825e-04 -7.52169289e+00] [ 9.15122545e-03 -8.92129555e-04 9.99957729e-01 -4.39221765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60800114499997 meters 0.08787483688903083 Centerline is valid? [True, True] Translation: X:208.43, Y:-7.52, Z:-4.39 [[ 9.99914328e-01 8.94064927e-03 -9.56037232e-03 2.08430657e+02] [-8.93140249e-03 9.99959605e-01 1.00945687e-03 -7.52234272e+00] [ 9.56901132e-03 -9.23982855e-04 9.99953789e-01 -4.39399567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63800114499998 meters 0.08092196353365275 Centerline is valid? [True, True] Translation: X:208.46, Y:-7.51, Z:-4.39 [[ 9.99892333e-01 9.76920202e-03 -1.09492342e-02 2.08461030e+02] [-9.75711565e-03 9.99951729e-01 1.15673175e-03 -7.51057636e+00] [ 1.09600060e-02 -1.04977426e-03 9.99939386e-01 -4.39206791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66800114499998 meters 0.08630625577674247 Centerline is valid? [True, True] Translation: X:208.49, Y:-7.52, Z:-4.40 [[ 9.99860951e-01 1.03845707e-02 -1.30475585e-02 2.08487332e+02] [-1.03674901e-02 9.99945309e-01 1.37606760e-03 -7.52141577e+00] [ 1.30611348e-02 -1.24060583e-03 9.99913930e-01 -4.39804371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69800114499998 meters 0.0836995098588902 Centerline is valid? [True, True] Translation: X:208.52, Y:-7.51, Z:-4.40 [[ 9.99822727e-01 1.18621756e-02 -1.46220117e-02 2.08517684e+02] [-1.18408641e-02 9.99928704e-01 1.54321076e-03 -7.51348708e+00] [ 1.46392751e-02 -1.36979994e-03 9.99891902e-01 -4.39873035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72800114499998 meters 0.08449636718019891 Centerline is valid? [True, True] Translation: X:208.55, Y:-7.51, Z:-4.40 [[ 9.99807880e-01 1.23068233e-02 -1.52559585e-02 2.08545954e+02] [-1.22837259e-02 9.99923261e-01 1.60678026e-03 -7.51413914e+00] [ 1.52745621e-02 -1.41907155e-03 9.99882330e-01 -4.39985612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75800114499995 meters 0.08192786394023546 Centerline is valid? [True, True] Translation: X:208.58, Y:-7.51, Z:-4.40 [[ 9.99812884e-01 1.29573360e-02 -1.43632896e-02 2.08575724e+02] [-1.29369282e-02 9.99915170e-01 1.51283955e-03 -7.50860755e+00] [ 1.43816735e-02 -1.32673963e-03 9.99895698e-01 -4.39778712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78800114499995 meters 0.08192786394023546 Centerline is valid? [True, True] Translation: X:208.60, Y:-7.51, Z:-4.40 [[ 9.99814146e-01 1.28593410e-02 -1.43635128e-02 2.08603171e+02] [-1.28389533e-02 9.99916436e-01 1.51072008e-03 -7.51139794e+00] [ 1.43817394e-02 -1.32602684e-03 9.99895698e-01 -4.39839184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81800114499995 meters 0.08003342998162138 Centerline is valid? [True, True] Translation: X:208.63, Y:-7.50, Z:-4.40 [[ 9.99808997e-01 1.43396101e-02 -1.32795201e-02 2.08634440e+02] [-1.43222945e-02 9.99896453e-01 1.39811502e-03 -7.50343428e+00] [ 1.32981934e-02 -1.20765477e-03 9.99910846e-01 -4.39698765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84800114499996 meters 0.07981242916410773 Centerline is valid? [True, True] Translation: X:208.66, Y:-7.50, Z:-4.40 [[ 9.99818133e-01 1.42988639e-02 -1.26191986e-02 2.08663405e+02] [-1.42832492e-02 9.99897109e-01 1.32663632e-03 -7.50241146e+00] [ 1.26368696e-02 -1.14615189e-03 9.99919495e-01 -4.39720843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87800114499996 meters 0.08385971012895947 Centerline is valid? [True, True] Translation: X:208.69, Y:-7.51, Z:-4.40 [[ 9.99827550e-01 1.43758470e-02 -1.17561057e-02 2.08690195e+02] [-1.43623174e-02 9.99896095e-01 1.23447834e-03 -7.51006007e+00] [ 1.17726309e-02 -1.06542053e-03 9.99930133e-01 -4.40076637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90800114499996 meters 0.08049624411833088 Centerline is valid? [True, True] Translation: X:208.72, Y:-7.50, Z:-4.40 [[ 9.99869695e-01 1.32355354e-02 -9.24199591e-03 2.08720112e+02] [-1.32271317e-02 9.99912047e-01 9.69831958e-04 -7.50158949e+00] [ 9.25401930e-03 -8.47460486e-04 9.99956822e-01 -4.39753476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93800114499996 meters 0.08446973682770789 Centerline is valid? [True, True] Translation: X:208.75, Y:-7.51, Z:-4.40 [[ 9.99892765e-01 1.20804749e-02 -8.27767441e-03 2.08747264e+02] [-1.20737040e-02 9.99926734e-01 8.67452906e-04 -7.50846482e+00] [ 8.28754718e-03 -7.67417694e-04 9.99965363e-01 -4.40008893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96800114499996 meters 0.08400490639980819 Centerline is valid? [True, True] Translation: X:208.78, Y:-7.51, Z:-4.40 [[ 9.99900622e-01 1.12437551e-02 -8.50435456e-03 2.08777005e+02] [-1.12365709e-02 9.99936470e-01 8.92075317e-04 -7.50739699e+00] [ 8.51384455e-03 -7.96426882e-04 9.99963439e-01 -4.40038910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99800114499996 meters 0.08418326086394239 Centerline is valid? [True, True] Translation: X:208.81, Y:-7.51, Z:-4.40 [[ 9.99913474e-01 1.04377754e-02 -8.00610451e-03 2.08805732e+02] [-1.04313929e-02 9.99945240e-01 8.38543660e-04 -7.50801394e+00] [ 8.01441862e-03 -7.54956283e-04 9.99967599e-01 -4.40110510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02800114499996 meters 0.08720144388464202 Centerline is valid? [True, True] Translation: X:208.83, Y:-7.51, Z:-4.40 [[ 9.99923628e-01 9.14347970e-03 -8.31473573e-03 2.08833823e+02] [-9.13655642e-03 9.99957882e-01 8.70256907e-04 -7.51355214e+00] [ 8.32234271e-03 -7.94222392e-04 9.99965053e-01 -4.40484704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05800114499996 meters 0.08160623919935665 Centerline is valid? [True, True] Translation: X:208.86, Y:-7.51, Z:-4.40 [[ 9.99922725e-01 8.67320567e-03 -8.90618200e-03 2.08863710e+02] [-8.66524785e-03 9.99962022e-01 9.31716137e-04 -7.50593174e+00] [ 8.91392472e-03 -8.54469864e-04 9.99959905e-01 -4.40240377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08800114499996 meters 0.08563205166478041 Centerline is valid? [True, True] Translation: X:208.89, Y:-7.52, Z:-4.41 [[ 9.99931596e-01 7.98247810e-03 -8.54890050e-03 2.08890383e+02] [-7.97513056e-03 9.99967799e-01 8.93217880e-04 -7.51547127e+00] [ 8.55575532e-03 -8.24978182e-04 9.99963059e-01 -4.40545170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11800114499997 meters 0.08454565390702926 Centerline is valid? [True, True] Translation: X:208.92, Y:-7.52, Z:-4.41 [[ 9.99932028e-01 7.38977797e-03 -9.01830929e-03 2.08919121e+02] [-7.38157849e-03 9.99972312e-01 9.42151274e-04 -7.51673801e+00] [ 9.02502188e-03 -8.75517877e-04 9.99958890e-01 -4.40518417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14800114499997 meters 0.08564360181949912 Centerline is valid? [True, True] Translation: X:208.95, Y:-7.52, Z:-4.41 [[ 9.99934517e-01 6.78453418e-03 -9.21584288e-03 2.08946036e+02] [-6.77596635e-03 9.99976581e-01 9.60591824e-04 -7.52151768e+00] [ 9.22214422e-03 -8.98082680e-04 9.99957072e-01 -4.40625627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17800114499997 meters 0.08666882929228392 Centerline is valid? [True, True] Translation: X:208.97, Y:-7.53, Z:-4.41 [[ 9.99929383e-01 6.20559942e-03 -1.01350962e-02 2.08974114e+02] [-6.19520013e-03 9.99980251e-01 1.05714090e-03 -7.52621286e+00] [ 1.01414563e-02 -9.94277297e-04 9.99948080e-01 -4.40724839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20800114499997 meters 0.08871693272699147 Centerline is valid? [True, True] Translation: X:209.00, Y:-7.53, Z:-4.41 [[ 9.99921150e-01 5.68827556e-03 -1.11953888e-02 2.09001328e+02] [-5.67557900e-03 9.99983215e-01 1.16553259e-03 -7.53304399e+00] [ 1.12018308e-02 -1.10190037e-03 9.99936650e-01 -4.40936927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23800114499997 meters 0.08285338334066651 Centerline is valid? [True, True] Translation: X:209.03, Y:-7.53, Z:-4.41 [[ 9.99910291e-01 4.40024795e-03 -1.26509906e-02 2.09031947e+02] [-4.38390448e-03 9.99989520e-01 1.31931379e-03 -7.52739026e+00] [ 1.26566634e-02 -1.26373470e-03 9.99919103e-01 -4.40743925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26800114499997 meters 0.08277448366249812 Centerline is valid? [True, True] Translation: X:209.06, Y:-7.53, Z:-4.41 [[ 9.99911717e-01 4.30307870e-03 -1.25714398e-02 2.09059785e+02] [-4.28697159e-03 9.99989956e-01 1.30791288e-03 -7.53168740e+00] [ 1.25769416e-02 -1.25390400e-03 9.99920121e-01 -4.40895134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29800114499997 meters 0.08311191941376586 Centerline is valid? [True, True] Translation: X:209.09, Y:-7.54, Z:-4.41 [[ 9.99908697e-01 4.48074481e-03 -1.27483744e-02 2.09088300e+02] [-4.46419642e-03 9.99989156e-01 1.32623894e-03 -7.53631185e+00] [ 1.27541787e-02 -1.26920661e-03 9.99917857e-01 -4.40973824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32800114499997 meters 0.08306876958037887 Centerline is valid? [True, True] Translation: X:209.12, Y:-7.54, Z:-4.41 [[ 9.99906471e-01 4.68753383e-03 -1.28482046e-02 2.09117012e+02] [-4.67075302e-03 9.99988200e-01 1.33577740e-03 -7.54014476e+00] [ 1.28543145e-02 -1.27564167e-03 9.99916566e-01 -4.41049392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35800114499997 meters 0.0858011824156002 Centerline is valid? [True, True] Translation: X:209.15, Y:-7.55, Z:-4.41 [[ 9.99910581e-01 6.43076773e-03 -1.17249621e-02 2.09145646e+02] [-6.41690770e-03 9.99978668e-01 1.21933373e-03 -7.54987683e+00] [ 1.17325532e-02 -1.14398670e-03 9.99930517e-01 -4.41173560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38800114499998 meters 0.08661909174392755 Centerline is valid? [True, True] Translation: X:209.17, Y:-7.55, Z:-4.41 [[ 9.99918171e-01 7.84165940e-03 -1.01073906e-02 2.09174433e+02] [-7.83143611e-03 9.99968782e-01 1.05064911e-03 -7.55496747e+00] [ 1.01153139e-02 -9.71407757e-04 9.99948367e-01 -4.41201725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41800114499998 meters 0.07919489419404774 Centerline is valid? [True, True] Translation: X:209.21, Y:-7.54, Z:-4.41 [[ 9.99916161e-01 9.05664276e-03 -9.25462338e-03 2.09205212e+02] [-9.04812729e-03 9.99958603e-01 9.61588819e-04 -7.54471864e+00] [ 9.26294903e-03 -8.77771190e-04 9.99956713e-01 -4.40665861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44800114499998 meters 0.07900663369351468 Centerline is valid? [True, True] Translation: X:209.24, Y:-7.55, Z:-4.41 [[ 9.99906227e-01 1.21426839e-02 -6.33191942e-03 2.09235036e+02] [-1.21387621e-02 9.99926106e-01 6.57432864e-04 -7.55017546e+00] [ 6.33943453e-03 -5.80509551e-04 9.99979737e-01 -4.40621220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47800114499998 meters 0.07797376257488527 Centerline is valid? [True, True] Translation: X:209.26, Y:-7.55, Z:-4.41 [[ 9.99889986e-01 1.32135158e-02 -6.73940996e-03 2.09264219e+02] [-1.32091014e-02 9.99912512e-01 6.99101898e-04 -7.55295694e+00] [ 6.74805794e-03 -6.10003437e-04 9.99977046e-01 -4.40641680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50800114499995 meters 0.07951979040860624 Centerline is valid? [True, True] Translation: X:209.29, Y:-7.56, Z:-4.41 [[ 9.99872967e-01 1.48561259e-02 -5.77458747e-03 2.09292113e+02] [-1.48529147e-02 9.99889510e-01 5.98578018e-04 -7.56089595e+00] [ 5.78284199e-03 -5.12732523e-04 9.99983148e-01 -4.40821098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53800114499995 meters 0.07725601695201856 Centerline is valid? [True, True] Translation: X:209.32, Y:-7.56, Z:-4.41 [[ 9.99840488e-01 1.62714592e-02 -7.36460743e-03 2.09320995e+02] [-1.62662783e-02 9.99867404e-01 7.62835815e-04 -7.56167136e+00] [ 7.37604336e-03 -6.42919380e-04 9.99972590e-01 -4.40792292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56800114499995 meters 0.07869547769988869 Centerline is valid? [True, True] Translation: X:209.35, Y:-7.57, Z:-4.41 [[ 9.99828521e-01 1.70302337e-02 -7.27328026e-03 2.09347866e+02] [-1.70252076e-02 9.99854778e-01 7.52399748e-04 -7.56831752e+00] [ 7.28503756e-03 -6.28441621e-04 9.99973266e-01 -4.40892186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59800114499996 meters 0.07680501177736378 Centerline is valid? [True, True] Translation: X:209.38, Y:-7.57, Z:-4.41 [[ 9.99815498e-01 1.78688449e-02 -7.04805348e-03 2.09376547e+02] [-1.78641472e-02 9.99840158e-01 7.28924358e-04 -7.56858436e+00] [ 7.05995194e-03 -6.02882406e-04 9.99974896e-01 -4.40749018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62800114499996 meters 0.07676889159586622 Centerline is valid? [True, True] Translation: X:209.40, Y:-7.57, Z:-4.41 [[ 9.99807025e-01 1.83613721e-02 -6.98380819e-03 2.09404798e+02] [-1.83567749e-02 9.99831240e-01 7.21805654e-04 -7.57323262e+00] [ 6.99588294e-03 -5.93466168e-04 9.99975352e-01 -4.40802120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65800114499996 meters 0.07950830179539466 Centerline is valid? [True, True] Translation: X:209.43, Y:-7.58, Z:-4.41 [[ 9.99809416e-01 1.82903063e-02 -6.82617289e-03 2.09431481e+02] [-1.82859191e-02 9.99832550e-01 7.04565677e-04 -7.58406488e+00] [ 6.83791657e-03 -5.79608552e-04 9.99976453e-01 -4.41162910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68800114499996 meters 0.08082099918358486 Centerline is valid? [True, True] Translation: X:209.46, Y:-7.59, Z:-4.41 [[ 9.99807510e-01 1.77132719e-02 -8.43695159e-03 2.09459020e+02] [-1.77065480e-02 9.99842847e-01 8.70990773e-04 -7.59468710e+00] [ 8.45105380e-03 -7.21433827e-04 9.99964029e-01 -4.41370857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71800114499996 meters 0.0773157664888028 Centerline is valid? [True, True] Translation: X:209.49, Y:-7.59, Z:-4.41 [[ 9.99812105e-01 1.69872199e-02 -9.33746015e-03 2.09488714e+02] [-1.69789518e-02 9.99855382e-01 9.64038113e-04 -7.59308235e+00] [ 9.35248612e-03 -8.05316689e-04 9.99955940e-01 -4.41233500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74800114499996 meters 0.07812762476574071 Centerline is valid? [True, True] Translation: X:209.52, Y:-7.60, Z:-4.41 [[ 9.99806539e-01 1.64403080e-02 -1.07982195e-02 2.09517863e+02] [-1.64292169e-02 9.99864410e-01 1.11503471e-03 -7.59985003e+00] [ 1.08150869e-02 -9.37412706e-04 9.99941076e-01 -4.41433619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77800114499996 meters 0.08195083256515187 Centerline is valid? [True, True] Translation: X:209.55, Y:-7.61, Z:-4.42 [[ 9.99807253e-01 1.44650328e-02 -1.32747461e-02 2.09546230e+02] [-1.44480946e-02 9.99894681e-01 1.37098984e-03 -7.61333025e+00] [ 1.32931794e-02 -1.17893079e-03 9.99910947e-01 -4.41882126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80800114499996 meters 0.07792155574081426 Centerline is valid? [True, True] Translation: X:209.58, Y:-7.61, Z:-4.42 [[ 9.99814088e-01 1.32928996e-02 -1.39674196e-02 2.09575998e+02] [-1.32740533e-02 9.99910857e-01 1.44114892e-03 -7.60982980e+00] [ 1.39853316e-02 -1.25547672e-03 9.99901412e-01 -4.41626313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83800114499996 meters 0.08181042523681092 Centerline is valid? [True, True] Translation: X:209.60, Y:-7.62, Z:-4.42 [[ 9.99815634e-01 1.22643518e-02 -1.47744403e-02 2.09603316e+02] [-1.22431631e-02 9.99923889e-01 1.52374469e-03 -7.62204063e+00] [ 1.47920035e-02 -1.34257788e-03 9.99889691e-01 -4.41982322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86800114499997 meters 0.08576748430560374 Centerline is valid? [True, True] Translation: X:209.63, Y:-7.64, Z:-4.42 [[ 9.99827888e-01 1.08072488e-02 -1.50797336e-02 2.09630627e+02] [-1.07850210e-02 9.99940632e-01 1.55456135e-03 -7.63599523e+00] [ 1.50956389e-02 -1.39165855e-03 9.99885086e-01 -4.42302532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89800114499997 meters 0.0804673748019428 Centerline is valid? [True, True] Translation: X:209.66, Y:-7.63, Z:-4.42 [[ 9.99834595e-01 1.05608073e-02 -1.48071573e-02 2.09659904e+02] [-1.05393698e-02 9.99943296e-01 1.52506714e-03 -7.63105742e+00] [ 1.48224236e-02 -1.36875678e-03 9.99889205e-01 -4.41902163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92800114499997 meters 0.0856853816904753 Centerline is valid? [True, True] Translation: X:209.69, Y:-7.64, Z:-4.42 [[ 9.99853921e-01 1.04710380e-02 -1.35090230e-02 2.09686069e+02] [-1.04532082e-02 9.99944398e-01 1.38977832e-03 -7.64479591e+00] [ 1.35228243e-02 -1.24836267e-03 9.99907783e-01 -4.42243683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95800114499997 meters 0.08057973950614028 Centerline is valid? [True, True] Translation: X:209.72, Y:-7.64, Z:-4.42 [[ 9.99866629e-01 1.06381919e-02 -1.23916591e-02 2.09716180e+02] [-1.06232033e-02 9.99942760e-01 1.27477172e-03 -7.63954022e+00] [ 1.24045111e-02 -1.14296259e-03 9.99922408e-01 -4.41852873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98800114499997 meters 0.08420383446924345 Centerline is valid? [True, True] Translation: X:209.74, Y:-7.65, Z:-4.42 [[ 9.99876920e-01 1.21160131e-02 -9.96728180e-03 2.09744444e+02] [-1.21063871e-02 9.99926189e-01 1.02553021e-03 -7.65059786e+00] [ 9.97897144e-03 -9.04736216e-04 9.99949800e-01 -4.41898423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01800114499997 meters 0.07911859468212057 Centerline is valid? [True, True] Translation: X:209.77, Y:-7.65, Z:-4.42 [[ 9.99875439e-01 1.29155807e-02 -9.07161271e-03 2.09774255e+02] [-1.29076542e-02 9.99916259e-01 9.31771025e-04 -7.64537798e+00] [ 9.08288741e-03 -8.14561723e-04 9.99958418e-01 -4.41632167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04800114499997 meters 0.07860305793815944 Centerline is valid? [True, True] Translation: X:209.80, Y:-7.65, Z:-4.42 [[ 9.99874008e-01 1.34512703e-02 -8.42806684e-03 2.09802891e+02] [-1.34444533e-02 9.99909245e-01 8.64989993e-04 -7.64899623e+00] [ 8.43893716e-03 -7.51570260e-04 9.99964109e-01 -4.41618889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07800114499997 meters 0.07912903986621886 Centerline is valid? [True, True] Translation: X:209.83, Y:-7.65, Z:-4.42 [[ 9.99873094e-01 1.38186275e-02 -7.92726638e-03 2.09829864e+02] [-1.38126167e-02 9.99904271e-01 8.12494402e-04 -7.65482985e+00] [ 7.93773507e-03 -7.02894999e-04 9.99968249e-01 -4.41719150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10800114499997 meters 0.081329102936365 Centerline is valid? [True, True] Translation: X:209.86, Y:-7.66, Z:-4.42 [[ 9.99873424e-01 1.39311112e-02 -7.68503631e-03 2.09856535e+02] [-1.39254778e-02 9.99902727e-01 7.86052693e-04 -7.66360702e+00] [ 7.69523935e-03 -6.78935395e-04 9.99970161e-01 -4.41906354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13800114499998 meters 0.08055867292671691 Centerline is valid? [True, True] Translation: X:209.89, Y:-7.67, Z:-4.42 [[ 9.99878199e-01 1.29886943e-02 -8.65343493e-03 2.09885989e+02] [-1.29815010e-02 9.99915343e-01 8.86908230e-04 -7.66945035e+00] [ 8.66422214e-03 -7.74465628e-04 9.99962165e-01 -4.41982784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16800114499998 meters 0.0812927496607658 Centerline is valid? [True, True] Translation: X:209.91, Y:-7.68, Z:-4.42 [[ 9.99893386e-01 1.21278075e-02 -8.13216398e-03 2.09914378e+02] [-1.21214371e-02 9.99926186e-01 8.32194401e-04 -7.67561694e+00] [ 8.14165641e-03 -7.33532164e-04 9.99966587e-01 -4.42064686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19800114499998 meters 0.08265507455394157 Centerline is valid? [True, True] Translation: X:209.94, Y:-7.68, Z:-4.42 [[ 9.99904610e-01 1.11239364e-02 -8.18708839e-03 2.09942227e+02] [-1.11174504e-02 9.99937849e-01 8.37304901e-04 -7.68189667e+00] [ 8.19589368e-03 -7.46205481e-04 9.99966135e-01 -4.42138986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22800114499998 meters 0.08333463688192917 Centerline is valid? [True, True] Translation: X:209.97, Y:-7.69, Z:-4.42 [[ 9.99920524e-01 9.07264204e-03 -8.75396891e-03 2.09971629e+02] [-9.06513991e-03 9.99958509e-01 8.96296589e-04 -7.68850291e+00] [ 8.76173748e-03 -8.16869402e-04 9.99961282e-01 -4.42197072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25800114499995 meters 0.08526640458171403 Centerline is valid? [True, True] Translation: X:210.00, Y:-7.70, Z:-4.42 [[ 9.99922331e-01 8.89282915e-03 -8.73212502e-03 2.09998564e+02] [-8.88537605e-03 9.99960126e-01 8.91951851e-04 -7.69666958e+00] [ 8.73970882e-03 -8.14294359e-04 9.99961476e-01 -4.42400600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28800114499995 meters 0.08654332629722616 Centerline is valid? [True, True] Translation: X:210.03, Y:-7.70, Z:-4.43 [[ 9.99917940e-01 8.45773091e-03 -9.62187097e-03 2.10026018e+02] [-8.44866691e-03 9.99963827e-01 9.82279189e-04 -7.70370956e+00] [ 9.62983077e-03 -9.00906600e-04 9.99953226e-01 -4.42665526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31800114499995 meters 0.08111854340447183 Centerline is valid? [True, True] Translation: X:210.06, Y:-7.70, Z:-4.42 [[ 9.99917882e-01 8.31276300e-03 -9.75333146e-03 2.10055888e+02] [-8.30344622e-03 9.99965030e-01 9.95346904e-04 -7.69820124e+00] [ 9.76126447e-03 -9.14278904e-04 9.99951940e-01 -4.42450359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34800114499996 meters 0.08827947345249769 Centerline is valid? [True, True] Translation: X:210.08, Y:-7.71, Z:-4.43 [[ 9.99886392e-01 8.56302673e-03 -1.24047723e-02 2.10081458e+02] [-8.54800528e-03 9.99962667e-01 1.26345616e-03 -7.71453399e+00] [ 1.24151282e-02 -1.15727656e-03 9.99922260e-01 -4.43129907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37800114499996 meters 0.0818365173339158 Centerline is valid? [True, True] Translation: X:210.11, Y:-7.71, Z:-4.43 [[ 9.99871975e-01 9.17165547e-03 -1.31116300e-02 2.10111421e+02] [-9.15491700e-03 9.99957200e-01 1.33606480e-03 -7.70556667e+00] [ 1.31233227e-02 -1.21585786e-03 9.99913146e-01 -4.42792211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40800114499996 meters 0.08135224993642273 Centerline is valid? [True, True] Translation: X:210.14, Y:-7.71, Z:-4.43 [[ 9.99870035e-01 9.78203747e-03 -1.28150084e-02 2.10140703e+02] [-9.76610147e-03 9.99951458e-01 1.30553235e-03 -7.70684481e+00] [ 1.28271571e-02 -1.18021000e-03 9.99917032e-01 -4.42845583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43800114499996 meters 0.08076704287364751 Centerline is valid? [True, True] Translation: X:210.17, Y:-7.71, Z:-4.43 [[ 9.99849559e-01 1.13876578e-02 -1.30835996e-02 2.10170827e+02] [-1.13711762e-02 9.99934457e-01 1.33341920e-03 -7.70880821e+00] [ 1.30979266e-02 -1.18444268e-03 9.99913517e-01 -4.42864936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46800114499996 meters 0.08259937958651263 Centerline is valid? [True, True] Translation: X:210.20, Y:-7.72, Z:-4.43 [[ 9.99856293e-01 1.23543987e-02 -1.16087079e-02 2.10198791e+02] [-1.23415037e-02 9.99923142e-01 1.18178601e-03 -7.71596347e+00] [ 1.16224160e-02 -1.03834727e-03 9.99931918e-01 -4.43054739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49800114499996 meters 0.0828985277732005 Centerline is valid? [True, True] Translation: X:210.23, Y:-7.72, Z:-4.43 [[ 9.99853839e-01 1.31210655e-02 -1.09607533e-02 2.10227838e+02] [-1.31096218e-02 9.99913443e-01 1.11526179e-03 -7.71942047e+00] [ 1.09744380e-02 -9.71407450e-04 9.99939307e-01 -4.43063652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52800114499996 meters 0.07868396891763868 Centerline is valid? [True, True] Translation: X:210.26, Y:-7.71, Z:-4.43 [[ 9.99859796e-01 1.38891718e-02 -9.35302295e-03 2.10258598e+02] [-1.38808780e-02 9.99903204e-01 9.51094973e-04 -7.71454102e+00] [ 9.36532753e-03 -8.21133456e-04 9.99955807e-01 -4.42734979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55800114499996 meters 0.07779961702935968 Centerline is valid? [True, True] Translation: X:210.29, Y:-7.72, Z:-4.43 [[ 9.99849957e-01 1.51913264e-02 -8.32388370e-03 2.10288668e+02] [-1.51847987e-02 9.99884346e-01 8.46856648e-04 -7.71549925e+00] [ 8.33578589e-03 -7.20333085e-04 9.99964997e-01 -4.42627432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58800114499996 meters 0.08311546598895521 Centerline is valid? [True, True] Translation: X:210.32, Y:-7.73, Z:-4.43 [[ 9.99859370e-01 1.52449316e-02 -6.98807030e-03 2.10315425e+02] [-1.52403525e-02 9.99883608e-01 7.08049337e-04 -7.72784757e+00] [ 6.99805111e-03 -6.01449109e-04 9.99975332e-01 -4.42977477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61800114499997 meters 0.07863882136963607 Centerline is valid? [True, True] Translation: X:210.35, Y:-7.72, Z:-4.43 [[ 9.99860659e-01 1.52562522e-02 -6.77567343e-03 2.10345220e+02] [-1.52519444e-02 9.99883446e-01 6.86998692e-04 -7.72205274e+00] [ 6.78536473e-03 -5.83560771e-04 9.99976809e-01 -4.42674593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64800114499997 meters 0.080094036344119 Centerline is valid? [True, True] Translation: X:210.37, Y:-7.73, Z:-4.43 [[ 9.99878828e-01 1.43871395e-02 -5.94474055e-03 2.10372998e+02] [-1.43838142e-02 9.99896367e-01 6.01738982e-04 -7.72704178e+00] [ 5.95278178e-03 -5.16158024e-04 9.99982149e-01 -4.42733263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67800114499997 meters 0.08223345469062482 Centerline is valid? [True, True] Translation: X:210.40, Y:-7.73, Z:-4.43 [[ 9.99882209e-01 1.37584876e-02 -6.80237470e-03 2.10401315e+02] [-1.37541148e-02 9.99905170e-01 6.89206188e-04 -7.73407193e+00] [ 6.81121206e-03 -5.95564363e-04 9.99976626e-01 -4.42972432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70800114499997 meters 0.08223345469062482 Centerline is valid? [True, True] Translation: X:210.43, Y:-7.74, Z:-4.43 [[ 9.99883509e-01 1.36635802e-02 -6.80254379e-03 2.10428760e+02] [-1.36592164e-02 9.99906472e-01 6.87538491e-04 -7.73674969e+00] [ 6.81130180e-03 -5.94540981e-04 9.99976626e-01 -4.43032857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73800114499997 meters 0.07977735590114163 Centerline is valid? [True, True] Translation: X:210.46, Y:-7.74, Z:-4.43 [[ 9.99887749e-01 1.31758512e-02 -7.13342619e-03 2.10457626e+02] [-1.31710382e-02 9.99912998e-01 7.21269196e-04 -7.73529318e+00] [ 7.14230891e-03 -6.27233604e-04 9.99974297e-01 -4.43003875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76800114499997 meters 0.08237146734871129 Centerline is valid? [True, True] Translation: X:210.48, Y:-7.74, Z:-4.43 [[ 9.99908099e-01 1.18839323e-02 -6.52425976e-03 2.10484966e+02] [-1.18798824e-02 9.99929214e-01 6.59136823e-04 -7.74279876e+00] [ 6.53163108e-03 -5.81568808e-04 9.99978500e-01 -4.43158187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79800114499997 meters 0.08427419153796545 Centerline is valid? [True, True] Translation: X:210.51, Y:-7.75, Z:-4.43 [[ 9.99914818e-01 1.12739684e-02 -6.57682078e-03 2.10512320e+02] [-1.12698455e-02 9.99936273e-01 6.63619746e-04 -7.74834383e+00] [ 6.58388329e-03 -5.89443464e-04 9.99978152e-01 -4.43299915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82800114499997 meters 0.07842266407902829 Centerline is valid? [True, True] Translation: X:210.54, Y:-7.74, Z:-4.43 [[ 9.99919721e-01 1.07810678e-02 -6.65736694e-03 2.10542406e+02] [-1.07768334e-02 9.99941703e-01 6.71594255e-04 -7.73899893e+00] [ 6.66421933e-03 -5.99795006e-04 9.99977614e-01 -4.42981133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85800114499997 meters 0.08544209998156031 Centerline is valid? [True, True] Translation: X:210.57, Y:-7.75, Z:-4.43 [[ 9.99918195e-01 1.01983021e-02 -7.71998917e-03 2.10569605e+02] [-1.01925926e-02 9.99947751e-01 7.78567615e-04 -7.75238730e+00] [ 7.72752587e-03 -6.99817220e-04 9.99969897e-01 -4.43436959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88800114499998 meters 0.07945749136379192 Centerline is valid? [True, True] Translation: X:210.60, Y:-7.74, Z:-4.43 [[ 9.99910723e-01 1.04973693e-02 -8.26744331e-03 2.10599950e+02] [-1.04908312e-02 9.99944622e-01 8.33799125e-04 -7.74437538e+00] [ 8.27573817e-03 -7.46992333e-04 9.99965476e-01 -4.43209437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91800114499998 meters 0.0829440301201379 Centerline is valid? [True, True] Translation: X:210.63, Y:-7.75, Z:-4.44 [[ 9.99902883e-01 1.10543785e-02 -8.48681571e-03 2.10627390e+02] [-1.10475162e-02 9.99938609e-01 8.55042485e-04 -7.75382283e+00] [ 8.49574665e-03 -7.61201212e-04 9.99963621e-01 -4.43523913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94800114499998 meters 0.07890949059945582 Centerline is valid? [True, True] Translation: X:210.66, Y:-7.75, Z:-4.43 [[ 9.99900781e-01 1.16700105e-02 -7.88916661e-03 2.10656868e+02] [-1.16641047e-02 9.99931657e-01 7.94189180e-04 -7.74909412e+00] [ 7.89789563e-03 -7.02090316e-04 9.99968565e-01 -4.43383278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97800114499998 meters 0.08303174081670285 Centerline is valid? [True, True] Translation: X:210.68, Y:-7.76, Z:-4.44 [[ 9.99881170e-01 1.35281627e-02 -7.39151489e-03 2.10684896e+02] [-1.35230260e-02 9.99908283e-01 7.44486211e-04 -7.75760791e+00] [ 7.40090849e-03 -6.44442096e-04 9.99972405e-01 -4.43614980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00800114499995 meters 0.08231067951803529 Centerline is valid? [True, True] Translation: X:210.71, Y:-7.76, Z:-4.44 [[ 9.99869937e-01 1.45061162e-02 -7.04859090e-03 2.10714389e+02] [-1.45014740e-02 9.99894597e-01 7.09273027e-04 -7.75731237e+00] [ 7.05813675e-03 -6.06965819e-04 9.99974907e-01 -4.43568461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03800114499995 meters 0.07961074125675431 Centerline is valid? [True, True] Translation: X:210.74, Y:-7.75, Z:-4.43 [[ 9.99855640e-01 1.49609832e-02 -8.05413591e-03 2.10743986e+02] [-1.49549427e-02 9.99887841e-01 8.09695655e-04 -7.75393132e+00] [ 8.06534641e-03 -6.89129626e-04 9.99967237e-01 -4.43448307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06800114499995 meters 0.08293366383419831 Centerline is valid? [True, True] Translation: X:210.77, Y:-7.76, Z:-4.44 [[ 9.99848664e-01 1.58335556e-02 -7.20751453e-03 2.10770912e+02] [-1.58287483e-02 9.99874456e-01 7.23536019e-04 -7.76264165e+00] [ 7.21806582e-03 -6.09340588e-04 9.99973764e-01 -4.43780142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09800114499996 meters 0.0791985468011049 Centerline is valid? [True, True] Translation: X:210.80, Y:-7.76, Z:-4.44 [[ 9.99855690e-01 1.59859261e-02 -5.74882256e-03 2.10800172e+02] [-1.59828726e-02 9.99872099e-01 5.76705701e-04 -7.75851951e+00] [ 5.75730646e-03 -4.84739778e-04 9.99983309e-01 -4.43581455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12800114499996 meters 0.07663979202954094 Centerline is valid? [True, True] Translation: X:210.83, Y:-7.76, Z:-4.43 [[ 9.99853391e-01 1.64730153e-02 -4.67302131e-03 2.10829361e+02] [-1.64710058e-02 9.99864234e-01 4.68170971e-04 -7.75597132e+00] [ 4.68009906e-03 -3.91132972e-04 9.99988972e-01 -4.43390566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15800114499996 meters 0.07701446785307658 Centerline is valid? [True, True] Translation: X:210.86, Y:-7.76, Z:-4.43 [[ 9.99851439e-01 1.65648656e-02 -4.76499171e-03 2.10858257e+02] [-1.65627787e-02 9.99862714e-01 4.77105454e-04 -7.75858800e+00] [ 4.77224073e-03 -3.98113071e-04 9.99988534e-01 -4.43432319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18800114499996 meters 0.07858784188529709 Centerline is valid? [True, True] Translation: X:210.89, Y:-7.76, Z:-4.44 [[ 9.99848473e-01 1.64704444e-02 -5.63513798e-03 2.10885538e+02] [-1.64675273e-02 9.99864242e-01 5.63684356e-04 -7.76249708e+00] [ 5.64365710e-03 -4.70802154e-04 9.99983964e-01 -4.43640470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21800114499996 meters 0.07872485028481946 Centerline is valid? [True, True] Translation: X:210.91, Y:-7.76, Z:-4.44 [[ 9.99854198e-01 1.60477992e-02 -5.83533367e-03 2.10914229e+02] [-1.60446636e-02 9.99871106e-01 5.83768052e-04 -7.76434661e+00] [ 5.84394973e-03 -4.90056971e-04 9.99982804e-01 -4.43701818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24800114499996 meters 0.07927029199064008 Centerline is valid? [True, True] Translation: X:210.94, Y:-7.77, Z:-4.44 [[ 9.99857789e-01 1.55192419e-02 -6.59967897e-03 2.10942898e+02] [-1.55152211e-02 9.99879414e-01 6.60000310e-04 -7.76696738e+00] [ 6.60912585e-03 -5.57510972e-04 9.99978004e-01 -4.43769473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27800114499996 meters 0.07943252364461147 Centerline is valid? [True, True] Translation: X:210.97, Y:-7.77, Z:-4.44 [[ 9.99870888e-01 1.44496627e-02 -7.02956995e-03 2.10972450e+02] [-1.44450708e-02 9.99895417e-01 7.03554606e-04 -7.76948575e+00] [ 7.03900091e-03 -6.01921133e-04 9.99975045e-01 -4.43942993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30800114499996 meters 0.08055973615010152 Centerline is valid? [True, True] Translation: X:211.00, Y:-7.77, Z:-4.44 [[ 9.99880858e-01 1.32226828e-02 -7.96437458e-03 2.11000935e+02] [-1.32167549e-02 9.99912338e-01 7.96475371e-04 -7.77344075e+00] [ 7.97420795e-03 -6.91117290e-04 9.99967967e-01 -4.44114986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33800114499996 meters 0.08278989177465133 Centerline is valid? [True, True] Translation: X:211.03, Y:-7.78, Z:-4.44 [[ 9.99888948e-01 1.22409032e-02 -8.50007043e-03 2.11029031e+02] [-1.22341235e-02 9.99924800e-01 8.49148485e-04 -7.77910953e+00] [ 8.50982557e-03 -7.45063275e-04 9.99963513e-01 -4.44362461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36800114499997 meters 0.08219038898262725 Centerline is valid? [True, True] Translation: X:211.06, Y:-7.78, Z:-4.44 [[ 9.99895440e-01 1.07360334e-02 -9.68742098e-03 2.11059244e+02] [-1.07271460e-02 9.99941993e-01 9.68918191e-04 -7.77956708e+00] [ 9.69726138e-03 -8.64898502e-04 9.99952606e-01 -4.44386389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39800114499997 meters 0.08307997615579957 Centerline is valid? [True, True] Translation: X:211.09, Y:-7.78, Z:-4.44 [[ 9.99908985e-01 9.62147161e-03 -9.45773998e-03 2.11088890e+02] [-9.61295738e-03 9.99953348e-01 9.45288112e-04 -7.78115374e+00] [ 9.46639382e-03 -8.54285225e-04 9.99954828e-01 -4.44483330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42800114499997 meters 0.08668779803736708 Centerline is valid? [True, True] Translation: X:211.12, Y:-7.79, Z:-4.45 [[ 9.99914261e-01 9.35838045e-03 -9.15924782e-03 2.11116619e+02] [-9.35040057e-03 9.99955867e-01 9.13673430e-04 -7.78738206e+00] [ 9.16739410e-03 -8.27952456e-04 9.99957636e-01 -4.44643380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45800114499997 meters 0.07982393351865277 Centerline is valid? [True, True] Translation: X:211.15, Y:-7.78, Z:-4.44 [[ 9.99918701e-01 1.00519737e-02 -7.84532110e-03 2.11146711e+02] [-1.00461439e-02 9.99949230e-01 7.82153540e-04 -7.77532101e+00] [ 7.85278498e-03 -7.03274728e-04 9.99968919e-01 -4.44206334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48800114499997 meters 0.08304727457866137 Centerline is valid? [True, True] Translation: X:211.17, Y:-7.78, Z:-4.44 [[ 9.99913533e-01 1.02503018e-02 -8.23761828e-03 2.11173770e+02] [-1.02438889e-02 9.99947194e-01 8.20301942e-04 -7.78148433e+00] [ 8.24559162e-03 -7.35845766e-04 9.99965734e-01 -4.44465699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51800114499997 meters 0.0845208010097785 Centerline is valid? [True, True] Translation: X:211.20, Y:-7.78, Z:-4.45 [[ 9.99913315e-01 1.09932102e-02 -7.24652286e-03 2.11202152e+02] [-1.09882689e-02 9.99939367e-01 7.21347853e-04 -7.78280523e+00] [ 7.25401341e-03 -6.41658582e-04 9.99973483e-01 -4.44533965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54800114499997 meters 0.08253230920594365 Centerline is valid? [True, True] Translation: X:211.23, Y:-7.78, Z:-4.44 [[ 9.99911900e-01 1.14845332e-02 -6.65564257e-03 2.11231225e+02] [-1.14803793e-02 9.99933879e-01 6.61976892e-04 -7.77991135e+00] [ 6.66280499e-03 -5.85509270e-04 9.99977632e-01 -4.44463385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57800114499997 meters 0.08045622333085958 Centerline is valid? [True, True] Translation: X:211.26, Y:-7.78, Z:-4.44 [[ 9.99907396e-01 1.24500535e-02 -5.49508801e-03 2.11262031e+02] [-1.24472326e-02 9.99922380e-01 5.47251281e-04 -7.77708005e+00] [ 5.50147479e-03 -4.78801964e-04 9.99984752e-01 -4.44369444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60800114499997 meters 0.0808100324947576 Centerline is valid? [True, True] Translation: X:211.29, Y:-7.78, Z:-4.44 [[ 9.99901301e-01 1.28817702e-02 -5.60783907e-03 2.11291546e+02] [-1.28788445e-02 9.99916909e-01 5.57517984e-04 -7.77567973e+00] [ 5.61455493e-03 -4.85240470e-04 9.99984121e-01 -4.44430680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63800114499998 meters 0.0769617026045562 Centerline is valid? [True, True] Translation: X:211.32, Y:-7.77, Z:-4.44 [[ 9.99899148e-01 1.31449341e-02 -5.37624207e-03 2.11321320e+02] [-1.31422532e-02 9.99913494e-01 5.33681089e-04 -7.76879428e+00] [ 5.38279220e-03 -4.62971332e-04 9.99985405e-01 -4.44231572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66800114499998 meters 0.08276476721886598 Centerline is valid? [True, True] Translation: X:211.35, Y:-7.78, Z:-4.45 [[ 9.99892296e-01 1.35513730e-02 -5.63522641e-03 2.11347816e+02] [-1.35484382e-02 9.99908060e-01 5.58642484e-04 -7.78014382e+00] [ 5.64227868e-03 -4.82233799e-04 9.99983966e-01 -4.44646832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69800114499998 meters 0.07798285150846343 Centerline is valid? [True, True] Translation: X:211.38, Y:-7.77, Z:-4.44 [[ 9.99893232e-01 1.39470756e-02 -4.35934400e-03 2.11378048e+02] [-1.39453245e-02 9.99902666e-01 4.31837509e-04 -7.76944229e+00] [ 4.36494256e-03 -3.70998936e-04 9.99990405e-01 -4.44370604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72800114499998 meters 0.08176804366991348 Centerline is valid? [True, True] Translation: X:211.41, Y:-7.78, Z:-4.45 [[ 9.99895965e-01 1.38962452e-02 -3.86691366e-03 2.11405540e+02] [-1.38948702e-02 9.99903389e-01 3.82230917e-04 -7.77767810e+00] [ 3.87185165e-03 -3.28460889e-04 9.99992450e-01 -4.44611878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75800114499995 meters 0.07709981576926764 Centerline is valid? [True, True] Translation: X:211.44, Y:-7.77, Z:-4.44 [[ 9.99894164e-01 1.41679077e-02 -3.30630120e-03 2.11435746e+02] [-1.41669030e-02 9.99899591e-01 3.27088932e-04 -7.77017377e+00] [ 3.31060339e-03 -2.80214265e-04 9.99994481e-01 -4.44417018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78800114499995 meters 0.07938302378356263 Centerline is valid? [True, True] Translation: X:211.46, Y:-7.78, Z:-4.45 [[ 9.99904121e-01 1.34612213e-02 -3.24722054e-03 2.11463269e+02] [-1.34602518e-02 9.99909355e-01 3.20243621e-04 -7.77533996e+00] [ 3.25123707e-03 -2.76504510e-04 9.99994676e-01 -4.44615321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81800114499995 meters 0.08060510114685379 Centerline is valid? [True, True] Translation: X:211.49, Y:-7.78, Z:-4.45 [[ 9.99923246e-01 1.19365069e-02 -3.31998693e-03 2.11492667e+02] [-1.19354830e-02 9.99928716e-01 3.28045104e-04 -7.77639709e+00] [ 3.32366598e-03 -2.88394277e-04 9.99994435e-01 -4.44768458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84800114499996 meters 0.08197682442853615 Centerline is valid? [True, True] Translation: X:211.52, Y:-7.78, Z:-4.45 [[ 9.99930831e-01 1.11512970e-02 -3.73911901e-03 2.11520053e+02] [-1.11499960e-02 9.99937769e-01 3.68610139e-04 -7.77951223e+00] [ 3.74299680e-03 -3.26893481e-04 9.99992942e-01 -4.44913785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87800114499996 meters 0.08385954774810413 Centerline is valid? [True, True] Translation: X:211.55, Y:-7.78, Z:-4.45 [[ 9.99938754e-01 1.02836056e-02 -4.09085806e-03 2.11548477e+02] [-1.02820383e-02 9.99947057e-01 4.03955737e-04 -7.78098852e+00] [ 4.09479560e-03 -3.61868637e-04 9.99991551e-01 -4.45120106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90800114499996 meters 0.08444124177977741 Centerline is valid? [True, True] Translation: X:211.58, Y:-7.78, Z:-4.45 [[ 9.99936577e-01 1.00989726e-02 -4.98532754e-03 2.11577100e+02] [-1.00966449e-02 9.99948907e-01 4.91864474e-04 -7.78309099e+00] [ 4.99004014e-03 -4.41498196e-04 9.99987452e-01 -4.45313447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93800114499996 meters 0.0835361243444949 Centerline is valid? [True, True] Translation: X:211.61, Y:-7.78, Z:-4.45 [[ 9.99934518e-01 1.01020831e-02 -5.37653984e-03 2.11606233e+02] [-1.00993771e-02 9.99948859e-01 5.30218811e-04 -7.78270937e+00] [ 5.38162119e-03 -4.75884388e-04 9.99985406e-01 -4.45447199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96800114499996 meters 0.08516194265088492 Centerline is valid? [True, True] Translation: X:211.63, Y:-7.79, Z:-4.46 [[ 9.99928350e-01 1.02477550e-02 -6.18688564e-03 2.11633711e+02] [-1.02441783e-02 9.99947341e-01 6.09521973e-04 -7.78643837e+00] [ 6.19280608e-03 -5.46098741e-04 9.99980675e-01 -4.45680050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99800114499996 meters 0.08530247398186147 Centerline is valid? [True, True] Translation: X:211.66, Y:-7.79, Z:-4.46 [[ 9.99919635e-01 1.05642603e-02 -7.00859306e-03 2.11662231e+02] [-1.05596771e-02 9.99944007e-01 6.90623291e-04 -7.78643159e+00] [ 7.01549655e-03 -6.16559309e-04 9.99975201e-01 -4.45815592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02800114499996 meters 0.08114150060306809 Centerline is valid? [True, True] Translation: X:211.69, Y:-7.78, Z:-4.46 [[ 9.99914043e-01 1.07914314e-02 -7.44663012e-03 2.11692188e+02] [-1.07862670e-02 9.99941558e-01 7.33337510e-04 -7.77515131e+00] [ 7.45410868e-03 -6.52953133e-04 9.99972005e-01 -4.45621825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05800114499996 meters 0.08195863938840489 Centerline is valid? [True, True] Translation: X:211.72, Y:-7.78, Z:-4.46 [[ 9.99912342e-01 1.07992358e-02 -7.66060229e-03 2.11719824e+02] [-1.07937812e-02 9.99941462e-01 7.53023855e-04 -7.77659008e+00] [ 7.66828593e-03 -6.70270982e-04 9.99970374e-01 -4.45753718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08800114499996 meters 0.08239412352854997 Centerline is valid? [True, True] Translation: X:211.75, Y:-7.78, Z:-4.46 [[ 9.99910481e-01 1.11548849e-02 -7.38906451e-03 2.11748682e+02] [-1.11498185e-02 9.99937575e-01 7.26494500e-04 -7.77809188e+00] [ 7.39670721e-03 -6.44042737e-04 9.99972437e-01 -4.45798149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11800114499997 meters 0.08242190589322453 Centerline is valid? [True, True] Translation: X:211.78, Y:-7.78, Z:-4.46 [[ 9.99913984e-01 1.13842583e-02 -6.51337738e-03 2.11777580e+02] [-1.13803303e-02 9.99935037e-01 6.39814299e-04 -7.77826913e+00] [ 6.52023807e-03 -5.65634878e-04 9.99978583e-01 -4.45774219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14800114499997 meters 0.08229526025873406 Centerline is valid? [True, True] Translation: X:211.81, Y:-7.78, Z:-4.46 [[ 9.99913187e-01 1.19640717e-02 -5.52087256e-03 2.11806828e+02] [-1.19612678e-02 9.99928315e-01 5.40627353e-04 -7.77861918e+00] [ 5.52694491e-03 -4.74543784e-04 9.99984614e-01 -4.45843454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17800114499997 meters 0.08425640208989815 Centerline is valid? [True, True] Translation: X:211.83, Y:-7.78, Z:-4.46 [[ 9.99918489e-01 1.15589755e-02 -5.42275788e-03 2.11834545e+02] [-1.15562638e-02 9.99933083e-01 5.31122660e-04 -7.78133420e+00] [ 5.42853424e-03 -4.68412547e-04 9.99985156e-01 -4.46099148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20800114499997 meters 0.08548729152370194 Centerline is valid? [True, True] Translation: X:211.86, Y:-7.78, Z:-4.46 [[ 9.99923218e-01 1.08124245e-02 -6.05387046e-03 2.11863268e+02] [-1.08090276e-02 9.99941405e-01 5.93552860e-04 -7.78392885e+00] [ 6.05993348e-03 -5.28070833e-04 9.99981499e-01 -4.46181628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23800114499997 meters 0.08060174087221109 Centerline is valid? [True, True] Translation: X:211.89, Y:-7.77, Z:-4.46 [[ 9.99936111e-01 9.82045844e-03 -5.59747759e-03 2.11893569e+02] [-9.81754377e-03 9.99951657e-01 5.47950146e-04 -7.77261501e+00] [ 5.60258811e-03 -4.92961657e-04 9.99984184e-01 -4.45914092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26800114499997 meters 0.08066292717189084 Centerline is valid? [True, True] Translation: X:211.92, Y:-7.77, Z:-4.46 [[ 9.99943882e-01 9.37871248e-03 -4.92675194e-03 2.11922584e+02] [-9.37645163e-03 9.99955924e-01 4.81789752e-04 -7.77333776e+00] [ 4.93105335e-03 -4.35567263e-04 9.99987747e-01 -4.45905059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29800114499997 meters 0.08073968925754152 Centerline is valid? [True, True] Translation: X:211.95, Y:-7.77, Z:-4.46 [[ 9.99950949e-01 8.87112981e-03 -4.40477915e-03 2.11951148e+02] [-8.86931978e-03 9.99960574e-01 4.30288376e-04 -7.77445573e+00] [ 4.40842263e-03 -3.91199876e-04 9.99990206e-01 -4.46053168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32800114499997 meters 0.08451335542684701 Centerline is valid? [True, True] Translation: X:211.98, Y:-7.78, Z:-4.46 [[ 9.99948455e-01 9.00311497e-03 -4.69382180e-03 2.11978074e+02] [-9.00106410e-03 9.99959385e-01 4.57873281e-04 -7.78249921e+00] [ 4.69775344e-03 -4.15600289e-04 9.99988879e-01 -4.46364530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35800114499997 meters 0.08677115857936665 Centerline is valid? [True, True] Translation: X:212.01, Y:-7.79, Z:-4.47 [[ 9.99952908e-01 8.36641452e-03 -4.91782886e-03 2.12005377e+02] [-8.36415926e-03 9.99964905e-01 4.78978063e-04 -7.78535742e+00] [ 4.92166360e-03 -4.37822003e-04 9.99987793e-01 -4.46643352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38800114499998 meters 0.0916413626907826 Centerline is valid? [True, True] Translation: X:212.03, Y:-7.79, Z:-4.47 [[ 9.99955360e-01 8.18948688e-03 -4.71282702e-03 2.12031920e+02] [-8.18741789e-03 9.99966378e-01 4.58139047e-04 -7.79363880e+00] [ 4.71642049e-03 -4.19532711e-04 9.99988790e-01 -4.46927204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41800114499998 meters 0.08666819129325573 Centerline is valid? [True, True] Translation: X:212.06, Y:-7.79, Z:-4.47 [[ 9.99955832e-01 8.16510899e-03 -4.65455927e-03 2.12061361e+02] [-8.16308736e-03 9.99966579e-01 4.53165720e-04 -7.78534450e+00] [ 4.65810386e-03 -4.15150131e-04 9.99989065e-01 -4.46728429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44800114499998 meters 0.08722589079371255 Centerline is valid? [True, True] Translation: X:212.09, Y:-7.79, Z:-4.47 [[ 9.99955062e-01 8.12559850e-03 -4.88357089e-03 2.12089347e+02] [-8.12337788e-03 9.99966892e-01 4.74376990e-04 -7.78684211e+00] [ 4.88726381e-03 -4.34684580e-04 9.99987963e-01 -4.46824138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47800114499995 meters 0.08787803598071416 Centerline is valid? [True, True] Translation: X:212.12, Y:-7.79, Z:-4.47 [[ 9.99951252e-01 8.58592323e-03 -4.87605158e-03 2.12116932e+02] [-8.58371504e-03 9.99963047e-01 4.73612366e-04 -7.78705486e+00] [ 4.87993779e-03 -4.31734641e-04 9.99988000e-01 -4.47007937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50800114499995 meters 0.08810833347312291 Centerline is valid? [True, True] Translation: X:212.15, Y:-7.79, Z:-4.47 [[ 9.99944377e-01 9.36035388e-03 -4.86077898e-03 2.12145766e+02] [-9.35816835e-03 9.99956100e-01 4.72175425e-04 -7.78896335e+00] [ 4.86498532e-03 -4.26661173e-04 9.99988075e-01 -4.47143486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53800114499995 meters 0.08913151313963091 Centerline is valid? [True, True] Translation: X:212.17, Y:-7.79, Z:-4.47 [[ 9.99942900e-01 9.68492303e-03 -4.51647681e-03 2.12173280e+02] [-9.68304300e-03 9.99953022e-01 4.37942402e-04 -7.79183723e+00] [ 4.52050607e-03 -3.94184157e-04 9.99989705e-01 -4.47267571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56800114499995 meters 0.08514437176056362 Centerline is valid? [True, True] Translation: X:212.20, Y:-7.78, Z:-4.47 [[ 9.99938401e-01 9.78614143e-03 -5.23690187e-03 2.12201716e+02] [-9.78361859e-03 9.99952011e-01 5.07144259e-04 -7.78421525e+00] [ 5.24161354e-03 -4.55877169e-04 9.99986159e-01 -4.47220026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59800114499996 meters 0.08514437176056362 Centerline is valid? [True, True] Translation: X:212.23, Y:-7.79, Z:-4.47 [[ 9.99939345e-01 9.68917000e-03 -5.23695214e-03 2.12229158e+02] [-9.68664854e-03 9.99952955e-01 5.06626030e-04 -7.78677155e+00] [ 5.24161455e-03 -4.55866786e-04 9.99986159e-01 -4.47280479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62800114499996 meters 0.08773919567203285 Centerline is valid? [True, True] Translation: X:212.26, Y:-7.79, Z:-4.47 [[ 9.99936791e-01 9.93844261e-03 -5.25746115e-03 2.12256548e+02] [-9.93590504e-03 9.99950508e-01 5.08560325e-04 -7.79135061e+00] [ 5.26225524e-03 -4.56290545e-04 9.99986050e-01 -4.47438379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65800114499996 meters 0.08466749997824792 Centerline is valid? [True, True] Translation: X:212.29, Y:-7.79, Z:-4.47 [[ 9.99938054e-01 9.95993746e-03 -4.96864282e-03 2.12285678e+02] [-9.95767164e-03 9.99950306e-01 4.80554593e-04 -7.78620250e+00] [ 4.97318220e-03 -4.31048711e-04 9.99987541e-01 -4.47336380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68800114499996 meters 0.0870043135606649 Centerline is valid? [True, True] Translation: X:212.31, Y:-7.79, Z:-4.48 [[ 9.99940651e-01 9.49561898e-03 -5.34122607e-03 2.12313113e+02] [-9.49300182e-03 9.99954808e-01 5.15131489e-04 -7.79082250e+00] [ 5.34587618e-03 -4.64396648e-04 9.99985603e-01 -4.47526477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71800114499996 meters 0.08833890975531423 Centerline is valid? [True, True] Translation: X:212.34, Y:-7.79, Z:-4.48 [[ 9.99954881e-01 8.04130473e-03 -5.05703934e-03 2.12342654e+02] [-8.03893310e-03 9.99967568e-01 4.89126651e-04 -7.79318992e+00] [ 5.06080855e-03 -4.48451381e-04 9.99987093e-01 -4.47674845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74800114499996 meters 0.08640642038451057 Centerline is valid? [True, True] Translation: X:212.37, Y:-7.79, Z:-4.48 [[ 9.99960754e-01 7.17484337e-03 -5.19733292e-03 2.12371252e+02] [-7.17233444e-03 9.99974153e-01 5.01213423e-04 -7.79121846e+00] [ 5.20079471e-03 -4.63916742e-04 9.99986368e-01 -4.47719544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77800114499996 meters 0.09230832247539777 Centerline is valid? [True, True] Translation: X:212.40, Y:-7.80, Z:-4.48 [[ 9.99958244e-01 6.62647171e-03 -6.29292365e-03 2.12398184e+02] [-6.62278348e-03 9.99977885e-01 6.06749773e-04 -7.80221978e+00] [ 6.29680509e-03 -5.65047766e-04 9.99980015e-01 -4.48099723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80800114499996 meters 0.08574319462108423 Centerline is valid? [True, True] Translation: X:212.43, Y:-7.79, Z:-4.48 [[ 9.99964572e-01 5.30334134e-03 -6.53681825e-03 2.12428497e+02] [-5.29933095e-03 9.99985760e-01 6.30676499e-04 -7.79043781e+00] [ 6.54006986e-03 -5.96013392e-04 9.99978436e-01 -4.47860376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83800114499996 meters 0.08899790015253684 Centerline is valid? [True, True] Translation: X:212.46, Y:-7.80, Z:-4.48 [[ 9.99965287e-01 4.55316228e-03 -6.97813016e-03 2.12455611e+02] [-4.54858562e-03 9.99989430e-01 6.71588363e-04 -7.79681547e+00] [ 6.98111425e-03 -6.39824427e-04 9.99975427e-01 -4.48091783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86800114499997 meters 0.08773898801710031 Centerline is valid? [True, True] Translation: X:212.48, Y:-7.80, Z:-4.48 [[ 9.99961204e-01 4.09193365e-03 -7.80042458e-03 2.12484562e+02] [-4.08619744e-03 9.99991369e-01 7.51166722e-04 -7.79588282e+00] [ 7.80343098e-03 -7.19263504e-04 9.99969294e-01 -4.48141741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89800114499997 meters 0.08836218872191477 Centerline is valid? [True, True] Translation: X:212.51, Y:-7.80, Z:-4.48 [[ 9.99961901e-01 3.82264286e-03 -7.84760458e-03 2.12513620e+02] [-3.81683278e-03 9.99992431e-01 7.55206833e-04 -7.79842783e+00] [ 7.85043206e-03 -7.25225066e-04 9.99968922e-01 -4.48241834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92800114499997 meters 0.08967008033407602 Centerline is valid? [True, True] Translation: X:212.54, Y:-7.80, Z:-4.48 [[ 9.99961734e-01 3.98175271e-03 -7.78942810e-03 2.12541833e+02] [-3.97603719e-03 9.99991815e-01 7.49101729e-04 -7.80050690e+00] [ 7.79234708e-03 -7.18102008e-04 9.99969381e-01 -4.48290423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95800114499997 meters 0.09018773352385814 Centerline is valid? [True, True] Translation: X:212.57, Y:-7.80, Z:-4.48 [[ 9.99967948e-01 3.28643844e-03 -7.30081957e-03 2.12570632e+02] [-3.28140328e-03 9.99994370e-01 7.01541773e-04 -7.80234912e+00] [ 7.30308404e-03 -6.77562354e-04 9.99973103e-01 -4.48331133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98800114499997 meters 0.09142279782964843 Centerline is valid? [True, True] Translation: X:212.60, Y:-7.81, Z:-4.48 [[ 9.99965631e-01 3.68767800e-03 -7.42543337e-03 2.12598233e+02] [-3.68248734e-03 9.99992966e-01 7.12589494e-04 -7.80656983e+00] [ 7.42800894e-03 -6.85220939e-04 9.99972177e-01 -4.48486765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01800114499997 meters 0.0914257330288017 Centerline is valid? [True, True] Translation: X:212.63, Y:-7.81, Z:-4.49 [[ 9.99965309e-01 3.29591587e-03 -7.64967039e-03 2.12627105e+02] [-3.29039620e-03 9.99994317e-01 7.34029887e-04 -7.80783890e+00] [ 7.65204622e-03 -7.08833976e-04 9.99970471e-01 -4.48510703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04800114499997 meters 0.09036652649879447 Centerline is valid? [True, True] Translation: X:212.66, Y:-7.81, Z:-4.48 [[ 9.99967638e-01 3.46026975e-03 -7.26283495e-03 2.12656099e+02] [-3.45530263e-03 9.99993788e-01 6.96345994e-04 -7.80812520e+00] [ 7.26519938e-03 -6.71228166e-04 9.99973383e-01 -4.48484696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07800114499997 meters 0.08851093927148478 Centerline is valid? [True, True] Translation: X:212.68, Y:-7.81, Z:-4.48 [[ 9.99975958e-01 3.61260427e-03 -5.91877391e-03 2.12684886e+02] [-3.60931217e-03 9.99993326e-01 5.66800350e-04 -7.80699515e+00] [ 5.92078203e-03 -5.45424021e-04 9.99982323e-01 -4.48392276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10800114499997 meters 0.08975852098230766 Centerline is valid? [True, True] Translation: X:212.71, Y:-7.81, Z:-4.48 [[ 9.99977570e-01 2.45846808e-03 -6.23016986e-03 2.12714285e+02] [-2.45479451e-03 9.99996809e-01 5.97219552e-04 -7.81053687e+00] [ 6.23161822e-03 -5.81912370e-04 9.99980414e-01 -4.48479356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13800114499998 meters 0.09001524283940517 Centerline is valid? [True, True] Translation: X:212.74, Y:-7.81, Z:-4.49 [[ 9.99972991e-01 2.02855295e-03 -7.06419503e-03 2.12742438e+02] [-2.02383391e-03 9.99997724e-01 6.75106532e-04 -7.81374524e+00] [ 7.06554844e-03 -6.60791541e-04 9.99974820e-01 -4.48575832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16800114499998 meters 0.0906882502745766 Centerline is valid? [True, True] Translation: X:212.77, Y:-7.82, Z:-4.49 [[ 9.99977558e-01 1.81787156e-03 -6.44810472e-03 2.12770464e+02] [-1.81393458e-03 9.99998165e-01 6.16359688e-04 -7.81782393e+00] [ 6.44921335e-03 -6.04649416e-04 9.99979021e-01 -4.48701448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19800114499998 meters 0.0909524625550569 Centerline is valid? [True, True] Translation: X:212.80, Y:-7.82, Z:-4.49 [[ 9.99974596e-01 1.67706301e-03 -6.92777507e-03 2.12798707e+02] [-1.67251755e-03 9.99998382e-01 6.61861960e-04 -7.82114299e+00] [ 6.92887384e-03 -6.50258321e-04 9.99975784e-01 -4.48794934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22800114499995 meters 0.09044817887473797 Centerline is valid? [True, True] Translation: X:212.83, Y:-7.82, Z:-4.49 [[ 9.99977060e-01 1.86126621e-03 -6.51273951e-03 2.12827919e+02] [-1.85725335e-03 9.99998082e-01 6.22149563e-04 -7.82279597e+00] [ 6.51388501e-03 -6.10039484e-04 9.99978598e-01 -4.48841436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25800114499995 meters 0.08572757982789402 Centerline is valid? [True, True] Translation: X:212.86, Y:-7.82, Z:-4.49 [[ 9.99973040e-01 3.61903394e-03 -6.38920590e-03 2.12858805e+02] [-3.61520373e-03 9.99993279e-01 6.10929279e-04 -7.81741957e+00] [ 6.39137393e-03 -5.87814527e-04 9.99979402e-01 -4.48713390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28800114499995 meters 0.08692126318540795 Centerline is valid? [True, True] Translation: X:212.89, Y:-7.82, Z:-4.49 [[ 9.99968650e-01 4.67463577e-03 -6.39111856e-03 2.12886442e+02] [-4.67083747e-03 9.99988906e-01 6.09106687e-04 -7.82148334e+00] [ 6.39389500e-03 -5.79235716e-04 9.99979391e-01 -4.48818321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31800114499995 meters 0.09001919182031416 Centerline is valid? [True, True] Translation: X:212.91, Y:-7.83, Z:-4.49 [[ 9.99966955e-01 5.56125263e-03 -5.92962601e-03 2.12914189e+02] [-5.55799932e-03 9.99984395e-01 5.64991733e-04 -7.82874242e+00] [ 5.93267554e-03 -5.32016205e-04 9.99982260e-01 -4.48983274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34800114499996 meters 0.08547534014223497 Centerline is valid? [True, True] Translation: X:212.95, Y:-7.82, Z:-4.49 [[ 9.99950444e-01 8.21135451e-03 -5.62880290e-03 2.12945819e+02] [-8.20845734e-03 9.99966166e-01 5.37613925e-04 -7.82277415e+00] [ 5.63302699e-03 -4.91383495e-04 9.99984014e-01 -4.48807845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37800114499996 meters 0.0846375007759069 Centerline is valid? [True, True] Translation: X:212.98, Y:-7.82, Z:-4.49 [[ 9.99937867e-01 9.67709706e-03 -5.53317019e-03 2.12975783e+02] [-9.67432192e-03 9.99953063e-01 5.28092532e-04 -7.82382374e+00] [ 5.53802088e-03 -4.74530050e-04 9.99984552e-01 -4.48873765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40800114499996 meters 0.08662448947915387 Centerline is valid? [True, True] Translation: X:213.00, Y:-7.83, Z:-4.49 [[ 9.99928321e-01 1.04519128e-02 -5.84041031e-03 2.13002920e+02] [-1.04488451e-02 9.99945255e-01 5.55518182e-04 -7.82945247e+00] [ 5.84589680e-03 -4.94452820e-04 9.99982790e-01 -4.49145695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43800114499996 meters 0.08359747392211632 Centerline is valid? [True, True] Translation: X:213.03, Y:-7.83, Z:-4.49 [[ 9.99914417e-01 1.13246429e-02 -6.55060894e-03 2.13031803e+02] [-1.13208015e-02 9.99935723e-01 6.23193610e-04 -7.82621971e+00] [ 6.55724533e-03 -5.48982131e-04 9.99978350e-01 -4.49177424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46800114499996 meters 0.08657947462824815 Centerline is valid? [True, True] Translation: X:213.06, Y:-7.83, Z:-4.49 [[ 9.99915762e-01 1.12660244e-02 -6.44566455e-03 2.13058816e+02] [-1.12623098e-02 9.99936391e-01 6.12302852e-04 -7.83412433e+00] [ 6.45215276e-03 -5.39658202e-04 9.99979039e-01 -4.49389037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49800114499996 meters 0.08744217753680752 Centerline is valid? [True, True] Translation: X:213.09, Y:-7.84, Z:-4.49 [[ 9.99928835e-01 1.04358194e-02 -5.78094816e-03 2.13086882e+02] [-1.04328212e-02 9.99945426e-01 5.48550949e-04 -7.83740826e+00] [ 5.78635725e-03 -4.88200313e-04 9.99983140e-01 -4.49489068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52800114499996 meters 0.08796963122868956 Centerline is valid? [True, True] Translation: X:213.12, Y:-7.84, Z:-4.50 [[ 9.99932228e-01 9.67185625e-03 -6.48031435e-03 2.13115833e+02] [-9.66807214e-03 9.99953074e-01 6.15011830e-04 -7.84052216e+00] [ 6.48595856e-03 -5.52318003e-04 9.99978813e-01 -4.49536521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55800114499996 meters 0.08743116468953326 Centerline is valid? [True, True] Translation: X:213.15, Y:-7.84, Z:-4.50 [[ 9.99943566e-01 7.79286606e-03 -7.22049202e-03 2.13145752e+02] [-7.78811135e-03 9.99969437e-01 6.86386241e-04 -7.84175890e+00] [ 7.22562025e-03 -6.30113509e-04 9.99973696e-01 -4.49630878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58800114499996 meters 0.09011336521441803 Centerline is valid? [True, True] Translation: X:213.17, Y:-7.85, Z:-4.50 [[ 9.99952990e-01 6.20587779e-03 -7.45017402e-03 2.13173390e+02] [-6.20078442e-03 9.99980525e-01 7.06561951e-04 -7.84848948e+00] [ 7.45441377e-03 -6.60331813e-04 9.99971997e-01 -4.49744351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61800114499997 meters 0.092496439722522 Centerline is valid? [True, True] Translation: X:213.20, Y:-7.85, Z:-4.50 [[ 9.99963211e-01 5.07735664e-03 -6.91349009e-03 2.13201061e+02] [-5.07294585e-03 9.99986918e-01 6.55384727e-04 -7.85482243e+00] [ 6.91672727e-03 -6.20288855e-04 9.99975887e-01 -4.49884055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64800114499997 meters 0.08912343631987216 Centerline is valid? [True, True] Translation: X:213.23, Y:-7.85, Z:-4.50 [[ 9.99979869e-01 3.02409502e-03 -5.57821693e-03 2.13230516e+02] [-3.02119370e-03 9.99995297e-01 5.28468872e-04 -7.85271072e+00] [ 5.57978884e-03 -5.11605360e-04 9.99984302e-01 -4.49618845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67800114499997 meters 0.09357298870418441 Centerline is valid? [True, True] Translation: X:213.26, Y:-7.86, Z:-4.50 [[ 9.99985353e-01 2.36458841e-03 -4.86842772e-03 2.13257321e+02] [-2.36237684e-03 9.99997104e-01 4.59968502e-04 -7.86285566e+00] [ 4.86950125e-03 -4.48460704e-04 9.99988043e-01 -4.49850680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70800114499997 meters 0.09705054134721983 Centerline is valid? [True, True] Translation: X:213.28, Y:-7.87, Z:-4.50 [[ 9.99990212e-01 1.91635056e-03 -3.98782402e-03 2.13284043e+02] [-1.91486294e-03 9.99998096e-01 3.76824418e-04 -7.87020766e+00] [ 3.98853855e-03 -3.69184594e-04 9.99991978e-01 -4.49933397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73800114499997 meters 0.08851857333062077 Centerline is valid? [True, True] Translation: X:213.31, Y:-7.86, Z:-4.50 [[ 9.99993481e-01 2.51849446e-03 -2.58749849e-03 2.13314043e+02] [-2.51787239e-03 9.99996800e-01 2.43643386e-04 -7.85871849e+00] [ 2.58810383e-03 -2.37126806e-04 9.99996623e-01 -4.49543431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76800114499997 meters 0.09334618466043242 Centerline is valid? [True, True] Translation: X:213.34, Y:-7.87, Z:-4.50 [[ 9.99993568e-01 2.76386249e-03 -2.28596204e-03 2.13340612e+02] [-2.76337924e-03 9.99996159e-01 2.14532146e-04 -7.86953868e+00] [ 2.28654619e-03 -2.08213786e-04 9.99997364e-01 -4.49847853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79800114499997 meters 0.09492510001747842 Centerline is valid? [True, True] Translation: X:213.37, Y:-7.87, Z:-4.50 [[ 9.99992695e-01 3.36716894e-03 -1.80889893e-03 2.13368467e+02] [-3.36686745e-03 9.99994318e-01 1.69692271e-04 -7.87446610e+00] [ 1.80946003e-03 -1.63600709e-04 9.99998350e-01 -4.49898877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82800114499997 meters 0.0886519266872774 Centerline is valid? [True, True] Translation: X:213.40, Y:-7.87, Z:-4.50 [[ 9.99993137e-01 3.13362094e-03 -1.97643332e-03 2.13398089e+02] [-3.13326067e-03 9.99995074e-01 1.85350050e-04 -7.86652297e+00] [ 1.97700440e-03 -1.79156098e-04 9.99998030e-01 -4.49695895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85800114499997 meters 0.09152175675195963 Centerline is valid? [True, True] Translation: X:213.43, Y:-7.87, Z:-4.50 [[ 9.99992370e-01 3.06048680e-03 -2.42765978e-03 2.13425636e+02] [-3.05994355e-03 9.99995292e-01 2.27457666e-04 -7.87448609e+00] [ 2.42834448e-03 -2.20027428e-04 9.99997027e-01 -4.49919028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88800114499998 meters 0.09017848971001519 Centerline is valid? [True, True] Translation: X:213.45, Y:-7.88, Z:-4.50 [[ 9.99991491e-01 2.24983684e-03 -3.45764032e-03 2.13454985e+02] [-2.24872552e-03 9.99997419e-01 3.25264061e-04 -7.87580311e+00] [ 3.45836318e-03 -3.17486009e-04 9.99993969e-01 -4.50007935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91800114499998 meters 0.09113023586534401 Centerline is valid? [True, True] Translation: X:213.48, Y:-7.88, Z:-4.50 [[ 9.99993571e-01 9.90503958e-04 -3.44636664e-03 2.13484326e+02] [-9.89391613e-04 9.99999458e-01 3.24448671e-04 -7.88220899e+00] [ 3.44668613e-03 -3.21036779e-04 9.99994009e-01 -4.50138121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94800114499998 meters 0.09153791727083228 Centerline is valid? [True, True] Translation: X:213.51, Y:-7.89, Z:-4.50 [[ 9.99993841e-01 5.48117948e-04 -3.46676286e-03 2.13513319e+02] [-5.46993012e-04 9.99999797e-01 3.25431583e-04 -7.88590534e+00] [ 3.46694053e-03 -3.23533284e-04 9.99993938e-01 -4.50239471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97800114499995 meters 0.0924388328937413 Centerline is valid? [True, True] Translation: X:213.54, Y:-7.89, Z:-4.50 [[ 9.99991098e-01 3.34987267e-04 -4.20609240e-03 2.13541892e+02] [-3.33329345e-04 9.99999866e-01 3.94866380e-04 -7.89035743e+00] [ 4.20622411e-03 -3.93460851e-04 9.99991076e-01 -4.50370194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00800114499995 meters 0.0954299575869457 Centerline is valid? [True, True] Translation: X:213.57, Y:-7.90, Z:-4.51 [[ 9.99991193e-01 6.07208047e-04 -4.15273587e-03 2.13568958e+02] [-6.05597157e-04 9.99999741e-01 3.89157050e-04 -7.89856668e+00] [ 4.15297109e-03 -3.86638738e-04 9.99991302e-01 -4.50618091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03800114499995 meters 0.08979797452848429 Centerline is valid? [True, True] Translation: X:213.60, Y:-7.89, Z:-4.50 [[ 9.99991157e-01 1.09805806e-03 -4.05955616e-03 2.13598710e+02] [-1.09653958e-03 9.99999328e-01 3.76257923e-04 -7.89281509e+00] [ 4.05996659e-03 -3.71803132e-04 9.99991689e-01 -4.50495933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06800114499995 meters 0.09149329806911573 Centerline is valid? [True, True] Translation: X:213.63, Y:-7.90, Z:-4.51 [[ 9.99989276e-01 1.60492456e-03 -4.34411625e-03 2.13625624e+02] [-1.60317671e-03 9.99998633e-01 4.05801972e-04 -7.89897952e+00] [ 4.34476159e-03 -3.98833234e-04 9.99990482e-01 -4.50710287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09800114499996 meters 0.09209020651494695 Centerline is valid? [True, True] Translation: X:213.65, Y:-7.90, Z:-4.51 [[ 9.99988402e-01 2.00553573e-03 -4.37874734e-03 2.13653194e+02] [-2.00376509e-03 9.99997909e-01 4.08722791e-04 -7.90325336e+00] [ 4.37955789e-03 -3.99944070e-04 9.99990330e-01 -4.50886248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12800114499996 meters 0.09269641538223267 Centerline is valid? [True, True] Translation: X:213.68, Y:-7.91, Z:-4.51 [[ 9.99987035e-01 2.89835651e-03 -4.18675009e-03 2.13681337e+02] [-2.89674534e-03 9.99995728e-01 3.90837600e-04 -7.90657447e+00] [ 4.18786499e-03 -3.78704584e-04 9.99991159e-01 -4.50927614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15800114499996 meters 0.0892674083672431 Centerline is valid? [True, True] Translation: X:213.71, Y:-7.90, Z:-4.51 [[ 9.99986147e-01 3.40500922e-03 -4.01382952e-03 2.13710679e+02] [-3.40353387e-03 9.99994138e-01 3.74341529e-04 -7.90351785e+00] [ 4.01508063e-03 -3.60675139e-04 9.99991874e-01 -4.50763668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18800114499996 meters 0.08645812263118062 Centerline is valid? [True, True] Translation: X:213.74, Y:-7.90, Z:-4.51 [[ 9.99987186e-01 3.15808705e-03 -3.95661809e-03 2.13740043e+02] [-3.15665280e-03 9.99994950e-01 3.68686410e-04 -7.90214255e+00] [ 3.95776245e-03 -3.56192016e-04 9.99992105e-01 -4.50727174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21800114499996 meters 0.08714947406430885 Centerline is valid? [True, True] Translation: X:213.77, Y:-7.91, Z:-4.51 [[ 9.99989268e-01 3.27992009e-03 -3.27203560e-03 2.13767409e+02] [-3.27894305e-03 9.99994578e-01 3.03924978e-04 -7.90798075e+00] [ 3.27301471e-03 -2.93192898e-04 9.99994601e-01 -4.50858889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24800114499996 meters 0.08849708650875016 Centerline is valid? [True, True] Translation: X:213.80, Y:-7.92, Z:-4.51 [[ 9.99997298e-01 8.23966499e-04 -2.17375303e-03 2.13796392e+02] [-8.23527913e-04 9.99999640e-01 2.02651551e-04 -7.91706642e+00] [ 2.17391922e-03 -2.00860857e-04 9.99997617e-01 -4.50895960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27800114499996 meters 0.09491395214184933 Centerline is valid? [True, True] Translation: X:213.82, Y:-7.93, Z:-4.51 [[ 9.99997616e-01 -6.46837429e-04 -2.08573827e-03 2.13823750e+02] [ 6.47242886e-04 9.99999772e-01 1.93725540e-04 -7.93115810e+00] [ 2.08561249e-03 -1.95075058e-04 9.99997806e-01 -4.51145053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30800114499996 meters 0.09206154666667792 Centerline is valid? [True, True] Translation: X:213.85, Y:-7.93, Z:-4.51 [[ 9.99995000e-01 -2.96380036e-03 -1.10282663e-03 2.13854547e+02] [ 2.96391573e-03 9.99995602e-01 1.02996241e-04 -7.93047671e+00] [ 1.10251652e-03 -1.06264412e-04 9.99999387e-01 -4.50903433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33800114499996 meters 0.08569787786930237 Centerline is valid? [True, True] Translation: X:213.89, Y:-7.92, Z:-4.51 [[ 9.99990879e-01 -3.91692675e-03 -1.70255126e-03 2.13886142e+02] [ 3.91720379e-03 9.99992315e-01 1.59415065e-04 -7.92368257e+00] [ 1.70191375e-03 -1.66082851e-04 9.99998538e-01 -4.50761246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36800114499997 meters 0.08785955670978834 Centerline is valid? [True, True] Translation: X:213.92, Y:-7.93, Z:-4.51 [[ 9.99988225e-01 -4.59406801e-03 -1.56320824e-03 2.13916175e+02] [ 4.59430310e-03 9.99989435e-01 1.46832022e-04 -7.93211977e+00] [ 1.56251717e-03 -1.54012146e-04 9.99998767e-01 -4.50931333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39800114499997 meters 0.09111418523479332 Centerline is valid? [True, True] Translation: X:213.94, Y:-7.94, Z:-4.51 [[ 9.99972710e-01 -6.99608194e-03 -2.37358491e-03 2.13944642e+02] [ 6.99662888e-03 9.99975499e-01 2.22201373e-04 -7.94391662e+00] [ 2.37197221e-03 -2.38802402e-04 9.99997158e-01 -4.51183161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42800114499997 meters 0.09033651687976059 Centerline is valid? [True, True] Translation: X:213.98, Y:-7.95, Z:-4.51 [[ 9.99971463e-01 -7.16036291e-03 -2.40861564e-03 2.13976548e+02] [ 7.16092966e-03 9.99974335e-01 2.26759140e-04 -7.94776658e+00] [ 2.40693014e-03 -2.44000596e-04 9.99997074e-01 -4.51264232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45800114499997 meters 0.09026172399253898 Centerline is valid? [True, True] Translation: X:214.01, Y:-7.95, Z:-4.51 [[ 9.99973550e-01 -6.97837837e-03 -2.04987939e-03 2.14008382e+02] [ 6.97878922e-03 9.99975629e-01 1.93341882e-04 -7.95211386e+00] [ 2.04848022e-03 -2.07642444e-04 9.99997880e-01 -4.51307910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48800114499997 meters 0.09053034503473177 Centerline is valid? [True, True] Translation: X:214.04, Y:-7.96, Z:-4.51 [[ 9.99977168e-01 -6.52742875e-03 -1.74840300e-03 2.14040582e+02] [ 6.52772753e-03 9.99978681e-01 1.65232226e-04 -7.95616973e+00] [ 1.74728718e-03 -1.76641552e-04 9.99998458e-01 -4.51306301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51800114499997 meters 0.09053034503473177 Centerline is valid? [True, True] Translation: X:214.07, Y:-7.96, Z:-4.51 [[ 9.99977603e-01 -6.46045308e-03 -1.74839157e-03 2.14072296e+02] [ 6.46075196e-03 9.99979115e-01 1.65353628e-04 -7.95921502e+00] [ 1.74728680e-03 -1.76645849e-04 9.99998458e-01 -4.51376014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54800114499997 meters 0.08880268233144596 Centerline is valid? [True, True] Translation: X:214.10, Y:-7.96, Z:-4.51 [[ 9.99985466e-01 -5.26033479e-03 -1.18188539e-03 2.14103936e+02] [ 5.26047029e-03 9.99986157e-01 1.11565918e-04 -7.95931575e+00] [ 1.18128216e-03 -1.17781569e-04 9.99999295e-01 -4.51318371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57800114499997 meters 0.0884659926911526 Centerline is valid? [True, True] Translation: X:214.13, Y:-7.96, Z:-4.51 [[ 9.99992276e-01 -3.57965261e-03 -1.62293289e-03 2.14134383e+02] [ 3.57990426e-03 9.99993581e-01 1.52176976e-04 -7.96188205e+00] [ 1.62237774e-03 -1.57985745e-04 9.99998671e-01 -4.51363489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60800114499997 meters 0.09035944594472173 Centerline is valid? [True, True] Translation: X:214.16, Y:-7.97, Z:-4.52 [[ 9.99995668e-01 -2.67269094e-03 -1.23344230e-03 2.14164134e+02] [ 2.67283608e-03 9.99996421e-01 1.16039984e-04 -7.96936402e+00] [ 1.23312775e-03 -1.19336271e-04 9.99999233e-01 -4.51528339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63800114499998 meters 0.08970331437951908 Centerline is valid? [True, True] Translation: X:214.19, Y:-7.97, Z:-4.52 [[ 9.99997291e-01 -1.98576356e-03 -1.21476453e-03 2.14194142e+02] [ 1.98590341e-03 9.99998022e-01 1.13924666e-04 -7.97267199e+00] [ 1.21453590e-03 -1.16336762e-04 9.99999256e-01 -4.51575290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66800114499998 meters 0.0871258763665526 Centerline is valid? [True, True] Translation: X:214.22, Y:-7.97, Z:-4.51 [[ 9.99999833e-01 -2.25139100e-04 -5.31959926e-04 2.14224740e+02] [ 2.25165671e-04 9.99999973e-01 4.98889747e-05 -7.97391285e+00] [ 5.31948680e-04 -5.00087455e-05 9.99999857e-01 -4.51397812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69800114499998 meters 0.08427082097866682 Centerline is valid? [True, True] Translation: X:214.26, Y:-7.97, Z:-4.51 [[ 9.99999902e-01 2.66571069e-04 3.53749202e-04 2.14255212e+02] [-2.66559350e-04 9.99999964e-01 -3.31757791e-05 -7.97227676e+00] [-3.53758033e-04 3.30814807e-05 9.99999937e-01 -4.51277779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72800114499995 meters 0.08464698824010092 Centerline is valid? [True, True] Translation: X:214.29, Y:-7.98, Z:-4.51 [[ 9.99999536e-01 8.87859018e-04 3.73889842e-04 2.14285392e+02] [-8.87846105e-04 9.99999605e-01 -3.47010589e-05 -7.97659816e+00] [-3.73920504e-04 3.43690862e-05 9.99999930e-01 -4.51310074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75800114499995 meters 0.08618680356031845 Centerline is valid? [True, True] Translation: X:214.31, Y:-7.98, Z:-4.51 [[ 9.99997337e-01 2.06464899e-03 1.03066851e-03 2.14314870e+02] [-2.06455044e-03 9.99997864e-01 -9.66770214e-05 -7.98334958e+00] [-1.03086592e-03 9.45488968e-05 9.99999464e-01 -4.51389207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78800114499995 meters 0.09110952968899325 Centerline is valid? [True, True] Translation: X:214.34, Y:-8.00, Z:-4.52 [[ 9.99996413e-01 2.66389161e-03 2.79870101e-04 2.14342980e+02] [-2.66388427e-03 9.99996452e-01 -2.66016757e-05 -7.99575903e+00] [-2.79939971e-04 2.58560387e-05 9.99999960e-01 -4.51737252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81800114499995 meters 0.08649417417187169 Centerline is valid? [True, True] Translation: X:214.37, Y:-7.99, Z:-4.52 [[ 9.99994385e-01 3.30558885e-03 5.50472359e-04 2.14373042e+02] [-3.30556055e-03 9.99994535e-01 -5.23165496e-05 -7.99216277e+00] [-5.50642288e-04 5.04966361e-05 9.99999847e-01 -4.51678360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84800114499996 meters 0.0836954081686638 Centerline is valid? [True, True] Translation: X:214.40, Y:-7.99, Z:-4.52 [[ 9.99987300e-01 5.03294519e-03 2.62502271e-04 2.14403044e+02] [-5.03293881e-03 9.99987334e-01 -2.49643225e-05 -7.99294223e+00] [-2.62624591e-04 2.36428476e-05 9.99999965e-01 -4.51774425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87800114499996 meters 0.08188143287385727 Centerline is valid? [True, True] Translation: X:214.43, Y:-7.99, Z:-4.52 [[ 9.99986831e-01 5.13095098e-03 1.03605568e-04 2.14432123e+02] [-5.13094985e-03 9.99986837e-01 -1.11564293e-05 -7.99248676e+00] [-1.03661447e-04 1.06246874e-05 9.99999995e-01 -4.51757391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90800114499996 meters 0.08403521026434582 Centerline is valid? [True, True] Translation: X:214.46, Y:-8.00, Z:-4.52 [[ 9.99984274e-01 5.60746842e-03 9.29801804e-05 2.14459172e+02] [-5.60746747e-03 9.99984278e-01 -1.04991420e-05 -7.99898589e+00] [-9.30375921e-05 9.97759356e-06 9.99999996e-01 -4.51883157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93800114499996 meters 0.08397420362094422 Centerline is valid? [True, True] Translation: X:214.49, Y:-8.00, Z:-4.52 [[ 9.99984272e-01 5.56178430e-03 -7.23287576e-04 2.14487882e+02] [-5.56173784e-03 9.99984531e-01 6.62277276e-05 -8.00162147e+00] [ 7.23644732e-04 -6.22039501e-05 9.99999736e-01 -4.51933227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96800114499996 meters 0.08306285248808874 Centerline is valid? [True, True] Translation: X:214.52, Y:-8.00, Z:-4.52 [[ 9.99985112e-01 5.22752957e-03 -1.56510924e-03 2.14516498e+02] [-5.22730923e-03 9.99986327e-01 1.44844118e-04 -8.00449535e+00] [ 1.56584501e-03 -1.36660652e-04 9.99998765e-01 -4.52121076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99800114499996 meters 0.08167563165755656 Centerline is valid? [True, True] Translation: X:214.55, Y:-8.01, Z:-4.52 [[ 9.99982235e-01 5.78317761e-03 -1.44378928e-03 2.14545074e+02] [-5.78299098e-03 9.99983269e-01 1.33399926e-04 -8.00645041e+00] [ 1.44453660e-03 -1.25048136e-04 9.99998949e-01 -4.52171504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02800114499996 meters 0.08456697490505395 Centerline is valid? [True, True] Translation: X:214.57, Y:-8.02, Z:-4.52 [[ 9.99981556e-01 5.87884804e-03 -1.52545517e-03 2.14571761e+02] [-5.87864041e-03 9.99982711e-01 1.40557145e-04 -8.01560138e+00] [ 1.52625511e-03 -1.31586950e-04 9.99998827e-01 -4.52425380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05800114499996 meters 0.08536648997092117 Centerline is valid? [True, True] Translation: X:214.60, Y:-8.02, Z:-4.53 [[ 9.99978750e-01 5.96407789e-03 -2.63242005e-03 2.14599598e+02] [-5.96345691e-03 9.99982189e-01 2.43683191e-04 -8.02022533e+00] [ 2.63382650e-03 -2.27979689e-04 9.99996505e-01 -4.52549595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08800114499996 meters 0.08365163985621576 Centerline is valid? [True, True] Translation: X:214.63, Y:-8.02, Z:-4.53 [[ 9.99977699e-01 6.20411536e-03 -2.47199353e-03 2.14628197e+02] [-6.20356832e-03 9.99980731e-01 2.28903837e-04 -8.01949092e+00] [ 2.47336604e-03 -2.13563552e-04 9.99996918e-01 -4.52508800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11800114499997 meters 0.08386233568990813 Centerline is valid? [True, True] Translation: X:214.66, Y:-8.02, Z:-4.53 [[ 9.99973063e-01 7.07686284e-03 -1.94690286e-03 2.14657398e+02] [-7.07652523e-03 9.99974945e-01 1.80244178e-04 -8.02281789e+00] [ 1.94812965e-03 -1.66462015e-04 9.99998089e-01 -4.52567053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14800114499997 meters 0.08807114821249874 Centerline is valid? [True, True] Translation: X:214.68, Y:-8.03, Z:-4.53 [[ 9.99965955e-01 8.07622967e-03 -1.69218459e-03 2.14684712e+02] [-8.07597703e-03 9.99967377e-01 1.56078727e-04 -8.03262385e+00] [ 1.69338991e-03 -1.42407369e-04 9.99998556e-01 -4.52778608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17800114499997 meters 0.07789406106404151 Centerline is valid? [True, True] Translation: X:214.72, Y:-8.02, Z:-4.52 [[ 9.99963784e-01 8.35886976e-03 -1.60018788e-03 2.14715282e+02] [-8.35864463e-03 9.99965055e-01 1.47326308e-04 -8.01711023e+00] [ 1.60136344e-03 -1.33945571e-04 9.99998709e-01 -4.52338646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20800114499997 meters 0.08018559355679677 Centerline is valid? [True, True] Translation: X:214.74, Y:-8.02, Z:-4.52 [[ 9.99966228e-01 8.19839818e-03 -5.73511711e-04 2.14742740e+02] [-8.19837000e-03 9.99966391e-01 5.14603876e-05 -8.02459786e+00] [ 5.73914329e-04 -4.67567885e-05 9.99999834e-01 -4.52494065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23800114499997 meters 0.08215226500142081 Centerline is valid? [True, True] Translation: X:214.77, Y:-8.03, Z:-4.53 [[ 9.99962263e-01 8.68704330e-03 8.48419169e-05 2.14770221e+02] [-8.68704252e-03 9.99962267e-01 -9.62596299e-06 -8.03131320e+00] [-8.49223367e-05 8.88857440e-06 9.99999996e-01 -4.52642171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26800114499997 meters 0.07868252954824131 Centerline is valid? [True, True] Translation: X:214.80, Y:-8.03, Z:-4.53 [[ 9.99959829e-01 8.95265648e-03 4.36912356e-04 2.14799236e+02] [-8.95263899e-03 9.99959923e-01 -4.19634466e-05 -8.02669858e+00] [-4.37270530e-04 3.80502422e-05 9.99999904e-01 -4.52521191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29800114499997 meters 0.08158702347960349 Centerline is valid? [True, True] Translation: X:214.83, Y:-8.03, Z:-4.53 [[ 9.99961938e-01 8.72482125e-03 3.10881097e-05 2.14826721e+02] [-8.72482110e-03 9.99961938e-01 -4.87825885e-06 -8.03383416e+00] [-3.11294884e-05 4.60683497e-06 1.00000000e+00 -4.52751471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32800114499997 meters 0.07828557141813222 Centerline is valid? [True, True] Translation: X:214.86, Y:-8.03, Z:-4.53 [[ 9.99968372e-01 7.95065868e-03 -2.05439187e-04 2.14855757e+02] [-7.95065524e-03 9.99968393e-01 1.75646335e-05 -8.02985234e+00] [ 2.05572344e-04 -1.59307018e-05 9.99999979e-01 -4.52624978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35800114499997 meters 0.08248056308259512 Centerline is valid? [True, True] Translation: X:214.88, Y:-8.04, Z:-4.53 [[ 9.99980856e-01 6.13277783e-03 -8.23168528e-04 2.14884138e+02] [-6.13271777e-03 9.99981192e-01 7.54703091e-05 -8.04086793e+00] [ 8.23615889e-04 -7.04206040e-05 9.99999658e-01 -4.53039476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38800114499998 meters 0.0843580457773999 Centerline is valid? [True, True] Translation: X:214.91, Y:-8.05, Z:-4.53 [[ 9.99986500e-01 4.76821963e-03 -2.06499602e-03 2.14912662e+02] [-4.76783735e-03 9.99988616e-01 1.90007083e-04 -8.04706875e+00] [ 2.06587851e-03 -1.80158953e-04 9.99997850e-01 -4.53250647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41800114499998 meters 0.08047057592611176 Centerline is valid? [True, True] Translation: X:214.94, Y:-8.04, Z:-4.53 [[ 9.99995571e-01 2.53008015e-03 -1.56760188e-03 2.14943254e+02] [-2.52985650e-03 9.99996789e-01 1.44634732e-04 -8.04233811e+00] [ 1.56796278e-03 -1.40668284e-04 9.99998761e-01 -4.53098763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44800114499998 meters 0.08610933166996375 Centerline is valid? [True, True] Translation: X:214.97, Y:-8.05, Z:-4.53 [[ 9.99995738e-01 1.76600075e-03 -2.32478905e-03 2.14970439e+02] [-1.76550929e-03 9.99998419e-01 2.13435486e-04 -8.05414786e+00] [ 2.32516230e-03 -2.09330140e-04 9.99997275e-01 -4.53390481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47800114499995 meters 0.08050842126158508 Centerline is valid? [True, True] Translation: X:215.00, Y:-8.05, Z:-4.53 [[ 9.99995354e-01 1.52754159e-03 -2.63790884e-03 2.15000492e+02] [-1.52690797e-03 9.99998805e-01 2.42196843e-04 -8.04579692e+00] [ 2.63827565e-03 -2.38167874e-04 9.99996491e-01 -4.53194483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50800114499995 meters 0.09292485120973065 Centerline is valid? [True, True] Translation: X:215.03, Y:-8.07, Z:-4.54 [[ 9.99995101e-01 1.18717535e-03 -2.89635109e-03 2.15025823e+02] [-1.18641018e-03 9.99999261e-01 2.65884994e-04 -8.06870699e+00] [ 2.89666460e-03 -2.62447431e-04 9.99995770e-01 -4.53964387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53800114499995 meters 0.08250217359332324 Centerline is valid? [True, True] Translation: X:215.06, Y:-8.05, Z:-4.54 [[ 9.99991771e-01 1.47855260e-03 -3.77785584e-03 2.15056218e+02] [-1.47725218e-03 9.99998849e-01 3.46988219e-04 -8.05296201e+00] [ 3.77836453e-03 -3.41404518e-04 9.99992804e-01 -4.53548502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56800114499995 meters 0.08094500097955717 Centerline is valid? [True, True] Translation: X:215.09, Y:-8.05, Z:-4.54 [[ 9.99992314e-01 2.41476028e-03 -3.08890561e-03 2.15085367e+02] [-2.41389683e-03 9.99997046e-01 2.83230087e-04 -8.05204655e+00] [ 3.08958042e-03 -2.75771610e-04 9.99995189e-01 -4.53560424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59800114499996 meters 0.08534807740065957 Centerline is valid? [True, True] Translation: X:215.11, Y:-8.06, Z:-4.54 [[ 9.99988912e-01 3.13882812e-03 -3.51063465e-03 2.15112316e+02] [-3.13771890e-03 9.99995026e-01 3.21421867e-04 -8.06154456e+00] [ 3.51162607e-03 -3.10402918e-04 9.99993786e-01 -4.53911576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62800114499996 meters 0.08070566720933287 Centerline is valid? [True, True] Translation: X:215.14, Y:-8.05, Z:-4.54 [[ 9.99970031e-01 6.26491229e-03 -4.54840911e-03 2.15143498e+02] [-6.26307199e-03 9.99980299e-01 4.18735919e-04 -8.05252254e+00] [ 4.55094285e-03 -3.90236356e-04 9.99989568e-01 -4.53817950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65800114499996 meters 0.08062850256488799 Centerline is valid? [True, True] Translation: X:215.17, Y:-8.05, Z:-4.54 [[ 9.99951804e-01 8.79772529e-03 -4.35770169e-03 2.15173400e+02] [-8.79606208e-03 9.99961234e-01 4.00689902e-04 -8.05333345e+00] [ 4.36105791e-03 -3.62339975e-04 9.99990425e-01 -4.53904917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68800114499996 meters 0.07992946833125493 Centerline is valid? [True, True] Translation: X:215.20, Y:-8.05, Z:-4.54 [[ 9.99931235e-01 1.09078615e-02 -4.30626686e-03 2.15203541e+02] [-1.09062587e-02 9.99940447e-01 3.95512017e-04 -8.05263131e+00] [ 4.31032460e-03 -3.48519559e-04 9.99990650e-01 -4.53973094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71800114499996 meters 0.07925240747410264 Centerline is valid? [True, True] Translation: X:215.23, Y:-8.05, Z:-4.54 [[ 9.99879026e-01 1.49838389e-02 -4.17336808e-03 2.15233390e+02] [-1.49823684e-02 9.99887685e-01 3.83401685e-04 -8.04920764e+00] [ 4.17864417e-03 -3.20828366e-04 9.99991218e-01 -4.54104224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74800114499996 meters 0.07874925057044135 Centerline is valid? [True, True] Translation: X:215.26, Y:-8.05, Z:-4.54 [[ 9.99846622e-01 1.70337188e-02 -4.07256429e-03 2.15263659e+02] [-1.70323349e-02 9.99854869e-01 3.74251208e-04 -8.04866211e+00] [ 4.07834812e-03 -3.04828527e-04 9.99991637e-01 -4.54187428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77800114499996 meters 0.0783670871421163 Centerline is valid? [True, True] Translation: X:215.29, Y:-8.05, Z:-4.54 [[ 9.99828802e-01 1.80378017e-02 -4.12360173e-03 2.15292417e+02] [-1.80363968e-02 9.99837260e-01 3.77645584e-04 -8.04809965e+00] [ 4.12974255e-03 -3.03206015e-04 9.99991427e-01 -4.54242079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80800114499996 meters 0.07628624994707593 Centerline is valid? [True, True] Translation: X:215.32, Y:-8.04, Z:-4.54 [[ 9.99820147e-01 1.85168021e-02 -4.09899267e-03 2.15321632e+02] [-1.85154191e-02 9.99828505e-01 3.75083038e-04 -8.04466639e+00] [ 4.10523505e-03 -2.99121011e-04 9.99991529e-01 -4.54085351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83800114499996 meters 0.07672591132153925 Centerline is valid? [True, True] Translation: X:215.35, Y:-8.04, Z:-4.54 [[ 9.99827966e-01 1.82060846e-02 -3.54651757e-03 2.15349471e+02] [-1.82050518e-02 9.99834222e-01 3.23275106e-04 -8.04409715e+00] [ 3.55181521e-03 -2.58654955e-04 9.99993659e-01 -4.54124926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86800114499997 meters 0.08252751559635128 Centerline is valid? [True, True] Translation: X:215.38, Y:-8.06, Z:-4.55 [[ 9.99840378e-01 1.75444173e-02 -3.37807919e-03 2.15376360e+02] [-1.75434766e-02 9.99846054e-01 3.07900313e-04 -8.05605876e+00] [ 3.38296107e-03 -2.48587912e-04 9.99994247e-01 -4.54562770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89800114499997 meters 0.07682286630306219 Centerline is valid? [True, True] Translation: X:215.41, Y:-8.05, Z:-4.54 [[ 9.99847904e-01 1.69080121e-02 -4.27645421e-03 2.15406100e+02] [-1.69064964e-02 9.99856999e-01 3.90332174e-04 -8.04635083e+00] [ 4.28244242e-03 -3.17972948e-04 9.99990780e-01 -4.54330275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92800114499997 meters 0.07804337122547142 Centerline is valid? [True, True] Translation: X:215.44, Y:-8.05, Z:-4.55 [[ 9.99868774e-01 1.55803696e-02 -4.43689618e-03 2.15435717e+02] [-1.55787223e-02 9.99878562e-01 4.05599897e-04 -8.04982308e+00] [ 4.44267677e-03 -3.36425499e-04 9.99990075e-01 -4.54514544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95800114499997 meters 0.08035102343640435 Centerline is valid? [True, True] Translation: X:215.46, Y:-8.05, Z:-4.55 [[ 9.99906521e-01 1.27615329e-02 -4.90840071e-03 2.15464687e+02] [-1.27594794e-02 9.99918494e-01 4.49452334e-04 -8.05244994e+00] [ 4.91373635e-03 -3.86781682e-04 9.99987853e-01 -4.54583111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98800114499997 meters 0.08015370646018326 Centerline is valid? [True, True] Translation: X:215.49, Y:-8.05, Z:-4.55 [[ 9.99916581e-01 1.17011200e-02 -5.46938343e-03 2.15493962e+02] [-1.16985618e-02 9.99931445e-01 4.99505928e-04 -8.05330327e+00] [ 5.47485326e-03 -4.35480340e-04 9.99984918e-01 -4.54656651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01800114499997 meters 0.07859277466296508 Centerline is valid? [True, True] Translation: X:215.52, Y:-8.05, Z:-4.55 [[ 9.99932894e-01 1.01992452e-02 -5.49390635e-03 2.15524176e+02] [-1.01966406e-02 9.99947887e-01 5.01903031e-04 -8.05096280e+00] [ 5.49873908e-03 -4.45849962e-04 9.99984782e-01 -4.54702662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04800114499997 meters 0.0794278223712248 Centerline is valid? [True, True] Translation: X:215.55, Y:-8.05, Z:-4.55 [[ 9.99940346e-01 9.33976094e-03 -5.66333933e-03 2.15552422e+02] [-9.33698829e-03 9.99956276e-01 5.15819624e-04 -8.05365998e+00] [ 5.66790934e-03 -4.62910320e-04 9.99983830e-01 -4.54780570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07800114499997 meters 0.08146801715640832 Centerline is valid? [True, True] Translation: X:215.58, Y:-8.06, Z:-4.55 [[ 9.99948186e-01 8.66907377e-03 -5.33601292e-03 2.15579476e+02] [-8.66660831e-03 9.99962327e-01 4.84990649e-04 -8.05761075e+00] [ 5.34001632e-03 -4.38720385e-04 9.99985646e-01 -4.54928845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10800114499997 meters 0.08303936103907403 Centerline is valid? [True, True] Translation: X:215.61, Y:-8.06, Z:-4.55 [[ 9.99957725e-01 8.02404713e-03 -4.49020496e-03 2.15608057e+02] [-8.02229429e-03 9.99967738e-01 4.08244764e-04 -8.05840717e+00] [ 4.49333587e-03 -3.72205760e-04 9.99989836e-01 -4.54966940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13800114499998 meters 0.0844353860812778 Centerline is valid? [True, True] Translation: X:215.64, Y:-8.06, Z:-4.55 [[ 9.99959084e-01 7.83844308e-03 -4.51538826e-03 2.15635400e+02] [-7.83667191e-03 9.99969209e-01 4.09812704e-04 -8.06185922e+00] [ 4.51846152e-03 -3.74410320e-04 9.99989722e-01 -4.55069358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16800114499998 meters 0.08425204277513874 Centerline is valid? [True, True] Translation: X:215.66, Y:-8.06, Z:-4.55 [[ 9.99962081e-01 7.75559250e-03 -3.96079023e-03 2.15664346e+02] [-7.75422948e-03 9.99969871e-01 3.59367454e-04 -8.06309891e+00] [ 3.96345801e-03 -3.28640950e-04 9.99992091e-01 -4.55141550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19800114499998 meters 0.08661424962037113 Centerline is valid? [True, True] Translation: X:215.69, Y:-8.07, Z:-4.55 [[ 9.99971979e-01 6.41180161e-03 -3.86404629e-03 2.15692424e+02] [-6.41049548e-03 9.99979391e-01 3.50310498e-04 -8.06688808e+00] [ 3.86621277e-03 -3.25530231e-04 9.99992473e-01 -4.55325484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22800114499995 meters 0.08355434490918591 Centerline is valid? [True, True] Translation: X:215.72, Y:-8.06, Z:-4.55 [[ 9.99976144e-01 5.53974237e-03 -4.12591385e-03 2.15722628e+02] [-5.53824321e-03 9.99984594e-01 3.74689822e-04 -8.06280748e+00] [ 4.12792597e-03 -3.51830569e-04 9.99991418e-01 -4.55276220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25800114499995 meters 0.08351941931424241 Centerline is valid? [True, True] Translation: X:215.75, Y:-8.06, Z:-4.55 [[ 9.99979329e-01 5.17706608e-03 -3.81308844e-03 2.15751806e+02] [-5.17578705e-03 9.99986546e-01 3.45222497e-04 -8.06405930e+00] [ 3.81482438e-03 -3.25479627e-04 9.99992671e-01 -4.55332590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28800114499995 meters 0.08462865932032297 Centerline is valid? [True, True] Translation: X:215.78, Y:-8.07, Z:-4.55 [[ 9.99987287e-01 4.22632203e-03 -2.75015697e-03 2.15779389e+02] [-4.22565590e-03 9.99991041e-01 2.47982481e-04 -8.06587881e+00] [ 2.75118039e-03 -2.36358112e-04 9.99996188e-01 -4.55305086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31800114499995 meters 0.08481098748387929 Centerline is valid? [True, True] Translation: X:215.81, Y:-8.07, Z:-4.55 [[ 9.99989904e-01 3.63404573e-03 -2.64289688e-03 2.15807922e+02] [-3.63342817e-03 9.99993371e-01 2.38433009e-04 -8.06746317e+00] [ 2.64374584e-03 -2.28827826e-04 9.99996479e-01 -4.55300661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34800114499996 meters 0.08564118064369401 Centerline is valid? [True, True] Translation: X:215.84, Y:-8.07, Z:-4.55 [[ 9.99994248e-01 2.97695627e-03 -1.62536004e-03 2.15836059e+02] [-2.97672356e-03 9.99995559e-01 1.45575101e-04 -8.07045020e+00] [ 1.62578619e-03 -1.40736017e-04 9.99998669e-01 -4.55309019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37800114499996 meters 0.08490495234955468 Centerline is valid? [True, True] Translation: X:215.86, Y:-8.07, Z:-4.55 [[ 9.99995167e-01 2.56147398e-03 -1.76192886e-03 2.15864686e+02] [-2.56119920e-03 9.99996708e-01 1.58188805e-04 -8.07072181e+00] [ 1.76232826e-03 -1.53675390e-04 9.99998435e-01 -4.55335301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40800114499996 meters 0.08490495234955468 Centerline is valid? [True, True] Translation: X:215.89, Y:-8.07, Z:-4.55 [[ 9.99995338e-01 2.49408682e-03 -1.76193979e-03 2.15892984e+02] [-2.49381216e-03 9.99996878e-01 1.58067608e-04 -8.07321087e+00] [ 1.76232852e-03 -1.53672924e-04 9.99998435e-01 -4.55397588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43800114499996 meters 0.08588947432095424 Centerline is valid? [True, True] Translation: X:215.92, Y:-8.08, Z:-4.55 [[ 9.99996574e-01 2.07427385e-03 -1.59674756e-03 2.15921060e+02] [-2.07404875e-03 9.99997839e-01 1.42616437e-04 -8.07638417e+00] [ 1.59703993e-03 -1.39304216e-04 9.99998715e-01 -4.55441647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46800114499996 meters 0.08666187999914776 Centerline is valid? [True, True] Translation: X:215.95, Y:-8.08, Z:-4.56 [[ 9.99996020e-01 2.26517956e-03 -1.68171899e-03 2.15949650e+02] [-2.26492887e-03 9.99997424e-01 1.50961167e-04 -8.07958794e+00] [ 1.68205661e-03 -1.47151593e-04 9.99998575e-01 -4.55557338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49800114499996 meters 0.09388424610823445 Centerline is valid? [True, True] Translation: X:215.98, Y:-8.09, Z:-4.56 [[ 9.99995439e-01 2.13118602e-03 -2.13992763e-03 2.15977085e+02] [-2.13077935e-03 9.99997711e-01 1.92298118e-04 -8.09398334e+00] [ 2.14033255e-03 -1.87737527e-04 9.99997692e-01 -4.56035621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52800114499996 meters 0.08635933910474632 Centerline is valid? [True, True] Translation: X:216.01, Y:-8.08, Z:-4.56 [[ 9.99994078e-01 2.74806893e-03 -2.07170345e-03 2.16007437e+02] [-2.74768940e-03 9.99996208e-01 1.86020405e-04 -8.08393665e+00] [ 2.07220679e-03 -1.80326905e-04 9.99997837e-01 -4.55766092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55800114499996 meters 0.08726773389251942 Centerline is valid? [True, True] Translation: X:216.03, Y:-8.09, Z:-4.56 [[ 9.99992455e-01 2.97444521e-03 -2.49865188e-03 2.16034860e+02] [-2.97389558e-03 9.99995553e-01 2.23657077e-04 -8.08725730e+00] [ 2.49930603e-03 -2.16224660e-04 9.99996853e-01 -4.55945888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58800114499996 meters 0.08716522426018114 Centerline is valid? [True, True] Translation: X:216.07, Y:-8.09, Z:-4.56 [[ 9.99976962e-01 5.48845767e-03 -3.99407294e-03 2.16065194e+02] [-5.48706529e-03 9.99984881e-01 3.59484777e-04 -8.08916754e+00] [ 3.99598557e-03 -3.37560757e-04 9.99991959e-01 -4.56230663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61800114499997 meters 0.09197515178838704 Centerline is valid? [True, True] Translation: X:216.09, Y:-8.10, Z:-4.57 [[ 9.99965092e-01 7.35419398e-03 -3.96625444e-03 2.16093250e+02] [-7.35283578e-03 9.99972904e-01 3.56910913e-04 -8.09920046e+00] [ 3.96877176e-03 -3.27735236e-04 9.99992071e-01 -4.56564396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64800114499997 meters 0.0838019302705683 Centerline is valid? [True, True] Translation: X:216.13, Y:-8.09, Z:-4.56 [[ 9.99946684e-01 9.71583984e-03 -3.49733257e-03 2.16125033e+02] [-9.71479740e-03 9.99952761e-01 3.14934309e-04 -8.08727735e+00] [ 3.50022721e-03 -2.80941640e-04 9.99993835e-01 -4.56170074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67800114499997 meters 0.08178668692479311 Centerline is valid? [True, True] Translation: X:216.16, Y:-8.09, Z:-4.56 [[ 9.99919411e-01 1.22913521e-02 -3.17713077e-03 2.16155668e+02] [-1.22905047e-02 9.99924428e-01 2.86113821e-04 -8.08523582e+00] [ 3.18040739e-03 -2.47042223e-04 9.99994912e-01 -4.56165244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70800114499997 meters 0.07971719473854968 Centerline is valid? [True, True] Translation: X:216.19, Y:-8.08, Z:-4.56 [[ 9.99833705e-01 1.79633023e-02 -3.14354845e-03 2.16185178e+02] [-1.79625023e-02 9.99838621e-01 2.82547880e-04 -8.08189637e+00] [ 3.14811664e-03 -2.26034898e-04 9.99995019e-01 -4.56158229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73800114499997 meters 0.0749193744951554 Centerline is valid? [True, True] Translation: X:216.22, Y:-8.07, Z:-4.56 [[ 9.99773426e-01 2.09959942e-02 -3.50217543e-03 2.16216310e+02] [-2.09950185e-02 9.99779531e-01 3.15136402e-04 -8.07484780e+00] [ 3.50801991e-03 -2.41536762e-04 9.99993818e-01 -4.55962075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76800114499997 meters 0.0754529307816524 Centerline is valid? [True, True] Translation: X:216.25, Y:-8.08, Z:-4.56 [[ 9.99683755e-01 2.49223559e-02 -3.35641747e-03 2.16245605e+02] [-2.49214823e-02 9.99689366e-01 3.01874365e-04 -8.07744121e+00] [ 3.36289827e-03 -2.18132000e-04 9.99994322e-01 -4.56178998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79800114499997 meters 0.07563240280543035 Centerline is valid? [True, True] Translation: X:216.27, Y:-8.08, Z:-4.56 [[ 9.99649418e-01 2.63568283e-02 -2.52167579e-03 2.16274534e+02] [-2.63563409e-02 9.99652586e-01 2.26327657e-04 -8.08040837e+00] [ 2.52676500e-03 -1.59786164e-04 9.99996795e-01 -4.56250422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82800114499997 meters 0.07985773216360834 Centerline is valid? [True, True] Translation: X:216.30, Y:-8.09, Z:-4.57 [[ 9.99618827e-01 2.75307544e-02 -2.06339157e-03 2.16301333e+02] [-2.75304334e-02 9.99620949e-01 1.83843070e-04 -8.09050731e+00] [ 2.06767078e-03 -1.26966930e-04 9.99997854e-01 -4.56566722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85800114499997 meters 0.07446576183885657 Centerline is valid? [True, True] Translation: X:216.33, Y:-8.08, Z:-4.56 [[ 9.99575647e-01 2.91283908e-02 -2.48755303e-04 2.16331850e+02] [-2.91283863e-02 9.99575678e-01 2.16618905e-05 -8.08097091e+00] [ 2.49280727e-04 -1.44068576e-05 9.99999969e-01 -4.56057275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88800114499998 meters 0.07448488464258203 Centerline is valid? [True, True] Translation: X:216.36, Y:-8.08, Z:-4.56 [[ 9.99571705e-01 2.92644014e-02 3.48482618e-05 2.16360545e+02] [-2.92644012e-02 9.99571706e-01 -4.54303490e-06 -8.08357338e+00] [-3.49662857e-05 3.52127562e-06 9.99999999e-01 -4.56140804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91800114499998 meters 0.07340617136214822 Centerline is valid? [True, True] Translation: X:216.39, Y:-8.08, Z:-4.56 [[ 9.99574212e-01 2.91764709e-02 3.59495488e-04 2.16389270e+02] [-2.91764607e-02 9.99574276e-01 -3.37160283e-05 -8.08452563e+00] [-3.60326157e-04 2.32128665e-05 9.99999935e-01 -4.56135314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94800114499998 meters 0.07393293979762103 Centerline is valid? [True, True] Translation: X:216.42, Y:-8.09, Z:-4.56 [[ 9.99597424e-01 2.83635429e-02 7.06575529e-04 2.16416253e+02] [-2.83635037e-02 9.99597673e-01 -6.55064334e-05 -8.08863804e+00] [-7.08149249e-04 4.54391045e-05 9.99999748e-01 -4.56270075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97800114499995 meters 0.07362838520249135 Centerline is valid? [True, True] Translation: X:216.44, Y:-8.09, Z:-4.56 [[ 9.99626985e-01 2.73084536e-02 3.72611261e-04 2.16444519e+02] [-2.73084423e-02 9.99627054e-01 -3.51800248e-05 -8.09103961e+00] [-3.73433009e-04 2.49914691e-05 9.99999930e-01 -4.56270074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00800114499995 meters 0.0740485432067851 Centerline is valid? [True, True] Translation: X:216.47, Y:-8.09, Z:-4.56 [[ 9.99647773e-01 2.65262200e-02 8.30057857e-04 2.16472630e+02] [-2.65261659e-02 9.99648116e-01 -7.61032730e-05 -8.09433790e+00] [-8.31784505e-04 5.40582150e-05 9.99999653e-01 -4.56347454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03800114499995 meters 0.07497956394035467 Centerline is valid? [True, True] Translation: X:216.50, Y:-8.10, Z:-4.56 [[ 9.99671606e-01 2.56219802e-02 4.39737985e-04 2.16500508e+02] [-2.56219646e-02 9.99671703e-01 -4.11202232e-05 -8.09883816e+00] [-4.40647202e-04 2.98397685e-05 9.99999902e-01 -4.56460718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06800114499995 meters 0.07431785379167681 Centerline is valid? [True, True] Translation: X:216.53, Y:-8.10, Z:-4.57 [[ 9.99700653e-01 2.44645528e-02 2.99226330e-04 2.16529072e+02] [-2.44645455e-02 9.99700698e-01 -2.81990569e-05 -8.10049460e+00] [-2.99826648e-04 2.08701794e-05 9.99999955e-01 -4.56508552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09800114499996 meters 0.07528382570329045 Centerline is valid? [True, True] Translation: X:216.56, Y:-8.11, Z:-4.57 [[ 9.99729595e-01 2.32524931e-02 -2.41570112e-04 2.16557340e+02] [-2.32524889e-02 9.99729624e-01 2.04964894e-05 -8.10569560e+00] [ 2.41981391e-04 -1.48738407e-05 9.99999971e-01 -4.56632961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12800114499996 meters 0.07450565457375673 Centerline is valid? [True, True] Translation: X:216.59, Y:-8.11, Z:-4.57 [[ 9.99736886e-01 2.29380719e-02 6.51087284e-05 2.16585859e+02] [-2.29380714e-02 9.99736888e-01 -7.27113962e-06 -8.10808262e+00] [-6.52583835e-05 5.77575781e-06 9.99999998e-01 -4.56665423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15800114499996 meters 0.0756658700846984 Centerline is valid? [True, True] Translation: X:216.61, Y:-8.11, Z:-4.57 [[ 9.99740755e-01 2.27505721e-02 -9.13054065e-04 2.16613124e+02] [-2.27505088e-02 9.99741171e-01 7.96170043e-05 -8.11283777e+00] [ 9.14629072e-04 -5.88239195e-05 9.99999580e-01 -4.56794863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18800114499996 meters 0.07421475208982639 Centerline is valid? [True, True] Translation: X:216.64, Y:-8.11, Z:-4.57 [[ 9.99716847e-01 2.37952878e-02 -9.88889881e-05 2.16641902e+02] [-2.37952872e-02 9.99716852e-01 7.36072063e-06 -8.11310580e+00] [ 9.90361383e-05 -5.00554455e-06 9.99999995e-01 -4.56727889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21800114499996 meters 0.07390702401152774 Centerline is valid? [True, True] Translation: X:216.67, Y:-8.11, Z:-4.57 [[ 9.99702926e-01 2.43720142e-02 2.55246093e-04 2.16670667e+02] [-2.43720088e-02 9.99702958e-01 -2.41757832e-05 -8.11472158e+00] [-2.55759487e-04 1.79477412e-05 9.99999967e-01 -4.56748730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24800114499996 meters 0.07333690476650775 Centerline is valid? [True, True] Translation: X:216.70, Y:-8.12, Z:-4.57 [[ 9.99639696e-01 2.68203199e-02 1.07129408e-03 2.16699514e+02] [-2.68202323e-02 9.99640268e-01 -9.60808565e-05 -8.11645164e+00] [-1.07348562e-03 6.73138821e-05 9.99999422e-01 -4.56789647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27800114499996 meters 0.07407242319122355 Centerline is valid? [True, True] Translation: X:216.73, Y:-8.12, Z:-4.57 [[ 9.99605880e-01 2.80475754e-02 1.19080059e-03 2.16726896e+02] [-2.80474670e-02 9.99606587e-01 -1.07665887e-04 -8.12077464e+00] [-1.19335188e-03 7.42245139e-05 9.99999285e-01 -4.56924476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30800114499996 meters 0.07305124421839933 Centerline is valid? [True, True] Translation: X:216.76, Y:-8.12, Z:-4.57 [[ 9.99556014e-01 2.97869158e-02 7.16651244e-04 2.16755769e+02] [-2.97868767e-02 9.99556270e-01 -6.50918432e-05 -8.12110369e+00] [-7.18272130e-04 4.37161411e-05 9.99999741e-01 -4.56924010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33800114499996 meters 0.07232554736924143 Centerline is valid? [True, True] Translation: X:216.79, Y:-8.12, Z:-4.57 [[ 9.99501121e-01 3.15617346e-02 1.16859515e-03 2.16786149e+02] [-3.15616335e-02 9.99501802e-01 -1.04825221e-04 -8.12171778e+00] [-1.17132142e-03 6.78901540e-05 9.99999312e-01 -4.56973660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36800114499997 meters 0.07075327962015139 Centerline is valid? [True, True] Translation: X:216.82, Y:-8.12, Z:-4.57 [[ 9.99352325e-01 3.58977589e-02 2.50633704e-03 2.16817345e+02] [-3.58973127e-02 9.99355459e-01 -2.22816224e-04 -8.12002566e+00] [-2.51272020e-03 1.32701147e-04 9.99996834e-01 -4.56823042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39800114499997 meters 0.06824619420237571 Centerline is valid? [True, True] Translation: X:216.85, Y:-8.12, Z:-4.57 [[ 9.99275536e-01 3.79107585e-02 3.34342092e-03 2.16847535e+02] [-3.79099746e-02 9.99281114e-01 -2.97555666e-04 -8.11703954e+00] [-3.35229794e-03 1.70591095e-04 9.99994366e-01 -4.56612908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42800114499997 meters 0.06983622289649653 Centerline is valid? [True, True] Translation: X:216.88, Y:-8.12, Z:-4.57 [[ 9.99175791e-01 4.04631251e-02 3.23638067e-03 2.16876034e+02] [-4.04624042e-02 9.99181020e-01 -2.87939988e-04 -8.12483983e+00] [-3.24538110e-03 1.56750922e-04 9.99994721e-01 -4.56962791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45800114499997 meters 0.06674685260881728 Centerline is valid? [True, True] Translation: X:216.91, Y:-8.12, Z:-4.57 [[ 9.99110262e-01 4.20914165e-02 2.64516992e-03 2.16905221e+02] [-4.20909388e-02 9.99113756e-01 -2.36010863e-04 -8.11964559e+00] [-2.65275969e-03 1.24463190e-04 9.99996474e-01 -4.56726442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48800114499997 meters 0.06683617584101405 Centerline is valid? [True, True] Translation: X:216.93, Y:-8.12, Z:-4.57 [[ 9.99059793e-01 4.32651939e-02 2.76645339e-03 2.16933193e+02] [-4.32646681e-02 9.99063615e-01 -2.49654556e-04 -8.12184575e+00] [-2.77466428e-03 1.29730142e-04 9.99996142e-01 -4.56867019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51800114499997 meters 0.06596945310972846 Centerline is valid? [True, True] Translation: X:216.96, Y:-8.12, Z:-4.57 [[ 9.98990485e-01 4.48866650e-02 1.78816436e-03 2.16962176e+02] [-4.48864455e-02 9.98992082e-01 -1.62748982e-04 -8.12181078e+00] [-1.79366729e-03 8.23203422e-05 9.99998388e-01 -4.56920416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54800114499997 meters 0.06557245207613521 Centerline is valid? [True, True] Translation: X:216.99, Y:-8.12, Z:-4.57 [[ 9.98873684e-01 4.74160165e-02 1.75617464e-03 2.16991099e+02] [-4.74158161e-02 9.98875226e-01 -1.55587331e-04 -8.12375222e+00] [-1.76157667e-03 7.21416364e-05 9.99998446e-01 -4.57093474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57800114499997 meters 0.06428305608738172 Centerline is valid? [True, True] Translation: X:217.02, Y:-8.12, Z:-4.57 [[ 9.98714359e-01 5.06910486e-02 -2.13851565e-04 2.17019921e+02] [-5.06910460e-02 9.98714382e-01 1.74383656e-05 -8.12325335e+00] [ 2.14460603e-04 -6.57558656e-06 9.99999977e-01 -4.57218958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60800114499997 meters 0.0631472488270327 Centerline is valid? [True, True] Translation: X:217.05, Y:-8.12, Z:-4.57 [[ 9.98652357e-01 5.18986515e-02 -2.28536192e-05 2.17049056e+02] [-5.18986516e-02 9.98652357e-01 -3.12526317e-06 -8.12151256e+00] [ 2.26606237e-05 4.30712345e-06 1.00000000e+00 -4.57043045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63800114499998 meters 0.06356257362445504 Centerline is valid? [True, True] Translation: X:217.08, Y:-8.13, Z:-4.57 [[ 9.98583951e-01 5.31853352e-02 -1.18826482e-03 2.17076424e+02] [-5.31852508e-02 9.98584658e-01 1.02525296e-04 -8.12529796e+00] [ 1.19203586e-03 -3.91819527e-05 9.99999289e-01 -4.57239917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66800114499998 meters 0.06301482370462143 Centerline is valid? [True, True] Translation: X:217.11, Y:-8.13, Z:-4.57 [[ 9.98517104e-01 5.44205302e-02 -1.41368151e-03 2.17105214e+02] [-5.44204165e-02 9.98518104e-01 1.18773120e-04 -8.12515070e+00] [ 1.41805027e-03 -4.16638550e-05 9.99998994e-01 -4.57172014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69800114499998 meters 0.06355934721451305 Centerline is valid? [True, True] Translation: X:217.13, Y:-8.13, Z:-4.57 [[ 9.98447186e-01 5.56594753e-02 -2.28915211e-03 2.17132586e+02] [-5.56591663e-02 9.98449807e-01 1.98519730e-04 -8.13044383e+00] [ 2.29665299e-03 -7.07991675e-05 9.99997360e-01 -4.57499812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72800114499995 meters 0.06329774782026609 Centerline is valid? [True, True] Translation: X:217.16, Y:-8.13, Z:-4.58 [[ 9.98450536e-01 5.55812125e-02 -2.69365582e-03 2.17160572e+02] [-5.55807957e-02 9.98454166e-01 2.29398343e-04 -8.13207740e+00] [ 2.70224211e-03 -7.93273650e-05 9.99996346e-01 -4.57545315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75800114499995 meters 0.06291977414491891 Centerline is valid? [True, True] Translation: X:217.19, Y:-8.13, Z:-4.58 [[ 9.98450636e-01 5.55486060e-02 -3.26785307e-03 2.17188140e+02] [-5.55479917e-02 9.98455980e-01 2.78506799e-04 -8.13496169e+00] [ 3.27827810e-03 -9.65526162e-05 9.99994622e-01 -4.57659352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78800114499995 meters 0.06339773297278316 Centerline is valid? [True, True] Translation: X:217.22, Y:-8.14, Z:-4.58 [[ 9.98479706e-01 5.50017157e-02 -3.61784946e-03 2.17215452e+02] [-5.50009474e-02 9.98486254e-01 3.11576977e-04 -8.13927558e+00] [ 3.62951022e-03 -1.12118140e-04 9.99993407e-01 -4.57790452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81800114499995 meters 0.06302869045576481 Centerline is valid? [True, True] Translation: X:217.24, Y:-8.14, Z:-4.58 [[ 9.98522604e-01 5.42671029e-02 -2.77341423e-03 2.17243608e+02] [-5.42666607e-02 9.98526452e-01 2.34513755e-04 -8.14092935e+00] [ 2.78205385e-03 -8.36633563e-05 9.99996127e-01 -4.57613669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84800114499996 meters 0.06297991326956437 Centerline is valid? [True, True] Translation: X:217.27, Y:-8.14, Z:-4.58 [[ 9.98568316e-01 5.34398801e-02 -2.34464356e-03 2.17272299e+02] [-5.34395635e-02 9.98571066e-01 1.97532577e-04 -8.14401396e+00] [ 2.35184933e-03 -7.19530441e-05 9.99997232e-01 -4.57559188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87800114499996 meters 0.06371573348800527 Centerline is valid? [True, True] Translation: X:217.30, Y:-8.15, Z:-4.58 [[ 9.98703414e-01 5.09002697e-02 -8.07911469e-04 2.17299154e+02] [-5.09002313e-02 9.98703741e-01 6.79497631e-05 -8.15222925e+00] [ 8.10322867e-04 -2.67387797e-05 9.99999671e-01 -4.57651325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90800114499996 meters 0.06411476322401176 Centerline is valid? [True, True] Translation: X:217.33, Y:-8.16, Z:-4.58 [[ 9.98793921e-01 4.90916448e-02 -8.44617441e-04 2.17327324e+02] [-4.90916031e-02 9.98794278e-01 6.99690466e-05 -8.15787930e+00] [ 8.47033962e-04 -2.84210342e-05 9.99999641e-01 -4.57763790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93800114499996 meters 0.06458300270465693 Centerline is valid? [True, True] Translation: X:217.36, Y:-8.16, Z:-4.58 [[ 9.98908097e-01 4.67100542e-02 -8.86265193e-04 2.17356959e+02] [-4.67100055e-02 9.98908489e-01 7.56254828e-05 -8.16302020e+00] [ 8.88830296e-04 -3.41454550e-05 9.99999604e-01 -4.57786761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96800114499996 meters 0.06497800395814293 Centerline is valid? [True, True] Translation: X:217.39, Y:-8.17, Z:-4.58 [[ 9.99014706e-01 4.43633080e-02 -1.23035427e-03 2.17386068e+02] [-4.43632120e-02 9.99015463e-01 1.05223104e-04 -8.16788943e+00] [ 1.23381099e-03 -5.05369606e-05 9.99999238e-01 -4.57798579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99800114499996 meters 0.06667568309452165 Centerline is valid? [True, True] Translation: X:217.41, Y:-8.18, Z:-4.58 [[ 9.99166122e-01 4.08295877e-02 -7.24709206e-05 2.17414241e+02] [-4.08295874e-02 9.99166125e-01 5.53325099e-06 -8.17697753e+00] [ 7.26364092e-05 -2.56967915e-06 9.99999997e-01 -4.57935970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02800114499996 meters 0.06621830517304107 Centerline is valid? [True, True] Translation: X:217.44, Y:-8.18, Z:-4.58 [[ 9.99258255e-01 3.85056254e-02 -5.07048231e-04 2.17443968e+02] [-3.85056086e-02 9.99258383e-01 4.28993936e-05 -8.17861857e+00] [ 5.08324063e-04 -2.33433725e-05 9.99999871e-01 -4.57909123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05800114499996 meters 0.06784371685441835 Centerline is valid? [True, True] Translation: X:217.47, Y:-8.19, Z:-4.58 [[ 9.99299119e-01 3.74138251e-02 -1.21534998e-03 2.17470925e+02] [-3.74137278e-02 9.99299856e-01 1.02677728e-04 -8.18636172e+00] [ 1.21834063e-03 -5.71349902e-05 9.99999256e-01 -4.58172134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08800114499996 meters 0.06729840822582624 Centerline is valid? [True, True] Translation: X:217.50, Y:-8.19, Z:-4.58 [[ 9.99348197e-01 3.60565127e-02 -1.76331623e-03 2.17499325e+02] [-3.60563107e-02 9.99349749e-01 1.46224051e-04 -8.18817484e+00] [ 1.76744196e-03 -8.25500640e-05 9.99998435e-01 -4.58190924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11800114499997 meters 0.0672633102583947 Centerline is valid? [True, True] Translation: X:217.53, Y:-8.19, Z:-4.58 [[ 9.99391551e-01 3.48219697e-02 -1.98954903e-03 2.17528049e+02] [-3.48217098e-02 9.99393527e-01 1.65117614e-04 -8.19131333e+00] [ 1.99409214e-03 -9.57376493e-05 9.99998007e-01 -4.58300594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14800114499997 meters 0.0676529936780755 Centerline is valid? [True, True] Translation: X:217.56, Y:-8.20, Z:-4.58 [[ 9.99458742e-01 3.27571312e-02 -3.03202128e-03 2.17556980e+02] [-3.27565005e-02 9.99463329e-01 2.57464881e-04 -8.19575961e+00] [ 3.03882789e-03 -1.58007120e-04 9.99995370e-01 -4.58444416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17800114499997 meters 0.06791365897092799 Centerline is valid? [True, True] Translation: X:217.59, Y:-8.20, Z:-4.58 [[ 9.99478811e-01 3.20546323e-02 -3.82180265e-03 2.17585369e+02] [-3.20536240e-02 9.99486098e-01 3.24789035e-04 -8.19904790e+00] [ 3.83024961e-03 -2.02117134e-04 9.99992644e-01 -4.58488644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20800114499997 meters 0.06834866289917349 Centerline is valid? [True, True] Translation: X:217.61, Y:-8.20, Z:-4.59 [[ 9.99509429e-01 3.10423384e-02 -4.15628412e-03 2.17613358e+02] [-3.10411397e-02 9.99518046e-01 3.52636788e-04 -8.20250115e+00] [ 4.16522765e-03 -2.23447999e-04 9.99991300e-01 -4.58581156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23800114499997 meters 0.06846763156205582 Centerline is valid? [True, True] Translation: X:217.64, Y:-8.21, Z:-4.59 [[ 9.99520407e-01 3.06524198e-02 -4.40275995e-03 2.17642430e+02] [-3.06510701e-02 9.99530076e-01 3.73723019e-04 -8.20548748e+00] [ 4.41214650e-03 -2.38594481e-04 9.99990238e-01 -4.58692719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26800114499997 meters 0.06866439817848154 Centerline is valid? [True, True] Translation: X:217.67, Y:-8.21, Z:-4.59 [[ 9.99518211e-01 3.05516803e-02 -5.47183846e-03 2.17670522e+02] [-3.05495965e-02 9.99533144e-01 4.64017406e-04 -8.20884787e+00] [ 5.48346041e-03 -2.96631391e-04 9.99984922e-01 -4.58825739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29800114499997 meters 0.06833550208336421 Centerline is valid? [True, True] Translation: X:217.70, Y:-8.21, Z:-4.59 [[ 9.99517859e-01 3.06066221e-02 -5.22337393e-03 2.17699152e+02] [-3.06047245e-02 9.99531468e-01 4.42857233e-04 -8.21045464e+00] [ 5.23448097e-03 -2.82783793e-04 9.99986260e-01 -4.58869034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32800114499997 meters 0.06833550208336421 Centerline is valid? [True, True] Translation: X:217.73, Y:-8.21, Z:-4.59 [[ 9.99520889e-01 3.05075042e-02 -5.22347940e-03 2.17726550e+02] [-3.05056117e-02 9.99534498e-01 4.41615736e-04 -8.21268080e+00] [ 5.23452045e-03 -2.82058719e-04 9.99986260e-01 -4.58929310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35800114499997 meters 0.06938921660604509 Centerline is valid? [True, True] Translation: X:217.75, Y:-8.22, Z:-4.59 [[ 9.99515349e-01 3.07214029e-02 -5.02628042e-03 2.17753678e+02] [-3.07196539e-02 9.99527950e-01 4.24821986e-04 -8.21752577e+00] [ 5.03695889e-03 -2.70210500e-04 9.99987278e-01 -4.59114744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38800114499998 meters 0.06827099968082628 Centerline is valid? [True, True] Translation: X:217.78, Y:-8.22, Z:-4.59 [[ 9.99523218e-01 3.06688874e-02 -3.57157511e-03 2.17783014e+02] [-3.06680188e-02 9.99529581e-01 2.97731191e-04 -8.21662716e+00] [ 3.57902605e-03 -1.88056105e-04 9.99993578e-01 -4.58961911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41800114499998 meters 0.06973303872086288 Centerline is valid? [True, True] Translation: X:217.81, Y:-8.22, Z:-4.59 [[ 9.99542855e-01 3.00294812e-02 -3.50881844e-03 2.17810508e+02] [-3.00286336e-02 9.99548996e-01 2.93998838e-04 -8.22239133e+00] [ 3.51606458e-03 -1.88499414e-04 9.99993801e-01 -4.59136136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44800114499998 meters 0.06866351570034267 Centerline is valid? [True, True] Translation: X:217.84, Y:-8.22, Z:-4.59 [[ 9.99562552e-01 2.93798717e-02 -3.39534468e-03 2.17839436e+02] [-2.93790713e-02 9.99568301e-01 2.85406540e-04 -8.22296876e+00] [ 3.40226412e-03 -1.85529616e-04 9.99994195e-01 -4.59063737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47800114499995 meters 0.06931129903266693 Centerline is valid? [True, True] Translation: X:217.87, Y:-8.23, Z:-4.59 [[ 9.99610777e-01 2.76516685e-02 -3.69870731e-03 2.17868309e+02] [-2.76507057e-02 9.99617598e-01 3.11207258e-04 -8.22738742e+00] [ 3.70589831e-03 -2.08814262e-04 9.99993111e-01 -4.59119465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50800114499995 meters 0.07132761262249365 Centerline is valid? [True, True] Translation: X:217.90, Y:-8.24, Z:-4.59 [[ 9.99711025e-01 2.37555733e-02 -3.67961301e-03 2.17898316e+02] [-2.37545893e-02 9.99717772e-01 3.10887486e-04 -8.23558258e+00] [ 3.68595983e-03 -2.23389951e-04 9.99993182e-01 -4.59338305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53800114499995 meters 0.07278137963379655 Centerline is valid? [True, True] Translation: X:217.93, Y:-8.24, Z:-4.59 [[ 9.99756885e-01 2.17245690e-02 -3.77011063e-03 2.17925929e+02] [-2.17235298e-02 9.99763966e-01 3.16390209e-04 -8.24089806e+00] [ 3.77609420e-03 -2.34413179e-04 9.99992843e-01 -4.59455865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56800114499995 meters 0.07296810604087929 Centerline is valid? [True, True] Translation: X:217.96, Y:-8.24, Z:-4.59 [[ 9.99800133e-01 1.96233843e-02 -3.82320753e-03 2.17955031e+02] [-1.96222987e-02 9.99807413e-01 3.21278282e-04 -8.24413795e+00] [ 3.82877580e-03 -2.46193949e-04 9.99992640e-01 -4.59437792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59800114499996 meters 0.07751570105062404 Centerline is valid? [True, True] Translation: X:217.98, Y:-8.26, Z:-4.60 [[ 9.99843821e-01 1.73240899e-02 -3.49421616e-03 2.17982640e+02] [-1.73231700e-02 9.99849900e-01 2.93380291e-04 -8.25654565e+00] [ 3.49877423e-03 -2.32803571e-04 9.99993852e-01 -4.59829717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62800114499996 meters 0.07473040737212287 Centerline is valid? [True, True] Translation: X:218.01, Y:-8.26, Z:-4.60 [[ 9.99900444e-01 1.38687227e-02 -2.59999400e-03 2.18013507e+02] [-1.38681997e-02 9.99903808e-01 2.19086590e-04 -8.25546175e+00] [ 2.60278235e-03 -1.83007543e-04 9.99996596e-01 -4.59612011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65800114499996 meters 0.07923650363430784 Centerline is valid? [True, True] Translation: X:218.04, Y:-8.27, Z:-4.60 [[ 9.99916900e-01 1.25461329e-02 -2.96434298e-03 2.18041435e+02] [-1.25454509e-02 9.99921272e-01 2.48567772e-04 -8.26658141e+00] [ 2.96722817e-03 -2.11358097e-04 9.99995575e-01 -4.59934225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68800114499996 meters 0.0769971466817533 Centerline is valid? [True, True] Translation: X:218.07, Y:-8.26, Z:-4.60 [[ 9.99926469e-01 1.16702165e-02 -3.29579337e-03 2.18070541e+02] [-1.16693701e-02 9.99931873e-01 2.75913910e-04 -8.26482473e+00] [ 3.29878882e-03 -2.37433789e-04 9.99994531e-01 -4.59868828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71800114499996 meters 0.08101151796140715 Centerline is valid? [True, True] Translation: X:218.10, Y:-8.27, Z:-4.60 [[ 9.99936405e-01 1.04434679e-02 -4.25686399e-03 2.18098474e+02] [-1.04420425e-02 9.99945417e-01 3.56938557e-04 -8.27437868e+00] [ 4.26035931e-03 -3.12465503e-04 9.99990876e-01 -4.60230956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74800114499996 meters 0.0781698394363699 Centerline is valid? [True, True] Translation: X:218.13, Y:-8.27, Z:-4.60 [[ 9.99938367e-01 1.04069709e-02 -3.86734980e-03 2.18127837e+02] [-1.04057970e-02 9.99945806e-01 3.23558420e-04 -8.27052103e+00] [ 3.87050747e-03 -2.83295621e-04 9.99992469e-01 -4.60084526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77800114499996 meters 0.07833887658177008 Centerline is valid? [True, True] Translation: X:218.16, Y:-8.27, Z:-4.60 [[ 9.99935822e-01 1.03493779e-02 -4.60900863e-03 2.18156436e+02] [-1.03477099e-02 9.99946387e-01 3.85587307e-04 -8.27188023e+00] [ 4.61275212e-03 -3.37869876e-04 9.99989304e-01 -4.60133650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80800114499996 meters 0.07758432654406387 Centerline is valid? [True, True] Translation: X:218.19, Y:-8.27, Z:-4.60 [[ 9.99932054e-01 1.05912525e-02 -4.86953607e-03 2.18185033e+02] [-1.05893947e-02 9.99943848e-01 4.07132105e-04 -8.27193285e+00] [ 4.87357467e-03 -3.55539003e-04 9.99988061e-01 -4.60111774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83800114499996 meters 0.08210934787003182 Centerline is valid? [True, True] Translation: X:218.21, Y:-8.28, Z:-4.61 [[ 9.99930593e-01 1.09479375e-02 -4.35334514e-03 2.18212064e+02] [-1.09464599e-02 9.99940020e-01 3.63113907e-04 -8.28319750e+00] [ 4.35705938e-03 -3.15434987e-04 9.99990458e-01 -4.60576064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86800114499997 meters 0.07745777658949822 Centerline is valid? [True, True] Translation: X:218.24, Y:-8.28, Z:-4.60 [[ 9.99929837e-01 1.13120590e-02 -3.51540377e-03 2.18241961e+02] [-1.13110970e-02 9.99935984e-01 2.93422482e-04 -8.27738833e+00] [ 3.51849794e-03 -2.53638822e-04 9.99993778e-01 -4.60338543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89800114499997 meters 0.07839199457362166 Centerline is valid? [True, True] Translation: X:218.27, Y:-8.28, Z:-4.60 [[ 9.99927445e-01 1.18496565e-02 -2.16592006e-03 2.18269437e+02] [-1.18492953e-02 9.99929779e-01 1.79504678e-04 -8.28060846e+00] [ 2.16789504e-03 -1.53827027e-04 9.99997638e-01 -4.60286704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92800114499997 meters 0.07812691166583437 Centerline is valid? [True, True] Translation: X:218.30, Y:-8.28, Z:-4.60 [[ 9.99912077e-01 1.31164838e-02 -1.94854991e-03 2.18298694e+02] [-1.31161930e-02 9.99913966e-01 1.61926854e-04 -8.28137793e+00] [ 1.95050618e-03 -1.36355060e-04 9.99998088e-01 -4.60277796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95800114499997 meters 0.07719226003540301 Centerline is valid? [True, True] Translation: X:218.33, Y:-8.28, Z:-4.60 [[ 9.99893562e-01 1.44808790e-02 -1.78014591e-03 2.18328299e+02] [-1.44806388e-02 9.99895139e-01 1.47765786e-04 -8.28062352e+00] [ 1.78209902e-03 -1.21972408e-04 9.99998405e-01 -4.60261992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98800114499997 meters 0.07422746276366048 Centerline is valid? [True, True] Translation: X:218.36, Y:-8.28, Z:-4.60 [[ 9.99821096e-01 1.89045349e-02 -6.28797948e-04 2.18358535e+02] [-1.89045059e-02 9.99821293e-01 5.20205298e-05 -8.27524028e+00] [ 6.29669001e-04 -4.01241085e-05 9.99999801e-01 -4.60182753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01800114499997 meters 0.07422176183639823 Centerline is valid? [True, True] Translation: X:218.39, Y:-8.28, Z:-4.60 [[ 9.99774739e-01 2.12117578e-02 -7.30396605e-04 2.18386958e+02] [-2.12117196e-02 9.99775004e-01 5.99503841e-05 -8.27749741e+00] [ 7.31503922e-04 -4.44439116e-05 9.99999731e-01 -4.60288386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04800114499997 meters 0.07353766901905656 Centerline is valid? [True, True] Translation: X:218.42, Y:-8.28, Z:-4.60 [[ 9.99718728e-01 2.37060923e-02 6.96474408e-04 2.18416964e+02] [-2.37060573e-02 9.99718970e-01 -5.85100329e-05 -8.27886047e+00] [-6.97665722e-04 4.19829134e-05 9.99999756e-01 -4.60408481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07800114499997 meters 0.07126670901517876 Centerline is valid? [True, True] Translation: X:218.45, Y:-8.28, Z:-4.60 [[ 9.99664962e-01 2.58753446e-02 6.56507131e-04 2.18447549e+02] [-2.58753139e-02 9.99665176e-01 -5.51693062e-05 -8.27632957e+00] [-6.57714841e-04 3.81634942e-05 9.99999783e-01 -4.60363602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10800114499997 meters 0.0715009891115599 Centerline is valid? [True, True] Translation: X:218.48, Y:-8.28, Z:-4.61 [[ 9.99581281e-01 2.89260824e-02 7.37382612e-04 2.18475962e+02] [-2.89260440e-02 9.99581552e-01 -6.25898934e-05 -8.27815599e+00] [-7.38884537e-04 4.12341240e-05 9.99999726e-01 -4.60528482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13800114499998 meters 0.06977118051998224 Centerline is valid? [True, True] Translation: X:218.50, Y:-8.28, Z:-4.61 [[ 9.99539618e-01 3.03405942e-02 2.00042808e-05 2.18504862e+02] [-3.03405941e-02 9.99539618e-01 -3.07398170e-06 -8.27594021e+00] [-2.00883376e-05 2.46562473e-06 1.00000000e+00 -4.60516584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16800114499998 meters 0.07123193621714476 Centerline is valid? [True, True] Translation: X:218.53, Y:-8.28, Z:-4.61 [[ 9.99518363e-01 3.10294148e-02 -4.66890366e-04 2.18532479e+02] [-3.10294008e-02 9.99518472e-01 3.71456763e-05 -8.28112449e+00] [ 4.67818153e-04 -2.26404573e-05 9.99999890e-01 -4.60828698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19800114499998 meters 0.06900899110495053 Centerline is valid? [True, True] Translation: X:218.56, Y:-8.28, Z:-4.61 [[ 9.99488979e-01 3.19518319e-02 -9.28252095e-04 2.18561406e+02] [-3.19517752e-02 9.99489409e-01 7.58457493e-05 -8.27825521e+00] [ 9.30201548e-04 -4.61476883e-05 9.99999566e-01 -4.60785760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22800114499995 meters 0.068356671087896 Centerline is valid? [True, True] Translation: X:218.59, Y:-8.28, Z:-4.61 [[ 9.99436255e-01 3.35592073e-02 -9.75392826e-04 2.18589689e+02] [-3.35591455e-02 9.99436730e-01 7.97066904e-05 -8.28087528e+00] [ 9.77518310e-04 -4.69284064e-05 9.99999521e-01 -4.60997060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25800114499995 meters 0.06792809989769136 Centerline is valid? [True, True] Translation: X:218.62, Y:-8.28, Z:-4.61 [[ 9.99406439e-01 3.44463983e-02 -4.63470522e-04 2.18618833e+02] [-3.44463863e-02 9.99406547e-01 3.38425516e-05 -8.28326016e+00] [ 4.64361228e-04 -1.78575793e-05 9.99999892e-01 -4.61111108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28800114499995 meters 0.06811732562127142 Centerline is valid? [True, True] Translation: X:218.65, Y:-8.29, Z:-4.61 [[ 9.99370794e-01 3.54684748e-02 -6.24250456e-05 2.18646574e+02] [-3.54684747e-02 9.99370796e-01 2.59057315e-06 -8.28627615e+00] [ 6.24776512e-05 -3.74821984e-07 9.99999998e-01 -4.61192747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31800114499995 meters 0.06720654095402097 Centerline is valid? [True, True] Translation: X:218.68, Y:-8.29, Z:-4.61 [[ 9.99317973e-01 3.69261724e-02 2.17081308e-04 2.18675250e+02] [-3.69261690e-02 9.99317996e-01 -1.93689930e-05 -8.28583753e+00] [-2.17648481e-04 1.13398018e-05 9.99999976e-01 -4.61090799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34800114499996 meters 0.06651279309595041 Centerline is valid? [True, True] Translation: X:218.70, Y:-8.28, Z:-4.61 [[ 9.99192011e-01 4.01841873e-02 7.45416573e-04 2.18704503e+02] [-4.01841520e-02 9.99192289e-01 -6.23677360e-05 -8.28473816e+00] [-7.47320689e-04 3.23634108e-05 9.99999720e-01 -4.61028519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37800114499996 meters 0.06596636777892584 Centerline is valid? [True, True] Translation: X:218.73, Y:-8.29, Z:-4.61 [[ 9.99116585e-01 4.20231391e-02 3.24344805e-04 2.18733072e+02] [-4.20231322e-02 9.99116638e-01 -2.81972664e-05 -8.28529902e+00] [-3.25243229e-04 1.45423719e-05 9.99999947e-01 -4.61045484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40800114499996 meters 0.06642463369753308 Centerline is valid? [True, True] Translation: X:218.76, Y:-8.29, Z:-4.61 [[ 9.99053658e-01 4.34946776e-02 -4.27305539e-05 2.18760436e+02] [-4.34946776e-02 9.99053659e-01 1.02135627e-06 -8.28884113e+00] [ 4.27345397e-05 8.38161950e-07 9.99999999e-01 -4.61306575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43800114499996 meters 0.06606925098901743 Centerline is valid? [True, True] Translation: X:218.79, Y:-8.29, Z:-4.61 [[ 9.98978705e-01 4.51827949e-02 -2.50458298e-04 2.18788057e+02] [-4.51827915e-02 9.98978736e-01 1.90033081e-05 -8.29104778e+00] [ 2.51061136e-04 -7.66749507e-06 9.99999968e-01 -4.61456484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46800114499996 meters 0.06517707772642621 Centerline is valid? [True, True] Translation: X:218.82, Y:-8.29, Z:-4.62 [[ 9.98912493e-01 4.66236234e-02 -2.62825829e-04 2.18816455e+02] [-4.66236206e-02 9.98912528e-01 1.68840015e-05 -8.29183899e+00] [ 2.63327206e-04 -4.61174835e-06 9.99999965e-01 -4.61619027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49800114499996 meters 0.06460592473898703 Centerline is valid? [True, True] Translation: X:218.84, Y:-8.29, Z:-4.62 [[ 9.98916163e-01 4.65424986e-02 -5.42419078e-04 2.18844686e+02] [-4.65424843e-02 9.98916311e-01 3.89463023e-05 -8.29272698e+00] [ 5.43643923e-04 -1.36585594e-05 9.99999852e-01 -4.61562769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52800114499996 meters 0.06388904456754496 Centerline is valid? [True, True] Translation: X:218.87, Y:-8.29, Z:-4.61 [[ 9.98927545e-01 4.62966317e-02 -6.17880452e-04 2.18872709e+02] [-4.62966128e-02 9.98927736e-01 4.48017136e-05 -8.29302329e+00] [ 6.19292089e-04 -1.61478937e-05 9.99999808e-01 -4.61418547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55800114499996 meters 0.06436337378975801 Centerline is valid? [True, True] Translation: X:218.90, Y:-8.30, Z:-4.61 [[ 9.98931047e-01 4.62251265e-02 -2.27039778e-05 2.18900225e+02] [-4.62251265e-02 9.98931048e-01 8.95485512e-08 -8.29690553e+00] [ 2.26838477e-05 9.60041420e-07 1.00000000e+00 -4.61499284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58800114499996 meters 0.06390705840600813 Centerline is valid? [True, True] Translation: X:218.93, Y:-8.30, Z:-4.61 [[ 9.98977918e-01 4.51925624e-02 8.67497376e-04 2.18929035e+02] [-4.51925137e-02 9.98978294e-01 -7.56330188e-05 -8.29966169e+00] [-8.70029099e-04 3.63513285e-05 9.99999621e-01 -4.61407274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61800114499997 meters 0.0645546645226097 Centerline is valid? [True, True] Translation: X:218.96, Y:-8.31, Z:-4.62 [[ 9.99001186e-01 4.46742799e-02 9.16406977e-04 2.18956567e+02] [-4.46742286e-02 9.99001605e-01 -7.63267425e-05 -8.30528573e+00] [-9.18901884e-04 3.53107314e-05 9.99999577e-01 -4.61567859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64800114499997 meters 0.06466713768634295 Centerline is valid? [True, True] Translation: X:218.98, Y:-8.31, Z:-4.62 [[ 9.99023438e-01 4.41546608e-02 1.59254987e-03 2.18983908e+02] [-4.41545020e-02 9.99024705e-01 -1.34750668e-04 -8.30947684e+00] [-1.59694653e-03 6.43008296e-05 9.99998723e-01 -4.61640185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67800114499997 meters 0.06426985635014835 Centerline is valid? [True, True] Translation: X:219.01, Y:-8.31, Z:-4.62 [[ 9.99008386e-01 4.44612843e-02 2.33235144e-03 2.19012335e+02] [-4.44609534e-02 9.99011104e-01 -1.93526067e-04 -8.31488261e+00] [-2.33864941e-03 8.96355953e-05 9.99997261e-01 -4.61659363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70800114499997 meters 0.06639420866255681 Centerline is valid? [True, True] Translation: X:219.04, Y:-8.32, Z:-4.62 [[ 9.99008849e-01 4.44170464e-02 2.90607727e-03 2.19039046e+02] [-4.44165459e-02 9.99013070e-01 -2.36555332e-04 -8.32408594e+00] [-2.91371626e-03 1.07242956e-04 9.99995749e-01 -4.62029939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73800114499997 meters 0.06383972085549575 Centerline is valid? [True, True] Translation: X:219.07, Y:-8.32, Z:-4.62 [[ 9.98989077e-01 4.48326312e-02 3.29518597e-03 2.19068198e+02] [-4.48319825e-02 9.98994505e-01 -2.70479481e-04 -8.31879994e+00] [-3.30399898e-03 1.22476328e-04 9.99994534e-01 -4.61657195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76800114499997 meters 0.0637905866819409 Centerline is valid? [True, True] Translation: X:219.10, Y:-8.32, Z:-4.62 [[ 9.98959575e-01 4.55110116e-02 2.91803451e-03 2.19096589e+02] [-4.55105061e-02 9.98963831e-01 -2.39414712e-04 -8.32125190e+00] [-2.92590694e-03 1.06364392e-04 9.99995714e-01 -4.61763205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79800114499997 meters 0.06316242073493629 Centerline is valid? [True, True] Translation: X:219.13, Y:-8.32, Z:-4.62 [[ 9.98901540e-01 4.68014450e-02 2.31055540e-03 2.19125770e+02] [-4.68011309e-02 9.98904209e-01 -1.89840977e-04 -8.32288716e+00] [-2.31690835e-03 8.14958389e-05 9.99997313e-01 -4.61793885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82800114499997 meters 0.06367248841875317 Centerline is valid? [True, True] Translation: X:219.15, Y:-8.33, Z:-4.62 [[ 9.98866908e-01 4.75465313e-02 2.05624908e-03 2.19153209e+02] [-4.75462894e-02 9.98869022e-01 -1.66402172e-04 -8.32780940e+00] [-2.06183536e-03 6.84466095e-05 9.99997872e-01 -4.62061926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85800114499997 meters 0.06328813524992265 Centerline is valid? [True, True] Translation: X:219.18, Y:-8.33, Z:-4.62 [[ 9.98812601e-01 4.86559623e-02 2.44640545e-03 2.19182311e+02] [-4.86556185e-02 9.98815594e-01 -1.99878009e-04 -8.32953401e+00] [-2.45323317e-03 8.06093036e-05 9.99996988e-01 -4.62095063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88800114499998 meters 0.06298867779653937 Centerline is valid? [True, True] Translation: X:219.21, Y:-8.33, Z:-4.62 [[ 9.98766623e-01 4.96300539e-02 1.44567004e-03 2.19210808e+02] [-4.96299321e-02 9.98767668e-01 -1.20011642e-04 -8.33163087e+00] [-1.44984468e-03 4.81151162e-05 9.99998948e-01 -4.62158558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91800114499998 meters 0.06238512853456999 Centerline is valid? [True, True] Translation: X:219.24, Y:-8.33, Z:-4.62 [[ 9.98639932e-01 5.20709611e-02 2.62715637e-03 2.19239765e+02] [-5.20705802e-02 9.98643384e-01 -2.13221953e-04 -8.33315256e+00] [-2.63469500e-03 7.61344002e-05 9.99996526e-01 -4.62187270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94800114499995 meters 0.06226956608231198 Centerline is valid? [True, True] Translation: X:219.27, Y:-8.33, Z:-4.62 [[ 9.98580569e-01 5.32176610e-02 2.17450621e-03 2.19268186e+02] [-5.32174014e-02 9.98582934e-01 -1.77113809e-04 -8.33469586e+00] [-2.18085038e-03 6.11408380e-05 9.99997620e-01 -4.62246840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97800114499995 meters 0.06210939413738095 Centerline is valid? [True, True] Translation: X:219.30, Y:-8.34, Z:-4.62 [[ 9.98440336e-01 5.58137559e-02 1.31116555e-03 2.19297030e+02] [-5.58136616e-02 9.98441197e-01 -1.08433473e-04 -8.33596411e+00] [-1.31517378e-03 3.50834025e-05 9.99999135e-01 -4.62466993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00800114499995 meters 0.062044401469366 Centerline is valid? [True, True] Translation: X:219.32, Y:-8.34, Z:-4.63 [[ 9.98405576e-01 5.64444200e-02 5.77603818e-04 2.19324078e+02] [-5.64444017e-02 9.98405743e-01 -4.79675044e-05 -8.33919438e+00] [-5.79390467e-04 1.52885219e-05 9.99999832e-01 -4.62639085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03800114499995 meters 0.06213777633943495 Centerline is valid? [True, True] Translation: X:219.35, Y:-8.34, Z:-4.63 [[ 9.98373787e-01 5.70063910e-02 -2.28829814e-04 2.19350809e+02] [-5.70063892e-02 9.98373813e-01 1.42409171e-05 -8.34263433e+00] [ 2.29269517e-04 -1.17299694e-06 9.99999974e-01 -4.62868062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06800114499995 meters 0.06189220068181643 Centerline is valid? [True, True] Translation: X:219.38, Y:-8.35, Z:-4.63 [[ 9.98352463e-01 5.73790776e-02 -2.09279554e-05 2.19379474e+02] [-5.73790777e-02 9.98352464e-01 -3.17193591e-06 -8.34536053e+00] [ 2.07114730e-05 4.36753680e-06 1.00000000e+00 -4.62925381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09800114499996 meters 0.061918576416411186 Centerline is valid? [True, True] Translation: X:219.41, Y:-8.35, Z:-4.63 [[ 9.98370459e-01 5.70651010e-02 -4.18158967e-05 2.19406850e+02] [-5.70651012e-02 9.98370459e-01 -2.21209757e-06 -8.34977034e+00] [ 4.16215224e-05 4.59472125e-06 9.99999999e-01 -4.63043405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12800114499996 meters 0.061904401036307136 Centerline is valid? [True, True] Translation: X:219.43, Y:-8.35, Z:-4.63 [[ 9.98387488e-01 5.67662846e-02 1.14501818e-04 2.19434806e+02] [-5.67662833e-02 9.98387494e-01 -1.44000675e-05 -8.35319614e+00] [-1.15134621e-04 7.87700459e-06 9.99999993e-01 -4.63089389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15800114499996 meters 0.06205931677648953 Centerline is valid? [True, True] Translation: X:219.46, Y:-8.36, Z:-4.63 [[ 9.98384453e-01 5.68195643e-02 -1.44494053e-04 2.19462142e+02] [-5.68195635e-02 9.98384464e-01 9.55870186e-06 -8.35697753e+00] [ 1.44803739e-04 -1.33317030e-06 9.99999990e-01 -4.63238657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18800114499996 meters 0.062009131936579975 Centerline is valid? [True, True] Translation: X:219.49, Y:-8.36, Z:-4.63 [[ 9.98397362e-01 5.65901087e-02 -5.16320341e-04 2.19490282e+02] [-5.65900964e-02 9.98397496e-01 3.85000634e-05 -8.35990773e+00] [ 5.17671658e-04 -9.21974392e-06 9.99999866e-01 -4.63240500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21800114499996 meters 0.062009131936579975 Centerline is valid? [True, True] Translation: X:219.52, Y:-8.36, Z:-4.63 [[ 9.98411126e-01 5.63467538e-02 -5.16614151e-04 2.19517577e+02] [-5.63467434e-02 9.98411260e-01 3.47152556e-05 -8.36191675e+00] [ 5.17749478e-04 -5.55057238e-06 9.99999866e-01 -4.63300522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24800114499996 meters 0.06224236141795873 Centerline is valid? [True, True] Translation: X:219.54, Y:-8.37, Z:-4.64 [[ 9.98466168e-01 5.53522772e-02 -1.19882757e-03 2.19544839e+02] [-5.53522075e-02 9.98466887e-01 9.12312294e-05 -8.36840941e+00] [ 1.20203948e-03 -2.47335438e-05 9.99999277e-01 -4.63521821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27800114499996 meters 0.0624530706614466 Centerline is valid? [True, True] Translation: X:219.57, Y:-8.37, Z:-4.64 [[ 9.98531234e-01 5.41631418e-02 -1.31475217e-03 2.19573164e+02] [-5.41630611e-02 9.98532099e-01 9.69628634e-05 -8.37474450e+00] [ 1.31807406e-03 -2.56094453e-05 9.99999131e-01 -4.63700092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30800114499996 meters 0.06268497638926113 Centerline is valid? [True, True] Translation: X:219.60, Y:-8.38, Z:-4.64 [[ 9.98606742e-01 5.27608778e-02 -9.29512746e-04 2.19601009e+02] [-5.27608354e-02 9.98607175e-01 7.01102280e-05 -8.38171736e+00] [ 9.31917174e-04 -2.09706774e-05 9.99999566e-01 -4.63881323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33800114499996 meters 0.0634949381877128 Centerline is valid? [True, True] Translation: X:219.63, Y:-8.39, Z:-4.64 [[ 9.98812787e-01 4.87027361e-02 -1.02952670e-03 2.19629188e+02] [-4.87026811e-02 9.98813317e-01 7.84483159e-05 -8.39176354e+00] [ 1.03212562e-03 -2.82144707e-05 9.99999467e-01 -4.63951311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36800114499997 meters 0.06394099666686617 Centerline is valid? [True, True] Translation: X:219.66, Y:-8.40, Z:-4.64 [[ 9.98893648e-01 4.69681810e-02 -2.33882957e-03 2.19658076e+02] [-4.69678897e-02 9.98896384e-01 1.79370631e-04 -8.39743822e+00] [ 2.34467311e-03 -6.93222947e-05 9.99997249e-01 -4.64003345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39800114499997 meters 0.06230694815565186 Centerline is valid? [True, True] Translation: X:219.69, Y:-8.40, Z:-4.64 [[ 9.99002452e-01 4.45919952e-02 -2.37784640e-03 2.19687424e+02] [-4.45916984e-02 9.99005280e-01 1.77719745e-04 -8.39506380e+00] [ 2.38340598e-03 -7.15102514e-05 9.99997157e-01 -4.63527139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42800114499997 meters 0.06501943969146713 Centerline is valid? [True, True] Translation: X:219.71, Y:-8.41, Z:-4.64 [[ 9.99045786e-01 4.35506598e-02 -3.29502973e-03 2.19714212e+02] [-4.35500678e-02 9.99051214e-01 2.51234101e-04 -8.40882305e+00] [ 3.30284486e-03 -1.07495601e-04 9.99994540e-01 -4.64284214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45800114499997 meters 0.06285805520541365 Centerline is valid? [True, True] Translation: X:219.74, Y:-8.41, Z:-4.64 [[ 9.99100777e-01 4.22788800e-02 -3.18344812e-03 2.19743278e+02] [-4.22783339e-02 9.99105843e-01 2.38696052e-04 -8.40595636e+00] [ 3.19069342e-03 -1.03890528e-04 9.99994904e-01 -4.63799693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48800114499997 meters 0.06305123222290834 Centerline is valid? [True, True] Translation: X:219.77, Y:-8.41, Z:-4.64 [[ 9.99212100e-01 3.95766105e-02 -2.97854993e-03 2.19772454e+02] [-3.95761087e-02 9.99216533e-01 2.27221461e-04 -8.41414410e+00] [ 2.98520899e-03 -1.09163017e-04 9.99995538e-01 -4.63881420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51800114499997 meters 0.06663711585651531 Centerline is valid? [True, True] Translation: X:219.80, Y:-8.43, Z:-4.65 [[ 9.99260949e-01 3.83500235e-02 -2.61388659e-03 2.19799240e+02] [-3.83496365e-02 9.99264363e-01 1.98027908e-04 -8.42963340e+00] [ 2.61955809e-03 -9.76399550e-05 9.99996564e-01 -4.64628488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54800114499997 meters 0.0640912740459234 Centerline is valid? [True, True] Translation: X:219.83, Y:-8.43, Z:-4.64 [[ 9.99323189e-01 3.67324863e-02 -1.97177767e-03 2.19828777e+02] [-3.67322709e-02 9.99325132e-01 1.45349875e-04 -8.42539429e+00] [ 1.97578605e-03 -7.28236289e-05 9.99998045e-01 -4.64066978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57800114499997 meters 0.06503052598394352 Centerline is valid? [True, True] Translation: X:219.86, Y:-8.43, Z:-4.64 [[ 9.99362687e-01 3.56193609e-02 -2.34105614e-03 2.19855639e+02] [-3.56190485e-02 9.99365425e-01 1.75029061e-04 -8.43168079e+00] [ 2.34580498e-03 -9.15313209e-05 9.99997244e-01 -4.64246973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60800114499997 meters 0.06520173378156632 Centerline is valid? [True, True] Translation: X:219.88, Y:-8.44, Z:-4.64 [[ 9.99431925e-01 3.35970983e-02 -2.65755154e-03 2.19884929e+02] [-3.35966813e-02 9.99435452e-01 2.01410225e-04 -8.43675900e+00] [ 2.66281803e-03 -1.12010897e-04 9.99996448e-01 -4.64267141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63800114499998 meters 0.06962769977361896 Centerline is valid? [True, True] Translation: X:219.91, Y:-8.45, Z:-4.65 [[ 9.99471885e-01 3.23782565e-02 -2.75669948e-03 2.19911007e+02] [-3.23778076e-02 9.99475680e-01 2.07320405e-04 -8.45113178e+00] [ 2.76196676e-03 -1.17955031e-04 9.99996179e-01 -4.65017383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66800114499998 meters 0.06471526017695337 Centerline is valid? [True, True] Translation: X:219.94, Y:-8.44, Z:-4.64 [[ 9.99497454e-01 3.15359772e-02 -3.21276528e-03 2.19940566e+02] [-3.15353607e-02 9.99502607e-01 2.42387930e-04 -8.44081981e+00] [ 3.21881121e-03 -1.40950407e-04 9.99994810e-01 -4.64304320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69800114499995 meters 0.06672534099877692 Centerline is valid? [True, True] Translation: X:219.97, Y:-8.45, Z:-4.65 [[ 9.99543865e-01 2.99872556e-02 -3.58146137e-03 2.19968407e+02] [-2.99864783e-02 9.99550268e-01 2.70556665e-04 -8.45182413e+00] [ 3.58796393e-03 -1.63037841e-04 9.99993550e-01 -4.64649867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72800114499995 meters 0.06532101363996554 Centerline is valid? [True, True] Translation: X:220.00, Y:-8.45, Z:-4.64 [[ 9.99575665e-01 2.89216497e-02 -3.46806842e-03 2.19997248e+02] [-2.89209166e-02 9.99581669e-01 2.61367632e-04 -8.45036443e+00] [ 3.47417680e-03 -1.60957007e-04 9.99993952e-01 -4.64449847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75800114499995 meters 0.06582015450979657 Centerline is valid? [True, True] Translation: X:220.02, Y:-8.45, Z:-4.65 [[ 9.99601009e-01 2.81128334e-02 -2.73710277e-03 2.20024637e+02] [-2.81123761e-02 9.99604748e-01 2.05416018e-04 -8.45467024e+00] [ 2.74179575e-03 -1.28387596e-04 9.99996233e-01 -4.64524910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78800114499995 meters 0.06606243715254545 Centerline is valid? [True, True] Translation: X:220.05, Y:-8.46, Z:-4.65 [[ 9.99633138e-01 2.69275041e-02 -2.91536143e-03 2.20052763e+02] [-2.69269806e-02 9.99637379e-01 2.18680694e-04 -8.45788455e+00] [ 2.92019278e-03 -1.40098588e-04 9.99995726e-01 -4.64549491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81800114499995 meters 0.06576487189448776 Centerline is valid? [True, True] Translation: X:220.08, Y:-8.46, Z:-4.65 [[ 9.99655150e-01 2.60073029e-02 -3.63330919e-03 2.20081363e+02] [-2.60064818e-02 9.99661737e-01 2.73052926e-04 -8.46078798e+00] [ 3.63918155e-03 -1.78469174e-04 9.99993362e-01 -4.64659630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84800114499996 meters 0.06614178856371775 Centerline is valid? [True, True] Translation: X:220.11, Y:-8.46, Z:-4.65 [[ 9.99667519e-01 2.54241845e-02 -4.29688050e-03 2.20108676e+02] [-2.54230326e-02 9.99676730e-01 3.22487030e-04 -8.46396508e+00] [ 4.30369042e-03 -2.13140076e-04 9.99990716e-01 -4.64774381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87800114499996 meters 0.06772457279858723 Centerline is valid? [True, True] Translation: X:220.14, Y:-8.47, Z:-4.65 [[ 9.99674191e-01 2.52273574e-02 -3.88480896e-03 2.20135731e+02] [-2.52264162e-02 9.99681721e-01 2.91099455e-04 -8.47057574e+00] [ 3.89091618e-03 -1.93004805e-04 9.99992412e-01 -4.65037931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90800114499996 meters 0.0666191216326989 Centerline is valid? [True, True] Translation: X:220.17, Y:-8.47, Z:-4.65 [[ 9.99690151e-01 2.46445729e-02 -3.49951420e-03 2.20165014e+02] [-2.46438058e-02 9.99696261e-01 2.62185336e-04 -8.46954820e+00] [ 3.50491271e-03 -1.75862750e-04 9.99993842e-01 -4.64904553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93800114499996 meters 0.06781609673221697 Centerline is valid? [True, True] Translation: X:220.19, Y:-8.47, Z:-4.65 [[ 9.99728410e-01 2.27857352e-02 -4.89042240e-03 2.20193452e+02] [-2.27842115e-02 9.99740339e-01 3.67073503e-04 -8.47489939e+00] [ 4.89751659e-03 -2.55549391e-04 9.99987974e-01 -4.65157812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96800114499996 meters 0.06816403747360955 Centerline is valid? [True, True] Translation: X:220.22, Y:-8.48, Z:-4.65 [[ 9.99742527e-01 2.20485426e-02 -5.36113519e-03 2.20221661e+02] [-2.20467063e-02 9.99756861e-01 4.01395645e-04 -8.47824277e+00] [ 5.36868188e-03 -2.83096924e-04 9.99985548e-01 -4.65289868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99800114499996 meters 0.0676655371445809 Centerline is valid? [True, True] Translation: X:220.25, Y:-8.48, Z:-4.65 [[ 9.99767203e-01 2.08442644e-02 -5.57290477e-03 2.20249903e+02] [-2.08422700e-02 9.99782690e-01 4.15719041e-04 -8.47892235e+00] [ 5.58035908e-03 -2.99470277e-04 9.99984385e-01 -4.65257055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02800114499996 meters 0.06806991410044237 Centerline is valid? [True, True] Translation: X:220.28, Y:-8.48, Z:-4.65 [[ 9.99793787e-01 1.93193737e-02 -6.25669180e-03 2.20279185e+02] [-1.93168172e-02 9.99813303e-01 4.68795967e-04 -8.48213130e+00] [ 6.26458054e-03 -3.47839923e-04 9.99980317e-01 -4.65334156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05800114499996 meters 0.06944957553093965 Centerline is valid? [True, True] Translation: X:220.31, Y:-8.49, Z:-4.66 [[ 9.99844684e-01 1.63790806e-02 -6.50650146e-03 2.20308355e+02] [-1.63762519e-02 9.99865781e-01 4.87793579e-04 -8.48782197e+00] [ 6.51361778e-03 -3.81165709e-04 9.99978714e-01 -4.65568122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08800114499996 meters 0.07022192345569384 Centerline is valid? [True, True] Translation: X:220.34, Y:-8.49, Z:-4.66 [[ 9.99864408e-01 1.49685815e-02 -6.86341799e-03 2.20336578e+02] [-1.49654077e-02 9.99887880e-01 5.13549196e-04 -8.49100344e+00] [ 6.87033557e-03 -4.10765714e-04 9.99976315e-01 -4.65711002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11800114499997 meters 0.06934894501824809 Centerline is valid? [True, True] Translation: X:220.37, Y:-8.49, Z:-4.66 [[ 9.99879481e-01 1.33273632e-02 -7.96270299e-03 2.20366642e+02] [-1.33230375e-02 9.99911067e-01 5.96041884e-04 -8.49046423e+00] [ 7.96993850e-03 -4.89882659e-04 9.99968120e-01 -4.65699277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14800114499997 meters 0.0686669350407573 Centerline is valid? [True, True] Translation: X:220.40, Y:-8.49, Z:-4.66 [[ 9.99890301e-01 1.19708737e-02 -8.72262822e-03 2.20396686e+02] [-1.19656336e-02 9.99928196e-01 6.52683391e-04 -8.48969992e+00] [ 8.72981509e-03 -5.48240019e-04 9.99961744e-01 -4.65651077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17800114499997 meters 0.06969368016020702 Centerline is valid? [True, True] Translation: X:220.43, Y:-8.49, Z:-4.66 [[ 9.99929889e-01 9.05528394e-03 -7.63008462e-03 2.20427030e+02] [-9.05118498e-03 9.99958874e-01 5.71570576e-04 -8.49271174e+00] [ 7.63494655e-03 -5.02469196e-04 9.99970727e-01 -4.65735404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20800114499997 meters 0.07585166085027295 Centerline is valid? [True, True] Translation: X:220.45, Y:-8.51, Z:-4.66 [[ 9.99941015e-01 8.46932441e-03 -6.79973146e-03 2.20453261e+02] [-8.46607167e-03 9.99964034e-01 5.07004639e-04 -8.50752885e+00] [ 6.80378089e-03 -4.49407719e-04 9.99976753e-01 -4.66360061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23800114499997 meters 0.06983025289911265 Centerline is valid? [True, True] Translation: X:220.48, Y:-8.50, Z:-4.66 [[ 9.99952254e-01 7.23229828e-03 -6.57140397e-03 2.20482987e+02] [-7.22923477e-03 9.99973749e-01 4.89822834e-04 -8.49571739e+00] [ 6.57477401e-03 -4.42293224e-04 9.99978288e-01 -4.65807389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26800114499997 meters 0.0709630155792244 Centerline is valid? [True, True] Translation: X:220.51, Y:-8.50, Z:-4.66 [[ 9.99967502e-01 5.42450948e-03 -5.96395626e-03 2.20511237e+02] [-5.42195452e-03 9.99985202e-01 4.44485351e-04 -8.49866885e+00] [ 5.96627912e-03 -4.12134607e-04 9.99982117e-01 -4.65979910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29800114499997 meters 0.07122816676200247 Centerline is valid? [True, True] Translation: X:220.54, Y:-8.50, Z:-4.66 [[ 9.99968298e-01 4.51794957e-03 -6.55683087e-03 2.20539760e+02] [-4.51484636e-03 9.99989689e-01 4.88003055e-04 -8.50015389e+00] [ 6.55896804e-03 -4.58384500e-04 9.99978385e-01 -4.66027355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32800114499997 meters 0.07202554201998543 Centerline is valid? [True, True] Translation: X:220.57, Y:-8.50, Z:-4.66 [[ 9.99969537e-01 3.49729680e-03 -6.97814348e-03 2.20569532e+02] [-3.49375321e-03 9.99993762e-01 5.19937495e-04 -8.50246826e+00] [ 6.97991833e-03 -4.95541745e-04 9.99975517e-01 -4.66172738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35800114499997 meters 0.07249397824665862 Centerline is valid? [True, True] Translation: X:220.60, Y:-8.50, Z:-4.66 [[ 9.99967879e-01 2.41352187e-03 -7.64297834e-03 2.20598736e+02] [-2.40924447e-03 9.99996936e-01 5.68808018e-04 -8.50410170e+00] [ 7.64432776e-03 -5.50375944e-04 9.99970630e-01 -4.66290429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38800114499998 meters 0.0736454099739212 Centerline is valid? [True, True] Translation: X:220.63, Y:-8.51, Z:-4.66 [[ 9.99977731e-01 9.05516789e-04 -6.61186531e-03 2.20626931e+02] [-9.02285925e-04 9.99999472e-01 4.91613084e-04 -8.50672530e+00] [ 6.61230699e-03 -4.85636343e-04 9.99978021e-01 -4.66469994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41800114499998 meters 0.07423835979659196 Centerline is valid? [True, True] Translation: X:220.66, Y:-8.51, Z:-4.67 [[ 9.99974681e-01 6.55994773e-04 -7.08565549e-03 2.20655708e+02] [-6.52283226e-04 9.99999649e-01 5.26109676e-04 -8.50980234e+00] [ 7.08599812e-03 -5.21474501e-04 9.99974758e-01 -4.66585887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44800114499995 meters 0.07243245897669874 Centerline is valid? [True, True] Translation: X:220.68, Y:-8.51, Z:-4.67 [[ 9.99975582e-01 -6.41385432e-05 -6.98787472e-03 2.20684561e+02] [ 6.77621603e-05 9.99999863e-01 5.18322293e-04 -8.50715401e+00] [ 6.98784052e-03 -5.18783151e-04 9.99975450e-01 -4.66581114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47800114499995 meters 0.07412332837869472 Centerline is valid? [True, True] Translation: X:220.71, Y:-8.51, Z:-4.67 [[ 9.99972826e-01 -2.17050932e-04 -7.36890903e-03 2.20711933e+02] [ 2.21078190e-04 9.99999827e-01 5.45710013e-04 -8.50989944e+00] [ 7.36878931e-03 -5.47324289e-04 9.99972700e-01 -4.66821831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50800114499995 meters 0.07610502802452862 Centerline is valid? [True, True] Translation: X:220.74, Y:-8.51, Z:-4.67 [[ 9.99967115e-01 -6.87415798e-04 -8.08057952e-03 2.20739660e+02] [ 6.92270179e-04 9.99999582e-01 5.97964981e-04 -8.51346521e+00] [ 8.08016509e-03 -6.03539262e-04 9.99967173e-01 -4.67009069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53800114499995 meters 0.07446179601711325 Centerline is valid? [True, True] Translation: X:220.77, Y:-8.51, Z:-4.67 [[ 9.99965575e-01 -1.46422292e-03 -8.16725491e-03 2.20768348e+02] [ 1.46920615e-03 9.99998738e-01 6.04181524e-04 -8.51009907e+00] [ 8.16635995e-03 -6.16160107e-04 9.99966465e-01 -4.66911253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56800114499995 meters 0.07784680969953157 Centerline is valid? [True, True] Translation: X:220.80, Y:-8.52, Z:-4.67 [[ 9.99966161e-01 -2.94550199e-03 -7.68118752e-03 2.20796697e+02] [ 2.94995234e-03 9.99995488e-01 5.68117386e-04 -8.51631040e+00] [ 7.67947947e-03 -5.90757298e-04 9.99970338e-01 -4.67307779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59800114499996 meters 0.07587032659477386 Centerline is valid? [True, True] Translation: X:220.83, Y:-8.51, Z:-4.67 [[ 9.99962657e-01 -4.38365214e-03 -7.44772814e-03 2.20826075e+02] [ 4.38787292e-03 9.99990222e-01 5.50474809e-04 -8.51375219e+00] [ 7.44524223e-03 -5.83133938e-04 9.99972114e-01 -4.67150576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62800114499996 meters 0.07743431383477686 Centerline is valid? [True, True] Translation: X:220.85, Y:-8.52, Z:-4.67 [[ 9.99952899e-01 -5.70753404e-03 -7.85005238e-03 2.20854165e+02] [ 5.71225748e-03 9.99983517e-01 5.79419017e-04 -8.51789076e+00] [ 7.84661593e-03 -6.24233246e-04 9.99969020e-01 -4.67351153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65800114499996 meters 0.08009121008925237 Centerline is valid? [True, True] Translation: X:220.88, Y:-8.52, Z:-4.67 [[ 9.99947174e-01 -7.66355630e-03 -6.84972074e-03 2.20881816e+02] [ 7.66719399e-03 9.99970479e-01 5.04969467e-04 -8.52381121e+00] [ 6.84564867e-03 -5.57460929e-04 9.99976413e-01 -4.67437848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68800114499996 meters 0.07998056964295547 Centerline is valid? [True, True] Translation: X:220.91, Y:-8.53, Z:-4.67 [[ 9.99939710e-01 -8.98035704e-03 -6.31904790e-03 2.20912495e+02] [ 8.98348719e-03 9.99959539e-01 4.67141146e-04 -8.52508418e+00] [ 6.31459712e-03 -5.23880068e-04 9.99979926e-01 -4.67463075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71800114499996 meters 0.07842036940408123 Centerline is valid? [True, True] Translation: X:220.94, Y:-8.52, Z:-4.67 [[ 9.99917675e-01 -1.15677896e-02 -5.55244522e-03 2.20943545e+02] [ 1.15702460e-02 9.99932978e-01 4.10469372e-04 -8.52148517e+00] [ 5.54732486e-03 -4.74678737e-04 9.99984501e-01 -4.67328636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74800114499996 meters 0.08356342725499154 Centerline is valid? [True, True] Translation: X:220.97, Y:-8.53, Z:-4.68 [[ 9.99906328e-01 -1.23862541e-02 -5.82379135e-03 2.20974217e+02] [ 1.23889783e-02 9.99923160e-01 4.31923111e-04 -8.53188324e+00] [ 5.81799394e-03 -5.04033477e-04 9.99982948e-01 -4.67703869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77800114499996 meters 0.07945593074597947 Centerline is valid? [True, True] Translation: X:221.01, Y:-8.52, Z:-4.68 [[ 9.99898637e-01 -1.32545736e-02 -5.19931891e-03 2.21006800e+02] [ 1.32567610e-02 9.99912051e-01 3.86464581e-04 -8.52448699e+00] [ 5.19373921e-03 -4.55351536e-04 9.99986409e-01 -4.67534354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80800114499996 meters 0.08245597128089831 Centerline is valid? [True, True] Translation: X:221.04, Y:-8.53, Z:-4.68 [[ 9.99886441e-01 -1.39816574e-02 -5.62310944e-03 2.21037882e+02] [ 1.39842261e-02 9.99902129e-01 4.17752293e-04 -8.53106472e+00] [ 5.61671823e-03 -4.96339687e-04 9.99984103e-01 -4.67699269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83800114499996 meters 0.08390676838307909 Centerline is valid? [True, True] Translation: X:221.07, Y:-8.53, Z:-4.68 [[ 9.99886206e-01 -1.40962791e-02 -5.37317021e-03 2.21068625e+02] [ 1.40986277e-02 9.99900530e-01 3.99467252e-04 -8.53460603e+00] [ 5.36700474e-03 -4.75176122e-04 9.99985485e-01 -4.67840335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86800114499997 meters 0.0825257520211947 Centerline is valid? [True, True] Translation: X:221.10, Y:-8.53, Z:-4.68 [[ 9.99877973e-01 -1.44728850e-02 -5.88005833e-03 2.21100583e+02] [ 1.44757053e-02 9.99895126e-01 4.37364563e-04 -8.53374122e+00] [ 5.87311174e-03 -5.22429184e-04 9.99982617e-01 -4.67891004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89800114499997 meters 0.08425323283906352 Centerline is valid? [True, True] Translation: X:221.13, Y:-8.54, Z:-4.68 [[ 9.99855667e-01 -1.59977030e-02 -5.71994688e-03 2.21131166e+02] [ 1.60003931e-02 9.99871895e-01 4.24843308e-04 -8.53858988e+00] [ 5.71241761e-03 -5.16303388e-04 9.99983551e-01 -4.68139553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92800114499997 meters 0.08551043271448622 Centerline is valid? [True, True] Translation: X:221.16, Y:-8.54, Z:-4.68 [[ 9.99840008e-01 -1.68606001e-02 -5.97317417e-03 2.21162623e+02] [ 1.68635548e-02 9.99857701e-01 4.44653459e-04 -8.54189576e+00] [ 5.96482708e-03 -5.45311268e-04 9.99982062e-01 -4.68229785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95800114499997 meters 0.08650734487193265 Centerline is valid? [True, True] Translation: X:221.19, Y:-8.54, Z:-4.68 [[ 9.99822648e-01 -1.79175686e-02 -5.79949604e-03 2.21194251e+02] [ 1.79203735e-02 9.99839324e-01 4.32038431e-04 -8.54451644e+00] [ 5.79082312e-03 -5.35890943e-04 9.99983089e-01 -4.68310777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98800114499997 meters 0.08798813192346869 Centerline is valid? [True, True] Translation: X:221.23, Y:-8.55, Z:-4.68 [[ 9.99804695e-01 -1.87119489e-02 -6.35876338e-03 2.21225109e+02] [ 1.87153381e-02 9.99824740e-01 4.73903971e-04 -8.54847234e+00] [ 6.34878128e-03 -5.92817822e-04 9.99979671e-01 -4.68405140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01800114499997 meters 0.08435627726289044 Centerline is valid? [True, True] Translation: X:221.26, Y:-8.54, Z:-4.68 [[ 9.99794545e-01 -1.97821416e-02 -4.41970383e-03 2.21257552e+02] [ 1.97837938e-02 9.99804227e-01 3.30418278e-04 -8.54471142e+00] [ 4.41230219e-03 -4.17788901e-04 9.99990178e-01 -4.68248722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04800114499997 meters 0.09122455233248675 Centerline is valid? [True, True] Translation: X:221.29, Y:-8.56, Z:-4.69 [[ 9.99791024e-01 -2.00804898e-02 -3.83183285e-03 2.21287893e+02] [ 2.00817389e-02 9.99798300e-01 2.87761677e-04 -8.55823945e+00] [ 3.82528158e-03 -3.64651408e-04 9.99992617e-01 -4.68632918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07800114499997 meters 0.09129334782202025 Centerline is valid? [True, True] Translation: X:221.32, Y:-8.56, Z:-4.69 [[ 9.99784418e-01 -2.04880747e-02 -3.36984138e-03 2.21320088e+02] [ 2.04890420e-02 9.99790046e-01 2.52761408e-04 -8.56036188e+00] [ 3.36395527e-03 -3.21751739e-04 9.99994290e-01 -4.68659443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10800114499997 meters 0.0875999024104529 Centerline is valid? [True, True] Translation: X:221.35, Y:-8.56, Z:-4.69 [[ 9.99778365e-01 -2.07657935e-02 -3.46446266e-03 2.21352720e+02] [ 2.07668184e-02 9.99784313e-01 2.60104021e-04 -8.55514753e+00] [ 3.45831415e-03 -3.31992240e-04 9.99993965e-01 -4.68518753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13800114499998 meters 0.0875999024104529 Centerline is valid? [True, True] Translation: X:221.39, Y:-8.56, Z:-4.69 [[ 9.99780446e-01 -2.06653984e-02 -3.46438092e-03 2.21385323e+02] [ 2.06664264e-02 9.99786392e-01 2.61197196e-04 -8.55769467e+00] [ 3.45824316e-03 -3.32736222e-04 9.99993965e-01 -4.68590309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16800114499998 meters 0.08732187753242203 Centerline is valid? [True, True] Translation: X:221.42, Y:-8.56, Z:-4.69 [[ 9.99792805e-01 -2.00924754e-02 -3.26173815e-03 2.21417705e+02] [ 2.00933824e-02 9.99798077e-01 2.45522323e-04 -8.55834327e+00] [ 3.25614638e-03 -3.11010804e-04 9.99994650e-01 -4.68573368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19800114499995 meters 0.08838381333373642 Centerline is valid? [True, True] Translation: X:221.45, Y:-8.56, Z:-4.69 [[ 9.99796511e-01 -1.98272189e-02 -3.71737790e-03 2.21448659e+02] [ 1.98283936e-02 9.99803359e-01 2.79425545e-04 -8.56144480e+00] [ 3.71110668e-03 -3.53078317e-04 9.99993051e-01 -4.68663643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22800114499995 meters 0.08672195086394084 Centerline is valid? [True, True] Translation: X:221.48, Y:-8.56, Z:-4.69 [[ 9.99795296e-01 -1.98683086e-02 -3.82316343e-03 2.21480738e+02] [ 1.98695538e-02 9.99802539e-01 2.87977288e-04 -8.56054998e+00] [ 3.81668688e-03 -3.63882889e-04 9.99992650e-01 -4.68683815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25800114499995 meters 0.09594940250668002 Centerline is valid? [True, True] Translation: X:221.51, Y:-8.58, Z:-4.69 [[ 9.99770212e-01 -2.08001385e-02 -5.18429682e-03 2.21509121e+02] [ 2.08024303e-02 9.99783531e-01 3.88523089e-04 -8.57821758e+00] [ 5.17509325e-03 -4.96279784e-04 9.99986486e-01 -4.69312204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28800114499995 meters 0.0970112569756977 Centerline is valid? [True, True] Translation: X:221.54, Y:-8.58, Z:-4.69 [[ 9.99764315e-01 -2.10749021e-02 -5.21184554e-03 2.21539556e+02] [ 2.10772373e-02 9.99777773e-01 3.93526052e-04 -8.58242081e+00] [ 5.20239380e-03 -5.03284609e-04 9.99986341e-01 -4.69442737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31800114499995 meters 0.0874043582086408 Centerline is valid? [True, True] Translation: X:221.57, Y:-8.57, Z:-4.69 [[ 9.99775012e-01 -2.05919459e-02 -5.08899868e-03 2.21572874e+02] [ 2.05941635e-02 9.99787844e-01 3.83736341e-04 -8.56941187e+00] [ 5.08001714e-03 -4.88453676e-04 9.99986977e-01 -4.69126276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34800114499996 meters 0.09788917951237391 Centerline is valid? [True, True] Translation: X:221.60, Y:-8.59, Z:-4.70 [[ 9.99776915e-01 -2.04906021e-02 -5.12397736e-03 2.21602537e+02] [ 2.04928564e-02 9.99789924e-01 3.87834334e-04 -8.58808744e+00] [ 5.11495397e-03 -4.92752746e-04 9.99986797e-01 -4.69676423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37800114499996 meters 0.08775326143461457 Centerline is valid? [True, True] Translation: X:221.63, Y:-8.57, Z:-4.69 [[ 9.99830857e-01 -1.77617355e-02 -4.77254627e-03 2.21634488e+02] [ 1.77636497e-02 9.99842149e-01 3.58986947e-04 -8.57257884e+00] [ 4.76541669e-03 -4.43704067e-04 9.99988547e-01 -4.69285431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40800114499996 meters 0.08715548727564498 Centerline is valid? [True, True] Translation: X:221.66, Y:-8.57, Z:-4.69 [[ 9.99859769e-01 -1.63331140e-02 -3.69763955e-03 2.21664172e+02] [ 1.63342534e-02 9.99866548e-01 2.78156242e-04 -8.57301417e+00] [ 3.69260294e-03 -3.38515417e-04 9.99993125e-01 -4.69286836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43800114499996 meters 0.08202041597668462 Centerline is valid? [True, True] Translation: X:221.70, Y:-8.57, Z:-4.69 [[ 9.99883123e-01 -1.48034952e-02 -3.82056085e-03 2.21696814e+02] [ 1.48047055e-02 9.99890363e-01 2.88716161e-04 -8.56598609e+00] [ 3.81586797e-03 -3.45244695e-04 9.99992660e-01 -4.69190179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46800114499996 meters 0.08674998198282756 Centerline is valid? [True, True] Translation: X:221.73, Y:-8.58, Z:-4.70 [[ 9.99918995e-01 -1.17519759e-02 -4.88827910e-03 2.21726111e+02] [ 1.17539128e-02 9.99930853e-01 3.67692136e-04 -8.57506532e+00] [ 4.88361998e-03 -4.25118758e-04 9.99987985e-01 -4.69529755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49800114499996 meters 0.08581282027535936 Centerline is valid? [True, True] Translation: X:221.76, Y:-8.57, Z:-4.70 [[ 9.99934114e-01 -1.04864322e-02 -4.66938070e-03 2.21757653e+02] [ 1.04881908e-02 9.99944935e-01 3.52302762e-04 -8.57466503e+00] [ 4.66542919e-03 -4.01252906e-04 9.99989036e-01 -4.69507906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52800114499996 meters 0.08636363629288794 Centerline is valid? [True, True] Translation: X:221.79, Y:-8.58, Z:-4.70 [[ 9.99941431e-01 -9.61982881e-03 -4.95922722e-03 2.21788351e+02] [ 9.62180249e-03 9.99953639e-01 3.74275376e-04 -8.57747054e+00] [ 4.95539684e-03 -4.21970160e-04 9.99987633e-01 -4.69677249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55800114499996 meters 0.0826068041448407 Centerline is valid? [True, True] Translation: X:221.82, Y:-8.57, Z:-4.70 [[ 9.99941452e-01 -9.28824784e-03 -5.55175860e-03 2.21820847e+02] [ 9.29072192e-03 9.99956752e-01 4.20014168e-04 -8.57385298e+00] [ 5.54761730e-03 -4.71569422e-04 9.99984501e-01 -4.69635439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58800114499996 meters 0.08235406166885849 Centerline is valid? [True, True] Translation: X:221.85, Y:-8.58, Z:-4.70 [[ 9.99939044e-01 -9.85003301e-03 -4.98859781e-03 2.21852335e+02] [ 9.85203551e-03 9.99951396e-01 3.76999752e-04 -8.57649783e+00] [ 4.98464188e-03 -4.26124614e-04 9.99987486e-01 -4.69700622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61800114499997 meters 0.08222272423041938 Centerline is valid? [True, True] Translation: X:221.88, Y:-8.58, Z:-4.70 [[ 9.99941481e-01 -1.00516184e-02 -4.00001274e-03 2.21884367e+02] [ 1.00529120e-02 9.99949422e-01 3.03420593e-04 -8.57795907e+00] [ 3.99676056e-03 -3.43614613e-04 9.99991954e-01 -4.69662332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64800114499997 meters 0.08238793964708876 Centerline is valid? [True, True] Translation: X:221.92, Y:-8.58, Z:-4.70 [[ 9.99944563e-01 -9.90400350e-03 -3.57522202e-03 2.21916915e+02] [ 9.90503737e-03 9.99950907e-01 2.71587278e-04 -8.57977435e+00] [ 3.57235670e-03 -3.06984930e-04 9.99993572e-01 -4.69636289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67800114499997 meters 0.08263409614107135 Centerline is valid? [True, True] Translation: X:221.95, Y:-8.58, Z:-4.70 [[ 9.99952711e-01 -9.07129132e-03 -3.50521718e-03 2.21948125e+02] [ 9.07227801e-03 9.99958811e-01 2.65693310e-04 -8.58167202e+00] [ 3.50266262e-03 -2.97481051e-04 9.99993821e-01 -4.69766320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70800114499997 meters 0.08375236913665114 Centerline is valid? [True, True] Translation: X:221.98, Y:-8.59, Z:-4.70 [[ 9.99955269e-01 -8.48263772e-03 -4.18398474e-03 2.21978910e+02] [ 8.48404017e-03 9.99963959e-01 3.17559220e-04 -8.58618558e+00] [ 4.18114021e-03 -3.53042110e-04 9.99991197e-01 -4.69957325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73800114499997 meters 0.08329257901483303 Centerline is valid? [True, True] Translation: X:222.01, Y:-8.59, Z:-4.70 [[ 9.99956898e-01 -8.28018184e-03 -4.20003678e-03 2.22011060e+02] [ 8.28159590e-03 9.99965656e-01 3.19396708e-04 -8.58795837e+00] [ 4.19724787e-03 -3.54165949e-04 9.99991129e-01 -4.70045937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76800114499997 meters 0.08429285916655146 Centerline is valid? [True, True] Translation: X:222.04, Y:-8.59, Z:-4.70 [[ 9.99958944e-01 -8.29502952e-03 -3.64733463e-03 2.22042010e+02] [ 8.29609599e-03 9.99965548e-01 2.77363939e-04 -8.59166568e+00] [ 3.64490823e-03 -3.07611189e-04 9.99993310e-01 -4.70179640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79800114499997 meters 0.08573182144009345 Centerline is valid? [True, True] Translation: X:222.07, Y:-8.59, Z:-4.70 [[ 9.99944519e-01 -9.12857236e-03 -5.25630160e-03 2.22072600e+02] [ 9.13079301e-03 9.99958234e-01 3.98630216e-04 -8.59461049e+00] [ 5.25244314e-03 -4.46602302e-04 9.99986106e-01 -4.70311748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82800114499997 meters 0.08754696790838533 Centerline is valid? [True, True] Translation: X:222.10, Y:-8.60, Z:-4.70 [[ 9.99933077e-01 -1.01078795e-02 -5.62774644e-03 2.22102680e+02] [ 1.01104408e-02 9.99948797e-01 4.26864530e-04 -8.59850602e+00] [ 5.62314358e-03 -4.83734961e-04 9.99984073e-01 -4.70413529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85800114499997 meters 0.08677659997884252 Centerline is valid? [True, True] Translation: X:222.13, Y:-8.60, Z:-4.70 [[ 9.99926142e-01 -1.09528042e-02 -5.26745863e-03 2.22134461e+02] [ 1.09550625e-02 9.99939911e-01 4.00074563e-04 -8.59874268e+00] [ 5.26276018e-03 -4.57750353e-04 9.99986047e-01 -4.70386527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88800114499998 meters 0.08950645860695738 Centerline is valid? [True, True] Translation: X:222.16, Y:-8.61, Z:-4.71 [[ 9.99908764e-01 -1.22834290e-02 -5.61975694e-03 2.22163733e+02] [ 1.22860162e-02 9.99924433e-01 4.26090298e-04 -8.60555321e+00] [ 5.61409843e-03 -4.95095848e-04 9.99984118e-01 -4.70648112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91800114499998 meters 0.09201522886150423 Centerline is valid? [True, True] Translation: X:222.19, Y:-8.61, Z:-4.71 [[ 9.99878081e-01 -1.45106808e-02 -5.76743574e-03 2.22192573e+02] [ 1.45134475e-02 9.99894578e-01 4.38136455e-04 -8.61369557e+00] [ 5.76047007e-03 -5.21788413e-04 9.99983272e-01 -4.70963392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94800114499995 meters 0.0934178001717931 Centerline is valid? [True, True] Translation: X:222.22, Y:-8.62, Z:-4.71 [[ 9.99864266e-01 -1.55211460e-02 -5.52657213e-03 2.22224207e+02] [ 1.55237052e-02 9.99879412e-01 4.20470854e-04 -8.61827540e+00] [ 5.51937950e-03 -5.06206658e-04 9.99984640e-01 -4.71109407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97800114499995 meters 0.09458388679794462 Centerline is valid? [True, True] Translation: X:222.26, Y:-8.62, Z:-4.71 [[ 9.99863139e-01 -1.56317962e-02 -5.41767012e-03 2.22255285e+02] [ 1.56342586e-02 9.99877692e-01 4.12451287e-04 -8.62170444e+00] [ 5.41056014e-03 -4.97096094e-04 9.99985239e-01 -4.71167152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00800114499995 meters 0.09568356518183944 Centerline is valid? [True, True] Translation: X:222.29, Y:-8.62, Z:-4.71 [[ 9.99859822e-01 -1.57192855e-02 -5.76539833e-03 2.22286926e+02] [ 1.57220766e-02 9.99876304e-01 4.39116133e-04 -8.62414162e+00] [ 5.75778259e-03 -5.29698613e-04 9.99983284e-01 -4.71228787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03800114499995 meters 0.09705344283467547 Centerline is valid? [True, True] Translation: X:222.32, Y:-8.63, Z:-4.71 [[ 9.99851014e-01 -1.60597639e-02 -6.32725921e-03 2.22318759e+02] [ 1.60631363e-02 9.99870863e-01 4.82528041e-04 -8.62698074e+00] [ 6.31869284e-03 -5.84091778e-04 9.99979866e-01 -4.71403395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06800114499995 meters 0.0865413944063309 Centerline is valid? [True, True] Translation: X:222.35, Y:-8.61, Z:-4.71 [[ 9.99857732e-01 -1.57099613e-02 -6.14107963e-03 2.22352398e+02] [ 1.57131352e-02 9.99876431e-01 4.68908558e-04 -8.61061566e+00] [ 6.13295424e-03 -5.65337462e-04 9.99981033e-01 -4.70903779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09800114499996 meters 0.09337455409248156 Centerline is valid? [True, True] Translation: X:222.38, Y:-8.62, Z:-4.71 [[ 9.99865013e-01 -1.55854787e-02 -5.20083421e-03 2.22382597e+02] [ 1.55877539e-02 9.99878425e-01 3.97226849e-04 -8.62389670e+00] [ 5.19401094e-03 -4.78242552e-04 9.99986397e-01 -4.71221743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12800114499996 meters 0.08283241291094298 Centerline is valid? [True, True] Translation: X:222.42, Y:-8.61, Z:-4.71 [[ 9.99873280e-01 -1.50154499e-02 -5.28765277e-03 2.22415715e+02] [ 1.50177979e-02 9.99887145e-01 4.04626400e-04 -8.60914221e+00] [ 5.28098039e-03 -4.83984027e-04 9.99985938e-01 -4.70751253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15800114499996 meters 0.096043277844735 Centerline is valid? [True, True] Translation: X:222.45, Y:-8.63, Z:-4.71 [[ 9.99863955e-01 -1.60122857e-02 -3.95956893e-03 2.22445134e+02] [ 1.60136109e-02 9.99871728e-01 3.03202649e-04 -8.63335677e+00] [ 3.95420606e-03 -3.66568396e-04 9.99992115e-01 -4.71286381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18800114499996 meters 0.09705624635473133 Centerline is valid? [True, True] Translation: X:222.48, Y:-8.64, Z:-4.71 [[ 9.99859359e-01 -1.64462122e-02 -3.28383443e-03 2.22477145e+02] [ 1.64471279e-02 9.99864705e-01 2.52053688e-04 -8.63641056e+00] [ 3.27924481e-03 -3.06027884e-04 9.99994576e-01 -4.71314554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21800114499996 meters 0.08881428560902978 Centerline is valid? [True, True] Translation: X:222.51, Y:-8.62, Z:-4.71 [[ 9.99866336e-01 -1.62130338e-02 -2.10898110e-03 2.22510485e+02] [ 1.62134125e-02 9.99868541e-01 1.62591680e-04 -8.62489704e+00] [ 2.10606775e-03 -1.96763728e-04 9.99997763e-01 -4.70905832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24800114499996 meters 0.09920582340258098 Centerline is valid? [True, True] Translation: X:222.54, Y:-8.64, Z:-4.71 [[ 9.99856901e-01 -1.67071783e-02 -2.65471138e-03 2.22540323e+02] [ 1.67077813e-02 9.99860394e-01 2.05121230e-04 -8.64275188e+00] [ 2.65091377e-03 -2.49446215e-04 9.99996455e-01 -4.71391864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27800114499996 meters 0.09926292453124225 Centerline is valid? [True, True] Translation: X:222.57, Y:-8.65, Z:-4.72 [[ 9.99866361e-01 -1.61904486e-02 -2.26475989e-03 2.22571175e+02] [ 1.61908847e-02 9.99868904e-01 1.74363368e-04 -8.64531727e+00] [ 2.26163996e-03 -2.11008533e-04 9.99997420e-01 -4.71517526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30800114499996 meters 0.08933385954628796 Centerline is valid? [True, True] Translation: X:222.61, Y:-8.63, Z:-4.71 [[ 9.99873757e-01 -1.55640079e-02 -3.19880170e-03 2.22605010e+02] [ 1.55648768e-02 9.99878829e-01 2.46910666e-04 -8.63206925e+00] [ 3.19457118e-03 -2.96668450e-04 9.99994853e-01 -4.71250220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33800114499996 meters 0.08785510453199408 Centerline is valid? [True, True] Translation: X:222.64, Y:-8.63, Z:-4.71 [[ 9.99883557e-01 -1.48477569e-02 -3.52374620e-03 2.22637453e+02] [ 1.48488059e-02 9.99889713e-01 2.71719450e-04 -8.63256360e+00] [ 3.51932315e-03 -3.24011234e-04 9.99993755e-01 -4.71363368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36800114499997 meters 0.10248970616711818 Centerline is valid? [True, False] Translation: X:222.64, Y:-8.63, Z:-4.71 [[ 9.99886303e-01 -1.46020337e-02 -3.76312863e-03 2.22638481e+02] [ 1.46038977e-02 9.99893248e-01 4.68346672e-04 -8.63205297e+00] [ 3.75588809e-03 -5.23249768e-04 9.99992810e-01 -4.71447029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39800114499997 meters 0.08552241651224979 Centerline is valid? [False, True] Translation: X:222.63, Y:-8.63, Z:-4.72 [[ 9.99976373e-01 -5.99954262e-03 3.35540371e-03 2.22628350e+02] [ 6.00354907e-03 9.99981276e-01 -1.18523494e-03 -8.63272213e+00] [-3.34823002e-03 1.20535127e-03 9.99993668e-01 -4.71914066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42800114499997 meters 0.09066313165770613 Centerline is valid? [True, True] Translation: X:222.66, Y:-8.64, Z:-4.72 [[ 9.99981695e-01 -5.28413933e-03 2.94755138e-03 2.22658824e+02] [ 5.28489375e-03 9.99986004e-01 -2.48216357e-04 -8.64345977e+00] [-2.94619852e-03 2.63789309e-04 9.99995625e-01 -4.72310475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45800114499997 meters 0.08699976269922498 Centerline is valid? [True, True] Translation: X:222.69, Y:-8.64, Z:-4.72 [[ 9.99986184e-01 -4.72486408e-03 2.30359394e-03 2.22691291e+02] [ 4.72532184e-03 9.99988817e-01 -1.93315641e-04 -8.63925647e+00] [-2.30265479e-03 2.04198193e-04 9.99997328e-01 -4.72276682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48800114499997 meters 0.08603593336252775 Centerline is valid? [True, True] Translation: X:222.72, Y:-8.64, Z:-4.72 [[ 9.99991349e-01 -3.66356625e-03 1.96998398e-03 2.22723011e+02] [ 3.66390051e-03 9.99993274e-01 -1.66098739e-04 -8.63930434e+00] [-1.96936221e-03 1.73315127e-04 9.99998046e-01 -4.72457519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51800114499997 meters 0.09220045808092882 Centerline is valid? [True, True] Translation: X:222.75, Y:-8.65, Z:-4.73 [[ 9.99992740e-01 -3.43559308e-03 1.64839173e-03 2.22752685e+02] [ 3.43582586e-03 9.99994088e-01 -1.38408417e-04 -8.65178228e+00] [-1.64790647e-03 1.44070999e-04 9.99998632e-01 -4.72906890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54800114499997 meters 0.08459522474957366 Centerline is valid? [True, True] Translation: X:222.79, Y:-8.64, Z:-4.73 [[ 9.99992498e-01 -3.52904390e-03 1.59698167e-03 2.22785596e+02] [ 3.52926173e-03 9.99993763e-01 -1.33604782e-04 -8.64099825e+00] [-1.59650021e-03 1.39239945e-04 9.99998716e-01 -4.72563957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57800114499997 meters 0.0875191460399743 Centerline is valid? [True, True] Translation: X:222.82, Y:-8.65, Z:-4.73 [[ 9.99986632e-01 -3.22329434e-03 4.04315104e-03 2.22815543e+02] [ 3.22470738e-03 9.99994742e-01 -3.43021015e-04 -8.64619231e+00] [-4.04202412e-03 3.56054408e-04 9.99991768e-01 -4.72574188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60800114499997 meters 0.09411344575433714 Centerline is valid? [True, True] Translation: X:222.85, Y:-8.66, Z:-4.73 [[ 9.99986397e-01 -3.26143180e-03 4.07042495e-03 2.22846005e+02] [ 3.26286112e-03 9.99994617e-01 -3.44557098e-04 -8.65864279e+00] [-4.06927929e-03 3.57833643e-04 9.99991656e-01 -4.72889558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63800114499998 meters 0.08695655753429991 Centerline is valid? [True, True] Translation: X:222.88, Y:-8.65, Z:-4.73 [[ 9.99985442e-01 -3.24943158e-03 4.30766778e-03 2.22879211e+02] [ 3.25103168e-03 9.99994649e-01 -3.64503901e-04 -8.64877431e+00] [-4.30646030e-03 3.78502959e-04 9.99990656e-01 -4.72509997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66800114499998 meters 0.0924003081608956 Centerline is valid? [True, True] Translation: X:222.91, Y:-8.66, Z:-4.73 [[ 9.99982235e-01 -3.06209557e-03 5.11394954e-03 2.22909981e+02] [ 3.06435200e-03 9.99995211e-01 -4.33452904e-04 -8.66040596e+00] [-5.11259778e-03 4.49116145e-04 9.99986830e-01 -4.72827834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69800114499995 meters 0.09459925204709338 Centerline is valid? [True, True] Translation: X:222.94, Y:-8.67, Z:-4.73 [[ 9.99967174e-01 -3.54578640e-03 7.28546194e-03 2.22940274e+02] [ 3.55039145e-03 9.99993506e-01 -6.19250520e-04 -8.66693187e+00] [-7.28321890e-03 6.45096434e-04 9.99973269e-01 -4.72906885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72800114499995 meters 0.08511990836668845 Centerline is valid? [True, True] Translation: X:222.97, Y:-8.65, Z:-4.73 [[ 9.99967642e-01 -4.06277036e-03 6.94326681e-03 2.22973597e+02] [ 4.06696375e-03 9.99991556e-01 -5.89938550e-04 -8.65410065e+00] [-6.94081139e-03 6.18157475e-04 9.99975721e-01 -4.72598288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75800114499995 meters 0.08754430790382076 Centerline is valid? [True, True] Translation: X:223.00, Y:-8.66, Z:-4.73 [[ 9.99963483e-01 -5.12904052e-03 6.83566507e-03 2.23004259e+02] [ 5.13313539e-03 9.99986656e-01 -5.81634751e-04 -8.66140938e+00] [-6.83259063e-03 6.16701906e-04 9.99976467e-01 -4.72735971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78800114499995 meters 0.08912195142196651 Centerline is valid? [True, True] Translation: X:223.03, Y:-8.67, Z:-4.73 [[ 9.99944068e-01 -7.53590107e-03 7.42101130e-03 2.23034993e+02] [ 7.54079977e-03 9.99971368e-01 -6.32352246e-04 -8.66709976e+00] [-7.41603347e-03 6.88277238e-04 9.99972264e-01 -4.72797969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81800114499995 meters 0.08847036942288607 Centerline is valid? [True, True] Translation: X:223.07, Y:-8.67, Z:-4.73 [[ 9.99935824e-01 -8.80272172e-03 7.13157071e-03 2.23066170e+02] [ 8.80727890e-03 9.99961030e-01 -6.07860943e-04 -8.66856213e+00] [-7.12594197e-03 6.70631665e-04 9.99974385e-01 -4.72873807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84800114499996 meters 0.09124478078688417 Centerline is valid? [True, True] Translation: X:223.10, Y:-8.68, Z:-4.73 [[ 9.99930557e-01 -9.49023104e-03 6.98696099e-03 2.23096804e+02] [ 9.49462073e-03 9.99954748e-01 -5.95367442e-04 -8.67650976e+00] [-6.98099464e-03 6.61664643e-04 9.99975414e-01 -4.73090005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87800114499996 meters 0.08980635375784479 Centerline is valid? [True, True] Translation: X:223.13, Y:-8.68, Z:-4.73 [[ 9.99921689e-01 -1.07265255e-02 6.44658336e-03 2.23128046e+02] [ 1.07302917e-02 9.99942278e-01 -5.49913973e-04 -8.67772987e+00] [-6.44031258e-03 6.19044628e-04 9.99979069e-01 -4.73156594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90800114499996 meters 0.08714909018105461 Centerline is valid? [True, True] Translation: X:223.16, Y:-8.68, Z:-4.73 [[ 9.99924888e-01 -1.08374930e-02 5.72430683e-03 2.23159789e+02] [ 1.08404623e-02 9.99941121e-01 -4.87932403e-04 -8.67879777e+00] [-5.71868183e-03 5.49949885e-04 9.99983497e-01 -4.73264371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93800114499996 meters 0.08994936261939683 Centerline is valid? [True, True] Translation: X:223.19, Y:-8.69, Z:-4.74 [[ 9.99925042e-01 -1.08581598e-02 5.65773591e-03 2.23190302e+02] [ 1.08610623e-02 9.99940900e-01 -4.82546361e-04 -8.68677244e+00] [-5.65216198e-03 5.43959213e-04 9.99983878e-01 -4.73508417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96800114499996 meters 0.08823710345002671 Centerline is valid? [True, True] Translation: X:223.22, Y:-8.69, Z:-4.74 [[ 9.99932497e-01 -1.04754360e-02 5.02667920e-03 2.23222240e+02] [ 1.04777206e-02 9.99945015e-01 -4.28376517e-04 -8.68715825e+00] [-5.02191538e-03 4.81015740e-04 9.99987274e-01 -4.73566837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99800114499996 meters 0.08805665751543769 Centerline is valid? [True, True] Translation: X:223.25, Y:-8.69, Z:-4.74 [[ 9.99936019e-01 -1.03708590e-02 4.51699527e-03 2.23254305e+02] [ 1.03727032e-02 9.99946128e-01 -3.85046593e-04 -8.68959688e+00] [-4.51275867e-03 4.31875409e-04 9.99989724e-01 -4.73612199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02800114499996 meters 0.08805665751543769 Centerline is valid? [True, True] Translation: X:223.29, Y:-8.69, Z:-4.74 [[ 9.99937071e-01 -1.02689156e-02 4.51704422e-03 2.23286876e+02] [ 1.02707563e-02 9.99947180e-01 -3.84477094e-04 -8.69250200e+00] [-4.51285747e-03 4.30846359e-04 9.99989724e-01 -4.73711527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05800114499996 meters 0.08943130382522832 Centerline is valid? [True, True] Translation: X:223.32, Y:-8.70, Z:-4.74 [[ 9.99942822e-01 -9.59552336e-03 4.72002679e-03 2.23317374e+02] [ 9.59753490e-03 9.99953861e-01 -4.03703266e-04 -8.69732585e+00] [-4.71593527e-03 4.48980805e-04 9.99988779e-01 -4.73819111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08800114499996 meters 0.08885065983417387 Centerline is valid? [True, True] Translation: X:223.35, Y:-8.70, Z:-4.74 [[ 9.99947643e-01 -9.11345765e-03 4.65365199e-03 2.23349785e+02] [ 9.11540687e-03 9.99958375e-01 -3.97818058e-04 -8.69977047e+00] [-4.64983278e-03 4.40217160e-04 9.99989093e-01 -4.73908638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11800114499997 meters 0.09077861046498911 Centerline is valid? [True, True] Translation: X:223.38, Y:-8.71, Z:-4.74 [[ 9.99952272e-01 -9.06430166e-03 3.64575486e-03 2.23380432e+02] [ 9.06549862e-03 9.99958859e-01 -3.11923976e-04 -8.70713080e+00] [-3.64277750e-03 3.44959675e-04 9.99993306e-01 -4.74193154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14800114499997 meters 0.08921149724913563 Centerline is valid? [True, True] Translation: X:223.41, Y:-8.71, Z:-4.74 [[ 9.99953440e-01 -8.47374987e-03 4.61660349e-03 2.23411942e+02] [ 8.47566780e-03 9.99964002e-01 -3.96036030e-04 -8.70806875e+00] [-4.61308140e-03 4.35146388e-04 9.99989265e-01 -4.74243989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17800114499997 meters 0.08709802951733665 Centerline is valid? [True, True] Translation: X:223.44, Y:-8.71, Z:-4.74 [[ 9.99945845e-01 -8.75288852e-03 5.62975377e-03 2.23444167e+02] [ 8.75574252e-03 9.99961551e-01 -4.82502368e-04 -8.70810190e+00] [-5.62531403e-03 5.31768912e-04 9.99984036e-01 -4.74186004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20800114499997 meters 0.09000150191628851 Centerline is valid? [True, True] Translation: X:223.47, Y:-8.72, Z:-4.74 [[ 9.99939181e-01 -9.22501183e-03 6.04431270e-03 2.23474940e+02] [ 9.22831622e-03 9.99957283e-01 -5.19032289e-04 -8.71653871e+00] [-6.03926643e-03 5.74779551e-04 9.99981598e-01 -4.74333367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23800114499997 meters 0.0883665112375668 Centerline is valid? [True, True] Translation: X:223.51, Y:-8.72, Z:-4.74 [[ 9.99924975e-01 -9.78138773e-03 7.37358449e-03 2.23506957e+02] [ 9.78632282e-03 9.99951912e-01 -6.33508582e-04 -8.71787263e+00] [-7.36703331e-03 7.05621331e-04 9.99972614e-01 -4.74182386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26800114499997 meters 0.08959858347673391 Centerline is valid? [True, True] Translation: X:223.54, Y:-8.72, Z:-4.74 [[ 9.99926940e-01 -9.56635742e-03 7.38912005e-03 2.23537974e+02] [ 9.57131418e-03 9.99953992e-01 -6.35747310e-04 -8.72321295e+00] [-7.38269831e-03 7.06424452e-04 9.99972498e-01 -4.74321886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29800114499997 meters 0.09112089736800119 Centerline is valid? [True, True] Translation: X:223.57, Y:-8.73, Z:-4.74 [[ 9.99928890e-01 -9.61785926e-03 7.05059434e-03 2.23568462e+02] [ 9.62237569e-03 9.99953520e-01 -6.06931478e-04 -8.72879810e+00] [-7.04442925e-03 6.74731787e-04 9.99974960e-01 -4.74395928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32800114499997 meters 0.09159280377960614 Centerline is valid? [True, True] Translation: X:223.60, Y:-8.73, Z:-4.75 [[ 9.99923013e-01 -1.04053190e-02 6.76002904e-03 2.23600187e+02] [ 1.04094879e-02 9.99945651e-01 -5.81815686e-04 -8.73443925e+00] [-6.75360766e-03 6.52139334e-04 9.99976981e-01 -4.74533260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35800114499997 meters 0.09556490555821567 Centerline is valid? [True, True] Translation: X:223.63, Y:-8.75, Z:-4.75 [[ 9.99928570e-01 -1.03371991e-02 5.99972103e-03 2.23630180e+02] [ 1.03404853e-02 9.99946402e-01 -5.16957385e-04 -8.74534740e+00] [-5.99405557e-03 5.78960486e-04 9.99981868e-01 -4.74897496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38800114499998 meters 0.09213622282341262 Centerline is valid? [True, True] Translation: X:223.66, Y:-8.74, Z:-4.75 [[ 9.99928134e-01 -1.09380223e-02 4.90780311e-03 2.23662021e+02] [ 1.09402281e-02 9.99940065e-01 -4.22841022e-04 -8.74409925e+00] [-4.90288391e-03 4.76503120e-04 9.99987867e-01 -4.74974204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41800114499998 meters 0.08940563562999389 Centerline is valid? [True, True] Translation: X:223.69, Y:-8.74, Z:-4.75 [[ 9.99920912e-01 -1.18011781e-02 4.34772743e-03 2.23694241e+02] [ 1.18029155e-02 9.99930273e-01 -3.74164027e-04 -8.74452829e+00] [-4.34300870e-03 4.25450295e-04 9.99990479e-01 -4.74938549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44800114499995 meters 0.08956198906381563 Centerline is valid? [True, True] Translation: X:223.73, Y:-8.75, Z:-4.75 [[ 9.99921262e-01 -1.17037268e-02 4.52686667e-03 2.23726380e+02] [ 1.17056111e-02 9.99931411e-01 -3.89976169e-04 -8.74866983e+00] [-4.52199200e-03 4.42935204e-04 9.99989678e-01 -4.74994476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47800114499995 meters 0.0975693913030721 Centerline is valid? [True, True] Translation: X:223.76, Y:-8.77, Z:-4.75 [[ 9.99923699e-01 -1.16775102e-02 4.02878634e-03 2.23755989e+02] [ 1.16789964e-02 9.99931738e-01 -3.45556786e-04 -8.76508649e+00] [-4.02447609e-03 3.92582601e-04 9.99991825e-01 -4.75455796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50800114499995 meters 0.0919971384567969 Centerline is valid? [True, True] Translation: X:223.79, Y:-8.76, Z:-4.75 [[ 9.99933145e-01 -1.10361033e-02 3.45099767e-03 2.23788627e+02] [ 1.10371952e-02 9.99939044e-01 -2.97519860e-04 -8.76186447e+00] [-3.44750385e-03 3.35589304e-04 9.99994001e-01 -4.75359550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53800114499995 meters 0.09870142641872523 Centerline is valid? [True, True] Translation: X:223.82, Y:-8.78, Z:-4.76 [[ 9.99935247e-01 -1.09803810e-02 2.98872122e-03 2.23818160e+02] [ 1.09812009e-02 9.99939671e-01 -2.58058444e-04 -8.77698269e+00] [-2.98570734e-03 2.90861483e-04 9.99995500e-01 -4.75757342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56800114499995 meters 0.08760690158056843 Centerline is valid? [True, True] Translation: X:223.85, Y:-8.76, Z:-4.75 [[ 9.99936659e-01 -1.08580796e-02 2.96315601e-03 2.23851851e+02] [ 1.08588838e-02 9.99941008e-01 -2.55446129e-04 -8.76392469e+00] [-2.96020756e-03 2.87606515e-04 9.99995577e-01 -4.75400555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59800114499996 meters 0.0900637585110424 Centerline is valid? [True, True] Translation: X:223.88, Y:-8.77, Z:-4.76 [[ 9.99942629e-01 -1.02101501e-02 3.23913856e-03 2.23882524e+02] [ 1.02111106e-02 9.99947826e-01 -2.80133927e-04 -8.77248327e+00] [-3.23610935e-03 3.13193057e-04 9.99994715e-01 -4.75587502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62800114499996 meters 0.08967571576403328 Centerline is valid? [True, True] Translation: X:223.91, Y:-8.78, Z:-4.76 [[ 9.99955151e-01 -8.68663924e-03 3.77344397e-03 2.23912924e+02] [ 8.68793877e-03 9.99962205e-01 -3.28132234e-04 -8.77637933e+00] [-3.77045099e-03 3.60900967e-04 9.99992827e-01 -4.75611695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65800114499996 meters 0.08726733280413755 Centerline is valid? [True, True] Translation: X:223.94, Y:-8.78, Z:-4.76 [[ 9.99967001e-01 -6.73933345e-03 4.53631903e-03 2.23943806e+02] [ 6.74118974e-03 9.99977200e-01 -3.94041249e-04 -8.77557883e+00] [-4.53356002e-03 4.24608434e-04 9.99989633e-01 -4.75598269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68800114499996 meters 0.08681517944686779 Centerline is valid? [True, True] Translation: X:223.97, Y:-8.78, Z:-4.76 [[ 9.99976502e-01 -4.93527943e-03 4.75808808e-03 2.23974441e+02] [ 4.93730193e-03 9.99987726e-01 -4.13413780e-04 -8.77821009e+00] [-4.75598937e-03 4.36896183e-04 9.99988595e-01 -4.75655419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71800114499996 meters 0.08758168397767577 Centerline is valid? [True, True] Translation: X:224.00, Y:-8.78, Z:-4.76 [[ 9.99982450e-01 -2.95841507e-03 5.13306595e-03 2.24004132e+02] [ 2.96074586e-03 9.99995517e-01 -4.46532958e-04 -8.78303393e+00] [-5.13172191e-03 4.61722825e-04 9.99986726e-01 -4.75819760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74800114499996 meters 0.08490916921601174 Centerline is valid? [True, True] Translation: X:224.03, Y:-8.78, Z:-4.76 [[ 9.99982895e-01 1.50136641e-04 5.84701696e-03 2.24034897e+02] [-1.47165089e-04 9.99999860e-01 -5.08643642e-04 -8.78268843e+00] [-5.84709251e-03 5.07774464e-04 9.99982777e-01 -4.75804500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77800114499996 meters 0.0848855743835311 Centerline is valid? [True, True] Translation: X:224.07, Y:-8.79, Z:-4.76 [[ 9.99983927e-01 1.60218613e-03 5.43858389e-03 2.24066409e+02] [-1.59964403e-03 9.99998609e-01 -4.71737442e-04 -8.78621638e+00] [-5.43933214e-03 4.63030062e-04 9.99985100e-01 -4.75930125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80800114499996 meters 0.08276493551780435 Centerline is valid? [True, True] Translation: X:224.10, Y:-8.79, Z:-4.76 [[ 9.99984766e-01 2.47789979e-03 4.93235766e-03 2.24098544e+02] [-2.47582019e-03 9.99996844e-01 -4.27684037e-04 -8.78652119e+00] [-4.93340185e-03 4.15465891e-04 9.99987744e-01 -4.75975320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83800114499996 meters 0.08260217540734939 Centerline is valid? [True, True] Translation: X:224.13, Y:-8.79, Z:-4.76 [[ 9.99980030e-01 4.05631177e-03 4.84619475e-03 2.24128851e+02] [-4.05431716e-03 9.99991692e-01 -4.21335035e-04 -8.79176197e+00] [-4.84786356e-03 4.01678610e-04 9.99988168e-01 -4.76174107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86800114499997 meters 0.08259520420323518 Centerline is valid? [True, True] Translation: X:224.16, Y:-8.79, Z:-4.76 [[ 9.99981526e-01 4.27022734e-03 4.32587256e-03 2.24160189e+02] [-4.26863986e-03 9.99990819e-01 -3.76140562e-04 -8.79494039e+00] [-4.32743905e-03 3.57668021e-04 9.99990573e-01 -4.76302366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89800114499997 meters 0.08337043079144299 Centerline is valid? [True, True] Translation: X:224.19, Y:-8.80, Z:-4.76 [[ 9.99979391e-01 4.40773723e-03 4.66792173e-03 2.24190384e+02] [-4.40588534e-03 9.99990211e-01 -4.06935347e-04 -8.79955267e+00] [-4.66966970e-03 3.86360633e-04 9.99989022e-01 -4.76345236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92800114499997 meters 0.0840837445102235 Centerline is valid? [True, True] Translation: X:224.22, Y:-8.81, Z:-4.76 [[ 9.99981229e-01 3.86109295e-03 4.75741202e-03 2.24220699e+02] [-3.85916713e-03 9.99992468e-01 -4.13918542e-04 -8.80544614e+00] [-4.75897436e-03 3.95551124e-04 9.99988598e-01 -4.76498535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95800114499997 meters 0.08706894273333514 Centerline is valid? [True, True] Translation: X:224.25, Y:-8.81, Z:-4.77 [[ 9.99975971e-01 4.35141846e-03 5.39651796e-03 2.24250040e+02] [-4.34894371e-03 9.99990433e-01 -4.70233162e-04 -8.81418335e+00] [-5.39851252e-03 4.46752710e-04 9.99985328e-01 -4.76769473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98800114499997 meters 0.08497293436340324 Centerline is valid? [True, True] Translation: X:224.28, Y:-8.81, Z:-4.77 [[ 9.99976674e-01 4.08500298e-03 5.47397616e-03 2.24281181e+02] [-4.08245431e-03 9.99991553e-01 -4.76689095e-04 -8.81392085e+00] [-5.47587720e-03 4.54330718e-04 9.99984904e-01 -4.76692345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01800114499997 meters 0.08496214193477883 Centerline is valid? [True, True] Translation: X:224.31, Y:-8.82, Z:-4.77 [[ 9.99980487e-01 3.90858377e-03 4.87329779e-03 2.24312499e+02] [-3.90656146e-03 9.99992279e-01 -4.24426413e-04 -8.81768141e+00] [-4.87491907e-03 4.05380293e-04 9.99988035e-01 -4.76815721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04800114499997 meters 0.08698229541923991 Centerline is valid? [True, True] Translation: X:224.34, Y:-8.83, Z:-4.77 [[ 9.99981724e-01 3.49303478e-03 4.93459267e-03 2.24342539e+02] [-3.49096527e-03 9.99993815e-01 -4.27939952e-04 -8.82607253e+00] [-4.93605695e-03 4.10705639e-04 9.99987733e-01 -4.77095253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07800114499997 meters 0.0822815246920302 Centerline is valid? [True, True] Translation: X:224.37, Y:-8.82, Z:-4.77 [[ 9.99988531e-01 3.12158212e-03 3.63232207e-03 2.24374869e+02] [-3.12046970e-03 9.99995083e-01 -3.11883549e-04 -8.82077066e+00] [-3.63327778e-03 3.00545421e-04 9.99993354e-01 -4.76966266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10800114499997 meters 0.08744770917723065 Centerline is valid? [True, True] Translation: X:224.40, Y:-8.83, Z:-4.77 [[ 9.99987846e-01 2.75633321e-03 4.08793614e-03 2.24403904e+02] [-2.75489949e-03 9.99996142e-01 -3.56309200e-04 -8.83307155e+00] [-4.08890248e-03 3.45043016e-04 9.99991581e-01 -4.77325932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13800114499998 meters 0.08233653698347106 Centerline is valid? [True, True] Translation: X:224.44, Y:-8.83, Z:-4.77 [[ 9.99989983e-01 2.64600266e-03 3.61016802e-03 2.24435470e+02] [-2.64488018e-03 9.99996452e-01 -3.15661932e-04 -8.82765651e+00] [-3.61099045e-03 3.06110308e-04 9.99993434e-01 -4.77177726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16800114499998 meters 0.08481814071115205 Centerline is valid? [True, True] Translation: X:224.46, Y:-8.84, Z:-4.77 [[ 9.99992619e-01 1.92369978e-03 3.32593532e-03 2.24464828e+02] [-1.92274155e-03 9.99998109e-01 -2.91281018e-04 -8.83607465e+00] [-3.32648937e-03 2.84883954e-04 9.99994427e-01 -4.77426924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19800114499995 meters 0.07784530281348902 Centerline is valid? [True, True] Translation: X:224.50, Y:-8.83, Z:-4.77 [[ 9.99991594e-01 1.58495133e-03 3.78142753e-03 2.24497216e+02] [-1.58371160e-03 9.99998691e-01 -3.30819886e-04 -8.82592788e+00] [-3.78194691e-03 3.24828415e-04 9.99992796e-01 -4.77060830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22800114499995 meters 0.07850673429345315 Centerline is valid? [True, True] Translation: X:224.53, Y:-8.83, Z:-4.77 [[ 9.99986674e-01 1.84532294e-03 4.82154761e-03 2.24528611e+02] [-1.84333125e-03 9.99998214e-01 -4.17491878e-04 -8.83063384e+00] [-4.82230940e-03 4.08598605e-04 9.99988289e-01 -4.77163309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25800114499995 meters 0.08340619148285233 Centerline is valid? [True, True] Translation: X:224.56, Y:-8.84, Z:-4.77 [[ 9.99981992e-01 2.19077211e-03 5.58708727e-03 2.24559018e+02] [-2.18808992e-03 9.99997488e-01 -4.86135709e-04 -8.84326941e+00] [-5.58813825e-03 4.73901906e-04 9.99984274e-01 -4.77477129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28800114499995 meters 0.08257011535259362 Centerline is valid? [True, True] Translation: X:224.59, Y:-8.85, Z:-4.78 [[ 9.99980058e-01 2.74325358e-03 5.68843321e-03 2.24591224e+02] [-2.74047537e-03 9.99996122e-01 -4.96134081e-04 -8.84516339e+00] [-5.68977217e-03 4.80535176e-04 9.99983698e-01 -4.77578200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31800114499995 meters 0.0820952355920121 Centerline is valid? [True, True] Translation: X:224.62, Y:-8.85, Z:-4.78 [[ 9.99986384e-01 2.23265603e-03 4.71665992e-03 2.24623111e+02] [-2.23072127e-03 9.99997426e-01 -4.15419674e-04 -8.84770249e+00] [-4.71757527e-03 4.04892464e-04 9.99988790e-01 -4.77682649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34800114499996 meters 0.08253744096578856 Centerline is valid? [True, True] Translation: X:224.66, Y:-8.85, Z:-4.78 [[ 9.99987146e-01 2.10411190e-03 4.61318464e-03 2.24655568e+02] [-2.10227773e-03 9.99997709e-01 -4.02405970e-04 -8.85145523e+00] [-4.61402078e-03 3.92702602e-04 9.99989278e-01 -4.77701253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37800114499996 meters 0.08205740042559713 Centerline is valid? [True, True] Translation: X:224.69, Y:-8.85, Z:-4.78 [[ 9.99984884e-01 2.09956912e-03 5.08162684e-03 2.24687938e+02] [-2.09733416e-03 9.99997702e-01 -4.45101133e-04 -8.85336215e+00] [-5.08254968e-03 4.34436536e-04 9.99986989e-01 -4.77739519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40800114499996 meters 0.08365871035614314 Centerline is valid? [True, True] Translation: X:224.72, Y:-8.86, Z:-4.78 [[ 9.99985153e-01 2.07480569e-03 5.03868106e-03 2.24720146e+02] [-2.07260221e-03 9.99997754e-01 -4.42496881e-04 -8.85963590e+00] [-5.03958784e-03 4.32047130e-04 9.99987208e-01 -4.78001007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43800114499996 meters 0.08399663170580798 Centerline is valid? [True, True] Translation: X:224.75, Y:-8.86, Z:-4.78 [[ 9.99988283e-01 1.96141993e-03 4.42579386e-03 2.24751567e+02] [-1.95971630e-03 9.99998004e-01 -3.89235314e-04 -8.86427482e+00] [-4.42654848e-03 3.80557453e-04 9.99990130e-01 -4.78126336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46800114499996 meters 0.08388609042794742 Centerline is valid? [True, True] Translation: X:224.78, Y:-8.87, Z:-4.78 [[ 9.99989745e-01 1.12029570e-03 4.38796963e-03 2.24783030e+02] [-1.11858901e-03 9.99999298e-01 -3.91382974e-04 -8.86753910e+00] [-4.38840501e-03 3.86470625e-04 9.99990296e-01 -4.78287531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49800114499996 meters 0.08057789694355791 Centerline is valid? [True, True] Translation: X:224.82, Y:-8.87, Z:-4.78 [[ 9.99991129e-01 8.16315014e-04 4.13225255e-03 2.24815367e+02] [-8.14820456e-04 9.99999602e-01 -3.63351708e-04 -8.86522010e+00] [-4.13254751e-03 3.59981441e-04 9.99991396e-01 -4.78286643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52800114499996 meters 0.08274119168383215 Centerline is valid? [True, True] Translation: X:224.85, Y:-8.87, Z:-4.79 [[ 9.99995818e-01 6.33296768e-04 2.82189448e-03 2.24845878e+02] [-6.32602130e-04 9.99999769e-01 -2.47046021e-04 -8.87231176e+00] [-2.82205028e-03 2.45259851e-04 9.99995988e-01 -4.78579931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55800114499996 meters 0.08328697170193523 Centerline is valid? [True, True] Translation: X:224.88, Y:-8.88, Z:-4.79 [[ 9.99996404e-01 1.27169054e-03 2.36110066e-03 2.24876953e+02] [-1.27119522e-03 9.99999170e-01 -2.11271183e-04 -8.87595214e+00] [-2.36136737e-03 2.08269004e-04 9.99997190e-01 -4.78768368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58800114499996 meters 0.08161330640271018 Centerline is valid? [True, True] Translation: X:224.91, Y:-8.88, Z:-4.79 [[ 9.99998052e-01 1.65269429e-03 1.07947509e-03 2.24908582e+02] [-1.65259153e-03 9.99998630e-01 -9.60758979e-05 -8.87529178e+00] [-1.07963240e-03 9.42917793e-05 9.99999413e-01 -4.78798089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61800114499997 meters 0.08284947091942609 Centerline is valid? [True, True] Translation: X:224.94, Y:-8.88, Z:-4.79 [[ 9.99994361e-01 2.79142422e-03 1.86712663e-03 2.24938081e+02] [-2.79111551e-03 9.99996091e-01 -1.67923230e-04 -8.88033245e+00] [-1.86758808e-03 1.62710917e-04 9.99998243e-01 -4.79032733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64800114499997 meters 0.08746268653856888 Centerline is valid? [True, True] Translation: X:224.97, Y:-8.89, Z:-4.79 [[ 9.99988762e-01 4.40930382e-03 1.74205775e-03 2.24966843e+02] [-4.40903672e-03 9.99990268e-01 -1.57135618e-04 -8.88997873e+00] [-1.74273366e-03 1.49453055e-04 9.99998470e-01 -4.79372607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67800114499997 meters 0.08253332810978914 Centerline is valid? [True, True] Translation: X:225.00, Y:-8.88, Z:-4.79 [[ 9.99983707e-01 5.45145208e-03 1.69329163e-03 2.24997554e+02] [-5.45120045e-03 9.99985130e-01 -1.53182314e-04 -8.88330184e+00] [-1.69410152e-03 1.43949346e-04 9.99998555e-01 -4.79148980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70800114499997 meters 0.082214176269136 Centerline is valid? [True, True] Translation: X:225.03, Y:-8.88, Z:-4.79 [[ 9.99965813e-01 7.83246789e-03 2.65054359e-03 2.25026972e+02] [-7.83186227e-03 9.99969302e-01 -2.38790211e-04 -8.88419220e+00] [-2.65233255e-03 2.18023355e-04 9.99996459e-01 -4.79187226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73800114499997 meters 0.07730741238371876 Centerline is valid? [True, True] Translation: X:225.06, Y:-8.88, Z:-4.79 [[ 9.99956351e-01 8.69638321e-03 3.41596527e-03 2.25057725e+02] [-8.69538187e-03 9.99962147e-01 -3.07878755e-04 -8.87676469e+00] [-3.41851340e-03 2.78162194e-04 9.99994118e-01 -4.78892982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76800114499997 meters 0.07786360110057544 Centerline is valid? [True, True] Translation: X:225.09, Y:-8.88, Z:-4.79 [[ 9.99940602e-01 1.01375375e-02 4.00281403e-03 2.25086401e+02] [-1.01361753e-02 9.99948563e-01 -3.60454515e-04 -8.87993643e+00] [-4.00626225e-03 3.19859880e-04 9.99991924e-01 -4.79013946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79800114499997 meters 0.07661814084697292 Centerline is valid? [True, True] Translation: X:225.12, Y:-8.88, Z:-4.79 [[ 9.99929123e-01 1.12814668e-02 3.80501112e-03 2.25115032e+02] [-1.12802411e-02 9.99936317e-01 -3.43447953e-04 -8.87928588e+00] [-3.80864340e-03 3.00502168e-04 9.99992702e-01 -4.79061321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82800114499997 meters 0.08346459011752043 Centerline is valid? [True, True] Translation: X:225.14, Y:-8.89, Z:-4.80 [[ 9.99905391e-01 1.29130464e-02 4.73949333e-03 2.25142875e+02] [-1.29111707e-02 9.99916557e-01 -4.26144334e-04 -8.89329973e+00] [-4.74460068e-03 3.64911609e-04 9.99988678e-01 -4.79662963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85800114499997 meters 0.07774111730948623 Centerline is valid? [True, True] Translation: X:225.17, Y:-8.88, Z:-4.79 [[ 9.99902439e-01 1.33406457e-02 4.13992323e-03 2.25173168e+02] [-1.33392148e-02 9.99910959e-01 -3.73060373e-04 -8.88383195e+00] [-4.14453147e-03 3.17800652e-04 9.99991361e-01 -4.79398744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88800114499998 meters 0.07812478701774717 Centerline is valid? [True, True] Translation: X:225.20, Y:-8.89, Z:-4.79 [[ 9.99893693e-01 1.38515266e-02 4.55390773e-03 2.25202235e+02] [-1.38498028e-02 9.99904003e-01 -4.09863955e-04 -8.88602205e+00] [-4.55914781e-03 3.46749660e-04 9.99989547e-01 -4.79445536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91800114499998 meters 0.08283634614068942 Centerline is valid? [True, True] Translation: X:225.23, Y:-8.90, Z:-4.80 [[ 9.99894939e-01 1.38486604e-02 4.28092077e-03 2.25229199e+02] [-1.38471347e-02 9.99904049e-01 -3.85827956e-04 -8.89675602e+00] [-4.28585321e-03 3.26508934e-04 9.99990762e-01 -4.79911808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94800114499995 meters 0.08283634614068942 Centerline is valid? [True, True] Translation: X:225.26, Y:-8.90, Z:-4.80 [[ 9.99895759e-01 1.37892531e-02 4.28102723e-03 2.25257474e+02] [-1.37877320e-02 9.99904871e-01 -3.84638725e-04 -8.89921191e+00] [-4.28592386e-03 3.25572974e-04 9.99990762e-01 -4.79998219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97800114499995 meters 0.08015368087283259 Centerline is valid? [True, True] Translation: X:225.29, Y:-8.90, Z:-4.80 [[ 9.99909704e-01 1.30380894e-02 3.25462046e-03 2.25286964e+02] [-1.30372067e-02 9.99914969e-01 -2.92301766e-04 -8.89596403e+00] [-3.25815478e-03 2.49844212e-04 9.99994661e-01 -4.80005416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00800114499995 meters 0.07631808676699503 Centerline is valid? [True, True] Translation: X:225.32, Y:-8.89, Z:-4.80 [[ 9.99921138e-01 1.22784372e-02 2.63761790e-03 2.25316340e+02] [-1.22778531e-02 9.99924596e-01 -2.37536823e-04 -8.89054028e+00] [-2.64033560e-03 2.05133805e-04 9.99996493e-01 -4.79838437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03800114499995 meters 0.08174227824968583 Centerline is valid? [True, True] Translation: X:225.34, Y:-8.90, Z:-4.80 [[ 9.99930486e-01 1.14828650e-02 2.67727874e-03 2.25342699e+02] [-1.14822596e-02 9.99934048e-01 -2.41374932e-04 -8.90293372e+00] [-2.67987385e-03 2.10616943e-04 9.99996387e-01 -4.80259795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06800114499995 meters 0.08095214171334661 Centerline is valid? [True, True] Translation: X:225.37, Y:-8.90, Z:-4.80 [[ 9.99950923e-01 9.73930362e-03 1.81587077e-03 2.25372831e+02] [-9.73902533e-03 9.99952561e-01 -1.62031373e-04 -8.90165269e+00] [-1.81736270e-03 1.44338610e-04 9.99998338e-01 -4.80274038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09800114499996 meters 0.07898008627982576 Centerline is valid? [True, True] Translation: X:225.40, Y:-8.90, Z:-4.80 [[ 9.99957614e-01 8.99238392e-03 1.97687955e-03 2.25401662e+02] [-8.99204894e-03 9.99959555e-01 -1.78270927e-04 -8.89934387e+00] [-1.97840267e-03 1.60487173e-04 9.99998030e-01 -4.80185727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12800114499996 meters 0.07888351671485824 Centerline is valid? [True, True] Translation: X:225.43, Y:-8.90, Z:-4.80 [[ 9.99962494e-01 8.38268264e-03 2.17749795e-03 2.25430694e+02] [-8.38227551e-03 9.99964849e-01 -1.96028700e-04 -8.90071025e+00] [-2.17906465e-03 1.77768960e-04 9.99997610e-01 -4.80284247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15800114499996 meters 0.08631622799392867 Centerline is valid? [True, True] Translation: X:225.46, Y:-8.92, Z:-4.81 [[ 9.99968903e-01 7.61964408e-03 2.03321702e-03 2.25457702e+02] [-7.61928853e-03 9.99970956e-01 -1.82559088e-04 -8.91608661e+00] [-2.03454901e-03 1.67061744e-04 9.99997916e-01 -4.80843226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18800114499996 meters 0.08435492863950317 Centerline is valid? [True, True] Translation: X:225.49, Y:-8.91, Z:-4.81 [[ 9.99979437e-01 6.17878190e-03 1.71712102e-03 2.25487855e+02] [-6.17852682e-03 9.99980901e-01 -1.53816723e-04 -8.91412871e+00] [-1.71803862e-03 1.43204282e-04 9.99998514e-01 -4.80870210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21800114499996 meters 0.08367417519769958 Centerline is valid? [True, True] Translation: X:225.52, Y:-8.91, Z:-4.81 [[ 9.99981006e-01 5.90691372e-03 1.75950639e-03 2.25516237e+02] [-5.90664398e-03 9.99982543e-01 -1.58459862e-04 -8.91463555e+00] [-1.76041169e-03 1.48064075e-04 9.99998440e-01 -4.80993689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24800114499996 meters 0.0817745755430225 Centerline is valid? [True, True] Translation: X:225.55, Y:-8.91, Z:-4.81 [[ 9.99983108e-01 5.44845055e-03 2.02461291e-03 2.25545778e+02] [-5.44809420e-03 9.99985143e-01 -1.81483096e-04 -8.91238091e+00] [-2.02557163e-03 1.70449748e-04 9.99997934e-01 -4.80939824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27800114499996 meters 0.08868230770209509 Centerline is valid? [True, True] Translation: X:225.57, Y:-8.92, Z:-4.81 [[ 9.99977439e-01 6.08789954e-03 2.83884192e-03 2.25573995e+02] [-6.08720488e-03 9.99981441e-01 -2.53273891e-04 -8.92425966e+00] [-2.84033114e-03 2.35987564e-04 9.99995938e-01 -4.81262376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30800114499996 meters 0.08702966690902669 Centerline is valid? [True, True] Translation: X:225.60, Y:-8.92, Z:-4.81 [[ 9.99973213e-01 6.25347850e-03 3.80362038e-03 2.25603603e+02] [-6.25223292e-03 9.99980397e-01 -3.39275586e-04 -8.92255217e+00] [-3.80566748e-03 3.15485377e-04 9.99992709e-01 -4.81150636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33800114499996 meters 0.08377500559986337 Centerline is valid? [True, True] Translation: X:225.63, Y:-8.92, Z:-4.81 [[ 9.99961762e-01 7.10486137e-03 5.09856019e-03 2.25634307e+02] [-7.10264197e-03 9.99974673e-01 -4.53274426e-04 -8.91875760e+00] [-5.10165151e-03 4.17043846e-04 9.99986900e-01 -4.80977263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36800114499997 meters 0.08290795783019479 Centerline is valid? [True, True] Translation: X:225.66, Y:-8.92, Z:-4.81 [[ 9.99950620e-01 7.48537073e-03 6.53654068e-03 2.25664854e+02] [-7.48173503e-03 9.99971843e-01 -5.80487390e-04 -8.91756932e+00] [-6.54070179e-03 5.31554060e-04 9.99978468e-01 -4.80948682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39800114499997 meters 0.08192179070315969 Centerline is valid? [True, True] Translation: X:225.70, Y:-8.92, Z:-4.81 [[ 9.99954730e-01 7.46357193e-03 5.90195164e-03 2.25695821e+02] [-7.46060753e-03 9.99972032e-01 -5.24131750e-04 -8.91777835e+00] [-5.90569847e-03 4.80075878e-04 9.99982446e-01 -4.80982275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42800114499997 meters 0.0834691674996866 Centerline is valid? [True, True] Translation: X:225.72, Y:-8.92, Z:-4.81 [[ 9.99955835e-01 6.92991361e-03 6.34859608e-03 2.25724845e+02] [-6.92647425e-03 9.99975853e-01 -5.63577409e-04 -8.92267153e+00] [-6.35234832e-03 5.19579131e-04 9.99979689e-01 -4.81123193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45800114499997 meters 0.08392450944933147 Centerline is valid? [True, True] Translation: X:225.76, Y:-8.92, Z:-4.81 [[ 9.99962654e-01 5.89913675e-03 6.31586858e-03 2.25755077e+02] [-5.89571060e-03 9.99982463e-01 -5.60948183e-04 -8.92470858e+00] [-6.31906693e-03 5.23690700e-04 9.99979897e-01 -4.81168889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48800114499997 meters 0.08472214389259126 Centerline is valid? [True, True] Translation: X:225.79, Y:-8.93, Z:-4.81 [[ 9.99965503e-01 5.45032205e-03 6.26793870e-03 2.25785893e+02] [-5.44694381e-03 9.99985011e-01 -5.55916331e-04 -8.92827976e+00] [-6.27087468e-03 5.21756043e-04 9.99980202e-01 -4.81387825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51800114499997 meters 0.08573790824709501 Centerline is valid? [True, True] Translation: X:225.82, Y:-8.93, Z:-4.82 [[ 9.99974567e-01 4.55738773e-03 5.48589145e-03 2.25816602e+02] [-4.55478407e-03 9.99989508e-01 -4.87010714e-04 -8.93221999e+00] [-5.48805339e-03 4.62011277e-04 9.99984834e-01 -4.81537118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54800114499997 meters 0.08518485623506473 Centerline is valid? [True, True] Translation: X:225.85, Y:-8.93, Z:-4.82 [[ 9.99986926e-01 3.36939116e-03 3.84634447e-03 2.25847315e+02] [-3.36810286e-03 9.99994270e-01 -3.41369349e-04 -8.93225480e+00] [-3.84747264e-03 3.28410002e-04 9.99992545e-01 -4.81610409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57800114499997 meters 0.08709789140287572 Centerline is valid? [True, True] Translation: X:225.88, Y:-8.94, Z:-4.82 [[ 9.99987889e-01 3.52656379e-03 3.43286310e-03 2.25877611e+02] [-3.52553849e-03 9.99993739e-01 -3.04676949e-04 -8.93745706e+00] [-3.43391607e-03 2.92570569e-04 9.99994061e-01 -4.81839086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60800114499997 meters 0.08803877055208874 Centerline is valid? [True, True] Translation: X:225.91, Y:-8.94, Z:-4.82 [[ 9.99989044e-01 3.50263831e-03 3.10546467e-03 2.25907502e+02] [-3.50179910e-03 9.99993831e-01 -2.75631362e-04 -8.94102173e+00] [-3.10641095e-03 2.64753629e-04 9.99995140e-01 -4.82009291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63800114499998 meters 0.08312463277348509 Centerline is valid? [True, True] Translation: X:225.94, Y:-8.93, Z:-4.82 [[ 9.99986770e-01 4.05331965e-03 3.16720013e-03 2.25938424e+02] [-4.05244792e-03 9.99991749e-01 -2.81604635e-04 -8.93451695e+00] [-3.16831543e-03 2.68765995e-04 9.99994945e-01 -4.81928887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66800114499998 meters 0.08857410004392888 Centerline is valid? [True, True] Translation: X:225.97, Y:-8.95, Z:-4.82 [[ 9.99986997e-01 4.06246767e-03 3.08267791e-03 2.25967010e+02] [-4.06164050e-03 9.99991714e-01 -2.74540670e-04 -8.94638740e+00] [-3.08376768e-03 2.62016371e-04 9.99995211e-01 -4.82296822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69800114499995 meters 0.08441188446262474 Centerline is valid? [True, True] Translation: X:226.00, Y:-8.94, Z:-4.82 [[ 9.99986835e-01 3.94335772e-03 3.28313454e-03 2.25998186e+02] [-3.94242059e-03 9.99992186e-01 -2.91858188e-04 -8.94132357e+00] [-3.28425979e-03 2.78910848e-04 9.99994568e-01 -4.82082219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72800114499995 meters 0.09003411519409692 Centerline is valid? [True, True] Translation: X:226.03, Y:-8.95, Z:-4.83 [[ 9.99986510e-01 4.05668053e-03 3.24378859e-03 2.26026234e+02] [-4.05576490e-03 9.99991734e-01 -2.88801570e-04 -8.95337150e+00] [-3.24493336e-03 2.75641630e-04 9.99994697e-01 -4.82510375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75800114499995 meters 0.08277686076492248 Centerline is valid? [True, True] Translation: X:226.06, Y:-8.94, Z:-4.82 [[ 9.99985067e-01 3.84893757e-03 3.87955722e-03 2.26058350e+02] [-3.84762858e-03 9.99992538e-01 -3.44814558e-04 -8.94304160e+00] [-3.88085544e-03 3.29882314e-04 9.99992415e-01 -4.82129787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78800114499995 meters 0.08514343059633024 Centerline is valid? [True, True] Translation: X:226.09, Y:-8.95, Z:-4.82 [[ 9.99984500e-01 3.94915923e-03 3.92473630e-03 2.26088241e+02] [-3.94782205e-03 9.99992147e-01 -3.48392964e-04 -8.95000699e+00] [-3.92608133e-03 3.32893404e-04 9.99992238e-01 -4.82337862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81800114499995 meters 0.08477229508362649 Centerline is valid? [True, True] Translation: X:226.12, Y:-8.95, Z:-4.82 [[ 9.99977585e-01 4.62739386e-03 4.83902771e-03 2.26118922e+02] [-4.62536599e-03 9.99989210e-01 -4.30172489e-04 -8.95285915e+00] [-4.84096607e-03 4.07780572e-04 9.99988199e-01 -4.82367785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84800114499996 meters 0.08457209801477132 Centerline is valid? [True, True] Translation: X:226.15, Y:-8.96, Z:-4.82 [[ 9.99978335e-01 4.60545933e-03 4.70319654e-03 2.26149519e+02] [-4.60354346e-03 9.99989316e-01 -4.18097577e-04 -8.95591975e+00] [-4.70507182e-03 3.96437149e-04 9.99988853e-01 -4.82361256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87800114499996 meters 0.08212966598225173 Centerline is valid? [True, True] Translation: X:226.18, Y:-8.96, Z:-4.82 [[ 9.99973307e-01 5.37747172e-03 4.94645858e-03 2.26180792e+02] [-5.37536404e-03 9.99985456e-01 -4.39294240e-04 -8.95552858e+00] [-4.94874893e-03 4.12693498e-04 9.99987670e-01 -4.82252500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90800114499996 meters 0.08145323365368912 Centerline is valid? [True, True] Translation: X:226.21, Y:-8.96, Z:-4.82 [[ 9.99972714e-01 5.64305124e-03 4.76724152e-03 2.26211482e+02] [-5.64109417e-03 9.99983999e-01 -4.23871639e-04 -8.95730951e+00] [-4.76955717e-03 3.96967615e-04 9.99988547e-01 -4.82268906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93800114499996 meters 0.08432517349099691 Centerline is valid? [True, True] Translation: X:226.24, Y:-8.97, Z:-4.82 [[ 9.99970691e-01 5.76416450e-03 5.03906983e-03 2.26240712e+02] [-5.76197727e-03 9.99983299e-01 -4.48463229e-04 -8.96566571e+00] [-5.04157069e-03 4.19415079e-04 9.99987203e-01 -4.82464031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96800114499996 meters 0.08319132762981517 Centerline is valid? [True, True] Translation: X:226.27, Y:-8.97, Z:-4.82 [[ 9.99976914e-01 5.70483863e-03 3.69141174e-03 2.26271123e+02] [-5.70366585e-03 9.99983680e-01 -3.28154136e-04 -8.96690965e+00] [-3.69322356e-03 3.07091982e-04 9.99993133e-01 -4.82469354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99800114499996 meters 0.08313090944063764 Centerline is valid? [True, True] Translation: X:226.30, Y:-8.97, Z:-4.83 [[ 9.99972198e-01 6.34107417e-03 3.92363518e-03 2.26300653e+02] [-6.33975066e-03 9.99979842e-01 -3.49664453e-04 -8.96983308e+00] [-3.92577334e-03 3.24779863e-04 9.99992241e-01 -4.82504731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02800114499996 meters 0.08335202724025104 Centerline is valid? [True, True] Translation: X:226.33, Y:-8.97, Z:-4.83 [[ 9.99969201e-01 6.82466769e-03 3.87579303e-03 2.26329842e+02] [-6.82338637e-03 9.99976661e-01 -3.43723128e-04 -8.97307311e+00] [-3.87804837e-03 3.17266508e-04 9.99992430e-01 -4.82675331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05800114499996 meters 0.08211499029359531 Centerline is valid? [True, True] Translation: X:226.36, Y:-8.97, Z:-4.83 [[ 9.99961293e-01 8.04703996e-03 3.55763496e-03 2.26359271e+02] [-8.04596230e-03 9.99967580e-01 -3.17122731e-04 -8.97389385e+00] [-3.56007153e-03 2.88485859e-04 9.99993621e-01 -4.82718183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08800114499996 meters 0.07937672271019701 Centerline is valid? [True, True] Translation: X:226.39, Y:-8.97, Z:-4.83 [[ 9.99947593e-01 9.97400894e-03 2.30867352e-03 2.26389617e+02] [-9.97356063e-03 9.99950242e-01 -2.05616071e-04 -8.97118742e+00] [-2.31060946e-03 1.82579600e-04 9.99997314e-01 -4.82797245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11800114499997 meters 0.07986659879021471 Centerline is valid? [True, True] Translation: X:226.42, Y:-8.97, Z:-4.83 [[ 9.99934485e-01 1.11125784e-02 2.74506340e-03 2.26417890e+02] [-1.11119454e-02 9.99938230e-01 -2.45706496e-04 -8.97414102e+00] [-2.74762427e-03 2.15187404e-04 9.99996202e-01 -4.82958261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14800114499997 meters 0.08301738414140115 Centerline is valid? [True, True] Translation: X:226.45, Y:-8.98, Z:-4.83 [[ 9.99925299e-01 1.21058592e-02 1.68660853e-03 2.26445323e+02] [-1.21056198e-02 9.99926713e-01 -1.52073669e-04 -8.98126794e+00] [-1.68832591e-03 1.31644867e-04 9.99998566e-01 -4.83317568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17800114499997 meters 0.0818881607281407 Centerline is valid? [True, True] Translation: X:226.48, Y:-8.98, Z:-4.83 [[ 9.99903665e-01 1.38250480e-02 1.23665431e-03 2.26475762e+02] [-1.38249223e-02 9.99904425e-01 -1.10144723e-04 -8.98135444e+00] [-1.23805887e-03 9.30374621e-05 9.99999229e-01 -4.83402493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20800114499997 meters 0.08129449780572222 Centerline is valid? [True, True] Translation: X:226.50, Y:-8.98, Z:-4.84 [[ 9.99878573e-01 1.55771612e-02 4.37134684e-04 2.26504606e+02] [-1.55771453e-02 9.99878668e-01 -3.97828731e-05 -8.98208713e+00] [-4.37701349e-04 3.29687319e-05 9.99999904e-01 -4.83552135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23800114499997 meters 0.08234442608550258 Centerline is valid? [True, True] Translation: X:226.53, Y:-8.99, Z:-4.84 [[ 9.99866444e-01 1.63333400e-02 5.62820056e-04 2.26532259e+02] [-1.63333131e-02 9.99866601e-01 -5.22115320e-05 -8.98617500e+00] [-5.63597765e-04 4.30118426e-05 9.99999840e-01 -4.83669629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26800114499997 meters 0.08251089071910984 Centerline is valid? [True, True] Translation: X:226.56, Y:-8.99, Z:-4.84 [[ 9.99848837e-01 1.73328206e-02 1.36986866e-03 2.26560479e+02] [-1.73326682e-02 9.99849770e-01 -1.23110802e-04 -8.98763242e+00] [-1.37179672e-03 9.93487131e-05 9.99999054e-01 -4.83674396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29800114499997 meters 0.07909417922144085 Centerline is valid? [True, True] Translation: X:226.59, Y:-8.98, Z:-4.84 [[ 9.99830511e-01 1.83063282e-02 1.95622334e-03 2.26590018e+02] [-1.83060208e-02 9.99832415e-01 -1.74948439e-04 -8.98274309e+00] [-1.95909817e-03 1.39108123e-04 9.99998071e-01 -4.83569663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32800114499997 meters 0.08207080877778483 Centerline is valid? [True, True] Translation: X:226.62, Y:-8.99, Z:-4.84 [[ 9.99820644e-01 1.88564656e-02 1.76456104e-03 2.26616965e+02] [-1.88562146e-02 9.99822193e-01 -1.58810372e-04 -8.98997802e+00] [-1.76724189e-03 1.25508946e-04 9.99998431e-01 -4.83836593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35800114499997 meters 0.07711507336863518 Centerline is valid? [True, True] Translation: X:226.65, Y:-8.98, Z:-4.84 [[ 9.99809764e-01 1.93504045e-02 2.44895753e-03 2.26646906e+02] [-1.93499278e-02 9.99812749e-01 -2.18179363e-04 -8.98185839e+00] [-2.45272082e-03 1.70750707e-04 9.99996977e-01 -4.83516059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38800114499998 meters 0.08361306959698593 Centerline is valid? [True, True] Translation: X:226.67, Y:-9.00, Z:-4.84 [[ 9.99797103e-01 1.98984574e-02 3.13127258e-03 2.26673964e+02] [-1.98976833e-02 9.99801983e-01 -2.78182496e-04 -8.99520518e+00] [-3.13618794e-03 2.15820983e-04 9.99995059e-01 -4.84076874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41800114499995 meters 0.07714945285152873 Centerline is valid? [True, True] Translation: X:226.70, Y:-8.98, Z:-4.84 [[ 9.99796808e-01 1.99025604e-02 3.19843274e-03 2.26703878e+02] [-1.99017535e-02 9.99801900e-01 -2.83899379e-04 -8.98391343e+00] [-3.20344946e-03 2.20187273e-04 9.99994845e-01 -4.83622234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44800114499995 meters 0.07839886159692547 Centerline is valid? [True, True] Translation: X:226.73, Y:-8.99, Z:-4.84 [[ 9.99802541e-01 1.95912344e-02 3.32608983e-03 2.26731048e+02] [-1.95903597e-02 9.99808047e-01 -2.95349522e-04 -8.98796628e+00] [-3.33123764e-03 2.30131906e-04 9.99994425e-01 -4.83852000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47800114499995 meters 0.08128066352013638 Centerline is valid? [True, True] Translation: X:226.76, Y:-9.00, Z:-4.84 [[ 9.99804170e-01 1.95754335e-02 2.90256033e-03 2.26757763e+02] [-1.95747672e-02 9.99808363e-01 -2.57785008e-04 -8.99597758e+00] [-2.90705034e-03 2.00917583e-04 9.99995754e-01 -4.84161756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50800114499995 meters 0.07989369654422103 Centerline is valid? [True, True] Translation: X:226.79, Y:-9.00, Z:-4.84 [[ 9.99821479e-01 1.86879453e-02 2.78776282e-03 2.26787127e+02] [-1.86873288e-02 9.99825346e-01 -2.47015270e-04 -8.99509530e+00] [-2.79189213e-03 1.94875332e-04 9.99996084e-01 -4.84130443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53800114499995 meters 0.08131550444211193 Centerline is valid? [True, True] Translation: X:226.82, Y:-9.00, Z:-4.84 [[ 9.99844679e-01 1.74911269e-02 2.16280407e-03 2.26815380e+02] [-1.74907523e-02 9.99847007e-01 -1.91980865e-04 -8.99916318e+00] [-2.16583113e-03 1.54121976e-04 9.99997643e-01 -4.84330948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56800114499995 meters 0.08199402730560093 Centerline is valid? [True, True] Translation: X:226.84, Y:-9.00, Z:-4.85 [[ 9.99848415e-01 1.73193804e-02 1.78511440e-03 2.26843424e+02] [-1.73191239e-02 9.99850000e-01 -1.59056702e-04 -9.00244882e+00] [-1.78760139e-03 1.28115974e-04 9.99998394e-01 -4.84511557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59800114499996 meters 0.08127773491257766 Centerline is valid? [True, True] Translation: X:226.87, Y:-9.00, Z:-4.85 [[ 9.99854218e-01 1.70554277e-02 8.09694541e-04 2.26872365e+02] [-1.70553742e-02 9.99854544e-01 -7.29325275e-05 -9.00292282e+00] [-8.10820662e-04 5.91122519e-05 9.99999670e-01 -4.84565136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62800114499996 meters 0.08122232620732935 Centerline is valid? [True, True] Translation: X:226.90, Y:-9.00, Z:-4.85 [[ 9.99862790e-01 1.65637379e-02 -2.11048809e-04 2.26900690e+02] [-1.65637350e-02 9.99862812e-01 1.53121456e-05 -9.00430345e+00] [ 2.11273482e-04 -1.18142881e-05 9.99999978e-01 -4.84718122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65800114499996 meters 0.0843885811675611 Centerline is valid? [True, True] Translation: X:226.93, Y:-9.01, Z:-4.85 [[ 9.99842136e-01 1.76553212e-02 -1.99838932e-03 2.26928061e+02] [-1.76550115e-02 9.99844123e-01 1.72517744e-04 -9.01174545e+00] [ 2.00112368e-03 -1.37208923e-04 9.99997988e-01 -4.85366425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68800114499996 meters 0.0844334249278831 Centerline is valid? [True, True] Translation: X:226.96, Y:-9.01, Z:-4.86 [[ 9.99836367e-01 1.78722060e-02 -2.79717933e-03 2.26956710e+02] [-1.78715963e-02 9.99840261e-01 2.42802452e-04 -9.01339732e+00] [ 2.80107193e-03 -1.92772662e-04 9.99996058e-01 -4.85550618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71800114499996 meters 0.08361911825494368 Centerline is valid? [True, True] Translation: X:226.99, Y:-9.01, Z:-4.86 [[ 9.99826678e-01 1.84428183e-02 -2.54497483e-03 2.26985951e+02] [-1.84423162e-02 9.99829902e-01 2.20594107e-04 -9.01362973e+00] [ 2.54861031e-03 -1.73620643e-04 9.99996737e-01 -4.85632600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74800114499996 meters 0.08442374523717061 Centerline is valid? [True, True] Translation: X:227.02, Y:-9.01, Z:-4.86 [[ 9.99786269e-01 2.05347490e-02 -2.39603949e-03 2.27015101e+02] [-2.05343082e-02 9.99789127e-01 2.08442491e-04 -9.01490706e+00] [ 2.39981454e-03 -1.59196927e-04 9.99997108e-01 -4.85734036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77800114499996 meters 0.08311075222234333 Centerline is valid? [True, True] Translation: X:227.05, Y:-9.01, Z:-4.86 [[ 9.99766898e-01 2.15457057e-02 -1.38999255e-03 2.27045293e+02] [-2.15455589e-02 9.99767860e-01 1.20497939e-04 -9.01267967e+00] [ 1.39226609e-03 -9.05216843e-05 9.99999027e-01 -4.85623041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80800114499996 meters 0.08343208824348695 Centerline is valid? [True, True] Translation: X:227.07, Y:-9.01, Z:-4.86 [[ 9.99736295e-01 2.29635692e-02 1.19682817e-04 2.27074316e+02] [-2.29635680e-02 9.99736302e-01 -1.13543551e-05 -9.01440321e+00] [-1.19911994e-04 8.60301634e-06 9.99999993e-01 -4.85665499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83800114499996 meters 0.08343208824348695 Centerline is valid? [True, True] Translation: X:227.10, Y:-9.02, Z:-4.86 [[ 9.99738308e-01 2.28757692e-02 1.19530014e-04 2.27101731e+02] [-2.28757678e-02 9.99738315e-01 -1.31057234e-05 -9.01667805e+00] [-1.19798538e-04 1.03679529e-05 9.99999993e-01 -4.85749182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86800114499997 meters 0.07740896069749065 Centerline is valid? [True, True] Translation: X:227.13, Y:-9.01, Z:-4.85 [[ 9.99720887e-01 2.36196268e-02 5.11698888e-04 2.27132228e+02] [-2.36196063e-02 9.99721017e-01 -4.60654023e-05 -9.00578189e+00] [-5.12644180e-04 3.39664185e-05 9.99999868e-01 -4.85318629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89800114499997 meters 0.07614257522274723 Centerline is valid? [True, True] Translation: X:227.16, Y:-9.00, Z:-4.85 [[ 9.99681529e-01 2.51746710e-02 1.75389314e-03 2.27162466e+02] [-2.51744406e-02 9.99683062e-01 -1.53362654e-04 -9.00380604e+00] [-1.75719812e-03 1.09160533e-04 9.99998450e-01 -4.85240727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92800114499997 meters 0.08225801853986062 Centerline is valid? [True, True] Translation: X:227.19, Y:-9.02, Z:-4.86 [[ 9.99671373e-01 2.55443012e-02 2.15267944e-03 2.27189356e+02] [-2.55439513e-02 9.99673682e-01 -1.89882848e-04 -9.01739466e+00] [-2.15682741e-03 1.34832509e-04 9.99997665e-01 -4.85928183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95800114499997 meters 0.07628874607590658 Centerline is valid? [True, True] Translation: X:227.22, Y:-9.01, Z:-4.85 [[ 9.99655053e-01 2.61353747e-02 2.59190110e-03 2.27219974e+02] [-2.61348736e-02 9.99658400e-01 -2.27030201e-04 -9.00587696e+00] [-2.59694923e-03 1.59212880e-04 9.99996615e-01 -4.85466480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98800114499997 meters 0.07923836598793964 Centerline is valid? [True, True] Translation: X:227.25, Y:-9.01, Z:-4.86 [[ 9.99672518e-01 2.55101097e-02 2.02268580e-03 2.27247615e+02] [-2.55098019e-02 9.99674556e-01 -1.77835064e-04 -9.01142872e+00] [-2.02656412e-03 1.26178512e-04 9.99997939e-01 -4.85825319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01800114499997 meters 0.07940169668795106 Centerline is valid? [True, True] Translation: X:227.28, Y:-9.01, Z:-4.86 [[ 9.99689216e-01 2.48723206e-02 1.68497142e-03 2.27275878e+02] [-2.48721034e-02 9.99690630e-01 -1.49722774e-04 -9.01281239e+00] [-1.68817409e-03 1.07767459e-04 9.99998569e-01 -4.85939165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04800114499997 meters 0.0769099065174288 Centerline is valid? [True, True] Translation: X:227.31, Y:-9.01, Z:-4.86 [[ 9.99707297e-01 2.40706663e-02 2.43364560e-03 2.27305055e+02] [-2.40702184e-02 9.99710248e-01 -2.13192709e-04 -9.00898409e+00] [-2.43807213e-03 1.54551926e-04 9.99997016e-01 -4.85770821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07800114499997 meters 0.07635293039314417 Centerline is valid? [True, True] Translation: X:227.33, Y:-9.01, Z:-4.86 [[ 9.99729602e-01 2.31613320e-02 2.06788588e-03 2.27333843e+02] [-2.31610063e-02 9.99731731e-01 -1.81350071e-04 -9.00949358e+00] [-2.07153144e-03 1.33406717e-04 9.99997845e-01 -4.85750004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10800114499997 meters 0.0803446906642762 Centerline is valid? [True, True] Translation: X:227.36, Y:-9.02, Z:-4.86 [[ 9.99768033e-01 2.14468780e-02 1.97782209e-03 2.27361941e+02] [-2.14465777e-02 9.99769981e-01 -1.72934456e-04 -9.01882677e+00] [-1.98107606e-03 1.30476826e-04 9.99998029e-01 -4.86219913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13800114499998 meters 0.08032333516397235 Centerline is valid? [True, True] Translation: X:227.39, Y:-9.02, Z:-4.86 [[ 9.99772004e-01 2.12352229e-02 2.23747918e-03 2.27390510e+02] [-2.12348379e-02 9.99774496e-01 -1.95715427e-04 -9.01951836e+00] [-2.24113068e-03 1.48158297e-04 9.99997478e-01 -4.86295336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16800114499995 meters 0.08126453028026526 Centerline is valid? [True, True] Translation: X:227.42, Y:-9.02, Z:-4.86 [[ 9.99770985e-01 2.13345854e-02 1.67693199e-03 2.27418385e+02] [-2.13343679e-02 9.99772386e-01 -1.47482883e-04 -9.02116369e+00] [-1.67969678e-03 1.11672823e-04 9.99998583e-01 -4.86436514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19800114499995 meters 0.0825158702560938 Centerline is valid? [True, True] Translation: X:227.45, Y:-9.02, Z:-4.87 [[ 9.99764789e-01 2.16749991e-02 7.49486153e-04 2.27445369e+02] [-2.16749541e-02 9.99765068e-01 -6.80779869e-05 -9.02060038e+00] [-7.50785665e-04 5.18168962e-05 9.99999717e-01 -4.86692514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22800114499995 meters 0.07901756435228116 Centerline is valid? [True, True] Translation: X:227.48, Y:-9.01, Z:-4.86 [[ 9.99753277e-01 2.21699805e-02 1.36985507e-03 2.27475393e+02] [-2.21698371e-02 9.99754212e-01 -1.19810540e-04 -9.01366075e+00] [-1.37217458e-03 8.94115164e-05 9.99999055e-01 -4.86475629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25800114499995 meters 0.08147212515643125 Centerline is valid? [True, True] Translation: X:227.50, Y:-9.02, Z:-4.87 [[ 9.99732792e-01 2.29389803e-02 2.85451990e-03 2.27502623e+02] [-2.29383631e-02 9.99736850e-01 -2.48798431e-04 -9.01842090e+00] [-2.85947591e-03 1.83253936e-04 9.99995895e-01 -4.86743576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28800114499995 meters 0.08015609803936155 Centerline is valid? [True, True] Translation: X:227.53, Y:-9.01, Z:-4.87 [[ 9.99669400e-01 2.55450462e-02 2.92261136e-03 2.27533094e+02] [-2.55444163e-02 9.99673656e-01 -2.52645182e-04 -9.01297467e+00] [-2.92811141e-03 1.77905256e-04 9.99995697e-01 -4.86829535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31800114499995 meters 0.08267465792444514 Centerline is valid? [True, True] Translation: X:227.56, Y:-9.02, Z:-4.87 [[ 9.99668290e-01 2.55460610e-02 3.27237502e-03 2.27560219e+02] [-2.55452662e-02 9.99673626e-01 -2.84461478e-04 -9.01692196e+00] [-3.27857387e-03 2.00773428e-04 9.99994605e-01 -4.87142001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34800114499996 meters 0.08078148581761042 Centerline is valid? [True, True] Translation: X:227.59, Y:-9.01, Z:-4.87 [[ 9.99659107e-01 2.59023490e-02 3.27701195e-03 2.27589295e+02] [-2.59015562e-02 9.99664458e-01 -2.84159055e-04 -9.01238196e+00] [-3.28327277e-03 1.99182478e-04 9.99994590e-01 -4.87087221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37800114499996 meters 0.07716760463940289 Centerline is valid? [True, True] Translation: X:227.62, Y:-9.00, Z:-4.87 [[ 9.99649192e-01 2.62364989e-02 3.62487558e-03 2.27618918e+02] [-2.62355321e-02 9.99655740e-01 -3.14009811e-04 -9.00402970e+00] [-3.63186620e-03 2.18799114e-04 9.99993381e-01 -4.86827814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40800114499996 meters 0.07643620292980167 Centerline is valid? [True, True] Translation: X:227.65, Y:-9.00, Z:-4.87 [[ 9.99629327e-01 2.68749270e-02 4.35278793e-03 2.27648337e+02] [-2.68735419e-02 9.99638770e-01 -3.76402301e-04 -9.00157235e+00] [-4.36133136e-03 2.59287950e-04 9.99990456e-01 -4.86846881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43800114499996 meters 0.07747148523408873 Centerline is valid? [True, True] Translation: X:227.68, Y:-9.00, Z:-4.87 [[ 9.99590809e-01 2.82172204e-02 4.69067839e-03 2.27676555e+02] [-2.82156229e-02 9.99601777e-01 -4.06418470e-04 -8.99993936e+00] [-4.70027845e-03 2.73901755e-04 9.99988916e-01 -4.87094497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46800114499996 meters 0.07734289220389624 Centerline is valid? [True, True] Translation: X:227.71, Y:-9.00, Z:-4.87 [[ 9.99558997e-01 2.93959374e-02 4.20591218e-03 2.27705781e+02] [-2.93946695e-02 9.99567817e-01 -3.62970852e-04 -8.99917338e+00] [-4.21476433e-03 2.39179382e-04 9.99991089e-01 -4.87235101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49800114499996 meters 0.07673847483544358 Centerline is valid? [True, True] Translation: X:227.74, Y:-9.00, Z:-4.87 [[ 9.99520145e-01 3.06811245e-02 4.26018759e-03 2.27735295e+02] [-3.06798384e-02 9.99529196e-01 -3.66928724e-04 -8.99685569e+00] [-4.26943966e-03 2.36050785e-04 9.99990858e-01 -4.87341342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52800114499996 meters 0.07575562616747669 Centerline is valid? [True, True] Translation: X:227.77, Y:-8.99, Z:-4.87 [[ 9.99433874e-01 3.33880985e-02 4.14325418e-03 2.27765996e+02] [-3.33869095e-02 9.99442438e-01 -3.55829810e-04 -8.98957907e+00] [-4.15282454e-03 2.17297913e-04 9.99991353e-01 -4.87450797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55800114499996 meters 0.07533354406051646 Centerline is valid? [True, True] Translation: X:227.80, Y:-8.99, Z:-4.88 [[ 9.99394539e-01 3.46392102e-02 3.26813291e-03 2.27795136e+02] [-3.46384725e-02 9.99399868e-01 -2.82050747e-04 -8.98745943e+00] [-3.27594161e-03 1.68676844e-04 9.99994620e-01 -4.87551892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58800114499996 meters 0.07604462118608309 Centerline is valid? [True, True] Translation: X:227.82, Y:-8.99, Z:-4.88 [[ 9.99355020e-01 3.57095053e-02 3.79137957e-03 2.27822745e+02] [-3.57085208e-02 9.99362194e-01 -3.27067757e-04 -8.98799885e+00] [-3.80064083e-03 1.91472248e-04 9.99992759e-01 -4.87774877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61800114499997 meters 0.07424080512440619 Centerline is valid? [True, True] Translation: X:227.85, Y:-8.98, Z:-4.88 [[ 9.99253804e-01 3.84070452e-02 4.09075854e-03 2.27853484e+02] [-3.84059308e-02 9.99262159e-01 -3.50662811e-04 -8.98045501e+00] [-4.10120813e-03 1.93291759e-04 9.99991571e-01 -4.87798394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64800114499997 meters 0.07415980150008929 Centerline is valid? [True, True] Translation: X:227.88, Y:-8.98, Z:-4.88 [[ 9.99221035e-01 3.92769104e-02 3.82731215e-03 2.27881664e+02] [-3.92759348e-02 9.99228348e-01 -3.29782992e-04 -8.98003413e+00] [-3.83731165e-03 1.79204840e-04 9.99992621e-01 -4.87910849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67800114499997 meters 0.0747097296315364 Centerline is valid? [True, True] Translation: X:227.91, Y:-8.98, Z:-4.88 [[ 9.99218071e-01 3.93013716e-02 4.31851894e-03 2.27909385e+02] [-3.93001327e-02 9.99227382e-01 -3.71400794e-04 -8.98041167e+00] [-4.32977894e-03 2.01392017e-04 9.99990606e-01 -4.88036332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70800114499997 meters 0.07399421042890736 Centerline is valid? [True, True] Translation: X:227.94, Y:-8.97, Z:-4.88 [[ 9.99155106e-01 4.06591485e-02 5.99227713e-03 2.27939044e+02] [-4.06567773e-02 9.99173038e-01 -5.17036239e-04 -8.97442845e+00] [-6.00834400e-03 2.72972722e-04 9.99981912e-01 -4.87865141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73800114499997 meters 0.07415539706539116 Centerline is valid? [True, True] Translation: X:227.97, Y:-8.97, Z:-4.88 [[ 9.99125230e-01 4.12911498e-02 6.61934234e-03 2.27966536e+02] [-4.12883042e-02 9.99147114e-01 -5.66031960e-04 -8.97465852e+00] [-6.63706890e-03 2.92235392e-04 9.99977932e-01 -4.88003439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76800114499997 meters 0.07341640804612191 Centerline is valid? [True, True] Translation: X:227.99, Y:-8.97, Z:-4.88 [[ 9.99143559e-01 4.07445281e-02 7.21329130e-03 2.27994715e+02] [-4.07411095e-02 9.99169544e-01 -6.20308862e-04 -8.97260041e+00] [-7.23257517e-03 3.25900114e-04 9.99973791e-01 -4.87983168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79800114499997 meters 0.0735969282396024 Centerline is valid? [True, True] Translation: X:228.02, Y:-8.97, Z:-4.88 [[ 9.99146062e-01 4.05763683e-02 7.79135199e-03 2.28023140e+02] [-4.05724015e-02 9.99176379e-01 -6.66573613e-04 -8.97395340e+00] [-7.81198200e-03 3.49890540e-04 9.99969425e-01 -4.88055383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82800114499997 meters 0.07415122558853263 Centerline is valid? [True, True] Translation: X:228.05, Y:-8.97, Z:-4.88 [[ 9.99177493e-01 3.96038881e-02 8.71030366e-03 2.28051285e+02] [-3.95989468e-02 9.99215381e-01 -7.39094767e-04 -8.97355912e+00] [-8.73274041e-03 3.93568005e-04 9.99961791e-01 -4.88141201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85800114499997 meters 0.07511345395025648 Centerline is valid? [True, True] Translation: X:228.08, Y:-8.98, Z:-4.88 [[ 9.99199923e-01 3.88644843e-02 9.43744136e-03 2.28078613e+02] [-3.88586601e-02 9.99244397e-01 -7.99791575e-04 -8.97537991e+00] [-9.46139389e-03 4.32425354e-04 9.99955147e-01 -4.88330030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88800114499998 meters 0.07604318376626866 Centerline is valid? [True, True] Translation: X:228.11, Y:-8.98, Z:-4.88 [[ 9.99239042e-01 3.80450945e-02 8.59699985e-03 2.28107481e+02] [-3.80402113e-02 9.99275942e-01 -7.30882679e-04 -8.97727843e+00] [-8.61858162e-03 4.03294817e-04 9.99962778e-01 -4.88466311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91800114499995 meters 0.07675985105635423 Centerline is valid? [True, True] Translation: X:228.14, Y:-8.98, Z:-4.89 [[ 9.99279435e-01 3.69120367e-02 8.83812830e-03 2.28135146e+02] [-3.69068743e-02 9.99318430e-01 -7.46543769e-04 -8.97631606e+00] [-8.85966095e-03 4.19818145e-04 9.99960664e-01 -4.88555118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94800114499995 meters 0.07664480047513483 Centerline is valid? [True, True] Translation: X:228.16, Y:-8.98, Z:-4.89 [[ 9.99264360e-01 3.71932935e-02 9.34867040e-03 2.28164265e+02] [-3.71875414e-02 9.99307993e-01 -7.88417399e-04 -8.97636349e+00] [-9.37152489e-03 4.40183340e-04 9.99955989e-01 -4.88708800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97800114499995 meters 0.07581626597894163 Centerline is valid? [True, True] Translation: X:228.19, Y:-8.97, Z:-4.89 [[ 9.99249251e-01 3.74683784e-02 9.85167504e-03 2.28192934e+02] [-3.74620110e-02 9.99297708e-01 -8.30134921e-04 -8.97443430e+00] [-9.87586010e-03 4.60448139e-04 9.99951126e-01 -4.88691217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00800114499995 meters 0.07745262919443095 Centerline is valid? [True, True] Translation: X:228.22, Y:-8.98, Z:-4.89 [[ 9.99223966e-01 3.81429900e-02 9.82746136e-03 2.28220557e+02] [-3.81366895e-02 9.99272189e-01 -8.27778193e-04 -8.97744306e+00] [-9.85188276e-03 4.52348966e-04 9.99951367e-01 -4.88968333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03800114499995 meters 0.0747024450413083 Centerline is valid? [True, True] Translation: X:228.25, Y:-8.97, Z:-4.89 [[ 9.99155965e-01 3.98780029e-02 9.85410793e-03 2.28250584e+02] [-3.98717636e-02 9.99204461e-01 -8.28895048e-04 -8.96550221e+00] [-9.87932328e-03 4.35294769e-04 9.99951104e-01 -4.88719733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06800114499995 meters 0.07540198853932294 Centerline is valid? [True, True] Translation: X:228.28, Y:-8.97, Z:-4.89 [[ 9.99114887e-01 4.07817425e-02 1.03097839e-02 2.28278653e+02] [-4.07749342e-02 9.99167978e-01 -8.69792418e-04 -8.96627454e+00] [-1.03366776e-02 4.48641791e-04 9.99946474e-01 -4.88929925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09800114499996 meters 0.07528437024043595 Centerline is valid? [True, True] Translation: X:228.31, Y:-8.97, Z:-4.89 [[ 9.99039102e-01 4.23538293e-02 1.12705862e-02 2.28307012e+02] [-4.23458667e-02 9.99102565e-01 -9.44301701e-04 -8.96568037e+00] [-1.13004663e-02 4.66131584e-04 9.99936039e-01 -4.88967808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12800114499996 meters 0.0753825058251961 Centerline is valid? [True, True] Translation: X:228.34, Y:-8.96, Z:-4.89 [[ 9.98875047e-01 4.56047398e-02 1.29941220e-02 2.28335967e+02] [-4.55944491e-02 9.98959441e-01 -1.08725039e-03 -8.96249777e+00] [-1.30301846e-02 4.93567457e-04 9.99914982e-01 -4.89144830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15800114499996 meters 0.07334129820475381 Centerline is valid? [True, True] Translation: X:228.37, Y:-8.96, Z:-4.89 [[ 9.98832716e-01 4.64986706e-02 1.30797041e-02 2.28365726e+02] [-4.64882879e-02 9.98918233e-01 -1.09689384e-03 -8.95576198e+00] [-1.31165590e-02 4.87560402e-04 9.99913855e-01 -4.88953101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18800114499996 meters 0.07273419904137696 Centerline is valid? [True, True] Translation: X:228.40, Y:-8.95, Z:-4.89 [[ 9.98740027e-01 4.82285333e-02 1.38696734e-02 2.28395063e+02] [-4.82171130e-02 9.98836209e-01 -1.15681743e-03 -8.95334352e+00] [-1.39093236e-02 4.86604265e-04 9.99903142e-01 -4.88980161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21800114499996 meters 0.07236589851770711 Centerline is valid? [True, True] Translation: X:228.42, Y:-8.95, Z:-4.89 [[ 9.98687537e-01 4.95245752e-02 1.30583287e-02 2.28422951e+02] [-4.95145599e-02 9.98772808e-01 -1.08934966e-03 -8.95187203e+00] [-1.30962532e-02 4.41342533e-04 9.99914143e-01 -4.89079056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24800114499996 meters 0.07190953879638193 Centerline is valid? [True, True] Translation: X:228.45, Y:-8.95, Z:-4.89 [[ 9.98534927e-01 5.18812528e-02 1.53731893e-02 2.28451932e+02] [-5.18677057e-02 9.98653146e-01 -1.27888726e-03 -8.94737457e+00] [-1.54188342e-02 4.79641538e-04 9.99881008e-01 -4.89081386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27800114499996 meters 0.07145547423124249 Centerline is valid? [True, True] Translation: X:228.48, Y:-8.95, Z:-4.89 [[ 9.98465697e-01 5.29469683e-02 1.62132806e-02 2.28481296e+02] [-5.29320389e-02 9.98597206e-01 -1.34886480e-03 -8.94631743e+00] [-1.62619550e-02 4.88593230e-04 9.99867646e-01 -4.89078482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30800114499996 meters 0.06982951628284906 Centerline is valid? [True, True] Translation: X:228.51, Y:-8.94, Z:-4.89 [[ 9.98381409e-01 5.43210868e-02 1.68458024e-02 2.28510233e+02] [-5.43051724e-02 9.98523402e-01 -1.40105079e-03 -8.94107639e+00] [-1.68970346e-02 4.83968855e-04 9.99857118e-01 -4.88887105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33800114499996 meters 0.06968930639100332 Centerline is valid? [True, True] Translation: X:228.54, Y:-8.94, Z:-4.89 [[ 9.98243950e-01 5.62605193e-02 1.85410277e-02 2.28538042e+02] [-5.62417042e-02 9.98416003e-01 -1.53507202e-03 -8.93805423e+00] [-1.85980227e-02 4.89597368e-04 9.99826922e-01 -4.88879207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36800114499997 meters 0.06928865087623294 Centerline is valid? [True, True] Translation: X:228.57, Y:-8.94, Z:-4.89 [[ 9.98193558e-01 5.69428183e-02 1.91608151e-02 2.28567112e+02] [-5.69228513e-02 9.98377320e-01 -1.58630521e-03 -8.93726551e+00] [-1.92200520e-02 4.92751409e-04 9.99815156e-01 -4.88865752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39800114499997 meters 0.06900855380204676 Centerline is valid? [True, True] Translation: X:228.60, Y:-8.94, Z:-4.89 [[ 9.98167812e-01 5.73636063e-02 1.92466852e-02 2.28595769e+02] [-5.73436246e-02 9.98353236e-01 -1.58893111e-03 -8.93695594e+00] [-1.93061373e-02 4.82345203e-04 9.99813503e-01 -4.88936809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42800114499997 meters 0.06900826257511511 Centerline is valid? [True, True] Translation: X:228.62, Y:-8.94, Z:-4.89 [[ 9.98139996e-01 5.78043833e-02 1.93701442e-02 2.28623115e+02] [-5.77843484e-02 9.98327818e-01 -1.59289631e-03 -8.93728625e+00] [-1.94298302e-02 4.70642353e-04 9.99811112e-01 -4.89203739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45800114499997 meters 0.06896885091374585 Centerline is valid? [True, True] Translation: X:228.65, Y:-8.94, Z:-4.89 [[ 9.98149551e-01 5.77124800e-02 1.91505522e-02 2.28651022e+02] [-5.76928717e-02 9.98333136e-01 -1.57526446e-03 -8.93856518e+00] [-1.92095433e-02 4.67499162e-04 9.99815370e-01 -4.89377051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48800114499997 meters 0.06988359450369687 Centerline is valid? [True, True] Translation: X:228.68, Y:-8.94, Z:-4.90 [[ 9.98153291e-01 5.77244675e-02 1.89180758e-02 2.28677868e+02] [-5.77054588e-02 9.98332449e-01 -1.54959941e-03 -8.94330388e+00] [-1.89759788e-02 4.55061501e-04 9.99819836e-01 -4.89709508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51800114499997 meters 0.06826566570300528 Centerline is valid? [True, True] Translation: X:228.71, Y:-8.94, Z:-4.90 [[ 9.98093204e-01 5.89107580e-02 1.84249277e-02 2.28706917e+02] [-5.88929404e-02 9.98263165e-01 -1.50861384e-03 -8.93690216e+00] [-1.84818002e-02 4.20639051e-04 9.99829108e-01 -4.89540607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54800114499997 meters 0.06824133224424019 Centerline is valid? [True, True] Translation: X:228.74, Y:-8.93, Z:-4.90 [[ 9.98019183e-01 5.97591065e-02 1.96611278e-02 2.28736244e+02] [-5.97390812e-02 9.98212736e-01 -1.60479861e-03 -8.93454030e+00] [-1.97218896e-02 4.27082084e-04 9.99805413e-01 -4.89504818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57800114499997 meters 0.06816370226602167 Centerline is valid? [True, True] Translation: X:228.76, Y:-8.94, Z:-4.90 [[ 9.97927281e-01 6.11145527e-02 2.01532614e-02 2.28763682e+02] [-6.10939184e-02 9.98130677e-01 -1.63854193e-03 -8.93513959e+00] [-2.02157272e-02 4.03903980e-04 9.99795560e-01 -4.89663819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60800114499997 meters 0.06842053044810906 Centerline is valid? [True, True] Translation: X:228.79, Y:-8.94, Z:-4.90 [[ 9.97823782e-01 6.23940617e-02 2.13232461e-02 2.28792832e+02] [-6.23712683e-02 9.98051513e-01 -1.73297971e-03 -8.93512237e+00] [-2.13898257e-02 3.99250463e-04 9.99771132e-01 -4.89839026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63800114499998 meters 0.07060165070083844 Centerline is valid? [True, True] Translation: X:228.82, Y:-8.93, Z:-4.90 [[ 9.97733581e-01 6.24095968e-02 2.51543920e-02 2.28822001e+02] [-6.23780365e-02 9.98050513e-01 -2.03814616e-03 -8.93256215e+00] [-2.52325537e-02 4.64445283e-04 9.99681501e-01 -4.89876279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66800114499995 meters 0.07173989788323458 Centerline is valid? [True, True] Translation: X:228.85, Y:-8.93, Z:-4.90 [[ 9.97643066e-01 6.27815411e-02 2.76909906e-02 2.28849964e+02] [-6.27436343e-02 9.98027171e-01 -2.23654582e-03 -8.93295206e+00] [-2.77767748e-02 4.93841042e-04 9.99614029e-01 -4.89947053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69800114499995 meters 0.07299977069515742 Centerline is valid? [True, True] Translation: X:228.88, Y:-8.93, Z:-4.90 [[ 9.97579358e-01 6.23104219e-02 3.08680277e-02 2.28877691e+02] [-6.22631749e-02 9.98056659e-01 -2.49039304e-03 -8.93340186e+00] [-3.09632181e-02 5.62423277e-04 9.99520366e-01 -4.89964484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72800114499995 meters 0.07551817022530193 Centerline is valid? [True, True] Translation: X:228.91, Y:-8.93, Z:-4.90 [[ 9.97441145e-01 6.05373974e-02 3.80313822e-02 2.28906627e+02] [-6.04647949e-02 9.98165648e-01 -3.05737716e-03 -8.93025228e+00] [-3.81467049e-02 7.49994053e-04 9.99271868e-01 -4.90154846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75800114499995 meters 0.07551817022530193 Centerline is valid? [True, True] Translation: X:228.93, Y:-8.93, Z:-4.90 [[ 9.97447130e-01 6.04383020e-02 3.80320083e-02 2.28933965e+02] [-6.03659251e-02 9.98171656e-01 -3.04956988e-03 -8.93233159e+00] [-3.81467835e-02 7.45947357e-04 9.99271868e-01 -4.90238711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78800114499995 meters 0.07732982129412497 Centerline is valid? [True, True] Translation: X:228.96, Y:-8.93, Z:-4.90 [[ 9.97412902e-01 5.85663776e-02 4.16831245e-02 2.28962111e+02] [-5.84779928e-02 9.98283119e-01 -3.33759845e-03 -8.93334738e+00] [-4.18070305e-02 8.91418306e-04 9.99125306e-01 -4.90396254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81800114499995 meters 0.07973163251076062 Centerline is valid? [True, True] Translation: X:228.99, Y:-8.94, Z:-4.90 [[ 9.97395497e-01 5.65692781e-02 4.47452663e-02 2.28990263e+02] [-5.64656266e-02 9.98398132e-01 -3.57802996e-03 -8.93814301e+00] [-4.48759969e-02 1.04214147e-03 9.98992021e-01 -4.90261068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84800114499996 meters 0.08252594621552381 Centerline is valid? [True, True] Translation: X:229.02, Y:-8.94, Z:-4.90 [[ 9.97317902e-01 5.40430739e-02 4.93593720e-02 2.29020184e+02] [-5.39139283e-02 9.98537793e-01 -3.94506313e-03 -8.93982350e+00] [-4.95004017e-02 1.27332445e-03 9.98773292e-01 -4.90268446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87800114499996 meters 0.08843369251352869 Centerline is valid? [True, True] Translation: X:229.05, Y:-8.94, Z:-4.90 [[ 9.97143533e-01 4.92092328e-02 5.72994401e-02 2.29048914e+02] [-4.90271812e-02 9.98786946e-01 -4.57949810e-03 -8.94447548e+00] [-5.74552864e-02 1.75718688e-03 9.98346534e-01 -4.90245189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90800114499996 meters 0.0916593260059274 Centerline is valid? [True, True] Translation: X:229.08, Y:-8.95, Z:-4.90 [[ 9.96884890e-01 4.62844851e-02 6.38612736e-02 2.29079506e+02] [-4.60522563e-02 9.98925990e-01 -5.10444988e-03 -8.94763750e+00] [-6.40289428e-02 2.14759322e-03 9.97945731e-01 -4.90320707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93800114499996 meters 0.09261552030337208 Centerline is valid? [True, True] Translation: X:229.11, Y:-8.94, Z:-4.91 [[ 9.96757377e-01 4.36970684e-02 6.75669806e-02 2.29109639e+02] [-4.34311384e-02 9.99041827e-01 -5.40044126e-03 -8.94455836e+00] [-6.77382232e-02 2.44841878e-03 9.97700124e-01 -4.91146311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96800114499996 meters 0.09541274346735841 Centerline is valid? [True, True] Translation: X:229.14, Y:-8.95, Z:-4.91 [[ 9.96521904e-01 4.08695619e-02 7.26207469e-02 2.29140744e+02] [-4.05547283e-02 9.99160455e-01 -5.80515894e-03 -8.94773458e+00] [-7.27970328e-02 2.83985338e-03 9.97342733e-01 -4.91239937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99800114499996 meters 0.103420429640685 Centerline is valid? [True, False] Translation: X:229.15, Y:-8.95, Z:-4.90 [[ 9.98101854e-01 3.62731580e-02 4.97689327e-02 2.29154388e+02] [-3.58859273e-02 9.99318435e-01 -8.65248337e-03 -8.94674463e+00] [-5.00488648e-02 6.85005539e-03 9.98723279e-01 -4.90255173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02800114499996 meters 0.10883718393188438 Centerline is valid? [False, False] Translation: X:229.17, Y:-8.95, Z:-4.89 [[ 9.99014669e-01 3.37738698e-02 2.87926604e-02 2.29165159e+02] [-3.35541138e-02 9.99404226e-01 -8.08179056e-03 -8.94684206e+00] [-2.90484598e-02 7.10771511e-03 9.99552734e-01 -4.89382429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05800114499996 meters 0.11490631056447688 Centerline is valid? [False, False] Translation: X:229.17, Y:-8.95, Z:-4.89 [[ 9.99008797e-01 3.41256686e-02 2.85807961e-02 2.29165972e+02] [-3.39198852e-02 9.99395243e-01 -7.65434122e-03 -8.94774534e+00] [-2.88247212e-02 6.67729689e-03 9.99562179e-01 -4.89431493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08800114499996 meters 0.12481696776192225 Centerline is valid? [False, False] Translation: X:229.17, Y:-8.95, Z:-4.90 [[ 9.98821537e-01 3.87924294e-02 2.91664977e-02 2.29165583e+02] [-3.87491637e-02 9.99246872e-01 -2.04736485e-03 -8.95179167e+00] [-2.92239539e-02 9.14774714e-04 9.99572470e-01 -4.89553170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11800114499997 meters 0.1279007408225908 Centerline is valid? [False, False] Translation: X:229.17, Y:-8.95, Z:-4.90 [[ 9.98809701e-01 3.92895971e-02 2.89051690e-02 2.29166878e+02] [-3.92627322e-02 9.99227801e-01 -1.49661286e-03 -8.95247718e+00] [-2.89416498e-02 3.59935536e-04 9.99581038e-01 -4.89653418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14800114499997 meters 0.13319472316716502 Centerline is valid? [False, False] Translation: X:229.17, Y:-8.95, Z:-4.89 [[ 9.99194520e-01 3.88335350e-02 1.01127184e-02 2.29173436e+02] [-3.87738702e-02 9.99229812e-01 -6.03074703e-03 -8.95128571e+00] [-1.03391249e-02 5.63378016e-03 9.99930679e-01 -4.88680167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17800114499997 meters 0.13400782093757524 Centerline is valid? [False, False] Translation: X:229.18, Y:-8.95, Z:-4.89 [[ 9.99168491e-01 3.95572238e-02 9.87686882e-03 2.29175043e+02] [-3.95079437e-02 9.99206058e-01 -5.13574511e-03 -8.95280165e+00] [-1.00721830e-02 4.74125991e-03 9.99938034e-01 -4.88832135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20800114499997 meters 0.1472386440276946 Centerline is valid? [False, False] Translation: X:229.18, Y:-8.96, Z:-4.89 [[ 9.99136019e-01 4.04184557e-02 9.67286351e-03 2.29176415e+02] [-4.03814498e-02 9.99176366e-01 -3.99102593e-03 -8.95571099e+00] [-9.82620772e-03 3.59697350e-03 9.99945252e-01 -4.88965174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3659.40 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%| | 0/8174 [00:00